CN111559435A - Intelligent agricultural machine walking chassis - Google Patents
Intelligent agricultural machine walking chassis Download PDFInfo
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- CN111559435A CN111559435A CN202010527982.5A CN202010527982A CN111559435A CN 111559435 A CN111559435 A CN 111559435A CN 202010527982 A CN202010527982 A CN 202010527982A CN 111559435 A CN111559435 A CN 111559435A
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- 230000035939 shock Effects 0.000 claims abstract description 39
- 238000013016 damping Methods 0.000 claims abstract description 28
- 239000000725 suspension Substances 0.000 claims abstract description 19
- 230000000694 effects Effects 0.000 claims abstract description 11
- 230000001105 regulatory effect Effects 0.000 claims description 16
- 230000006978 adaptation Effects 0.000 claims description 4
- 238000010521 absorption reaction Methods 0.000 abstract 7
- 230000033001 locomotion Effects 0.000 description 6
- 239000000575 pesticide Substances 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 230000003044 adaptive effect Effects 0.000 description 4
- 238000005507 spraying Methods 0.000 description 4
- 238000007514 turning Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010899 nucleation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000009333 weeding Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
- B62D55/305—Track-tensioning means acting on pivotably mounted idlers
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention provides an intelligent agricultural machine walking chassis, which relates to the technical field of agricultural machinery and comprises a chassis main body, shock absorption suspensions arranged on two sides of the chassis main body, a walking crawler arranged on the shock absorption suspensions and a driving assembly arranged on the chassis main body, wherein the shock absorption suspensions comprise a cross frame, a driving wheel rotatably arranged at one end of the cross frame, a driven wheel rotatably arranged at the other end of the cross frame and a plurality of shock absorption wheel sets which are arranged on the cross frame at intervals and extend downwards, the driving wheel is connected with the driving assembly and used for rotating under the driving of the driving assembly, the cross frame is connected with the chassis main body, the walking crawler is wound on the driving wheel, the driven wheel and the shock absorption wheel sets, and the shock absorption wheel sets can elastically move in the vertical direction so as to provide shock absorption elasticity for the cross frame. The damping effect of the chassis main body is improved, the damping effect is good, and therefore the stability of the walking chassis is improved.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to an intelligent agricultural machinery walking chassis.
Background
In the field of agricultural machinery, agricultural machinery using a walking crawler as a conveying device appears in the prior art to realize functions such as seeding, land turning, weeding, harvesting and pesticide spraying, the chassis of the existing walking crawler is poor in damping effect, and uneven ground in a forest land or an orchard is difficult to stably advance, so that the functions of seeding, land turning, weeding, pesticide spraying and the like are influenced.
Disclosure of Invention
The invention aims to provide an intelligent agricultural machinery walking chassis which is good in damping effect and capable of improving stability of agricultural machinery.
In order to achieve the above object, the present invention is achieved by the following technical means.
The utility model provides an intelligence agricultural machinery walking chassis, is in including chassis main part, setting the shock attenuation suspension, the setting of chassis main part both sides are in walking track and the setting on the shock attenuation suspension are in drive assembly in the chassis main part, the shock attenuation suspension includes the crossbearer, rotationally sets up the drive wheel of crossbearer one end, rotationally set up the crossbearer other end from driving wheel and a plurality of interval setting are in on the crossbearer and the shock attenuation wheelset that stretches out downwards, the drive wheel with drive assembly connects, be used for drive assembly's drive rotates down, the crossbearer with the chassis main part is connected, walking track is around establishing the drive wheel from driving wheel and a plurality of on the shock attenuation wheelset, vertical direction elasticity activity can be followed to the shock attenuation wheelset to the crossbearer provides shock attenuation elasticity.
In a preferred embodiment of the present invention, the damping wheel set includes a first traveling wheel, a first traveling swing arm, and a first elastic swing arm, the first traveling wheel is engaged with the traveling track and rotatably disposed at one end of the first traveling swing arm, the first traveling swing arm is obliquely disposed and hinged to the cross frame, one end of the first elastic swing arm is connected to the cross frame, and the other end of the first elastic swing arm is connected to a middle portion of the first traveling swing arm to provide a downward elastic force to the first traveling swing arm.
