CN111820114B - Walking type farmland irrigation machine - Google Patents

Walking type farmland irrigation machine Download PDF

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Publication number
CN111820114B
CN111820114B CN202010744802.9A CN202010744802A CN111820114B CN 111820114 B CN111820114 B CN 111820114B CN 202010744802 A CN202010744802 A CN 202010744802A CN 111820114 B CN111820114 B CN 111820114B
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China
Prior art keywords
bionic
walking
driving
cross
rod
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CN202010744802.9A
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Chinese (zh)
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CN111820114A (en
Inventor
孟广海
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Jiangsu Mingquan Irrigation And Drainage Equipment Co ltd
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Jiangsu Mingquan Irrigation And Drainage Equipment Co ltd
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Publication of CN111820114A publication Critical patent/CN111820114A/en
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/09—Watering arrangements making use of movable installations on wheels or the like
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0025—Mechanical sprayers
    • A01M7/0032—Pressure sprayers
    • A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
    • B60K17/08—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing of mechanical type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B2900/00—Purpose of invention
    • B60B2900/70—Adaptation for
    • B60B2900/721—Use under adverse external conditions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
    • Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Environmental Sciences (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Water Supply & Treatment (AREA)
  • Catching Or Destruction (AREA)

Abstract

The invention discloses a walking type farmland irrigation machine which comprises a bionic anti-subsidence cross walking vehicle body, a linkage type rotary spraying irrigation device and a bionic anti-skidding cross walking device, wherein the bionic anti-skidding cross walking device is arranged at the front end of the bionic anti-subsidence cross walking vehicle body in the advancing direction, and the linkage type rotary spraying irrigation device is arranged on the bionic anti-subsidence cross walking vehicle body. The invention belongs to the technical field of field irrigation, and particularly provides a walking type field irrigation machine which aims at the muddy characteristic of field roads, effectively avoids the problems of slipping and sinking in the process of advancing by combining a driving effect of bionic type cross-step walking and the characteristic that supporting anti-sinking wheels are large in contact area and not prone to sinking, and enables a linkage type rotary spraying irrigation device and the supporting anti-sinking wheels to generate a rotary spraying irrigation effect of self-rotation in the process of advancing, so that the irrigation area is larger, and the spreading is more uniform.

Description

Walking type farmland irrigation machine
Technical Field
The invention belongs to the technical field of farmland irrigation, and particularly relates to a walking type farmland irrigation machine.
Background
The irrigation and water conservancy project aims at increasing agricultural yield, namely, various irrigation and water conservancy project measures are built and applied to adjust and improve the water status of the farmland and the water conservancy conditions of regions, the natural disaster resisting capability is improved, the virtuous cycle of the ecological environment is promoted, and the production of crops is facilitated.
When irrigating in the farmland, because field road is muddy and narrow, very easily cause skidding and the settlement of wheel, be unfavorable for shuttling of the form of common vehicle, very big inconvenience brought with the use to the transportation of irrigation equipment in farmland to irrigation sprinkler coverage that present irrigation used is less, need come and go to the field many times and irrigate, has increased the amount of labour and has irrigated the effect not good.
Disclosure of Invention
Aiming at the situation and overcoming the defects of the prior art, the invention provides a bionic anti-skidding cross-walking device which aims at the problem that the field road is muddy and easy to slip and sink, the bionic anti-skidding cross-walking device has the driving effect of bionic cross-walking, is more convenient for the whole device to move in muddy fields and avoids the slipping condition, the combination of the bionic anti-skidding cross-walking assembly and the supporting anti-sinking wheels utilizes the characteristic that the contact area of the supporting anti-sinking wheels and the ground is large and the sinking is difficult to occur, the combination of the supporting anti-sinking wheels and the supporting anti-sinking wheels effectively avoids the problem that the bionic anti-sinking cross-walking vehicle body slips and sinks in the moving process, the combination of the linked rotary spray irrigation device and the supporting anti-sinking wheels ensures that the device generates the rotary spray irrigation effect of self-rotation in the moving process, the irrigation area is larger and the spreading is more uniform, and the cross-walking drive assembly is compact and firmly connected, prevent the component from breaking away from the condition of breaking down in the process of bumpy field advancing, so that the whole device is safer and more reliable in use.
