CN113547911A - Autonomous operation tractor - Google Patents
Autonomous operation tractor Download PDFInfo
- Publication number
- CN113547911A CN113547911A CN202110861027.XA CN202110861027A CN113547911A CN 113547911 A CN113547911 A CN 113547911A CN 202110861027 A CN202110861027 A CN 202110861027A CN 113547911 A CN113547911 A CN 113547911A
- Authority
- CN
- China
- Prior art keywords
- assembly
- transmission
- tractor
- autonomous
- fuel tank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- B60K15/00—Arrangement in connection with fuel supply of combustion engines or other fuel consuming energy converters, e.g. fuel cells; Mounting or construction of fuel tanks
- B60K15/03—Fuel tanks
- B60K15/063—Arrangement of tanks
-
- 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
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/12—Improving ICE efficiencies
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The embodiment of the invention provides an autonomous operation tractor, and relates to the field of mobile operation equipment. The autonomous operation tractor includes: the power system comprises an engine assembly and a fuel tank, the fuel tank is connected with the engine assembly and used for supplying oil to the engine assembly, the engine assembly is in transmission connection with the traveling system through the transmission system, and the fuel tank is arranged above the transmission system. The engine assembly passes through transmission system and is connected with the traveling system transmission, it removes to drive whole autonomic operation tractor through traveling system, set up the fuel tank in transmission system's top, at the in-process of engine assembly work, fuel in the fuel tank can rely on self gravity flow direction to set up the transmission system in the below, reduce the fuel feeding degree of difficulty of autonomic operation tractor, this kind of mode is rationally distributed, make autonomic operation tractor can normally supply fuel at the during operation, satisfy the demand of autonomic operation tractor work, the work efficiency of autonomic operation tractor is improved.
Description
Technical Field
The invention relates to the technical field of mobile operation equipment, in particular to an autonomous operation tractor.
Background
Tractors have long played a vital role in agricultural production activities throughout the world. In recent years, with the development of unmanned technology, the concept of autonomous operation of tractors and related research have also come into play.
For the traditional tractor that just can carry out the operation with the car operation of needs driver, independently operation tractor can not need the driver and realize independently operation to cancel the driver's cabin, and can save data such as a large amount of manpower and materials.
Because the independent operation tractor and the traditional tractor have great difference on the whole structure, the structural arrangement mode of the independent operation tractor and the traditional tractor does not have the possibility of carrying, and facing a new thing of the independent operation tractor, technicians in the industry often do not have the targeted structural arrangement experience, so that a series of problems caused by unreasonable arrangement are easy to occur, for example, the independent operation tractor has insufficient fuel supply in the transmission process, and the daily work requirement of the independent operation tractor cannot be met.
Disclosure of Invention
The invention aims to provide an autonomous operation tractor, which can be used for reasonably arranging all structures of the autonomous operation tractor, a fuel tank is arranged above a transmission system, and fuel in the fuel tank can flow to the transmission system arranged below by means of the gravity of the fuel tank in the working process of the autonomous operation tractor, so that the fuel supply difficulty of the autonomous operation tractor is reduced, the autonomous operation tractor can normally supply fuel in working, the working requirement of the autonomous operation tractor is met, and the working efficiency of the autonomous operation tractor is improved.
Embodiments of the invention may be implemented as follows:
an embodiment of the present invention provides an autonomous working tractor, including: the fuel tank is connected with the engine assembly and used for supplying fuel to the engine assembly, the engine assembly is in transmission connection with the traveling system through the transmission system, and the fuel tank is arranged above the transmission system.
In an optional embodiment of the present invention, the traveling system includes a bracket, a front driving assembly and a rear driving assembly, the front driving assembly and the rear driving assembly are respectively disposed at two ends of the bracket, the fuel tank is disposed above the bracket, and the transmission system is disposed below the bracket.
In an alternative embodiment of the invention, the fuel tank is located adjacent the front drive assembly and the transmission system is located adjacent the rear drive assembly.
In an alternative embodiment of the invention, the engine assembly is suspended from the bracket.
In an optional embodiment of the present invention, the transmission system includes a shift transmission case assembly, a rear transmission case assembly, a half-axle transmission assembly and a front transmission shaft assembly, the shift transmission case assembly is connected to the rear transmission case assembly, the half-axle transmission assembly penetrates through the shift transmission case assembly and the rear transmission case assembly, the front transmission shaft assembly is disposed in the shift transmission case, the front transmission shaft assembly is in transmission connection with the front transmission assembly, the half-axle transmission assembly is in transmission connection with the rear transmission assembly, and the engine assembly is in transmission connection with the shift transmission case assembly.