In a preferred embodiment of the present invention, a first hinge ring is disposed at one end of the first elastic swing arm, a second hinge ring is disposed at the other end of the first elastic swing arm, the first hinge ring is rotatably sleeved on a first hinge column disposed on the cross frame, and the second hinge ring is rotatably sleeved on a second hinge column disposed in the middle of the first walking swing arm.
In a preferred embodiment of the present invention, at least two second hinge columns are disposed at an interval in the middle of the first walking swing arm, and the second hinge ring is detachably sleeved on one of the second hinge columns.
In a preferred embodiment of the present invention, the first elastic swing arm includes a first connecting cylinder, a first guiding column and a first damping spring, one end of the first connecting cylinder is hinged to the cross frame, one end of the first guiding column movably extends into the first connecting cylinder and can slide along the first connecting cylinder, and the other end of the first guiding column is hinged to the first walking swing arm, the first guiding column and the first connecting cylinder are coaxially disposed, a holding cap is disposed on the first guiding column, a stop ring is disposed on the first connecting cylinder, and the first damping spring is sleeved on the first connecting cylinder and the first guiding column and respectively abuts against the holding cap and the stop ring.
In a preferred embodiment of the present invention, a stop block is further disposed on the cross frame, and the stop block is located on a side of the first walking swing arm away from the first elastic swing arm.
In a preferred embodiment of the invention, the shock absorbing suspension further comprises an adjusting wheel rotatably disposed above the cross frame for adjusting the tightness of the walking track.
In a preferred embodiment of the present invention, the shock absorbing suspension further includes an adaptive adjusting wheel set, the adaptive adjusting wheel set includes a second walking swing arm, a second elastic swing arm, a second walking wheel and an adjusting plate, the adjusting plate is disposed on the cross frame, the second walking wheel is rotatably disposed at one end of the second walking swing arm and engaged with the walking track, the other end of the second walking swing arm is hinged to one end of the cross frame close to the driven wheel, the second walking swing arm is disposed in a downward-inclined manner, one end of the second elastic swing arm is hinged to the second walking swing arm, the other end of the second elastic swing arm is movably linked to the adjusting plate, the adjusting plate is disposed on the cross frame, and the adjusting plate is used for adjusting an initial angle of the second elastic swing arm.
In a preferred embodiment of the present invention, the adjusting plate is provided with an 1/4 arc-shaped groove, a sliding shaft is slidably disposed in the arc-shaped groove, the sliding shaft abuts against one end of the arc-shaped groove, and the second elastic arm is hinged to the sliding shaft.
In a preferred embodiment of the present invention, the adjusting plate is detachably disposed on the cross frame by an adjusting bolt.
The invention has the following beneficial effects:
according to the intelligent agricultural machinery walking chassis provided by the invention, the cross frame is connected with the chassis main body, the plurality of damping wheel sets are arranged on the cross frame at intervals and extend downwards, and each damping wheel set can elastically move in the vertical direction, so that damping elasticity is provided for the cross frame, the damping effect of the chassis main body is improved, the damping effect is good, and the stability of the walking chassis is improved.
According to the intelligent agricultural machinery walking chassis provided by the invention, the first walking swing arm is obliquely arranged and hinged on the cross frame, one end of the first elastic swing arm is connected with the cross frame, and the other end of the first elastic swing arm is connected with the first walking swing arm, so that the first elastic arm and the first walking swing arm form a T-shaped structure, the extrusion force of the first walking swing arm received from the walking crawler belt along the vertical direction is transmitted to the first elastic swing arm, and the first elastic swing arm bears the load through the T-shaped structure, the elastic bearing capacity of the intelligent agricultural machinery walking chassis is greatly improved, and compared with the situation that a spring is directly additionally arranged above the walking wheel, more stable elasticity can be provided, and the stability of the cross frame is ensured.