The technical scheme adopted by the invention is as follows: the invention relates to a walking type farmland irrigation machine which comprises a bionic anti-sinking cross walking vehicle body, a linkage type rotary spraying irrigation device and a bionic anti-skidding cross walking device, wherein the bionic anti-sinking cross walking vehicle body comprises supporting anti-sinking wheels and a vehicle body chassis, the supporting anti-sinking wheels are arranged behind the vehicle body chassis in the advancing direction, the bionic anti-skidding cross walking device is arranged on the other side of the intersecting supporting anti-sinking wheels on the vehicle body chassis, and the linkage type rotary spraying irrigation device is arranged on the vehicle body chassis and is connected with the supporting anti-sinking wheels.
Furthermore, the bionic anti-skid cross walking device comprises a bionic anti-skid cross walking component, a cross walking driving component and a cross walking driving component box, wherein the cross walking driving component box is arranged on a vehicle body chassis, the cross walking driving component is arranged in the cross walking driving component box, the bionic anti-skid cross walking component is arranged on the vehicle body chassis and connected with the cross walking driving component, the cross walking driving component comprises a walking driving shaft, a motor driving gear, a reversing driving gear, a driving connecting gear, a stable connecting gear and a walking driving motor, the walking driving shaft is rotatably arranged in the cross walking driving component box, the reversing driving gear is arranged on the walking driving shaft, and the walking driving motor is arranged in the cross walking driving component box, the motor driving gear is arranged on the output end of the advancing driving motor and is meshed with the reversing driving gear, the driving connecting gear and the reversing driving gear are arranged on a travelling driving shaft side by side, the travelling driving shaft is rotatably arranged in the crossed travelling driving component box, the stable connecting gear is arranged on the advancing driving shaft and is meshed with the driving connecting gear, the two sides of the stable connecting gear on the advancing driving shaft are provided with stable clamping gears, the positions of the advancing driving shaft corresponding to the stable clamping gear are provided with a clamping connecting gear, the stable clamping gear is meshed with the clamping connecting gear, through the arrangement of the stable clamping gear and the clamping connecting gear, the whole connection of the cross-step advancing driving assembly is more compact and stable, the assembly is prevented from being separated from the anchoring condition in the bumpy field advancing process, and the whole device is safer and more reliable in use.
Furthermore, the bionic anti-skid cross advancing assembly comprises a driving connecting piece, a Y-shaped reciprocating overturning connecting piece, a bionic lifting oscillating rod, a bionic supporting connecting rod, a Y-shaped reciprocating overturning connecting piece swinging stretching rod, a bionic lifting oscillating rod pushing connecting rod and a bionic walking supporting leg, wherein one end of the driving connecting piece is arranged on an advancing driving shaft, one end of the bionic lifting oscillating rod is hinged on a vehicle body chassis, two ends of the bionic lifting oscillating rod pushing connecting rod are respectively hinged on the driving connecting piece and the middle end of the bionic lifting oscillating rod, the Y-shaped reciprocating overturning connecting piece is in a three-fork rod-shaped arrangement and comprises a first fork end, a second fork end and a third fork end, the first fork end of the Y-shaped reciprocating overturning connecting piece is hinged on the hinging part of the bionic lifting oscillating rod and the vehicle body chassis, one end of the Y-shaped reciprocating turnover connecting piece swinging stretching rod is hinged on the second bifurcation end of the Y-shaped reciprocating turnover connecting piece, the other end of the Y-shaped reciprocating turnover connecting piece swinging stretching rod is hinged on the hinging end of the bionic lifting and stretching swinging rod pushing connecting rod and the driving connecting piece, the bionic supporting connecting rod is hinged on the third bifurcation end of the Y-shaped reciprocating turnover connecting piece, the bionic walking support legs are hinged on the bionic lifting and stretching swinging rod and the bionic supporting connecting rod, the driving connecting piece is driven to rotate by the advancing driving shaft, the bionic lifting and stretching swinging rod is respectively driven to push and pull the connecting rod to push and pull the bionic lifting and stretching swinging rod, the Y-shaped reciprocating turnover connecting piece swinging and stretching rod is driven to push and pull the second bifurcation end of the Y-shaped reciprocating turnover connecting piece, and then the bionic lifting and stretching swinging rod pushing connecting rod drives the bionic lifting and stretching swinging rod to move the bionic lifting and stretching rod forward to lift legs, meanwhile, the swinging action of the Y-shaped reciprocating overturning connecting piece drives the bionic type supporting connecting rod to do leg vertical supporting action when the bionic walking is carried out through the third forked end, and further drives the bionic type walking support legs to do leg lifting and supporting action during the bionic type advancing.