In an optional embodiment of the present invention, the transmission system further includes a hydraulic brake assembly, and the hydraulic brake assembly is mounted on the gear shifting transmission case and connected to the gear shifting transmission case assembly and the rear transmission case assembly.
In an optional embodiment of the present invention, the autonomous working tractor further includes a hydraulic system, an autonomous system, and a cover, the hydraulic system is disposed near the rear drive assembly, the autonomous system is disposed near the front drive assembly, the transmission system is disposed near the rear drive assembly, the power system is disposed near the front drive assembly, and the cover is disposed above the bracket.
In an alternative embodiment of the present invention, the traveling system further includes a front lifting assembly connected to an end of the carriage remote from the rear driving assembly and connected to the cover.
In an alternative embodiment of the invention, the autonomous working tractor further comprises a rear working device arranged at an end of the carriage remote from the front drive assembly.
In an alternative embodiment of the invention, the fuel tank is a saddle-type fuel tank.
The embodiment of the invention has the following beneficial effects: the autonomous operation tractor includes: the power system comprises an engine assembly and a fuel tank, the fuel tank is connected with the engine assembly and used for supplying oil to the engine assembly, the engine assembly is in transmission connection with the traveling system through the transmission system, and the fuel tank is arranged above the transmission system. The engine assembly passes through transmission system and is connected with the traveling system transmission, drive whole autonomic operation tractor through the traveling system and remove, set up the fuel tank in transmission system's top, at the in-process of engine assembly work, under the fuel in the fuel tank can rely on self gravity effect, transmit to transmission system department from the fuel tank, it makes autonomic operation tractor can normally supply oil at the during operation to have reduced the fuel feeding degree of difficulty, satisfy the demand of autonomic operation tractor work, improve the work efficiency of autonomic operation tractor.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a first perspective structural view of an autonomous working tractor according to an embodiment of the present invention.
Fig. 2 is a second perspective structural view of an autonomous working tractor according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a power system of an autonomous working tractor according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a transmission system of an autonomous working tractor according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a hydraulic system of an autonomous working tractor according to an embodiment of the present invention.
Fig. 6 is a schematic structural view of a cover of an autonomous working tractor according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a front elevation assembly of an autonomous working tractor according to an embodiment of the present invention.
Fig. 8 is a schematic structural view of a rear working device of an autonomous working tractor according to an embodiment of the present invention.
Icon: 10-autonomous operation tractor; 100-a walking system; 110-a bracket; 120-front drive assembly; 122-front drive wheels; 124-front drive axle; 130-a rear drive assembly; 132-rear drive axle; 134-rear drive wheel; 200-a transmission system; 210-a gear shift transmission case assembly; 220-rear transmission case assembly; 230-half shaft drive assembly; 240-front transmission shaft assembly; 250-a hydraulic brake assembly; 300-a power system; 310-a fuel tank; 320-an engine assembly; 330-heat dissipation water tank assembly; 340-an intercooler assembly; 350-hydraulic oil powder; 360-a heat dissipation fan; 370-an air filter assembly; 400-a hydraulic system; 410-a hydraulic radiator; 420-radiator oil inlet pipe assembly; 430-radiator return pipe assembly; 440-variable plunger pump; 450-a steering oil pump; 460-clutch oil pump; 470-brake oil pump; 480-a hydraulic oil tank assembly; 490-an electrically controlled multi-way valve assembly; 500-an autonomous system; 600-a cover; 610-a front hood assembly; 620-front wheel cover assembly; 630-hood right fender assembly; 640-hood left fender assembly; 650-a rear hood assembly; 660-rear left tire fender assembly; 670-rear right tire fender assembly; 700-a front lift assembly; 710-a suspension bracket; 720-a first pull rod; 730-a first lift cylinder; 740-a second pull rod; 750-a second lift cylinder; 760-third pull rod; 800-rear working device; 812-a left restraining plate assembly; 814-left lower link assembly; 816-a fifth wheel assembly; 818-left lift cylinder assembly; 821-welding the upper pull rod support; 823-left lifting bar assembly; 825-a right lifting bar assembly; 827-right lift cylinder assembly; 829-upper drawbar assembly; 832-right limiting plate assembly; 834-right lower link assembly; 836-traction frame assembly.