According to the pesticide spraying walking chassis provided by the invention, the two ends of the first elastic swing arm are respectively hinged on the cross frame and the first walking swing arm through the first hinge ring and the second hinge ring, and the first walking swing arm can rotate while deforming in the rotating process of the first walking swing arm, so that the reverse stress between the first walking swing arm and the cross frame is avoided, and the first elastic swing arm is ensured to provide stable elasticity.
According to the intelligent agricultural machinery walking chassis provided by the invention, the plurality of second hinge columns are arranged in the middle of the first walking swing arm at intervals, the second hinge ring on the first elastic swing arm can be selectively sleeved on one of the second hinge columns, and when the elasticity needs to be adjusted, the relative position between the first elastic swing arm and the first walking swing arm can be adjusted by changing the sleeved second hinge column, so that the initial angle of the first walking swing arm can be adjusted, and the height of the chassis can be adjusted.
According to the intelligent agricultural machinery walking chassis provided by the invention, the transmission of elasticity is realized through the cooperation among the first connecting cylinder, the first guide post and the first damping spring, and the limitation of the spring is realized through the abutting cap and the stop plate, so that the phenomenon of dislocation of the spring is avoided, and the first elastic swing arm is further ensured to provide stable elasticity.
According to the intelligent agricultural machinery walking chassis provided by the invention, the stop block is arranged, so that the situation that the first walking swing arm is driven to rotate over when the first elastic swing arm rebounds when the walking crawler passes through the ground with large height drop can be avoided.
According to the intelligent agricultural machinery walking chassis provided by the invention, the tension degree of the walking crawler belt can be adjusted by arranging the adjusting wheels, so that the walking crawler belt is convenient to disassemble and assemble.
According to the intelligent agricultural machinery walking chassis provided by the invention, the adaptive adjusting wheel set is arranged, and the initial angle of the second walking swing arm is adjusted through the adjusting plate, so that the inclination angle of the front end of the walking crawler belt is adjusted, the passing capacity of the walking crawler belt is adjusted, and the applicability of the intelligent agricultural machinery walking chassis is improved.
The intelligent agricultural machinery walking chassis provided by the invention is very convenient by arranging the arc-shaped groove and adjusting the position of the second elastic arm by adjusting the sliding shaft so as to adjust the initial angle of the second walking swing arm.
According to the pesticide spraying chassis provided by the invention, the angle of the adjusting plate can be adjusted by arranging the adjusting bolt, so that the position of the arc-shaped groove is adjusted, and the adjustability of the adjusting plate is further increased.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below.
FIG. 1 is an isometric view of an intelligent agricultural machine walking chassis provided by an embodiment of the present invention;
FIG. 2 is a front view of an intelligent agricultural machine walking chassis provided by an embodiment of the invention;
FIG. 3 is a top view of an intelligent agricultural machine walking chassis provided by an embodiment of the invention;
FIG. 4 is a side view of an intelligent agricultural machine walking chassis provided by an embodiment of the present invention;
FIG. 5 is a first partial structural view of the walking chassis of the intelligent agricultural machine in FIG. 4;
FIG. 6 is a schematic view of a connection structure between the first elastic swing arm and the first walking swing arm in FIG. 5;
fig. 7 is a second partial structural schematic view of the walking chassis of the intelligent agricultural machine in fig. 4.
Icon: 1-intelligent agricultural machinery walking chassis; 2-a chassis body; 3-a shock absorbing suspension; 4-a walking crawler belt; 5-a drive assembly; 6-horizontal frame; 7-driving wheels; 8-driven wheel; 9-a damping wheel set; 10-a drive motor; 11-a first travelling wheel; 12-a first walking swing arm; 13-a first elastic swing arm; 14-a steering gear reducer; 15-a first hinge ring; 16-a first hinge column; 17-a second hinge loop; 18-a second hinge column; 19-a first connecting cylinder; 20-a first guide post; 21-a first damping spring; 22-a retaining cap; 23-a stop ring; 24-a stop block; 25-a regulating wheel; 26-adapting the regulating wheel set; 27-a second walking swing arm; 28-a second elastic swing arm; 29-a second road wheel; 30-adjusting plate; 31-a second connector barrel; 32-a second guide post; 33-a second damping spring; 34-an arc-shaped groove; 35-adjusting the bolt.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. Features in the embodiments described below may be combined with each other without conflict.