Further, the linkage type rotary spraying irrigation device comprises a linkage type rotary spraying irrigation device box, a water suction pump, a water storage tank, a water delivery pipe and a linkage type rotary spraying assembly, the linkage type rotary spraying irrigation device box is arranged on a vehicle body chassis, the water storage tank and the water suction pump are arranged in the linkage type rotary spraying irrigation device box, the water suction pump and the water storage tank are connected through a pipeline, the linkage type rotary spraying assembly comprises a rotary spraying linkage gear, a rotary spraying linkage rod, a rotary spraying irrigation rod, a water delivery disc and a hollow pipe, the rotary spraying linkage rod penetrates through the linkage type rotary spraying irrigation device box and is rotatably arranged on the vehicle body chassis, a rotary connecting gear is arranged on a wheel shaft of the support anti-sinking wheel, the rotary spraying linkage gear is arranged on the rotary spraying linkage rod and is meshed with the rotary connecting gear, the hollow pipe is arranged on the rotary spraying linkage rod, the hollow pipe is provided with a water delivery hole, the rotary spraying irrigation rod is arranged on the hollow pipe, defeated water dish is located coordinated type for the setting of cavity disc and spouts irrigation equipment case soon on and with fretwork pipe rotatable coupling, be equipped with the irrigation sprinkler head on spouting the irrigation rod soon, defeated water dish of defeated water piping connection and suction pump support when the device is marchd and prevent that the wheel shaft that sinks rotates and drive through the swivelling joint gear and spout linkage gear soon rotatory, and then drive and spout the gangbar soon, spout irrigation rod soon and fretwork pipe rotation, when the suction pump passes through defeated water dish and carries the water source to the fretwork pipe, the irrigation sprinkler head can produce the effect of spouting the irrigation soon.
Furthermore, the bionic anti-skid cross advancing assembly comprises a first bionic anti-skid cross advancing assembly and a second bionic anti-skid cross advancing assembly, the first bionic anti-skid cross advancing assembly and the second bionic anti-skid cross advancing assembly are respectively arranged at two sides of an advancing driving shaft, driving connecting pieces on the first bionic anti-skid cross advancing assembly and the second bionic anti-skid cross advancing assembly are reversely arranged compared with the advancing driving shaft, when a Y-shaped reciprocating overturning connecting piece on the first bionic anti-skid cross advancing assembly swings a stretching rod and a bionic lifting swinging rod pushes a connecting rod to do pushing action, the Y-shaped reciprocating overturning connecting piece on the second bionic anti-skid cross advancing assembly swings the stretching rod and the bionic lifting swinging rod pushes the connecting rod to do pulling action, so that the bionic walking support legs on the first bionic anti-skid cross advancing assembly do leg lifting action in biological walking, and imitative biological formula walking stabilizer blade on imitative biological formula antiskid alternately subassembly two of marcing is the support action in the biological walking, and then has produced the effect of alternately walking, the integrated device of being more convenient for is marchd in muddy farmland and is avoided producing the situation of skidding, and the combination of subassembly and the support that will imitative biological formula antiskid alternately marching the subassembly and support and prevent the wheel that sinks then has utilized the support to prevent the characteristics that the wheel that sinks and the great difficult emergence of ground area of contact sinks, combine together the two then the effectual imitative biological formula of preventing the alternately walking automobile body of sinking of taking place to skid and the problem of sinking in advancing.