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.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, 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 if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element 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 appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
Tractors have long played a vital role in agricultural production activities throughout the world. In recent years, with the development of unmanned technology, the concept of autonomous operation of tractors and related research have also come into play. Compared with the traditional tractor which needs a driver to operate on the vehicle, the autonomous operation tractor can realize autonomous operation without the operation of the driver, so that a cab is eliminated, and a large amount of manpower, material resources and other data can be saved. The technical personnel in the industry often do not have targeted structural arrangement experience in the face of the novelty of the autonomous operation tractor, a series of problems caused by unreasonable arrangement easily occur, the fuel tank is still arranged below a transmission system, fuel can be transmitted to the transmission system only by overcoming the gravity of the fuel in the working fuel supply process of the autonomous operation tractor, the fuel supply difficulty is improved, the situation that the fuel supply is insufficient in the transmission process of the autonomous operation tractor is caused, and the working requirement of the autonomous operation tractor cannot be met. The autonomous operation tractor provided by the embodiment of the invention can improve the problems, can reasonably arrange each structure of the autonomous operation tractor, and arranges the fuel tank above the transmission system, so that the autonomous operation tractor can normally supply fuel when in work, the working requirement of the autonomous operation tractor is met, and the working efficiency of the autonomous operation tractor is improved.
Examples
Referring to fig. 1 and 2, the autonomous working tractor 10 according to the present embodiment can reasonably arrange the structures of the autonomous working tractor 10, and the fuel tank 310 is arranged above the transmission system 200, so that the autonomous working tractor 10 can normally supply fuel during operation, thereby meeting the operating requirement of the autonomous working tractor 10 and improving the operating effect of the autonomous working tractor 10.
Referring to fig. 1, 2 and 3, in the present embodiment, the autonomous working tractor 10 includes: the power system 300 comprises an engine assembly 320 and a fuel tank 310, the fuel tank 310 is connected with the engine assembly 320 and used for supplying oil to the engine assembly 320, the engine assembly 320 is in transmission connection with the traveling system 100 through the transmission system 200, and the fuel tank 310 is arranged above the transmission system 200.
In this embodiment, the engine assembly 320 is in transmission connection with the traveling system 100 through the transmission system 200, the traveling system 100 drives the whole autonomous operation tractor 10 to move, the fuel tank 310 is arranged above the transmission system 200, and in the working process of the engine assembly 320, the mode is reasonable in layout, so that the autonomous operation tractor 10 can normally supply fuel during working, the working requirement of the autonomous operation tractor 10 is met, and the working efficiency of the autonomous operation tractor 10 is improved.
Referring to fig. 2, in the present embodiment, the traveling system 100 includes a bracket 110, a front driving assembly 120 and a rear driving assembly 130, the front driving assembly 120 and the rear driving assembly 130 are respectively disposed at two ends of the bracket 110, a fuel tank 310 is disposed above the bracket 110, and the transmission system 200 is disposed below the bracket 110.
The front driving assembly 120 includes a front driving wheel 122 and a front driving axle 124, the rear driving assembly 130 includes a rear driving axle 132 and a rear driving wheel 134, and the front driving axle 124 and the rear driving axle 132 are respectively installed at two ends of the bracket 110. Two front drive wheels 122 are provided, and the two front drive wheels 122 are provided at both ends of a front drive axle 124. Similarly, there are two rear driving wheels 134, and the two rear driving wheels 134 are disposed at both ends of the rear driving axle 132. The drive train 200 is drivingly connected to the front drive axle 124 and the rear drive axle 132 to drive the entire autonomous working tractor 10.
In this embodiment, the fuel tank 310 is located adjacent to the front drive assembly 120 and the transmission 200 is located adjacent to the rear drive assembly 130.
Wherein, the fuel tank 310 is close to the place ahead setting of whole autonomic operation tractor 10, and transmission system 200 is close to the rear setting of whole autonomic operation tractor 10, can regard as transmission system 200 and fuel tank 310 balanced distribution around autonomic operation tractor 10, and the in-process that can make whole autonomic operation tractor 10 when autonomic operation tractor 10 removes makes the load of whole autonomic operation tractor 10 comparatively balanced, can alleviate the local atress of whole autonomic operation tractor 10, reduces the energy loss of autonomic operation tractor 10.
In this embodiment, the motor assembly 320 is suspended from the bracket 110. It can be considered that the upper side of the engine is connected to the bracket 110. The engine is arranged on the bracket 110 in a suspension mode, so that the upper part of the engine is stressed, and an oil pan of the engine is not stressed, so that the oil pan of the engine does not adopt a bearing oil pan.