Examples
With reference to fig. 1 to 3, this embodiment provides an intelligence agricultural machinery walking chassis 1, and its shock attenuation is effectual, can improve the accuracy of chassis walking, and in addition, this intelligence agricultural machinery walking chassis 1's suitability is strong, and stable in structure can provide stable shock-absorbing function.
The intelligence agricultural machinery walking chassis 1 that this embodiment provided, an intelligence agricultural machinery walking chassis 1, including chassis main part 2, the shock attenuation suspension 3 of setting in chassis main part 2 both sides, the walking track 4 of setting on shock attenuation suspension 3 and the drive assembly 5 of setting on chassis main part 2, shock attenuation suspension 3 includes crossbearer 6, rotationally set up the drive wheel 7 in crossbearer 6 one end, rotationally set up at the crossbearer 6 other end from driving wheel 8 and a plurality of interval setting on crossbearer 6 and the shock attenuation wheelset 9 that stretches out downwards, drive wheel 7 is connected with drive assembly 5, be used for rotating under drive assembly 5's drive, crossbearer 6 is connected with chassis main part 2, walking track 4 is around establishing at drive wheel 7, from driving wheel 8 and a plurality of shock attenuation wheelset 9, vertical direction elastic activity can be followed to shock attenuation wheelset 9, in order to provide shock attenuation elasticity for crossbearer 6.
In this embodiment, the intelligent agricultural machine walking chassis 1 is a rear-drive device, the end where the driving wheel 7 is located is a rear end, and the end where the driven wheel 8 is located is a front end. Have a mounting platform on chassis main part 2, the last agricultural apparatus that is provided with of mounting platform, for example the sprinkler who sprays the pesticide, sprinkler is upwards protruding to at least one side sprays the pesticide, and walking track 4 drives chassis main part 2 motions, thereby drives the sprinkler motion. Of course, a device such as a sowing mechanism or a fertilizing device for realizing other functions can be arranged on the mounting platform.
This embodiment sets up the shock attenuation wheelset 9 that stretches out on crossbearer 6 and downwards through a plurality of intervals, and vertical direction elastic activity can be followed to every shock attenuation wheelset 9 to provide shock attenuation elasticity to crossbearer 6, improved chassis main part 2's shock attenuation effect, the shock attenuation is effectual, thereby improved walking chassis's stability.
In the present embodiment, the driving assembly 5 includes two driving motors 10, and the two driving motors 10 are disposed at the rear end of the chassis main body 2 and independently control the two driving wheels 7 at both sides, respectively, so that the two walking tracks 4 can be independently controlled to move, respectively, to implement forward, backward and turning functions. Specifically, two driving motors 10 are longitudinally arranged side by side, so that the occupied space can be saved, and meanwhile, each driving motor 10 realizes transmission with the driving wheel 7 through a steering speed reducer 14.
In the present embodiment, a lithium battery is further provided in the chassis main body 2 for supplying power to the driving motor 10. Meanwhile, a control panel and a navigation module are further arranged in the chassis main body 2, the navigation module is electrically connected with the control panel, the control panel is electrically connected with the driving motor 10, and the driving motor 10 can be controlled to act through the control panel, so that functions of advancing, retreating, turning and the like are realized. Meanwhile, the remote control self-adaptive navigation device can be in communication connection with the navigation module through an external remote controller, so that the remote control self-adaptive navigation is realized.
In this embodiment, still be provided with orientation module in the chassis main part 2, orientation module fixes a position through GPS positioning system, conveniently seeks machine and plans the walking route, improves its intelligent degree.
In this embodiment, chassis main part 2 still is provided with a plurality of infrared distance sensors all around, and a plurality of infrared distance sensors all are connected with control panel electricity, through infrared distance sensor all around, can the real-time supervision in the environment distance of obstacle around to in time stop driving motor by control panel when obstacle distance is too near, thereby realize 360 degrees anticollision functions.
