CN210082863U - Unmanned vehicle for plant protection - Google Patents
Unmanned vehicle for plant protection Download PDFInfo
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- CN210082863U CN210082863U CN201920184478.2U CN201920184478U CN210082863U CN 210082863 U CN210082863 U CN 210082863U CN 201920184478 U CN201920184478 U CN 201920184478U CN 210082863 U CN210082863 U CN 210082863U
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- swing arm
- plant protection
- wheel
- slewing bearing
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- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 230000008859 change Effects 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 21
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
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- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
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Abstract
The utility model relates to a plant protection machinery discloses a plant protection unmanned vehicle, and this plant protection unmanned vehicle includes: the bicycle comprises a frame (1), a power assembly (3) and a pivoting stand column (4) which are in transmission connection are mounted on the frame, the power assembly (3) comprises a motor (31) and a speed reducer (32), the pivoting stand column is pivotally mounted on the frame through a slewing bearing (5), wherein the outer ring of the slewing bearing is fixedly connected to the frame, and the inner ring of the slewing bearing is fixedly connected to the pivoting stand column (4) and is in transmission connection with a power output shaft of the speed reducer (32); a plurality of running assemblies (2) connected to the pivot posts, the motor (31) being capable of driving the pivot posts to pivot to change the track between the running assemblies. The utility model discloses an unmanned car of plant protection utilizes motor drive slew bearing's inner circle to rotate to drive pivot stand and walking subassembly and rotate, have advantages such as simple structure, regulation precision height, be convenient for realize on a large scale the wheel base and adjust.
Description
Technical Field
The utility model relates to a plant protection machinery specifically relates to a plant protection unmanned car.
Background
The plant protection unmanned vehicle is an unmanned vehicle which runs on the ground and is used for agriculture and forestry plant protection operation, mainly comprises a vehicle frame, a walking assembly arranged on the vehicle frame, and a navigation control mechanism and an operation mechanism which are carried on the vehicle frame, can realize plant protection operation through ground remote control, and realizes automatic operation of picking, fertilizing, spraying chemicals, seeds, powder and the like.
Aiming at different crops and different planting regions, the planting row spacing of the crops is different. Therefore, the wheel track of the plant protection unmanned vehicle needs to be adjusted to adapt to different planting row distances, and crop damage is avoided when the plant protection unmanned vehicle walks in a farmland. The wheel track adjusting mode of the existing plant protection unmanned vehicle is mostly manual adjustment, and the operation is time-consuming and labor-consuming; or the plant protection unmanned vehicle relies on a complex adjusting mechanism to realize wheel track adjustment, and has high cost and small adjustable range.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a plant protection unmanned vehicle, this plant protection unmanned vehicle need not manual regulation wheel base, is convenient for realize wheel base on a large scale with lower cost and adjusts.
In order to achieve the above object, the utility model provides a plant protection unmanned vehicle, include: the power assembly comprises a motor and a speed reducer, the pivoting upright post is pivotally mounted to the frame through a slewing bearing, wherein the outer ring of the slewing bearing is fixedly connected to the frame, and the inner ring of the slewing bearing is fixedly connected to the pivoting upright post and is in transmission connection with a power output shaft of the speed reducer; a plurality of running assemblies connected to the pivot posts, the motor capable of driving the pivot posts to pivot to change a track width between the running assemblies.
Preferably, a flange plate is fixedly connected to the inner ring of the slewing bearing, and a polygonal inner hole matched with the power output shaft is formed in the center of the flange plate
Preferably, an encoder is integrated on the speed reducer, and the encoder is coaxially arranged with the pivoting upright and the power output shaft.
Preferably, the frame includes an upper frame and a lower frame which are disposed opposite to each other and connected as a single body, the pivot post extends in a vertical direction, an outer ring of the slewing bearing is fixedly connected to the upper frame, and the motor and the speed reducer are mounted on an upper side of the upper frame.
Preferably, the power assembly is fixedly connected to the upper frame through an outer housing of the speed reducer.
Preferably, the upper frame and the lower frame are respectively provided with four side beams which are arranged oppositely in pairs, and the end parts of the side beams are respectively connected with the pivoting upright posts and the corresponding walking assemblies.
Preferably, the walking assembly comprises a height adjusting mechanism and a wheel leg, the height adjusting mechanism comprises an upper swing arm and a lower swing arm which are arranged in parallel with each other, two ends of the upper swing arm and the lower swing arm are respectively hinged to the pivoting upright and the wheel leg to form a parallelogram mechanism, and the height adjusting mechanism is provided with a height adjusting driving device for driving the parallelogram mechanism to act so as to adjust the height of the vehicle frame.