Referring to fig. 3, in the present embodiment, the power system 300 assembly further includes a heat sink water tank assembly 330, an intercooler assembly 340, a hydraulic oil radiator 350, a heat sink fan 360 and an air filter assembly 370. The engine assembly 320 is in transmission connection with the transmission system 200, the cooling fan 360 is mounted on a fan shaft of the engine assembly 320, the cooling water tank assembly 330 and the intercooler assembly 340 are arranged at one end of the bracket 110 close to the front drive assembly 120, a water outlet of the cooling water tank assembly 330 is connected with a water inlet of the engine assembly 320 through a water inlet pipe, and a water inlet of the cooling water tank assembly 330 is connected with a water outlet of the engine assembly 320 through a water outlet pipe. The air outlet of the intercooler assembly 340 is connected with the air inlet of the engine through an air inlet pipe, and the air inlet of the intercooler assembly 340 is connected with the air outlet of the engine through an air outlet pipe. Also, a battery tank assembly that provides starting current to the motor assembly 320 is secured above the fuel tank 310.
Referring to fig. 4, in the present embodiment, the transmission system 200 includes a shift transmission case assembly 210, a rear transmission case assembly 220, a half shaft transmission assembly 230, a front transmission shaft assembly 240 and a rear transmission shaft assembly, the rear transmission shaft assembly is in transmission connection with the rear drive assembly 130, the shift transmission case assembly 210 is connected with the rear transmission case assembly 220, the half shaft transmission assembly 230 penetrates through the shift transmission case assembly 210 and the rear transmission case assembly 220, the front transmission shaft assembly 240 is disposed in the shift transmission case, the front transmission shaft assembly 240 is in transmission connection with the front drive assembly 120, the half shaft transmission assembly 230 is in transmission connection with the rear drive assembly 130, and the engine assembly 320 is in transmission connection with the shift transmission case assembly 210.
In this embodiment, since the whole traveling system 100 is relatively long, only the gear shifting transmission case assembly 210 cannot simultaneously consider the front driving assembly 120 and the rear driving assembly 130, and at this time, the rear transmission case assembly 220 connected to the gear shifting transmission case assembly 210 is provided, so that the stability of transmission between the front driving assembly 120 and the rear driving assembly 130 is improved.
The transmission system 200 can transmit the power of the engine assembly 320 to realize PTO operation and walking functions, the gear-shifting transmission case assembly 210 is connected with the engine assembly 320 through a coupler, the design of a hydraulic clutch in the shell can reduce the impact of the gear-shifting transmission case, the reasonable matching of the speed ratio of the transmission system 200 and the walking system 100 under four-wheel drive can be realized, part of the power in the engine assembly 320 is transmitted to the two rear transmission wheels of the shaft through the rear transmission shaft assembly to complete the walking function of two-wheel drive, part of the power of the engine assembly 320 is transmitted to the front driving wheel 122 through the front transmission shaft assembly 240, and the whole process is driven by the front wheel to walk. In addition, another part of power of the engine is transmitted to the working machine through the gear shifting transmission case to drive the working machine to work.
In addition, the transmission case that shifts can also realize power transmission and cut off through the combination or the separation of the friction disc of inside hydraulic clutch, through the different gearshifts of control transmission case assembly 210 that shift inside, selects different fender position. The rear transmission case assembly 220 provides a power output port and an installation connection position for the hydraulic system 400 assembly, and provides an installation connection position and realizes the operation function of a power output shaft for the rear working device 800.
In this embodiment, the transmission system 200 further includes a hydraulic brake assembly 250, and the hydraulic brake assembly 250 is mounted on the shift transmission case and connected to the shift transmission case assembly 210 and the rear transmission case assembly 220.
The hydraulic brake assembly 250 is mainly used for directly controlling the gear shifting transmission case assembly 210 and the rear transmission case assembly 220 to stop working when an abnormal condition occurs in the working process of the autonomous operation tractor 10, so that the phenomenon that the whole autonomous operation tractor 10 continues to move forward and damages the autonomous operation tractor 10 itself is avoided. The hydraulic braking system assembly can realize the parking and service braking functions; the brake control force is adjusted through hydraulic pressure, the brake efficiency is improved, and the brake stroke is reduced.