In addition, still be provided with a plurality of inclination sensors around the chassis main part, a plurality of inclination sensors are connected with control panel electricity, through a plurality of inclination sensors, can real-time supervision chassis main part 2's inclination situation, in time stop driving motor when the inclination is too big to realize the anti-tilt function.
Referring to fig. 4 to 7 in combination, the shock-absorbing wheel set 9 includes a first traveling wheel 11, a first traveling swing arm 12, and a first elastic swing arm 13, the first traveling wheel 11 is engaged with the traveling crawler 4 and rotatably disposed at one end of the first traveling swing arm 12, the first traveling swing arm 12 is obliquely disposed and hinged on the cross frame 6, one end of the first elastic swing arm 13 is connected to the cross frame 6, and the other end is connected to the middle portion of the first traveling swing arm 12 to provide a downward elastic force to the first traveling swing arm 12.
In this embodiment, set up and articulate the first swing arm of walking 12 on crossbearer 6 through the slope, the one end and the crossbearer 6 of first elasticity swing arm 13 are connected simultaneously, the other end is connected with first swing arm of walking 12, thereby make first elasticity arm and first swing arm of walking 12 formation T style of calligraphy structures, the extrusion force along vertical direction that receives on walking track 4 with first swing arm of walking 12 transmits to first elasticity swing arm 13, and bear through T style of calligraphy structure, its elastic bearing capacity has been improved greatly, compare in direct can provide more stable elasticity in walking wheel top additional spring of installing, guarantee crossbearer 6's stability.
It should be noted that, in this embodiment, the plurality of first swing arms 12 are parallel to each other in the initial state, and are all disposed by the cross frame 6 in an inclined manner toward the rear end, and one end of the first elastic arm is disposed at the rear of the corresponding first swing arm 12, so that when the first traveling wheel 11 receives an upward force, the first swing arm 12 rotates upward to press the first elastic swing arm 13, and the first elastic swing arm 13 provides an opposite elastic force at the same time, so that most of the force is eliminated.
It should be further noted that, by providing the first elastic arm as the intermediate transmission member, the influence of the cross frame on the first walking swing arm 12 is greatly reduced, so that the stability of the cross frame and the chassis main body 2 is further ensured. Specifically, the first elastic arm is connected to the middle of the first walking swing arm 12, when the first walking wheel 11 receives a raised jacking force on the ground and the upward movement distance is X, the first walking swing arm 12 is driven to rotate, because the first walking wheel 11 is located at the end of the first walking swing arm 12, and the first elastic arm is located at the middle of the first walking swing arm 12, the end movement distance of the first walking swing arm 12 is X, and the middle movement distance of the first walking swing arm 12 is about 0.5X, the deformation degree of the first elastic arm can be greatly reduced, so that the influence of the first walking swing arm 12 on the crossbearer is reduced.
In this embodiment, one end of the first elastic swing arm 13 is provided with a first hinge ring 15, the other end of the first elastic swing arm 13 is provided with a second hinge ring 17, the first hinge ring 15 is rotatably sleeved on a first hinge post 16 arranged on the cross frame 6, and the second hinge ring 17 is rotatably sleeved on a second hinge post 18 arranged in the middle of the first walking swing arm 12. Through first articulated loop 15 and second articulated loop 17 for the both ends of first elasticity swing arm 13 articulate respectively on crossbearer 6 and first swing arm 12 of walking, and first swing arm 12 of walking can rotate when deformation in first swing arm 12 rotation process, thereby avoid forming reverse stress with crossbearer 6 and first swing arm 12 of walking between, guaranteed that first elasticity swing arm 13 can provide stable elasticity.
In this embodiment, the first hinge column 16 and the second hinge column 18 are both threaded columns, and nuts are further sleeved on the threaded columns, and the nuts abut against the first hinge ring 15 or the second hinge ring 17, so that the first hinge ring 15 or the second hinge ring 17 can be prevented from falling off.