Preferably, an open slot is formed at one side of the upper swing arm and the lower swing arm opposite to each other, and the height adjustment driving device comprises an electric push rod with two ends respectively hinged to the upper swing arm and the lower swing arm and at least partially extending into the open slot.
Preferably, the wheel leg comprises: the upper swing arm and the lower swing arm are hinged to the landing leg upright, a steering driving device mounting plate is arranged at the bottom end of the landing leg upright, and a steering driving device with a steering driving gear is mounted on the steering driving device mounting plate; the wheel mounting bracket is installed in the bottom end of the supporting leg stand column through the external tooth slewing bearing, wherein the supporting leg stand column is fixedly connected to the inner ring of the external tooth slewing bearing and connected to enable the steering driving gear to be meshed with the outer gear ring of the external tooth slewing bearing, and the top end of the wheel mounting bracket is fixedly connected to the outer gear ring.
Preferably, the bottom end of the wheel mounting bracket has an L-shaped mounting plate that mounts a wheel having a hub motor.
Through the technical scheme, the utility model discloses an unmanned car of plant protection utilizes motor drive slew bearing's inner circle to rotate to drive pivot stand and walking subassembly and rotate, realize the infinitely variable control of wheel tread, have simple structure, adjust advantages such as precision height, be convenient for realize on a large scale the wheel tread and adjust.
Drawings
Fig. 1 is a front view of a plant protection unmanned vehicle according to a preferred embodiment of the present invention;
fig. 2 is an enlarged view of a portion a in fig. 1;
FIG. 3 is a top view of the plant unmanned vehicle of FIG. 1;
FIG. 4 is a schematic diagram of the power assembly of the plant unmanned vehicle of FIG. 1;
FIG. 5 is a schematic view of a connection structure between a pivot post and a rotary bearing of the unmanned plant protection vehicle in FIG. 1;
FIG. 6 is a front view of the coupling structure of the traveling assembly and the pivot post of the unmanned plant protection vehicle of FIG. 1;
fig. 7 is a perspective view of the connection structure of fig. 6.
Description of the reference numerals
1-a vehicle frame; 11-mounting the frame; 12-a lower frame; 2-a walking component; 21-upper swing arm; 22-lower swing arm; 23-open slots; 24-an electric push rod; 25-a leg post; 26-a steering drive mounting plate; 27-a steering drive; 27 a-a steering motor; 27 b-a steering drive gear; 27 c-steering reducer; 27 d-a steering encoder; 28-a wheel mount; 28 a-L-shaped mounting plate; 29-external tooth slewing bearing; 3-a power assembly; 31-a motor; 32-a speed reducer; 32 a-power take-off shaft; 33-an encoder; 4-a pivoting upright; 5-a slew bearing; 6-flange plate; 6 a-polygonal inner hole; 7-vehicle wheels; 7 a-hub motor.
Detailed Description
The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings. It is to be understood that the description of the embodiments herein is for purposes of illustration and explanation only and is not intended to limit the invention.
In the present invention, the use of directional terms such as "upper, lower, top, bottom" in the absence of a contrary intention is generally meant to refer to upper, lower, top and bottom as illustrated in the accompanying drawings. It can be understood that the plant protection unmanned vehicle of the present invention does not necessarily maintain the orientation state shown in fig. 1 (the vehicle frame 1 as a whole is kept horizontal) depending on the placement orientation or the flatness of the ground in which the vehicle is located during the operation, but the orientation thereof may be determined with reference to the orientation shown in fig. 1.
Referring to fig. 1 to 3, a plant protection unmanned vehicle according to a preferred embodiment of the present invention includes a vehicle frame 1 and a plurality of traveling units 2 mounted on the vehicle frame 1, and the traveling units 2 have wheels 7 and support the vehicle frame 1 so that components such as a navigation control mechanism, a medicine box, a battery, and the like can be mounted on the vehicle frame 1.