Furthermore, a sealing ring is arranged at the rotary connection position of the hollow pipe and the water delivery pipe.
The invention with the structure has the following beneficial effects: the walking type farmland irrigation machine has the advantages that by arranging the medicament longitudinal and transverse mixing anti-blocking integrated device, the problem that the field road is muddy and easy to slip and sink is solved, the bionic anti-slip cross-walking driving effect is achieved by the bionic anti-slip cross-walking device, the whole device can conveniently move in the muddy farmland to avoid the slipping condition, the combination of the bionic anti-slip cross-walking assembly and the supporting anti-sink wheels utilizes the characteristic that the supporting anti-sink wheels have larger ground contact area and are not easy to sink, the problem that the bionic anti-sink cross-walking vehicle body slips and sinks in the moving process is effectively solved by combining the supporting anti-sink wheels and the supporting anti-sink wheels, the combination of the linkage type rotary-jet irrigation device and the supporting anti-sink wheels enables the device to generate the rotary-jet irrigation effect during the moving process, the irrigation area is larger, the spreading is more uniform, and through making the crossing walk advance drive assembly compact firm and stable connection setting, prevent that the subassembly from producing and breaking away from the condition of taking place the anchor in the field of jolting in the process of marcing, make whole device in service more safe and reliable.
Drawings
FIG. 1 is a schematic view of the overall structure of a walking type farm irrigation machine according to the present invention;
FIG. 2 is a schematic view of the internal structure of a walking type farmland irrigation machine of the present invention;
FIG. 3 is a schematic structural view of a cross-step travel driving assembly of a walking field irrigation machine according to the present invention;
FIG. 4 is a schematic structural view of a linkage type rotary spraying irrigation device of the walking type farmland irrigation machine of the invention;
FIG. 5 is a schematic connection diagram of a hollow pipe of the walking type farm irrigation machine according to the present invention;
FIG. 6 is a schematic connection diagram of a rotary spraying linkage gear of the walking type farmland irrigation machine of the invention.
Wherein, 1, a bionic anti-sinking cross walking vehicle body, 2, a linkage rotary spraying irrigation device, 3, a bionic anti-skidding cross walking device, 4, a supporting anti-sinking wheel, 5, a vehicle body chassis, 6, a bionic anti-skidding cross advancing assembly, 7, a cross walking driving assembly, 8, a cross walking driving assembly box, 9, an advancing driving shaft, 10, an advancing driving shaft, 11, a motor driving gear, 12, a reversing driving gear, 13, a driving connecting gear, 14, a stable connecting gear, 15, an advancing driving motor, 16, a stable clamping gear, 17, a clamping connecting gear, 18, a driving connecting piece, 19, a Y-shaped reciprocating overturning connecting piece, 20, a bionic lifting oscillating rod, 21, a bionic supporting connecting rod, 22, a Y-shaped reciprocating overturning connecting piece oscillating stretching rod, 23, a bionic lifting oscillating rod pushing connecting rod, 24. the bionic type walking support leg comprises a bionic type walking support leg 25, a first bifurcation end 26, a second bifurcation end 27, a third bifurcation end 28, a linkage type rotary spraying irrigation device box 29, a water suction pump 30, a water storage tank 31, a water delivery pipe 32, a linkage type rotary spraying component 33, a rotary spraying linkage gear 34, a rotary spraying linkage rod 35, a rotary spraying irrigation rod 36, a water delivery disc 37, a hollow pipe 38, a rotary connecting gear 39, a water delivery hole 40, an irrigation sprinkler head 41, a first bionic type anti-skidding cross advancing component 42, a second bionic type anti-skidding cross advancing component 43 and a sealing ring.
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments; 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.