Referring to fig. 1, in the present embodiment, the autonomous working tractor 10 further includes a hydraulic system 400, an autonomous system 500, and a cover 600, the hydraulic system 400 is disposed near the rear drive assembly 130, the autonomous system 500 is disposed near the front drive assembly 120, the transmission system 200 is disposed near the rear drive assembly 130, the power system 300 is disposed near the front drive assembly 120, and the cover 600 is disposed above the bracket 110.
Referring to fig. 5, a hydraulic system 400 includes a hydraulic radiator 410, a radiator oil inlet pipe assembly 420, a radiator oil return pipe assembly 430, a variable displacement plunger pump 440, a steering oil pump 450, a clutch oil pump 460, a brake oil pump 470, a hydraulic oil tank assembly 480, and an electric control multi-way valve assembly 490. The hydraulic radiator 410 is installed on the heat radiation water tank assembly 330 and the intercooler assembly 340, the radiator oil inlet pipe assembly 420 is connected with the oil inlet of the hydraulic radiator 410, and the radiator oil return pipe assembly 430 is connected with the oil outlet of the hydraulic radiator 410. The variable plunger pump 440 is installed at the rear end of the right gear pump flange of the gear shifting transmission case assembly 210, and the steering oil pump 450, the clutch oil pump 460 and the brake oil pump 470 are sequentially arranged at the front end of the right gear pump flange of the gear shifting transmission case assembly 210.
The hydraulic oil tank assembly 480 is arranged on the upper part of the rear transmission shaft assembly; the electric control multi-way valve assembly 490 is arranged at the upper end of the rear part of the rear transmission case assembly 220; the energy accumulators are arranged on the left side and the right side of the rear end of the middle rear transmission shaft assembly; the oil outlet of the variable plunger pump 440 is connected with the oil inlet of the electric control multi-way valve assembly 490; the oil suction port of the variable displacement plunger pump 440 is connected with the oil outlet of the oil suction filter; one end of the radiator return oil and return oil pipe assembly is connected with an oil return port of the hydraulic oil tank assembly 480, and the other end of the radiator return oil and return oil pipe assembly is connected with an oil outlet of a return oil filter; a lubricating oil port of the variable plunger pump 440 is connected with a lubricating oil return port of the hydraulic oil tank assembly 480; the number of the hydraulic output joints is N, wherein N-1 hydraulic output joints are respectively inserted and installed on a hydraulic output oil inlet and return port of the electric control multi-way valve assembly 490, and the Nth hydraulic output joint is installed at one end of an oil return pipe of an operating machine; one end of the working machine tool is connected with the Nth hydraulic output joint.
The autonomous system 500 includes four subsystems, namely a positioning system, a control system, a planning and planning system, and a sensing system. One is positioning. High-precision positioning is the most basic requirement of agricultural unmanned aerial vehicle. The positioning system can provide all-weather, high-precision and real-time position, speed and time information. Therefore, the unmanned autonomous operation tractor 10 can be immediately judged by the positioning system if the unmanned autonomous operation tractor is deviated in the operation area; and the second is control. The system comprises a vehicle navigation control part and an implement operation control part. The vehicle navigation control mainly comprises transverse deviation control, engine start-stop control, longitudinal speed control, brake control, transmission ratio control and the like. The autonomous working tractor 10 provided by the embodiment adopts the electric control hydraulic clutch, and CAN be accurately controlled in real time through the CAN bus only by making a control strategy. The machine tool operation control mainly comprises two aspects, namely, the control of a suspension device and the lifting and lowering of an agricultural machine tool; secondly, the control of the internal mechanism of the machine tool, taking an intelligent electric control seeder as an example, the seeder is connected into a CAN network, so that the plant spacing of the seeder, the starting and stopping of the seeding single body, the fertilizing amount and the like CAN be accurately controlled; and thirdly, planning. After the autonomous control of the autonomous working tractor 10 is realized, it is only necessary to tell the autonomous working tractor 10 what path to work and turn along, and set the corresponding speeds in different areas. Therefore, a farmland map is mapped in advance, an optimal path for the operation of the autonomous operation tractor 10 is planned according to farmland boundaries and barrier distribution, and the autonomous operation tractor 10 operates according to the optimal path; and fourthly, perception. The autonomous working tractor 10 provided by the embodiment also has certain sensing capability, and people and dynamic obstacles are accurately identified by mainly utilizing sensors such as a millimeter wave radar, a laser radar and a camera.
