CN110999669A

CN110999669A - Planting frame tractor

Info

Publication number: CN110999669A
Application number: CN201911338743.9A
Authority: CN
Inventors: 高国华; 冯永炳; 田钰瑄; 陈平; 魏兆勇
Original assignee: Beijing University of Technology
Current assignee: Beijing University of Technology
Priority date: 2019-12-23
Filing date: 2019-12-23
Publication date: 2020-04-14
Anticipated expiration: 2039-12-23
Also published as: CN110999669B

Abstract

The invention discloses a planting frame tractor which comprises a track, a track moving vehicle, a mechanical arm, a transverse trailer, a tractor sub-vehicle, a planting frame track and a planting frame. The rail moving vehicle comprises a rail vehicle and a winch fixed on the rail vehicle, the mechanical arm comprises a rear extension arm, a balancing weight, an extension arm center shaft, a front extension arm and an extension arm supporting guide wheel, a steel wire rope is installed on the winch and connected with the front extension arm in the mechanical arm, and the front extension arm is hinged to the sub-tractor. The planting frame tractor can realize the operation process of transverse motion and reciprocating traction. The invention has the advantages of high working efficiency, high action speed, high reliability and the like, and can operate circularly.

Description

Planting frame tractor

Technical Field

The invention relates to the technical field of agricultural machinery, in particular to a planting frame tractor which is suitable for two action processes.

Background

In the field of facility agriculture, a full-flow facility agriculture automation solution requires a specific cyclic operation system. The circulation operation system is used as an auxiliary production means and is very important for improving the automation efficiency of facility agriculture. However, the research carried out at home and abroad has great difference, the fundamental reason is that the facility agriculture automation equipment lacks a uniform standard, and some circulating operation systems aiming at specific planting containers are not well developed and researched.

The invention takes the cycle operation of a planting frame as a research target, decomposes the traction action of the planting frame into two action processes of transverse movement and reciprocating traction, and designs a planting frame tractor which is suitable for the two action processes.

Disclosure of Invention

The technical problem to be solved by the invention is to overcome the defects of the prior art and provide the planting frame tractor which has high action speed, high working efficiency and high reliability and is suitable for two action processes of transverse movement and reciprocating traction.

To solve the technical problem, according to a first aspect of the present invention, a planting frame tractor is provided, which includes a tractor rail, a rail moving vehicle, a mechanical arm, a transverse trailer, a tractor sub-vehicle, a planting frame rail and a planting frame. The method is characterized in that: the track moving vehicle comprises a track vehicle and a winch fixed on the track vehicle, a steel wire rope is installed on the winch, the steel wire rope is connected with a front extension arm in a mechanical arm, the front extension arm is hinged to a traction sub-vehicle, and the planting frame is pulled out of a planting sequence through the motion of the traction sub-vehicle and the guiding effect of the mechanical arm.

The invention utilizes the steel wire rope to drive the traction sub-vehicle to move and the guiding function of the mechanical arm, can perform the traction process in a reciprocating way, and pulls the planting frame out of the planting sequence, thereby reducing the labor cost, having high working efficiency, having no need of arranging a track in the traction path for guiding, and being beneficial to the transverse movement of the planting frame after the traction action is completed.

Furthermore, the arm, including back extension arm, balancing weight, extension arm axis, preceding extension arm and extension arm support leading wheel. The front extension arm and the rear extension arm can rotate around a central shaft of the extension arm, and the balancing weight is installed in the mechanical arm.

Furthermore, the bottom of the front extension arm is provided with an extension arm supporting guide wheel which is a one-way wheel.

Furthermore, the included angle between the bottom plate of the frame of the transverse trailer in the transverse trailer and the horizontal ground is less than 30 degrees.

Further, the mechanical arm and the tractor sub-vehicle can be folded and stored on a bottom plate of a transverse trailer frame in the transverse trailer, and the transverse trailer frame of the transverse trailer is fixedly connected with the rail moving vehicle.

Furthermore, a plurality of transverse trailer truckles are installed at the bottom of the transverse trailer, the rail moving vehicle moves on the track of the tractor and further drives the transverse trailer to move, and the movement direction of the transverse trailer is perpendicular to the traction direction of the planting frame.

Further, the length of the body of the traction sub-vehicle is smaller than the width of the planting frame.

Furthermore, the traction sub-vehicle comprises a traction hook middle shaft, a traction baffle, an electric push rod base, a traction sub-vehicle frame and traction sub-vehicle castors. The electric push rod can rotate around a hinged point of the electric push rod base, the traction hook center shaft and the electric push rod base are both fixed on the traction sub-vehicle frame, and the telescopic motion of the push rod in the electric push rod drives the traction baffle to rotate around the traction hook center shaft to complete the hooking and unlocking actions.