As shown in fig. 1-6, the walking type farmland irrigation machine comprises a bionic anti-subsidence cross walking vehicle body 1, a linkage type rotary spraying irrigation device 2 and a bionic anti-skidding cross walking device 3, wherein the bionic anti-subsidence cross walking vehicle body 1 comprises supporting anti-subsidence wheels 4 and a vehicle body chassis 5, the supporting anti-subsidence wheels 4 are arranged behind the vehicle body chassis 5 in the advancing direction, the bionic anti-skidding cross walking device 3 is arranged on the vehicle body chassis 5 and is crossed with the supporting anti-subsidence wheels 4, and the linkage type rotary spraying irrigation device 2 is arranged on the vehicle body chassis 5 and is connected with the supporting anti-subsidence wheels 4.
Wherein, the bionic anti-skid cross walking device 3 comprises a bionic anti-skid cross walking component 6, a cross walking driving component 7 and a cross walking driving component box 8, the cross walking driving component box 8 is arranged on a vehicle body chassis 5, the cross walking driving component 7 is arranged in the cross walking driving component box 8, the bionic anti-skid cross walking component 6 is arranged on the vehicle body chassis 5 and is connected with the cross walking driving component 7, the cross walking driving component 7 comprises a walking driving shaft 9, a walking driving shaft 10, a motor driving gear 11, a reversing driving gear 12, a driving connecting gear 13, a stable connecting gear 14 and a walking driving motor 15, the walking driving shaft 9 is rotatably arranged in the cross walking driving component box 8, the reversing driving gear 12 is arranged on the walking driving shaft 9, the driving motor 15 is arranged in the cross walking driving assembly box 8, the motor driving gear 11 is arranged on the output end of the driving motor 15 and is meshed with the reversing driving gear 12, the driving connecting gear 13 and the reversing driving gear 12 are arranged on the driving shaft 9 side by side, the driving shaft 10 is rotatably arranged in the cross walking driving assembly box 8, the stable connecting gear 14 is arranged on the driving shaft 10 and is meshed with the driving connecting gear 13, the stable clamping gears 16 are arranged on two sides of the stable connecting gear 14 on the driving shaft 10, the clamping connecting gear 17 is arranged on the driving shaft 9 and at the position corresponding to the stable clamping gear 16, and the stable clamping gear 16 and the clamping connecting gear 17 are meshed with each other;
the bionic anti-skid cross advancing assembly 6 comprises a driving connecting piece 18, a Y-shaped reciprocating overturning connecting piece 19, a bionic lifting and stretching swinging rod 20, a bionic supporting connecting rod 21, a Y-shaped reciprocating overturning connecting piece swinging and stretching rod 22, a bionic lifting and stretching swinging rod pushing connecting rod 23 and a bionic walking supporting leg 24, wherein one end of the driving connecting piece 18 is arranged on an advancing driving shaft 10, one end of the bionic lifting and stretching swinging rod 20 is hinged on a vehicle body chassis 5, two ends of the bionic lifting and stretching swinging rod pushing connecting rod 23 are respectively hinged on the driving connecting piece 18 and the middle end of the bionic lifting and stretching swinging rod 20, the Y-shaped reciprocating overturning connecting piece 19 is in a three-fork rod shape, the Y-shaped reciprocating overturning connecting piece 19 comprises a first fork end 25, a second fork end 26 and a third fork end 27, the first fork end 25 of the Y-shaped reciprocating overturning connecting piece 19 is hinged on the hinging part of the bionic lifting and stretching swinging rod 20 and the vehicle body chassis 5, one end of the Y-shaped reciprocating turnover connecting piece swinging and stretching rod 22 is hinged to a second fork end 26 of the Y-shaped reciprocating turnover connecting piece 19, the other end of the Y-shaped reciprocating turnover connecting piece swinging and stretching rod 22 is hinged to the hinge ends of the bionic lifting and stretching swing rod pushing connecting rod 23 and the driving connecting piece 18, the bionic supporting connecting rod 21 is hinged to a third fork end 27 of the Y-shaped reciprocating turnover connecting piece 19, and the bionic walking support feet 24 are hinged to the bionic lifting and stretching swing rod 20 and the bionic supporting connecting rod 21;
the linkage type rotary spraying irrigation device 2 comprises a linkage type rotary spraying irrigation device box 28, a water suction pump 29, a water storage tank 30, a water delivery pipe 31 and a linkage type rotary spraying assembly 32, the linkage type rotary spraying irrigation device box 28 is arranged on a vehicle body chassis 5, the water storage tank 30 and the water suction pump 29 are arranged in the linkage type rotary spraying irrigation device box 28, the water suction pump 29 and the water storage tank 30 are connected through a pipeline, the linkage type rotary spraying assembly 32 comprises a rotary spraying linkage gear 33, a rotary spraying linkage rod 34, a rotary spraying irrigation rod 35, a water delivery disc 36 and a hollow pipe 37, the rotary spraying linkage rod 34 penetrates through the linkage type rotary spraying irrigation device box 28 and can be rotatably arranged on the vehicle body chassis 5, a rotary connecting gear 38 is arranged on a wheel shaft of the support anti-sinking wheel 4, the rotary spraying linkage gear 33 is arranged on the rotary spraying rod 34 and is meshed with the rotary connecting gear 38, the hollow pipe 37 is arranged on the rotary spraying linkage rod 34, the hollow pipe 37 is a hollow pipe and is provided with a water delivery hole 39, the rotary spraying irrigation rod 35 is a hollow pipe and is arranged on the hollow pipe 37, the water delivery disc 36 is a hollow disc and is arranged on the linkage type rotary spraying irrigation device box 28 and is rotatably connected with the hollow pipe 37, the rotary spraying irrigation rod 35 is provided with an irrigation sprinkler 40, and the water delivery pipe 31 is connected with the water delivery disc 36 and the water suction pump 29;
the bionic anti-skid cross advancing assembly 6 comprises a first bionic anti-skid cross advancing assembly 41 and a second bionic anti-skid cross advancing assembly 42, the first bionic anti-skid cross advancing assembly 41 and the second bionic anti-skid cross advancing assembly 42 are respectively arranged on two sides of the advancing driving shaft 10, and the driving connecting pieces 18 on the first bionic anti-skid cross advancing assembly 41 and the second bionic anti-skid cross advancing assembly 42 are arranged in a reverse direction relative to the advancing driving shaft 10;
and a sealing ring 43 is arranged at the rotary joint of the hollow pipe 37 and the water delivery disc 36.
When the device is used, a worker injects water or a medicament into the water storage tank 30, operates the advancing driving motor 15 and the water pump 29 to start, the advancing driving motor 15 drives the motor driving gear 11 to rotate, further drives the reversing driving gear 12 to rotate, further drives the advancing driving shaft 9 to rotate, further drives the advancing driving shaft 10 to rotate through the driving connecting gear 13 and the stable connecting gear 14, meanwhile, the rotating meshed connection of the undetermined clamping gear and the clamping connecting gear 17 enables the integral connection of the crossed walking driving assembly 7 to be more compact and stable, prevents the assembly from being separated from the anchoring condition in the bumpy field advancing process, enables the integral device to be safer and more reliable in use, drives the driving connecting piece 18 to rotate through the advancing driving shaft 10, respectively drives the bionic type lifting oscillating rod to push the connecting rod 23 to push and pull the bionic type lifting oscillating rod 20, and driving the Y-shaped reciprocating turnover connecting piece swinging and stretching rod 22 to do push-pull action to the second forked end 26 of the Y-shaped reciprocating turnover connecting piece 19, further the bionic lifting and stretching swinging rod pushes the connecting rod 23 to drive the bionic lifting and stretching swinging rod 20 to do bionic walking type leg lifting and advancing action, meanwhile, the swinging action of the Y-shaped reciprocating turnover connecting piece 19 drives the bionic supporting connecting rod 21 to do leg upright supporting action when the bionic walking through the third forked end 27, further drives the bionic walking support legs 24 to do leg lifting and supporting action during the bionic walking, when the Y-shaped reciprocating turnover connecting piece swinging and stretching rod 22 on the bionic anti-skid cross advancing component I41 and the bionic lifting and stretching swinging rod push the connecting rod 23 to do pushing action, the Y-shaped reciprocating turnover connecting piece swinging and stretching rod 22 on the bionic anti-skid cross advancing component II 42 and the bionic lifting and stretching swinging rod push the connecting rod 23 to do pulling action, so that the bionic walking support feet 24 on the bionic anti-skid cross advancing assembly I41 perform leg lifting action in biological walking, the bionic walking support feet 24 on the bionic anti-skid cross advancing assembly II 42 perform supporting action in biological walking, and cross walking effect is generated, the whole device can conveniently move in muddy farmland to avoid skidding, the combination of the bionic anti-skid cross advancing assembly 6 and the supporting anti-sinking wheels 4 utilizes the characteristic that the supporting anti-sinking