Referring to fig. 6, the cover 600 assembly includes: a front hood assembly 610, a front wheel cover assembly 620, a hood right fender assembly 630, a hood left fender assembly 640, a rear hood assembly 650, a rear left tire fender assembly 660, and a rear right tire fender assembly 670. The front hood assembly 610 is installed on the upper portion of the transmission system 200, and the right hood fender assembly 630 and the left hood fender assembly 640 are disposed on both sides of the front hood assembly 610, respectively. The front wheel cover assembly 620 is disposed over the front drive wheel 122, the rear cover assembly 650 is disposed over the rear drive assembly 130, and the rear left tire fender assembly 660 and the rear right tire fender assembly 670 are disposed over the rear drive wheel 134 of the rear drive assembly 130, respectively. When the front hood assembly 610 falls down, the front hood assembly and the right hood guard assembly 630 and the left hood guard assembly 640 form an assembly relationship with uniform gaps; the hood assembly, the right hood guard assembly 630 and the left hood guard assembly 640 provide protection for the engine assembly 320, support for the lamp, and simultaneously have an aesthetic effect, and the lower part is controlled to be opened and closed by the electric push rod.
Referring to fig. 7, in the embodiment, the walking system 100 further includes a front lifting assembly 700, and the front lifting assembly 700 is connected to an end of the bracket 110 far from the rear driving assembly 130 and connected to the covering member 600.
In the present embodiment, the autonomous working tractor 10 further includes a rear working device 800, and the rear working device 800 is disposed at an end of the carriage 110 away from the front driving assembly 120.
Referring to fig. 8, the rear working device 800 includes: the left limiting plate assembly 812, the left lower pull rod assembly 814, the fifth wheel assembly 816, the left lifting cylinder assembly 818, the upper pull rod support welding assembly 821, the left lifting rod assembly 823, the right lifting rod assembly 825, the right lifting cylinder assembly 827, the upper pull rod assembly 829, the right limiting plate assembly 832, the right lower pull rod assembly 834 and the fifth wheel assembly 836. The traction seat assembly 816 is mounted on the rear end face of the bottom of the rear transmission case assembly 220 through bolts; the upper pull rod support welding element 821 is installed on the upper portion of the rear end face of the rear transmission case assembly 220 through a bolt; the upper pull rod assembly 829 is connected with the upper pull rod support welding part 821 through a connecting pin shaft; the right limiting plate assembly 832 and the left limiting plate assembly are respectively installed on a side plate of the traction frame assembly 836 through bolts; the left lifting rod assembly 823 is connected with a left lifting arm and a left lower pull rod assembly 814 which are arranged on the rear transmission case through pin shafts, the right lifting rod assembly 825 is connected with a right lifting arm and a right lower pull rod assembly 834 which are arranged on the rear transmission case through pin shafts, and the left lower pull rod assembly 814 and the right lower pull rod assembly 834 are respectively installed on a bottom bent rod support of the rear transmission case assembly 220 through pin shafts; the right lifting oil cylinder assembly 827 is installed on a right lifting arm and a right oil cylinder support of the rear transmission case assembly 220 through a pin shaft; the left lift cylinder assembly 818 is mounted to the left lift arm and left cylinder support of the rear gearbox assembly 220 via respective pin shafts.
Through the automatically controlled multiple unit valve assembly 490 on the control hydraulic system 400 assembly, the flow of hydraulic oil in left lift cylinder assembly 818, the right lift cylinder assembly 827 is controlled, and then drives the flexible of lift cylinder piston rod, promotes the lift arm of back transmission case assembly 220 and rotates around the lift axle, lifts or puts down left lower pull rod assembly 814, right lower pull rod assembly 834 through left lift rod assembly 823, right lift rod assembly 825, realizes the lift of back equipment 800 suspension member. The left limiting plate assembly 812 and the right limiting plate assembly 832 act together to limit the left lower pull rod assembly 814 and the right lower pull rod assembly 834 left and right to control the swing amount of the belt work tool. The tow frame assembly 836 provides mounting supports for the left limiting plate assembly 812 and the right limiting plate assembly 832, and simultaneously, different mounting positions on the left limiting plate assembly 812 and the right limiting plate assembly 832 are used for realizing different swinging angle requirements of the tow bar through the locking pin shaft.
In the present embodiment, the fuel tank 310 is a saddle type fuel tank. Since the autonomous working tractor 10 provided in the present embodiment has no cab, the installation space of the fuel tank 310 is increased, and the fuel tank 310 can be installed as a saddle-type fuel tank having a large volume, thereby increasing the capacity of the fuel tank 310.