The frame 1 is fitted with a power assembly 3 and a pivot post 4 in driving connection with each other, the pivot post 4 being pivotally mounted to the frame 1 by means of a slew bearing 5, the running assembly 2 being connected to the pivot post 4. Specifically, as shown in connection with fig. 4 and 5, the outer ring of the slewing bearing 5 may be fixed to the frame 1 by bolts, and the inner ring is coaxially fixed to the pivot post 4; the power assembly 3 may include a motor 31, a speed reducer 32, and the like, and a power output shaft 32a of the speed reducer 32 is drivingly connected to the inner race of the slewing bearing 5. Therefore, when the motor 51 is started, the power output by the motor 51 is transmitted to the inner ring of the slewing bearing 5 after being decelerated by the speed reducer 32, so that the inner ring and the pivoting upright post 4 are driven to pivot, the walking assembly 2 rotates around the central axis of the pivoting upright post 4, and the wheel track adjustment is realized. In the process, the motor 51 can drive the pitch drive gear 52 to rotate within 360 degrees, so that the walking assembly 2 can complete a large-range wheel track adjustment. Through the control to motor 51 turned angle and rotational speed, can accurate control wheel base adjustment process, have advantages such as simple structure, assembly nature are good.
In order to facilitate the transmission connection between the power output shaft 32a of the speed reducer 32 and the inner ring of the slewing bearing 5, a flange plate 6 may be fixedly connected to the inner ring, and a polygonal inner hole 6a matched with the power output shaft 32a of the speed reducer 32 is formed in the center of the flange plate 6. Thereby, the power output shaft 32a can drive the inner ring of the slewing bearing 5 and the pivot column 4 to pivot, and the wheel track adjustment is realized. Alternatively, the polygonal inner hole 6a formed in the flange plate 6 may be an inner hexagonal hole, or may be replaced with an inner spline or the like.
The speed reducer 53 may be integrated with an encoder 33 arranged coaxially with the pivot column 4 and the power output shaft 32a, so that the rotation angle of the pivot column 4 can be detected conveniently, and the variation of the wheel track can be obtained through simple conversion.
In the illustrated preferred embodiment, the frame 1 includes an upper frame 11 and a lower frame 12 disposed opposite to each other at different height positions and integrally connected. The pivot post 4 extends in a vertical direction and is pivotally connected at an upper end to the upper frame 11 by a slew bearing 5 and at a lower end to the lower frame 12. Typically, the upper frame 11 and the lower frame 12 may each have four edge beams arranged opposite one another in pairs, to the end positions of which the pivot uprights 4 and the respective running assemblies 2 are connected in each case. The walking assembly 2 is arranged at the corner of the frame 1, so that the walking assembly 2 is prevented from being interfered by the movement of the frame 1 in the pivoting process, the wheel tread can be adjusted in a large range, and the running stability is ensured. In the wheel track adjusting process, the four walking components 2 can synchronously act so as to keep uniform stress and avoid overturning accidents caused by relative shift of the gravity center.
The power assembly 3 is mounted such that the motor 31 and the speed reducer 32 thereof are located on the upper side of the upper frame 11, and may be fixedly connected to the upper frame 11 through an outer housing of the speed reducer 32, for example, and a power output shaft 32a of the speed reducer 32 penetrates the upper frame 11 and extends to the lower side of the upper frame 11 to be drivingly connected to an inner ring of the slewing bearing 5.
The utility model discloses a preferred implementation adopts the 3 direct drive external tooth slewing bearing 5 pivotal connection of integrated power component who sets up to pivot 4 pivots on frame 1, and its pivot angle of accurate control of being convenient for has advantages such as compact structure, assembly nature are good.
Referring to fig. 6 and 7, in a preferred embodiment, the traveling assembly 2 of the unmanned plant protection vehicle may include a height adjustment mechanism and wheel legs to adjust the wheel track together with the aforementioned pivoting adjustment to better accommodate different planting row spacing, and also to allow the vehicle frame 1 to be at different heights to accommodate different branch heights. Specifically, the height adjustment mechanism includes an upper swing arm 21 and a lower swing arm 22 arranged in parallel with each other, the upper swing arm 21 and the lower swing arm 22 being hinged at one end to the pivot post 4 and at the other end to the wheel leg and formed as a parallelogram mechanism. The height adjustment mechanism further comprises a height adjustment drive means, such as an electric push rod 24, for driving the parallelogram mechanism to move, thereby driving the wheel legs to fold towards the frame 1 or to fork away from the frame 1, so that the frame 1 is at different heights.
It will be appreciated that the height adjustment drive means may be formed in a variety of different configurations for driving the above-mentioned parallelogram mechanism, for example, a motor or the like mounted on the pivot post 4 or the frame 1 and driving the upper swing arm 21 and/or the lower swing arm 22, and the parallelogram mechanism is driven to rotate relative to the pivot post 4 by driving the upper swing arm 21 and/or the lower swing arm 22.
