CN107344545A - A kind of obstacle avoidance apparatus of farmland haulage vehicle - Google Patents
A kind of obstacle avoidance apparatus of farmland haulage vehicle Download PDFInfo
- Publication number
- CN107344545A CN107344545A CN201710633555.3A CN201710633555A CN107344545A CN 107344545 A CN107344545 A CN 107344545A CN 201710633555 A CN201710633555 A CN 201710633555A CN 107344545 A CN107344545 A CN 107344545A
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- CN
- China
- Prior art keywords
- wheel
- vehicle
- sidesway
- vehicle frame
- bevel gear
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/14—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring
- B60S9/205—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams
- B60S9/21—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams comprising a rotatably driven auxiliary wheel or endless track, e.g. driven by ground wheel
- B60S9/215—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams comprising a rotatably driven auxiliary wheel or endless track, e.g. driven by ground wheel driven by an auxiliary motor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The present invention discloses a kind of obstacle avoidance apparatus of farmland haulage vehicle, bevel gear transmission is installed on vehicle frame, small coning gear shaft connects linkage by slider-crank mechanism, lower section is installed by sidesway wheel, being rotated by bevel gear extends connecting rod, sidesway wheel is jacked up vehicle, carry out lateral displacement, so as to complete the work of the avoidance of vehicle；Using bevel gear transmission, three linkage stretching speeds are consistent, ensure that the stability of vehicle sidesway；Using linkage as retractor device, make the lifting of sidesway wheel more steady reliable；It is simple in construction, convenient disassembly, it is easy to inspection and maintenance.
Description
Technical field
The invention belongs to agricultural machinery engineering field, is related to a kind of obstacle avoidance apparatus of farmland haulage vehicle.
Background technology
At present, most field transport is all completed by manually manipulating some agricultural machinery, still, due to field ring
Border is complex, and such a mode not only wastes time and energy, and is not ensured for the security of staff, although now with one
A little automatic driving vehicles can replace it is artificial carry out automatic running, but because field surface conditions are severe, exist many vehicles without
The obstacle that method is crossed, haulage vehicle is difficult can be in the transport in the safe and reliable completion field of narrow space.
The content of the invention
In order to solve the problems, such as that prior art is present, the present invention proposes a kind of obstacle avoidance apparatus of farmland haulage vehicle, energy
Enough make haulage vehicle smoothly traversing and then avoid the obstacle that can not be crossed, ensure what it can securely and reliably work in small space
Obstacle avoidance apparatus.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of obstacle avoidance apparatus of farmland haulage vehicle, including mechanical driving device and avoidance performs device；
Described mechanical driving device includes motor, bevel pinion and bevel gear wheel；Motor passes through motor fixing shaft
Transport vehicle carriage bottom is fixed on, bevel gear wheel is fixed on by large bevel gear shaft in the middle part of the vehicle frame of haulage vehicle, small bevel gear
Wheel is individual altogether, is engaged in equilateral triangle with bevel gear wheel, each bevel pinion center and bevel pinion axis connection, and then passes through conelet
Gear shaft is fixed axis connection rolling bearing and is fixed in frame, and bevel gear wheel top is connected with the output shaft of motor, can be with
The rotation of motor output shaft and rotated, and then drive engagement bevel pinion rotate；
Described avoidance performs device include sidesway wheel, sidesway wheel shaft, clamping plate, pitman arm, slide bar, slider-crank mechanism and
Pitman arm fixing axle；Pitman arm intersects to be connected two-by-two to form linkage by connecting rod fixing bolt, and its upper connection point leads to
Cross pitman arm fixing axle to be connected on vehicle frame, linkage can be shunk and be stretched by the variation up and down of connecting node；
Sidesway wheel is connected by sidesway wheel shaft connecting cleat, and then by connecting rod fixing bolt with linkage, sidesway wheel direction and car
The frame direction of motion is vertical, can be moved up and down with the contraction of linkage with extending, sidesway wheel is provided with wheel hub motor, passes through wheel
Hub motor drives its rotation；Slider-crank mechanism is in bevel pinion the tip of the axis, and its lower end sliding block is connected with slide bar, and slide bar connects
The connecting node that lever arm intersects in succession, by the rotation of small coning gear shaft, the sliding block in slider-crank mechanism is driven to make past up and down
Multiple motion, and then the elongation and contraction of drivening rod mechanism.
Further, in addition to the video camera that is installed on vehicle frame.
Further, in addition to controller, captured in real-time is carried out to the road surface of vehicle front by video camera, and then fed back to
Complete machine controller is to determine the ensuing action of vehicle.
Further, in addition to complete machine conveying arrangement, complete machine conveying arrangement include vehicle frame fixing axle, compartment, driving wheel, brake
Disk, live axle and vehicle frame；Compartment is arranged on vehicle frame, and driving wheel is arranged on below vehicle frame fixing axle by live axle, is driven
Brake disc is installed on driving wheel.
The obstacle avoidance apparatus of the farmland haulage vehicle of the present invention, including mechanical driving device and avoidance performs device；In vehicle frame
A bevel gear transmission is installed at middle part, and bevel gear wheel is located at complete machine center, and three bevel pinions are arranged into equilateral triangle
Row are engaged with bevel gear wheel, and bevel pinion shaft end connects a linkage, is consolidated in the end of linkage by clamping plate
Determine sidesway wheel, during haulage vehicle normally travel, linkage is in contraction state, drives sidesway wheel to be suspended from vehicle frame top
Portion, when running into obstacle, driving bevel gear wheel motion, then three bevel pinions will concomitant rotation, and then at drivening rod mechanism
In straight configuration, whole vehicle is jacked up upwards, driving wheel is suspended, then drive sidesway wheel wheel hub motor, complete machine cross side
Move, avoid obstacle, then invert bevel gear wheel, shunk linkage, driving wheel is landed, make complete machine continue to move ahead,
Whole avoidance process is just fully completed.
The obstacle avoidance apparatus of farmland haulage vehicle disclosed by the invention has the advantage that：
Using bevel gear transmission, three linkage stretching speeds are consistent, ensure that the steady of vehicle sidesway
It is qualitative；
Using linkage as retractor device, make the raising and lowering of sidesway wheel more steady reliable；
It is simple in construction, convenient disassembly, it is easy to check and repairs.
Further, video camera is installed in front of vehicle frame, the road conditions in front of haulage vehicle are carried out with captured in real-time, video camera will
Shooting image passes to controller, after analyzing it, controls the mass motion of vehicle.
Brief description of the drawings
Fig. 1 is the obstacle avoidance apparatus front schematic view of farmland haulage vehicle
Fig. 2 be remove compartment after farmland haulage vehicle obstacle avoidance apparatus upward view
The meaning that each legend mark represents respectively in accompanying drawing is as follows：
1- sidesway wheels, 2- sidesway wheel shafts, 3- clamping plates, 4- pitman arms, 5- connecting rod fixing bolts, 6- slide bars, 7- rolling bearings,
8- vehicle frame fixing axles, 9- compartments, 10- motor, 11- motor fixing shafts, 12- video cameras, 13- small coning gear shaft fixing axles, 14-
Slider-crank mechanism, 15- small coning gear shafts, 16- bevel pinions, 17- bevel gear wheels, 18- large bevel gear shafts, 19- driving wheels,
20- brake discs, 21- pitman arm fixing axles, 22- live axles, 23- vehicle frames, 24- video camera fix bars.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
As illustrated in fig. 1 and 2, the obstacle avoidance apparatus of farmland haulage vehicle of the invention is by complete machine conveying arrangement, a Yi Taoji
Tool transmission device and a set of avoidance performs device composition.
Described complete machine conveying arrangement is by vehicle frame fixing axle 8, compartment 9, video camera 12, driving wheel 19, brake disc 20, driving
Wheel shaft 22, vehicle frame 23, video camera fix bar 24 are formed；
Described mechanical driving device is by motor 10, motor fixing shaft 11, small coning gear shaft fixing axle 13, bevel pinion
Axle 15, bevel pinion 16, bevel gear wheel 17, large bevel gear shaft 18 are formed；
Described avoidance performs device is by sidesway wheel 1, sidesway wheel shaft 2, clamping plate 3, pitman arm 4, connecting rod fixing bolt 5, cunning
Bar 6, rolling bearing 7, slider-crank mechanism 14, pitman arm fixing axle 21 form.Described sidesway wheel 1 is connected by sidesway wheel shaft 2
Fishplate 3, and then be connected with connecting rod fixing bolt 5, direction is vertical with the direction of motion of vehicle frame 23, can be with the contraction of linkage
Moved up and down with elongation, while it is from wheel motor, can easily move and stop.
Described pitman arm 4 is intersected and is connected two-by-two by connecting rod fixing bolt 5, and its upper connection point is consolidated by pitman arm
Dead axle 21 is connected on vehicle frame 23, ensures that linkage can be shunk and be stretched by the variation up and down of connecting node.
Described bevel gear wheel 17 is fixed on the middle part of vehicle frame 23, top and the output of motor 10 by large bevel gear shaft 18
Axle is connected, and can be rotated with the rotation of the output shaft of motor 10, and then drives the bevel pinion of engagement to rotate.
Described bevel pinion 16 totally 3, engaged in equilateral triangle with bevel gear wheel 17, center and small coning gear shaft 15
Connection, and then rolling bearing 7 is connected by small coning gear shaft fixing axle 13 and is fixed in frame 23, ensure that bevel pinion 16 only enters
Row rotation and without revolution.
Described slider-crank mechanism 14 is in the end of small coning gear shaft 15, and its lower end sliding block is connected with slide bar 6, so as to
The connecting node that pitman arm 4 intersects is connected, by the rotation of small coning gear shaft 15, drives the sliding block in slider-crank mechanism 14 to make
Pump, and then the elongation and contraction of drivening rod mechanism.
Described video camera 12 is fixed on vehicle frame 23 by video camera fix bar 24, can pass through the road surface to vehicle front
Captured in real-time is carried out, and then feeds back to complete machine control centre, to determine the ensuing action of vehicle.
The haulage vehicle for installing the present invention carries out avoidance motion in field, when haulage vehicle carries out hauling operation in field
When, video camera can convey front road conditions to control centre in real time, and when finding obstacle, process is as follows：
First, control centre can give 20 1 brake signals of brake disc, make the stop motion of driving wheel 19；
Then, drive motor 10 starts to rotate, and so as to drive bevel gear wheel 17 to rotate, then three bevel pinions 16 are carried out
Rotation, and then drive lower link arm 4 to rotate by the slider-crank mechanism 14 of the end of small coning gear shaft 15, make entirely to connect
Linkage is stretched, until the sidesway wheel 1 below linkage contacts to earth, whole vehicle body is jacked up, and then drives sidesway wheel 1
Wheel hub motor, sidesway wheel is rotated, drive vehicle to carry out row, after integral body avoids obstacle, motor with reciprocating movement 10, make whole
Individual linkage is shunk, until driving wheel 19 contacts to earth, sidesway wheel 1 hangs on the top of vehicle frame 23, finally drives driving wheel again
19 wheel hub motors, make its rotation, and whole avoidance work is fully completed.
The present invention can change the size and quantity of pitman arm, increase the height of linkage, to adapt to different height, no
Vehicle with size carries out avoidance, and these principles are identical, but the change of physical dimension, can form other implementations of the present invention
Example.
Above content is further description made for the present invention, it is impossible to assert the embodiment of the present invention only
It is limited to this, for general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, also
Some simple deduction or replace can be made, the present invention should be all considered as belonging to and determine invention by the claims submitted
Protection domain.
Claims (4)
- A kind of 1. obstacle avoidance apparatus of farmland haulage vehicle, it is characterised in that：Including mechanical driving device and avoidance performs device；Described mechanical driving device includes motor (10), bevel pinion (16) and bevel gear wheel (17)；Motor (10) is logical Cross motor fixing shaft (11) and be fixed on transport vehicle carriage (9) bottom, bevel gear wheel (17) is fixed by large bevel gear shaft (18) In the middle part of the vehicle frame (23) of haulage vehicle, bevel pinion (16) totally 3, engaged in equilateral triangle with bevel gear wheel (17), respectively Bevel pinion (16) center is connected with small coning gear shaft (15), and then connects rolling bearing by small coning gear shaft fixing axle (13) (7) it is fixed in frame (23), bevel gear wheel (17) top is connected with the output shaft of motor (10), can be with motor (10) The rotation of output shaft and rotated, and then drive engagement bevel pinion rotate；Described avoidance performs device includes sidesway wheel (1), sidesway wheel shaft (2), clamping plate (3), pitman arm (4), slide bar (6), song Handle slide block mechanism (14) and pitman arm fixing axle (21)；Pitman arm (4) intersects the shape that is connected two-by-two by connecting rod fixing bolt (5) Into linkage, its upper connection point is connected on vehicle frame (23) by pitman arm fixing axle (21), and linkage can pass through company Connect the variation up and down of node and shunk and stretched；Sidesway wheel (1) is passed through by sidesway wheel shaft (2) connecting cleat (3) Connecting rod fixing bolt (5) is connected with linkage, and sidesway wheel (1) direction is vertical with vehicle frame (23) direction of motion, can be with connecting rod The contraction of mechanism is moved up and down with extending, and sidesway wheel (1) is provided with wheel hub motor, and passing through In-wheel motor driving, it is rotated；Crank Slide block mechanism (14) is in the end of small coning gear shaft (15), and its lower end sliding block is connected with slide bar (6), slide bar (6) connection connecting rod The connecting node that arm (4) intersects, by the rotation of small coning gear shaft (15), drive on the sliding block work in slider-crank mechanism (14) Lower reciprocating motion, and then the elongation and contraction of drivening rod mechanism.
- 2. the obstacle avoidance apparatus of farmland haulage vehicle according to claim 1, it is characterised in that：Also include being installed on vehicle frame (23) video camera (12) on.
- 3. the obstacle avoidance apparatus of farmland haulage vehicle according to claim 1, it is characterised in that：Also include controller, pass through Video camera (12) carries out captured in real-time to the road surface of vehicle front, and then feeds back to complete machine controller to determine that vehicle is ensuing Action.
- 4. the obstacle avoidance apparatus of farmland haulage vehicle according to claim 1, it is characterised in that：Also include complete machine transport dress Put, complete machine conveying arrangement include vehicle frame fixing axle (8), compartment (9), driving wheel (19), brake disc (20), live axle (22) and Vehicle frame (23)；Compartment (9) is arranged on vehicle frame (23), and driving wheel (19) is arranged under vehicle frame fixing axle (8) by live axle (22) It is square, brake disc (20) is installed on driving wheel (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710633555.3A CN107344545A (en) | 2017-07-28 | 2017-07-28 | A kind of obstacle avoidance apparatus of farmland haulage vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710633555.3A CN107344545A (en) | 2017-07-28 | 2017-07-28 | A kind of obstacle avoidance apparatus of farmland haulage vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107344545A true CN107344545A (en) | 2017-11-14 |
Family
ID=60258220
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710633555.3A Pending CN107344545A (en) | 2017-07-28 | 2017-07-28 | A kind of obstacle avoidance apparatus of farmland haulage vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107344545A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111098833A (en) * | 2019-12-26 | 2020-05-05 | 河南恒托电子科技有限公司 | Horizontal spreading type synchronous double-wheel parking transverse moving device |
-
2017
- 2017-07-28 CN CN201710633555.3A patent/CN107344545A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111098833A (en) * | 2019-12-26 | 2020-05-05 | 河南恒托电子科技有限公司 | Horizontal spreading type synchronous double-wheel parking transverse moving device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171114 |