In summary, in the autonomous working tractor 10 provided in this embodiment, the engine assembly 320 is in transmission connection with the traveling system 100 through the transmission system 200, the entire autonomous working tractor 10 is driven to move through the traveling system 100, the fuel tank 310 is disposed above the transmission system 200, and in the working process of the engine assembly 320, the layout of this manner is reasonable, so that the autonomous working tractor 10 can normally supply fuel during working, the working requirement of the autonomous working tractor 10 is met, and the working effect of the autonomous working tractor 10 is improved.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. An autonomous operation tractor, characterized in that the autonomous operation tractor (10) comprises: traveling system (100), transmission system (200) and driving system (300), driving system (300) includes engine assembly (320) and fuel tank (310), fuel tank (310) with engine assembly (320) are connected, are used for giving engine assembly (320) fuel feeding, engine assembly (320) pass through transmission system (200) with traveling system (100) transmission is connected, fuel tank (310) set up the top of transmission system (200).
2. The autonomous working tractor according to claim 1, characterized in that the traveling system (100) includes a carriage (110), a front drive assembly (120), and a rear drive assembly (130), the front drive assembly (120) and the rear drive assembly (130) being respectively provided at both ends of the carriage (110), the fuel tank (310) being provided above the carriage (110), and the transmission system (200) being provided below the carriage (110).
3. The autonomous working tractor of claim 2, wherein the fuel tank (310) is disposed proximate the front drive assembly (120) and the driveline (200) is disposed proximate the rear drive assembly (130).
4. The autonomous-operation tractor of claim 2, wherein the engine assembly (320) is suspended from the carriage (110).
5. The autonomous working tractor according to claim 2, characterized in that the transmission system (200) includes a shift transmission case assembly (210), a rear transmission case assembly (220), a half-shaft transmission assembly (230), a front propeller shaft assembly (240), and a rear propeller shaft assembly, the gear shifting transmission case assembly (210) is connected with the rear transmission case assembly (220), the half-shaft transmission assembly (230) penetrates through the gear shifting transmission case assembly (210) and the rear transmission case assembly (220), the front transmission shaft assembly (240) is arranged in the gear shifting transmission box, the front transmission shaft assembly (240) is in transmission connection with the front driving assembly (120), the half shaft transmission assembly (230) is in transmission connection with the rear driving assembly (130), the rear transmission shaft assembly is in transmission connection with the rear transmission shaft assembly, and the engine assembly (320) is in transmission connection with the gear shifting transmission box assembly (210).
6. The autonomous working tractor of claim 5, wherein the transmission system (200) further includes a hydraulic brake assembly (250), the hydraulic brake assembly (250) being mounted on the shift transmission case and connected with the shift transmission case assembly (210) and a rear transmission case assembly (220).
7. The autonomous operation tractor of claim 2, wherein the autonomous operation tractor (10) further comprises a hydraulic system (400), an autonomous system (500), and a cover (600), the hydraulic system (400) being disposed proximate to the rear drive assembly (130), the autonomous system (500) being disposed proximate to the front drive assembly (120), the drivetrain (200) being disposed proximate to the rear drive assembly (130), the drivetrain (300) being disposed proximate to the front drive assembly (120), the cover (600) being disposed above the arrangement of the carriage (110).
8. The autonomous working tractor according to claim 7, characterized in that the walking system (100) further comprises a front lifting assembly (700), the front lifting assembly (700) being connected with an end of the carriage (110) remote from the rear drive assembly (130) and with the cover (600).
9. The autonomous working tractor according to claim 7, characterized in that the autonomous working tractor (10) further comprises a rear working device (800), the rear working device (800) being provided at an end of the carriage (110) remote from the front drive assembly (120).