In this embodiment, at least two second hinge columns 18 are arranged at intervals in the middle of the first walking swing arm 12, and the second hinge ring 17 is detachably sleeved on one of the second hinge columns 18. Specifically, two second hinge columns 18 are spaced apart from each other in the middle of the first walking swing arm 12, and the distance between the two second hinge columns 18 is 1/10 times the length of the second walking swing arm 27. The plurality of second hinge columns 18 are arranged in the middle of the first walking swing arm 12 at intervals, the second hinge ring 17 on the first elastic swing arm 13 can be selectively sleeved on one of the second hinge columns 18, when the elastic force needs to be adjusted, the relative position between the first elastic swing arm 13 and the first walking swing arm 12 can be adjusted by changing the sleeved second hinge columns 18, so that the initial angle of the first walking swing arm 12 can be adjusted, and the height of the chassis can be adjusted.
The first elastic swing arm 13 comprises a first connecting cylinder 19, a first guide column 20 and a first damping spring 21, one end of the first connecting cylinder 19 is hinged to the cross frame 6, one end of the first guide column 20 movably extends into the first connecting cylinder 19 and can slide along the first connecting cylinder 19, the other end of the first guide column 20 is hinged to the first walking swing arm 12, the first guide column 20 and the first connecting cylinder 19 are coaxially arranged, a abutting cap 22 is arranged on the first guide column 20, a stop ring 23 is arranged on the first connecting cylinder 19, and the first damping spring 21 is sleeved on the first connecting cylinder 19 and the first guide column 20 and respectively abutted against the abutting cap 22 and the stop ring 23. The transmission of elasticity is realized through the cooperation between first connecting cylinder 19, first guide post 20 and the first damping spring 21 to realize spacing to the spring through holding cap 22 and backstop board, avoided the phenomenon that the spring dislocates, further guaranteed that first elasticity swing arm 13 can provide stable elasticity.
In other preferred embodiments of the present invention, the first damping spring 21 may also be replaced by an elastic cylinder, and specifically, the end of the first guiding column 20 is provided with a piston head, the piston head is slidably disposed in the first connecting cylinder 19, and the end of the first connecting cylinder 19 is further provided with a retaining ring for preventing the piston head from falling off, and the piston head and the side wall of the first connecting cylinder 19 are hermetically connected, so that a sealed air cavity is formed inside the first connecting cylinder 19, thereby implementing the function of the elastic cylinder, which can also implement the function of providing elastic force, and avoiding the arrangement of a spring, and simplifying the structure.
In the preferred embodiment of the present invention, a stop block 24 is further disposed on the cross frame 6, and the stop block 24 is located on a side of the first walking swing arm 12 away from the first elastic swing arm 13. Specifically, in the initial state, that is, when the apparatus is on a horizontal ground, the stopper 24 abuts against the first walking swing arm 12, so that the walking crawler 4 in the initial state can be maintained. Because chassis body and crossbearer etc. all have certain dead weight, so first damping spring 21 is in compression state under initial condition, and through setting up backstop 24, avoids transporting or the diastole of acceleration and deceleration in-process first damping spring 21 under initial condition, causes walking track 4's deformation. In addition, by providing the stopper 24, it is possible to prevent the first elastic swing arm 13 from being rebounded to drive the first walking swing arm 12 to rotate through the position when the walking crawler 4 passes through the ground with a large height drop.
Further, the shock-absorbing suspension 3 further comprises an adjusting wheel 25 rotatably provided above the cross frame for adjusting the tension of the walking crawler 4. Specifically, the regulating wheel 25 is two, and two regulating wheels 25 set up at the top to detachable such as accessible bolt are fixed, and at least one regulating wheel 25's height-adjustable, thereby can realize the regulation of track rate of tension, the dismouting walking track 4 of being convenient for.