wheels 4 have larger contact area with the ground and are not easy to sink, the combination of the two effectively avoids the problems of skidding and sinking of the bionic anti-sinking cross walking vehicle body 1 in advancing, the wheel shafts of the supporting anti-sinking wheels 4 rotate to drive the rotary spraying linkage gear 33 to rotate through the rotary connecting gear 38 in advancing process, and further drive the rotary spraying linkage rod 34, The rotary spraying irrigation rod 35 and the hollow pipe 37 rotate, and when the water in the water storage tank 30 is pumped by the water pump 29 and a water source is conveyed to the hollow pipe 37 through the water conveying disc 36, the irrigation spraying head 40 can generate the rotary spraying irrigation effect.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (4)

1. A walking type farmland irrigation machine is characterized in that: the bionic anti-collapse cross walking vehicle comprises supporting anti-collapse wheels and a vehicle body chassis, the supporting anti-collapse wheels are arranged behind the advancing direction of the vehicle body chassis, the bionic anti-collapse cross walking device is arranged on the other side of the intersecting supporting anti-collapse wheels on the vehicle body chassis, and the linkage type rotary spraying irrigation device is arranged on the vehicle body chassis and is connected with the supporting anti-collapse wheels; the bionic anti-skid cross walking device comprises a bionic anti-skid cross advancing assembly, a cross walking driving assembly and a cross walking driving assembly box, wherein the cross walking driving assembly box is arranged on a vehicle body chassis, the cross walking driving assembly is arranged in the cross walking driving assembly box, the bionic anti-skid cross advancing assembly is arranged on the vehicle body chassis and connected with the cross walking driving assembly, the cross walking driving assembly comprises an advancing driving shaft, a motor driving gear, a reversing driving gear, a driving connecting gear, a stable connecting gear and an advancing driving motor, the advancing driving shaft is rotatably arranged in the cross walking driving assembly box, the reversing driving gear is arranged on the advancing driving shaft, the advancing driving motor is arranged in the cross walking driving assembly box, the motor driving gear is arranged on the output end of the advancing driving motor and is mutually meshed with the reversing driving gear, the driving connecting gear and the reversing driving gear are arranged on a traveling driving shaft side by side, the traveling driving shaft is rotatably arranged in a cross-walking driving assembly box, the stable connecting gear is arranged on the traveling driving shaft and is meshed with the driving connecting gear, stable clamping gears are arranged on two sides of the stable connecting gear on the traveling driving shaft, clamping connecting gears are arranged on the traveling driving shaft and correspond to the stable clamping gears, and the stable clamping gears are meshed with the clamping connecting gears; the bionic anti-skid cross advancing assembly comprises a driving connecting piece, a Y-shaped reciprocating overturning connecting piece, a bionic lifting oscillating rod, a bionic supporting connecting rod, a Y-shaped reciprocating overturning connecting piece swinging stretching rod, a bionic lifting oscillating rod pushing connecting rod and a bionic walking supporting leg, wherein one end of the driving connecting piece is arranged on an advancing driving shaft, one end of the bionic lifting oscillating rod is hinged to a vehicle body chassis, two ends of the bionic lifting oscillating rod pushing connecting rod are respectively hinged to the driving connecting piece and the middle end of the bionic lifting oscillating rod, the Y-shaped reciprocating overturning connecting piece is in a three-fork rod-shaped arrangement, the Y-shaped reciprocating overturning connecting piece comprises a first fork end, a second fork end and a third fork end, and the first fork end of the Y-shaped reciprocating overturning connecting piece is hinged to the hinging position of the bionic lifting oscillating rod and the vehicle body chassis, one end of the Y-shaped reciprocating turnover connecting piece swinging stretching rod is hinged to the second bifurcation end of the Y-shaped reciprocating turnover connecting piece, the other end of the Y-shaped reciprocating turnover connecting piece swinging stretching rod is hinged to the hinge end of the bionic lifting and stretching swing rod pushing connecting rod and the hinge end of the driving connecting piece, the bionic supporting connecting rod is hinged to the third bifurcation end of the Y-shaped reciprocating turnover connecting piece, and the bionic walking support legs are hinged to the bionic lifting and stretching swing rod and the bionic supporting connecting rod.
2. A walking type farm irrigation machine according to claim 1, characterized in that: the linkage type rotary spraying irrigation device comprises a linkage type rotary spraying irrigation device box, a water suction pump, a water storage tank, a water delivery pipe and a linkage type rotary spraying assembly, wherein the linkage type rotary spraying irrigation device box is arranged on a vehicle body chassis, the water storage tank and the water suction pump are arranged in the linkage type rotary spraying irrigation device box, the water suction pump and the water storage tank are connected through a pipeline, the linkage type rotary spraying assembly comprises a rotary spraying linkage gear, a rotary spraying linkage rod, a rotary spraying irrigation rod, a water delivery disc and a hollow pipe, the rotary spraying linkage rod penetrates through the linkage type rotary spraying irrigation device box and is rotatably arranged on the vehicle body chassis, a rotary connecting gear is arranged on a supporting sinking-preventing wheel axle, the rotary spraying linkage gear is arranged on the rotary spraying linkage rod and is meshed with the rotary connecting gear, the hollow pipe is arranged on the rotary spraying linkage rod, the hollow pipe is arranged for a hollow pipe and is provided with a water delivery hole, the rotary spraying irrigation rod is arranged on the hollow pipe for arranging the hollow pipe, the water delivery disc is a hollow disc, is arranged on the linkage type rotary spraying irrigation device box and is rotatably connected with the hollow pipe, an irrigation sprinkler head is arranged on the rotary spraying irrigation rod, and the water delivery disc is connected with a water suction pump through a water delivery pipe.
3. A walking type farm irrigation machine according to claim 2, characterized in that: the bionic anti-skid cross advancing assembly comprises a first bionic anti-skid cross advancing assembly and a second bionic anti-skid cross advancing assembly, the first bionic anti-skid cross advancing assembly and the second bionic anti-skid cross advancing assembly are respectively arranged on two sides of an advancing driving shaft, and driving connecting pieces on the first bionic anti-skid cross advancing assembly and the second bionic anti-skid cross advancing assembly are arranged in a reverse direction compared with the advancing driving shaft.
4. A walking type farm irrigation machine according to claim 3, characterized in that: and a sealing ring is arranged at the rotary connection part of the hollow pipe and the water delivery pipe.
CN202010744802.9A 2020-07-29 2020-07-29 Walking type farmland irrigation machine Active CN111820114B (en)

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Application Number Priority Date Filing Date Title
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Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101630224B1 (en) * 2013-12-10 2016-06-16 프로텍이엠에스주식회사 Agricultural Products Cultivating Robot
CN103818492B (en) * 2014-03-11 2016-04-06 北京交通大学 A kind of wheel leg compound carrying robot
CN107128390B (en) * 2017-06-27 2023-06-27 歌尔科技有限公司 Leg wheel hybrid robot
CN109501881B (en) * 2019-01-14 2024-01-12 浙江大学 Four-foot robot walking mechanism
CN209995057U (en) * 2019-04-02 2020-01-31 山东半岛水务发展有限公司 agricultural irrigation equipment
CN110432123A (en) * 2019-08-28 2019-11-12 合肥华创现代农业科技有限公司 A kind of irrigation rig
CN210959782U (en) * 2019-11-06 2020-07-10 河南森泰园林景观工程有限公司 Novel gardens construction watering device

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