In the case where the height adjusting drive means is formed as the electric push rod 24, it may cause difficulty in structural arrangement since it occupies a relatively large extension space. For this, an open groove 23 may be formed at a side of the upper swing arm 21 and the lower swing arm 22 opposite to each other, and both ends of a power push rod 24 are respectively hinged to the upper swing arm 21 and the lower swing arm 22 and extend at least partially into the open groove 23. Thereby, the inner space of the upper swing arm 21 and the lower swing arm 22 can be fully utilized, and the problem of motion stability caused by the connection of the electric push rod 24 to the pivot post 4 and the wheel leg is avoided.
Further, in the illustrated preferred embodiment, the wheel legs may include a leg post 25 and a wheel mount 28. The upper swing arm 21 and the lower swing arm 22 are hinged to a leg column 25, the bottom end of the leg column 25 is provided with a steering driving device mounting plate 26, and a steering driving device 27 with a steering driving gear 27b is mounted on the steering driving device mounting plate 26; the wheel mount 28 is mounted to the bottom end of the leg post 25 by means of an externally toothed slewing bearing 29, wherein the leg post 25 is fixedly attached to the inner race of the externally toothed slewing bearing 29 and is attached such that the steering drive gear 27b meshes with the outer gear ring of the externally toothed slewing bearing 29, to which the top end of the wheel mount 28 is fixedly attached. The steering driving device may include components such as a steering motor 27a, a steering speed reducer 27c, and a steering encoder 27d, and the power output by the steering motor 27a is reduced by the steering speed reducer 27c to drive the steering driving gear 27b to rotate, so that the outer gear ring of the external-tooth slewing bearing 29 rotates, and the wheel mounting frame 28 and the wheel 7 at the bottom end thereof are driven to rotate around the central axis of the external-tooth slewing bearing 29, so as to change the orientation of the wheel 7.
Wherein, the bottom end of the wheel mounting bracket 28 can be provided with an L-shaped mounting plate 28a so as to mount the wheel 7, and the wheel-side driving can be realized by arranging the in-wheel motor 7 a.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited thereto. The technical idea of the utility model within the scope, can be right the utility model discloses a technical scheme carries out multiple simple variant, makes up with any suitable mode including each concrete technical feature. In order to avoid unnecessary repetition, the present invention does not separately describe various possible combinations. These simple variations and combinations should also be considered as disclosed in the present invention, all falling within the scope of protection of the present invention.
Claims (10)
1. The utility model provides a plant protection unmanned vehicle which characterized in that includes:
the bicycle comprises a bicycle frame (1), wherein a power assembly (3) and a pivoting stand column (4) which are in transmission connection are mounted on the bicycle frame (1), the power assembly (3) comprises a motor (31) and a speed reducer (32), the pivoting stand column (4) is pivotally mounted on the bicycle frame (1) through a slewing bearing (5), wherein the outer ring of the slewing bearing (5) is fixedly connected to the bicycle frame (1), and the inner ring of the slewing bearing (5) is fixedly connected to the pivoting stand column (4) and is in transmission connection with a power output shaft (32a) of the speed reducer (32);
a plurality of walking assemblies (2), wherein the walking assemblies (2) are connected to the pivoting columns (4), and the motor (31) can drive the pivoting columns (4) to pivot so as to change the wheel track between the walking assemblies (2).
2. The plant protection unmanned vehicle of claim 1, wherein a flange plate (6) is fixedly connected to an inner ring of the slewing bearing (5), and a polygonal inner hole (6a) matched with the power output shaft (32a) is formed in the center of the flange plate (6).
3. A plant protection unmanned vehicle according to claim 2, wherein an encoder (33) is integrated on the speed reducer (32), and the encoder (33) is arranged coaxially with the pivot column (4) and the power output shaft (32 a).
4. The plant protection unmanned vehicle of claim 1, wherein the frame (1) comprises an upper frame (11) and a lower frame (12) which are disposed opposite to each other and connected as a whole, the pivot post (4) extends in a vertical direction, an outer ring of the slewing bearing (5) is fixedly connected to the upper frame (11), and the motor (31) and the reducer (32) are mounted on an upper side of the upper frame (11).
5. A plant protection unmanned vehicle according to claim 4, wherein the power assembly (3) is fixedly connected to the upper frame (11) through an outer housing of the reducer (32).
6. The plant-protection unmanned vehicle as claimed in claim 4, wherein the upper frame (11) and the lower frame (12) are respectively provided with four side beams arranged oppositely in pairs, and the end positions of the side beams are respectively connected with the pivoting upright (4) and the corresponding walking assembly (2).
7. The plant protection unmanned aerial vehicle of any one of claims 1 to 6, wherein the walking assembly (2) comprises a height adjustment mechanism and a wheel leg, the height adjustment mechanism comprises an upper swing arm (21) and a lower swing arm (22) which are arranged in parallel with each other, two ends of the upper swing arm (21) and the lower swing arm (22) are respectively hinged to the pivot upright (4) and the wheel leg to form a parallelogram mechanism, and the height adjustment mechanism is provided with a height adjustment driving device for driving the parallelogram mechanism to act so as to adjust the height of the vehicle frame (1).
8. The unmanned plant protection vehicle as claimed in claim 7, wherein the upper swing arm (21) and the lower swing arm (22) are formed with an open slot (23) at a side opposite to each other, and the height adjustment driving means comprises an electric push rod (24) having both ends hinged to the upper swing arm (21) and the lower swing arm (22), respectively, and extending at least partially into the open slot (23).
9. The plant unmanned vehicle of claim 7, wherein the wheel leg comprises:
the upper swing arm (21) and the lower swing arm (22) are hinged to the leg upright (25), a steering driving device mounting plate (26) is arranged at the bottom end of the leg upright (25), and a steering driving device (27) with a steering driving gear (27b) is mounted on the steering driving device mounting plate (26);
a wheel mounting bracket (28), the wheel mounting bracket (28) is mounted at the bottom end of the leg upright (25) through an external tooth slewing bearing (29), wherein the leg upright (25) is fixedly connected to the inner ring of the external tooth slewing bearing (29) and is connected to enable the steering driving gear (27b) to be meshed with the outer gear ring of the external tooth slewing bearing (29), and the top end of the wheel mounting bracket (28) is fixedly connected to the outer gear ring.
10. A plant-protection unmanned vehicle according to claim 9, wherein the bottom end of the wheel mounting bracket (28) has an L-shaped mounting plate (28a), the L-shaped mounting plate (28a) mounts the wheel (7), and the wheel (7) has a hub motor (7 a).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920184478.2U CN210082863U (en) | 2019-02-01 | 2019-02-01 | Unmanned vehicle for plant protection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920184478.2U CN210082863U (en) | 2019-02-01 | 2019-02-01 | Unmanned vehicle for plant protection |
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| Publication Number | Publication Date |
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| CN210082863U true CN210082863U (en) | 2020-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920184478.2U Active CN210082863U (en) | 2019-02-01 | 2019-02-01 | Unmanned vehicle for plant protection |
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| CN (1) | CN210082863U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111645478A (en) * | 2020-05-27 | 2020-09-11 | 农业农村部南京农业机械化研究所 | Wheeled farmland management robot with flexible profiling chassis and profiling control method |
| CN112373242A (en) * | 2020-11-16 | 2021-02-19 | 黑龙江省农业机械工程科学研究院 | Self-propelled platform for field test of variable-wheel-track four-wheel-drive agricultural machine |
| CN113606447A (en) * | 2021-08-13 | 2021-11-05 | 唐山市怡文环境检测有限公司 | Atmospheric environmental pollution monitoring device convenient to overhaul and capable of automatically adjusting direction |
| CN116021938A (en) * | 2023-03-27 | 2023-04-28 | 南京华清熙元智能科技有限公司 | Four-wheel electric drive omnidirectional mobile robot for dry land field |
-
2019
- 2019-02-01 CN CN201920184478.2U patent/CN210082863U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111645478A (en) * | 2020-05-27 | 2020-09-11 | 农业农村部南京农业机械化研究所 | Wheeled farmland management robot with flexible profiling chassis and profiling control method |
| CN111645478B (en) * | 2020-05-27 | 2021-07-20 | 农业农村部南京农业机械化研究所 | Wheeled farmland management robot with flexible profiling chassis and profiling control method |
| CN112373242A (en) * | 2020-11-16 | 2021-02-19 | 黑龙江省农业机械工程科学研究院 | Self-propelled platform for field test of variable-wheel-track four-wheel-drive agricultural machine |
| CN113606447A (en) * | 2021-08-13 | 2021-11-05 | 唐山市怡文环境检测有限公司 | Atmospheric environmental pollution monitoring device convenient to overhaul and capable of automatically adjusting direction |
| CN116021938A (en) * | 2023-03-27 | 2023-04-28 | 南京华清熙元智能科技有限公司 | Four-wheel electric drive omnidirectional mobile robot for dry land field |
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Address after: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Patentee after: XAG Co., Ltd. Address before: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Patentee before: Guangzhou Xaircraft Technology Co.,Ltd. |
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