The beneficial effects of the invention include:

the planting frame tractor can realize two action processes of transverse movement and reciprocating traction, and has the advantages of centralized distribution of the whole mechanism and smaller size. Wherein the overall movement of planting frame tractor is realized to the lateral shifting action process to plant the frame and carry out the traction action in the planting sequence of the rest. In the reciprocating traction action process, the path of the traction action does not need to be provided with a track, and the positioning and alignment of the traction sub-vehicle and the target traction position of the row of planting frames in the traction process can be ensured. Meanwhile, the traction mechanism can circularly complete the sequential actions of stretching, hooking, traction, unlocking and the like without manual intervention, and has the advantages of high action speed, high working efficiency, high reliability and the like.

Drawings

FIG. 1 is a three-dimensional block diagram of a planting frame tractor of the present invention;

FIG. 2 is a three-dimensional block diagram of the railcar of the present invention, corresponding to FIG. 1 at 2;

FIG. 3 is a three-dimensional block diagram of the robotic arm of the present invention, corresponding to FIG. 1 at 3;

FIG. 4 is a three-dimensional block diagram of the transverse trailer of the present invention, corresponding to FIG. 1 at 4;

FIG. 5 is a front view and a sectional view A-A of the tractor sub-truck of the present invention, corresponding to FIG. 1 at 5;

fig. 6 is a front view of the planting frame tractor performing a traction operation state according to the present invention.

Description of reference numerals:

1-a tractor track; 2-a rail moving vehicle; 3, a mechanical arm; 4-a transverse trailer; 5-towing the sub-vehicle; 6-planting rack rail; 7-planting the frame; 21-a rail car; 22-a winch; 221-a steel wire rope; 31-rear extension arm; 32-a counterweight block; 33-extending arm middle shaft; 34-a front extension arm; 35-the extending arm supports the guide wheel; 41-transverse trailer frame; 42-transverse trailer casters; 411-bottom plate 51-towing hook middle shaft; 52-a pulling baffle; 53-electric push rod; 54-electric push rod base; 55-a traction sub-vehicle frame; 56-traction sub-cart caster.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

Referring to fig. 1-6, a planting frame tractor comprises a tractor track 1, a track moving vehicle 2, a mechanical arm 3, a transverse trailer 4, a tractor sub-vehicle 5, a planting frame track 6 and a planting frame 7. The planting frame 7 is installed on the planting frame rail 6, the rail moving vehicle 3 comprises a rail vehicle 21 and a winch 22 fixed on the rail vehicle 21, a steel wire rope 221 is installed on the winch 22, the steel wire rope 221 is connected with a front extension arm 34 in the mechanical arm 3, the front extension arm 34 is hinged to the traction sub-vehicle 5, and the planting frame 7 is pulled out of a planting sequence through the movement of the traction sub-vehicle 5 and the guiding effect of the mechanical arm 3. The rail moving vehicle 2 can move on the tractor rail 1 to further drive the transverse trailer 4 to move, and the movement direction of the transverse trailer 4 is perpendicular to the traction direction of the planting frame 7.

Therefore, the invention utilizes the steel wire rope 221 to drive the traction sub-vehicle 5 to move and the guiding function of the mechanical arm 3, can perform the traction process in a reciprocating way, and pulls the planting frame 7 out of the planting sequence, thereby reducing the labor cost, having high working efficiency, having no need of arranging a track in the traction path for guiding, and being beneficial to the transverse movement of the planting frame 7 after the traction action is completed.

Referring to fig. 3, the mechanical arm 3 includes a rear extension arm 31, a weight 32, an extension arm middle shaft 33, a front extension arm 34, and an extension arm support guide wheel 35. The front extension arm 34 and the rear extension arm 31 can rotate around the extension arm center shaft 33, and the balance weight 32 is installed in the mechanical arm 3. The centre of gravity of the robot arm 3 can be shifted to the towing direction so that the winch 22 can tow the sub-car 5 in the direction of the towing path during the rope payout.

Referring to fig. 3, the bottom of the front extension arm 34 is provided with an extension arm support guide wheel 35, and the extension arm support guide wheel 35 is a one-way wheel. Therefore, the path of the traction action can ensure the positioning and alignment of the traction sub-vehicle 5 and the target traction position of the planting frame 7 in the traction process without arranging a rail.

Referring to fig. 4, the included angle between the bottom plate 411 of the frame 41 of the transverse trailer 4 and the horizontal ground is less than 30 degrees, which facilitates the folding and storage of the mechanical arm 3 and the sub-tractor 5.

Referring to fig. 1 and 4, the robotic arm 3 and the tractor sub-vehicle 5 can be folded and stowed on the floor 411 of the transverse trailer frame 41 in the transverse trailer 4; the transverse trailer frame 41 of the transverse trailer 4 is fixedly connected with the rail moving vehicle 2. Therefore, the mechanism is distributed and concentrated, and the whole size is small.

Referring to fig. 1 and 4, the bottom of the transverse trailer 4 is provided with a plurality of transverse trailer casters 42 to realize the transverse movement process of the planting frame.

Referring to fig. 1 and 5, the length of the body of the sub-tractor 5 is smaller than the width of the planting frame 7. Therefore, the sub-tractor 5 can enter the planting frame 7 to perform a traction operation.

Referring to fig. 1 and 5, the towing sub-cart 5 includes a towing hook middle shaft 51, a towing baffle 52, an electric push rod 53, an electric push rod base 54, a towing sub-cart frame 55 and a towing sub-cart caster 56. The electric push rod 53 can rotate around a hinged point of the electric push rod base 54, the traction hook middle shaft 51 and the electric push rod base 54 are both fixed on the traction sub-vehicle frame 55, and the telescopic motion of the push rod in the electric push rod 53 drives the traction baffle plate 52 to rotate around the traction hook middle shaft 51, so that the hooking and unlocking actions are completed. Therefore, the automatic drawing device can circularly finish sequential actions such as stretching, hooking, drawing, unlocking and the like without manual intervention, and has the advantages of high action speed, high working efficiency, high reliability and the like.

Referring to fig. 6, the working state of the planting frame tractor when the tractor performs the traction action is shown.

Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. The utility model provides a plant a tractor which characterized in that: comprises a tractor track (1), a track moving vehicle (2), a mechanical arm (3), a transverse trailer (4), a tractor sub-vehicle (5), a planting frame track (6) and a planting frame (7); the planting frame (7) is installed on a planting frame rail (6), the rail moving vehicle (2) comprises a rail vehicle (21) and a winch (22) fixed on the rail vehicle (21), a steel wire rope (221) is installed on the winch (22), the steel wire rope (221) is connected with a front extension arm (34) in the mechanical arm (3), the front extension arm (34) is hinged to the traction sub-vehicle (5), and the planting frame (7) is pulled out of a planting sequence through the movement of the traction sub-vehicle (5) and the guiding effect of the mechanical arm (3); the track moving vehicle (2) can move on the tractor track (1) to drive the transverse trailer (4) to move, and the movement direction of the transverse trailer (4) is perpendicular to the traction direction of the planting frame (7).

2. The planting frame tractor of claim 1, wherein: utilize wire rope (221) to drive the motion of drawing sub-car (5) and the guide effect of arm (3), reciprocal execution tractive process draws out planting sequence with planting frame (7), reduces the cost of labor, and work efficiency is high, need not to arrange the track in the traction path and leads, is favorable to planting frame (7) transverse movement after the action of drawing is accomplished.

3. The planting frame tractor of claim 1, wherein: the mechanical arm (3) comprises a rear extension arm (31), a balancing weight (32), an extension arm middle shaft (33), a front extension arm (34) and an extension arm supporting guide wheel (35); the front extension arm (34) and the rear extension arm (31) can rotate around the extension arm middle shaft (33), and the mechanical arm (3) is internally provided with the balancing weight (32); the gravity center of the mechanical arm (3) can be shifted to the traction direction, so that the traction sub-vehicle (5) can move along the traction path direction in the rope releasing process of the winch (22).

4. The planting frame tractor of claim 3, wherein: the bottom of preceding extension arm (34) is installed extension arm and is supported leading wheel (35), extension arm supports leading wheel (35) and is the one-way wheel.

5. The planting frame tractor of claim 4, wherein: bottom plate (411) and the horizontal ground contained angle of horizontal trailer frame (41) are less than 30 degrees in horizontal trailer (4), make things convenient for the folding of arm (3) and traction sub-car (5) to accomodate.

6. The planting frame tractor of claim 1, wherein: the mechanical arm (3) and the sub-tractor (5) can be folded and stored on a bottom plate (411) of a transverse trailer frame (41) in the transverse trailer (4); and a transverse trailer frame (41) of the transverse trailer (4) is fixedly connected with the rail moving vehicle (2).

7. The planting frame tractor of claim 6, wherein: and a plurality of transverse trailer caster wheels (42) are arranged at the bottom of the transverse trailer (4) to realize the transverse movement of the planting frame.

8. The planting frame tractor of claim 1, wherein: the length of the body of the traction sub-vehicle (5) is less than the width of the planting frame (7); therefore, the sub-tractor (5) can enter the planting frame (7) to carry out traction operation.

9. The planting frame tractor of claim 1, wherein: the traction sub-vehicle (5) comprises a traction hook middle shaft (51), a traction baffle (52), an electric push rod (53), an electric push rod base (54), a traction sub-vehicle frame (55) and traction sub-vehicle castors (56); the electric push rod (53) rotates around a hinged point of the electric push rod base (54), the traction hook middle shaft (51) and the electric push rod base (54) are both fixed on a traction sub-vehicle frame (55), and the telescopic motion of the push rod in the electric push rod (53) drives the traction baffle plate (52) to rotate around the traction hook middle shaft (51) to complete the hooking and unlocking actions.