Further, shock attenuation suspension 3 still includes adaptation adjusting wheel group 26, adaptation adjusting wheel group 26 includes second walking swing arm 27, second elasticity swing arm 28, second walking wheel 29 and regulating plate 30, regulating plate 30 sets up on crossbearer 6, second walking wheel 29 rotationally sets up the one end at second walking swing arm 27, and mesh with walking track 4 mutually, the other end of second walking swing arm 27 articulates the one end that is close to from driving wheel 8 at crossbearer 6, second walking swing arm 27 downward sloping sets up, the one end of second elasticity swing arm 28 is articulated with second walking swing arm 27, the other end and regulating plate 30 swing joint, regulating plate 30 sets up on crossbearer 6, regulating plate 30 is used for adjusting the initial angle of second elasticity swing arm 28. The initial angle of the second walking swing arm 27 is adjusted by arranging the adaptive adjusting wheel set 26 and adjusting the adjusting plate 30, so that the inclination angle of the front end of the walking crawler 4 is adjusted, the passing capacity of the walking crawler 4 is adjusted, and the applicability of the walking crawler 4 is improved.
The second elastic swing arm 28 includes a second connecting cylinder 31, a second guide post 32 and a second damping spring 33, one end of the second connecting cylinder 31 is hinged to the cross frame 6, one end of the second guide post 32 movably extends into the second connecting cylinder 31 and can slide along the second connecting cylinder 31, the other end of the second guide post 32 is hinged to the second walking swing arm 27, the second guide post 32 and the second connecting cylinder 31 are coaxially arranged, the second guide post 32 is also provided with a propping cap 22, the second connecting cylinder 31 is also provided with a stop ring 23, and the second damping spring 33 is sleeved on the second connecting cylinder 31 and the second guide post 32 and respectively props against the propping cap 22 and the stop ring 23. The transmission of elasticity is realized through the cooperation between second connecting cylinder 31, second guide post 32 and the second damping spring 33 to realize spacing to the spring through holding cap 22 and backstop board, avoided the phenomenon that the spring dislocates, further guaranteed that second elasticity swing arm 28 can provide stable elasticity.
In this embodiment, the adjusting plate 30 is provided with an 1/4 arc-shaped groove 34, a sliding shaft is slidably disposed in the arc-shaped groove 34, the sliding shaft abuts against one end of the arc-shaped groove 34, and the second elastic arm is hinged to the sliding shaft. Through setting up arc groove 34 to adjust the position of second elastic arm through adjusting the sliding shaft, and then adjust the initial angle of second walking swing arm 27, it is very convenient.
In other preferred embodiments of the present invention, the arc-shaped groove 34 may also be semicircular or 3/4 arc-shaped, and is not limited specifically as long as it is greater than or equal to 1/4 arc.
It should be noted that, during the actual movement, the second damper spring 33 is in a compressed state, so that the sliding shaft is always subjected to the elastic force along the second guide post 32 and is held against the end of the arc-shaped groove 34, including the upper end or the lower end, due to the different positions of the upper and lower ends of the arcuate slot 34, the position and angle of the second resilient arm is enabled, and further realizes the initial angle adjustment of the second walking swing arm 27, and because the second walking swing arm 27 is arranged at the front end of the whole device, the walking crawler 4 between the second walking wheel 29 and the driven wheel 8 forms the part which is firstly contacted with the front ground, through the regulation of second walking swing arm 27 angle, can adjust the inclination of second walking wheel 29 and follow walking track 4 between the driving wheel 8, the trafficability characteristic of different inclination is different to the trafficability characteristic and the suitability of whole device have been improved.
In this embodiment, the adjustment plate 30 is detachably provided on the cross frame by an adjustment bolt 35. Through setting up adjusting bolt 35, can adjust the angle of regulating plate 30 to adjust the position of arc groove 34, further increase the adjustability of regulating plate 30.
It is noted that the above detailed description of the embodiments of the invention presented in the drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships conventionally put on the products of the present invention when used, and are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," "mounted," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an intelligence agricultural machinery walking chassis, its characterized in that is in including chassis main part, setting the shock attenuation suspension of chassis main part both sides, setting are in walking track and the setting on the shock attenuation suspension are in drive assembly in the chassis main part, the shock attenuation suspension includes the crossbearer, rotationally sets up the drive wheel of crossbearer one end, rotationally set up the crossbearer other end from the driving wheel and a plurality of interval setting are in on the crossbearer and the shock attenuation wheelset that stretches out downwards, the drive wheel with drive assembly connects, be used for drive assembly's drive down rotates, the crossbearer with the chassis main part is connected, the walking track is around establishing the drive wheel, from the driving wheel and a plurality of on the shock attenuation wheelset, vertical direction elasticity activity can be followed to the crossbearer provides shock attenuation elasticity.
2. The intelligent agricultural machinery running chassis of claim 1, wherein the damping wheel set comprises a first running wheel, a first running swing arm and a first elastic swing arm, the first running wheel is engaged with the running track and rotatably arranged at one end of the first running swing arm, the first running swing arm is obliquely arranged and hinged on the cross frame, one end of the first elastic swing arm is connected with the cross frame, and the other end of the first elastic swing arm is connected with the middle part of the first running swing arm so as to provide downward elasticity for the first running swing arm.
3. The intelligent agricultural machinery walking chassis of claim 2, wherein one end of the first elastic swing arm is provided with a first hinge ring, the other end of the first elastic swing arm is provided with a second hinge ring, the first hinge ring is rotatably sleeved on a first hinge column arranged on the cross frame, and the second hinge ring is rotatably sleeved on a second hinge column arranged in the middle of the first walking swing arm.
4. The intelligent agricultural machinery walking chassis of claim 3, wherein the middle part of the first walking swing arm is provided with at least two second hinge columns at intervals, and the second hinge ring is detachably sleeved on one of the second hinge columns.
5. The intelligent agricultural machinery walking chassis of claim 2 or 3, wherein the first elastic swing arm comprises a first connecting cylinder, a first guide post and a first damping spring, one end of the first connecting cylinder is hinged to the cross frame, one end of the first guide post movably extends into the first connecting cylinder and can slide along the first connecting cylinder, the other end of the first guide post is hinged to the first walking swing arm, the first guide post and the first connecting cylinder are coaxially arranged, a propping cap is arranged on the first guide post, a stopping ring is arranged on the first connecting cylinder, and the first damping spring is sleeved on the first connecting cylinder and the first guide post and respectively propped against the propping cap and the stopping ring.
6. The intelligent agricultural machinery walking chassis of claim 2 or 3, wherein the cross frame is further provided with a stop block, and the stop block is positioned on one side of the first walking swing arm away from the first elastic swing arm.
7. The intelligent agricultural machine walking chassis of claim 1, wherein the shock absorbing suspension further comprises an adjustment wheel rotatably disposed above the cross frame for adjusting the tightness of the walking track.
8. The intelligent agricultural machinery walking chassis of claim 1, characterized in that, the shock attenuation suspension still includes the adaptation and adjusts the wheelset, the wheelset is adjusted including second walking swing arm, second elasticity swing arm, second walking wheel and regulating plate in the adaptation, the regulating plate sets up on the crossbearer, the second walking wheel rotationally sets up the one end of second walking swing arm, and with the walking track meshes mutually, the other end of second walking swing arm articulates the crossbearer is close to the one end from the driving wheel, second walking swing arm downward sloping sets up, the one end of second elasticity swing arm with second walking swing arm is articulated, the other end with regulating plate active link, the regulating plate sets up on the crossbearer for adjust the initial angle of second walking swing arm.
9. The intelligent agricultural machinery walking chassis of claim 8, wherein the adjusting plate is provided with an arc-shaped groove 1/4, a sliding shaft is slidably arranged in the arc-shaped groove, the sliding shaft abuts against one end of the arc-shaped groove, and the second elastic arm is hinged to the sliding shaft.
10. The intelligent agricultural machinery walking chassis of claim 9, wherein the adjusting plate is detachably arranged on the cross frame through an adjusting bolt, and the adjusting bolt is used for adjusting an included angle between the adjusting plate and the cross frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010527982.5A CN111559435A (en) | 2020-06-11 | 2020-06-11 | Intelligent agricultural machine walking chassis |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010527982.5A CN111559435A (en) | 2020-06-11 | 2020-06-11 | Intelligent agricultural machine walking chassis |
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| CN111559435A true CN111559435A (en) | 2020-08-21 |
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| CN202010527982.5A Pending CN111559435A (en) | 2020-06-11 | 2020-06-11 | Intelligent agricultural machine walking chassis |
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