10. The autonomous operation tractor according to any one of claims 1-9, characterized in that the fuel tank (310) is a saddle-type fuel tank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110861027.XA CN113547911B (en) | 2021-07-29 | 2021-07-29 | Autonomous operation tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110861027.XA CN113547911B (en) | 2021-07-29 | 2021-07-29 | Autonomous operation tractor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113547911A true CN113547911A (en) | 2021-10-26 |
| CN113547911B CN113547911B (en) | 2023-06-13 |
Family
ID=78104809
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110861027.XA Active CN113547911B (en) | 2021-07-29 | 2021-07-29 | Autonomous operation tractor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113547911B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07215076A (en) * | 1994-02-02 | 1995-08-15 | Kubota Corp | Fuel tank supporting device for tractor |
| JP2001063390A (en) * | 1999-08-26 | 2001-03-13 | Kanzaki Kokyukoki Mfg Co Ltd | Tractor |
| US20020043057A1 (en) * | 2000-09-14 | 2002-04-18 | Kenji Shiba | Tractor |
| JP2008260468A (en) * | 2007-04-13 | 2008-10-30 | Kubota Corp | Tractor |
| JP2011155938A (en) * | 2010-02-03 | 2011-08-18 | Daitsu:Kk | Remote-control agricultural tractor |
| US20120160587A1 (en) * | 2010-12-23 | 2012-06-28 | Caterpillar, Inc. | Forestry Machines with Transverse Engine and Hydraulic System Installation |
| CN202923378U (en) * | 2012-10-26 | 2013-05-08 | 山东潍坊拖拉机厂集团有限公司 | Tractor for greenhouse |
| JP2017074944A (en) * | 2016-12-19 | 2017-04-20 | 井関農機株式会社 | Tractor |
| CN212499854U (en) * | 2020-06-19 | 2021-02-09 | 第一拖拉机股份有限公司 | High-horsepower wheel type tractor |
-
2021
- 2021-07-29 CN CN202110861027.XA patent/CN113547911B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07215076A (en) * | 1994-02-02 | 1995-08-15 | Kubota Corp | Fuel tank supporting device for tractor |
| JP2001063390A (en) * | 1999-08-26 | 2001-03-13 | Kanzaki Kokyukoki Mfg Co Ltd | Tractor |
| US20020043057A1 (en) * | 2000-09-14 | 2002-04-18 | Kenji Shiba | Tractor |
| JP2008260468A (en) * | 2007-04-13 | 2008-10-30 | Kubota Corp | Tractor |
| JP2011155938A (en) * | 2010-02-03 | 2011-08-18 | Daitsu:Kk | Remote-control agricultural tractor |
| US20120160587A1 (en) * | 2010-12-23 | 2012-06-28 | Caterpillar, Inc. | Forestry Machines with Transverse Engine and Hydraulic System Installation |
| CN202923378U (en) * | 2012-10-26 | 2013-05-08 | 山东潍坊拖拉机厂集团有限公司 | Tractor for greenhouse |
| JP2017074944A (en) * | 2016-12-19 | 2017-04-20 | 井関農機株式会社 | Tractor |
| CN212499854U (en) * | 2020-06-19 | 2021-02-09 | 第一拖拉机股份有限公司 | High-horsepower wheel type tractor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113547911B (en) | 2023-06-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10669694B2 (en) | Electric drive of mobile apparatus | |
| US7588103B2 (en) | Hydrostatic transaxle and hydraulically driven vehicle | |
| US20010003393A1 (en) | Multi-combination vehicle incorporating an electronically coupled power trailer | |
| WO2010046905A1 (en) | Traction device | |
| CN212499854U (en) | High-horsepower wheel type tractor | |
| CN103569205A (en) | Body structure of work vehicle and oil supply feeding structure of hydrostatic stepless speed change device | |
| CN101456356B (en) | 4-wheel driven articulated tractor trucks | |
| CN113525521A (en) | Tandem wheel assembly and tandem wheel kit | |
| CN102892612A (en) | Work vehicle | |
| CN214189286U (en) | Paddy field wheel type tractor | |
| CN113547911A (en) | Autonomous operation tractor | |
| US6904994B2 (en) | Horizontal transmission and oil system for telehandlers | |
| CN112297813A (en) | Paddy field wheel type tractor | |
| WO2003022665A1 (en) | Multi-combination vehicle incorporating a power trailer | |
| CN111645505A (en) | High-horsepower wheel type tractor | |
| CN207140793U (en) | A kind of Multifunctional field manages vehicle | |
| CN114454974A (en) | High-horsepower power gear shifting tractor capable of improving damping performance | |
| RU2549749C1 (en) | Self-propelled chassis for compact vehicle | |
| CN202242989U (en) | Tractor | |
| CN202896292U (en) | Closed-type hydrostatic four-wheel system of self-propelled harvester | |
| EP1451058A1 (en) | Multi-combination vehicle incorporating a power trailer | |
| CN115285237B (en) | High-power wheeled tractor with crawling gear | |
| CN102897031A (en) | Closed hydrostatic four-wheel driving system of self-propelled harvester | |
| CN212667122U (en) | Novel transmission system | |
| CN221315778U (en) | Hybrid chassis of tractor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |