CN112119682B - Double-drive double-power intelligent rotary cultivator - Google Patents
Double-drive double-power intelligent rotary cultivator Download PDFInfo
- Publication number
- CN112119682B CN112119682B CN202010957625.2A CN202010957625A CN112119682B CN 112119682 B CN112119682 B CN 112119682B CN 202010957625 A CN202010957625 A CN 202010957625A CN 112119682 B CN112119682 B CN 112119682B
- Authority
- CN
- China
- Prior art keywords
- wheel
- buffer
- push rod
- vehicle body
- crawler
- 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.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/02—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel
- A01B33/021—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel with rigid tools
- A01B33/022—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel with rigid tools with helicoidal tools
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
- A01B33/082—Transmissions; Gearings; Power distribution
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
- A01B33/10—Structural or functional features of the tools ; Theoretical aspects of the cutting action
- A01B33/103—Structural or functional features of the tools ; Theoretical aspects of the cutting action the rotating shaft being oriented horizontally
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
- A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
- A01B51/026—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor of the automotive vehicle type, e.g. including driver accommodation
-
- 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
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Power Engineering (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Guiding Agricultural Machines (AREA)
- Soil Working Implements (AREA)
Abstract
The invention provides a double-drive double-power intelligent rotary cultivator, which realizes intelligent real-time implementation of controlling the depth and the flatness of a plough, overcomes the problem of insufficient power of a transmission rotary cultivator and realizes intelligent distributed control of a power unit of the rotary cultivator; the plough comprises a whole vehicle unit and a plough unit, wherein the whole vehicle unit comprises a control cabinet, a lithium battery pack, a vehicle chassis, an engine, an electric push rod, a push rod upper pin shaft, a push rod lower pin shaft, a push rod ear plate, a speed reduction steering engine, a steering engine driving wheel, a belt driving wheel, a vehicle body attitude sensor, a right front wheel system, a right side crawler belt buffer mechanism, a right rear wheel system, a right crawler belt wheel system, a left front wheel system, a left side crawler belt buffer mechanism, a left rear wheel system and a left crawler belt wheel system.
Description
Technical Field
The invention relates to the technical field of agricultural machinery accessories, in particular to a double-drive double-power intelligent rotary cultivator.
Background
As is well known, a rotary cultivator is used as an important agricultural implement in agricultural production, and has been developed from a traditional hand-held rotary cultivator to a self-propelled rotary cultivator, and the self-propelled rotary cultivator needs a driver to manually shift gears to realize functions of accelerating, decelerating, backing and the like of the rotary cultivator; in recent years, the domestic leading enterprises have provided unmanned series of rotary cultivators, and the rotary cultivators realize automatic control of the rotary cultivators by means of unmanned technology and wireless remote control technology.
However, the main working requirements of a rotary cultivator are the adjustment of the depth and flatness of the plow of the agricultural implement; the rotary cultivator on the market at present has two problems:
firstly, the depth and the flatness of the plough are mechanically adjusted, and the adjustment of the depth and the flatness is realized in a manual mechanical locking mode, however, the depth of the plough is not adjusted in real time in the mode, and the depth of the plough in rugged operation fields such as terraces, tea gardens and orchards is different.
Secondly, rotary cultivators on the market are all driven by engines, a single engine is used as a power source for rotary cultivator cutter rotation and vehicle walking at the same time, and the configuration mode is a popular power configuration mode in flat plain farmland; however, in muddy paddy fields, terraces, tea gardens, orchards and other rugged operation fields, the problems of rotation of rotary cultivator cutters or insufficient vehicle walking power easily occur.
Disclosure of Invention
In order to solve the technical problem, the invention provides a double-drive double-power intelligent rotary cultivator.
The invention relates to a double-drive double-power intelligent rotary cultivator which consists of a whole vehicle unit and a plough unit, wherein the whole vehicle unit consists of a control cabinet, a lithium battery pack, a vehicle body chassis, an engine, an electric push rod, a push rod upper pin shaft, a push rod lower pin shaft, a push rod ear plate, a speed reduction steering engine, a steering engine driving wheel, a belt driving wheel, a vehicle body attitude sensor, a right front wheel system, a right side crawler belt buffer mechanism, a right rear wheel system, a right crawler belt wheel system, a left front wheel system, a left side crawler belt buffer mechanism, a left rear wheel system and a left crawler belt wheel system;
the plough tool unit consists of a right plough tool, a left plough tool and a farm tool posture sensing device;
the control cabinet and the lithium battery pack are arranged on a vehicle body chassis, the right servo motor is fixedly arranged on the vehicle body chassis, the engine is fixedly arranged on the vehicle body chassis, a push rod ear plate is welded on the vehicle body chassis, an electric push rod cylinder body ear plate is hinged with a push rod lower pin shaft through a push rod ear plate, an electric push rod end ear plate is hinged with a speed reduction steering engine upper end ear plate through a push rod upper pin shaft, a speed reduction steering engine lower end ear plate is hinged with the vehicle body chassis through a pin shaft, a left plough tool shaft and a right plough tool shaft are both provided with through holes, the left plough tool shaft is fixedly arranged with a speed reduction steering engine working shaft through a left fixing nut, a left fixing elastic washer and a left fixing flat washer, the right plough tool shaft is fixedly arranged with the speed reduction steering engine working shaft through a right fixing nut, a right fixing bolt, a right fixing elastic washer and a right fixing flat washer, the driving wheel is fixedly arranged on a speed reduction steering engine main shaft, the belt driving wheel is fixedly arranged on the main shaft of the engine, and the steering engine driving wheel and the belt driving wheel are arranged together through a belt;
right front wheel system: a right hub motor wheel disc is fixedly arranged on the vehicle body chassis, and a right front wheel of the crawler is fixedly arranged on an output shaft of the right hub motor through a right front wheel nut;
right side track buffer gear: the right-side crawler buffer mechanism comprises two buffer wheel systems, and the two buffer wheels are mounted in the same way: the right buffer wheel is arranged on the right buffer wheel bracket through a right buffer wheel nut, a right buffer wheel bolt, a right buffer wheel elastic washer and a right buffer wheel flat washer, both ends of the right buffer wheel bolt are in a thread form, and both ends of the right buffer wheel bolt are provided with the elastic washer, the nut and the flat washer; the middle part of the right buffer wheel support is welded with a sleeve, a buffer wheel support pin shaft is installed on the vehicle body chassis, the end part of the buffer wheel support pin shaft is provided with threads, the right buffer wheel support sleeve is hinged with the buffer wheel support pin shaft through a right support nut, a right support elastic washer and a right support flat washer, and the whole right crawler buffer mechanism can rotate around the buffer wheel support pin shaft;
the right rear wheel system: the right rear wheel support is fixedly arranged on the chassis of the vehicle body, the right rear wheel is hinged with the right rear wheel support through a right rear wheel nut, a right rear wheel bolt, a right rear wheel elastic washer and a right rear wheel flat washer, both ends of the right rear wheel bolt are provided with threads, and both ends of the right rear wheel bolt are provided with the right rear wheel elastic washer, the right rear wheel flat washer and the right rear wheel nut;
right track wheel system: the right crawler rear wheel is fixedly arranged on the output shaft of the right servo motor through a right crawler rear wheel nut;
the right crawler belt is sleeved on the right rear wheel, the right crawler belt rear wheel, the right front wheel of the crawler belt and the right buffer wheel;
the left front wheel system, the left crawler buffer mechanism, the left rear wheel system and the left crawler wheel system are respectively and symmetrically arranged with the right front wheel system, the right crawler buffer mechanism, the right rear wheel system and the right crawler wheel system;
the agricultural implement attitude sensor is fixedly arranged at the top end of the middle part of the steering engine;
a vehicle control unit, a servo walking controller, a hub motor controller, an engine controller and a steering engine controller are arranged in the control cabinet, distributed control of the power units is achieved, and the vehicle control unit coordinates movement of each control unit of the vehicle body.
According to the double-drive double-power intelligent rotary cultivator, the whole vehicle controller is matched with the intelligent wireless communication module to realize cloud transmission of whole vehicle data.
According to the double-drive double-power intelligent rotary cultivator, the right servo motor and the left servo motor are both provided with the speed reducer.
According to the double-drive double-power intelligent rotary cultivator, the vehicle control unit collects the vehicle body attitude sensor and the farm tool attitude sensor, the displacement sensor capable of feeding back plough depth data in real time is installed in the electric push rod and used as closed loop feedback adjustment of plough depth control, and the vehicle control unit controls the extending length of the electric push rod to adjust plough depth and flatness.
According to the double-drive double-power intelligent rotary cultivator, the buffer wheel systems are of spring-free buffer structures. At least one of the two buffer wheels of the buffer wheel system is ensured to be in reliable contact with the crawler, and the reliable buffer of the walking of the crawler is realized.
Compared with the prior art, the invention has the beneficial effects that: the control cabinet is internally provided with a whole vehicle controller, a servo walking controller, a hub motor controller, an engine controller and a steering engine controller, distributed control of power units is realized, the whole vehicle controller coordinates the motion of each control unit of the vehicle body, collects a vehicle body attitude sensor and an agricultural implement attitude sensor, the whole vehicle controller controls the extension length of an electric push rod to adjust the depth and the flatness of a plough according to the collected information of the vehicle body attitude sensor and the agricultural implement attitude sensor, when the whole vehicle controller walks in farmland in plain areas, only a left servo motor and a right servo motor drive a crawler belt to drive so as to realize the walking of the rotary cultivator, the left hub motor and the right hub motor are in a free rotation state, the speed difference of the left servo motor and the right servo motor is controlled by the whole vehicle controller so as to realize the turning of the rotary cultivator, when the whole vehicle controller works in rugged operation fields such as muddy paddy fields, terrace, tea garden, orchard and the like, the speed and the moment of torsion of vehicle control unit control left servo motor and right servo motor and left wheel hub motor and right wheel hub motor realize the walking of rotary cultivator and turn to the function such as, and vehicle control unit realizes the high in the clouds transmission of whole car data with the cooperation of intelligent wireless communication module, can realize distal end data acquisition and control, can long-rangely look over each technical parameter of rotary cultivator, rotary tillage effects such as the roughness of analysis arable land.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a vehicle unit configuration view with right and left side crawler belts omitted;
FIG. 3 is an enlarged view of a portion A of FIG. 2;
FIG. 4 is a partial enlarged view of portion B of FIG. 2;
FIG. 5 is a partial enlarged view of portion C of FIG. 2;
in the drawings, the reference numbers: 1. a vehicle unit; 2. a plough unit; 3. a right servo motor; 4. a right side crawler belt; 5. a control cabinet; 6. a lithium battery pack; 7. a vehicle body chassis; 8. an engine; 9. an electric push rod; 10. a pin shaft is arranged on the push rod; 11. a left plough; 12. a left securing nut; 13. a left fixing bolt; 14. a left fixed flat washer; 15. a deceleration steering engine; 16. a right plough; 17. a right securing nut; 18. a right fixing bolt; 19. a right stationary flat washer; 20. a steering engine driving wheel; 21. a belt; 22. a right front wheel of the crawler; 23. a right front wheel nut; 24. a right buffer wheel; 25. a right buffer wheel nut; 26. a right buffer wheel bolt; 27. a right buffer wheel elastic washer; 28. a right buffer wheel flat washer; 29. a right buffer wheel bracket; 30. a right bracket nut; 31. a right bracket elastic washer; 32. a right bracket flat washer; 33. a right rear wheel bracket; 34. a right rear wheel; 35. a right rear wheel nut; 36. a right rear wheel bolt; 37. a right rear wheel spring washer; 38. a right rear wheel plain washer; 39. a right-side crawler rear wheel; 40. a right-side track rear wheel nut; 42. a right hub motor; 43. a belt driving wheel.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1 to 5, the double-drive double-power intelligent rotary cultivator disclosed by the invention is composed of a whole vehicle unit 1 and a plough unit 2, wherein the whole vehicle unit 1 is composed of a control cabinet 5, a lithium battery pack 6, a vehicle chassis 7, an engine 8, an electric push rod 9, a push rod upper pin shaft 10, a push rod lower pin shaft, a push rod ear plate, a speed reduction steering engine 15, a steering engine driving wheel 20, a belt 21, a belt driving wheel 43, a vehicle body posture sensor, a right front wheel system, a right side crawler buffer mechanism, a right rear wheel system, a right crawler wheel system, a left front wheel system, a left side crawler buffer mechanism, a left rear wheel system and a left crawler wheel system;
the plough unit 2 consists of a right plough tool 16, a left plough tool 11 and a farm tool posture sensing tool;
a control cabinet 5 and a lithium battery pack 6 are arranged on a vehicle body chassis 7, a right servo motor 3 is fixedly arranged on the vehicle body chassis 7, an engine 8 is fixedly arranged on the vehicle body chassis 7, a push rod ear plate is welded on the vehicle body chassis 7, an electric push rod 9 cylinder body ear plate is hinged together through a push rod ear plate and a push rod lower pin shaft, an electric push rod 9 rod end ear plate is hinged together with an upper end ear plate of a speed reducing steering engine 15 through a push rod upper pin shaft 10, a lower end ear plate of the speed reducing steering engine 15 is hinged together with the vehicle body chassis 7 through a pin shaft, a left plough tool 11 shaft and a right plough tool 16 shaft are both provided with through holes, the left plough tool 11 shaft is fixedly arranged together with a working shaft of the speed reducing steering engine 15 through a left fixing nut 12, a left fixing bolt 13, a left fixing elastic washer and a left fixing flat washer 14, the right plough tool 16 shaft is fixedly arranged together with the working shaft of the speed reducing steering engine 15 through a right fixing nut 17, a right fixing bolt 18, a right fixing elastic washer and a right fixing flat washer 19, the steering engine driving wheel 20 is fixedly arranged on a main shaft of the speed reduction steering engine 15, the belt driving wheel 43 is fixedly arranged on a main shaft of the engine 8, and the steering engine driving wheel 20 and the belt driving wheel 43 are arranged together through a belt 21;
right front wheel system: a right servo motor 42 wheel disc is fixedly arranged on the vehicle body chassis 7, and a right front wheel 22 of the crawler belt is fixedly arranged on an output shaft of the right servo motor 42 through a right front wheel nut 23;
right side track buffer gear: the right-side crawler buffer mechanism comprises two buffer wheel systems, and the two buffer wheels are mounted in the same way: the right buffer wheel 24 is arranged on a right buffer wheel bracket 29 through a right buffer wheel nut 25, a right buffer wheel bolt 26, a right buffer wheel elastic washer 27 and a right buffer wheel flat washer 28, two ends of the right buffer wheel 24 bolt are in a thread form, and two ends of the right buffer wheel 24 bolt are respectively provided with the elastic washer, the nut and the flat washer; a sleeve is welded in the middle of the right buffer wheel support 29, a buffer wheel support pin shaft is installed on the vehicle body chassis 7, threads are arranged at the end part of the buffer wheel support pin shaft, the right buffer wheel support 29 sleeve is hinged with the buffer wheel support pin shaft through a right support nut 30, a right support elastic washer 31 and a right support flat washer 32, and the whole right crawler buffer mechanism can rotate around the buffer wheel support pin shaft;
the right rear wheel system: the right rear wheel bracket 33 is fixedly arranged on the vehicle body chassis 7, the right rear wheel 34 is hinged with the right rear wheel bracket 33 through a right rear wheel nut 35, a right rear wheel bolt 36, a right rear wheel elastic washer 37 and a right rear wheel flat washer 38, both ends of the right rear wheel bolt 36 are provided with threads, and both ends of the right rear wheel bolt 36 are provided with the right rear wheel elastic washer 37, the right rear wheel flat washer 38 and the right rear wheel nut 35;
right track wheel system: the rear wheel of the right crawler 4 is fixedly arranged on the output shaft of the right servo motor 3 through a right crawler rear wheel nut 40;
the right crawler 4 is sleeved on the right rear wheel 34, the right crawler rear wheel 39, the crawler right front wheel 22 and the right buffer wheel 24;
the left front wheel system, the left crawler buffer mechanism, the left rear wheel system and the left crawler wheel system are respectively and symmetrically arranged with the right front wheel system, the right crawler buffer mechanism, the right rear wheel system and the right crawler wheel system;
the vehicle body attitude sensor is fixedly arranged in the middle of the vehicle body chassis 7, and the farm tool attitude sensor is fixedly arranged at the top end of the middle of the steering engine;
a vehicle control unit, a servo walking controller, a hub motor controller, an engine controller and a steering engine controller are arranged in the control cabinet 5, distributed control of power units is achieved, and the vehicle control unit coordinates movement of each control unit of a vehicle body; the control cabinet 5 is internally provided with a whole vehicle controller, a servo walking controller, a hub motor controller, an engine 8 controller and a steering engine controller, distributed control of power units is realized, the whole vehicle controller coordinates the movement of each control unit of a vehicle body, only the left servo motor and the right servo motor 3 drive the crawler belt to realize the walking of the rotary cultivator when the vehicle travels in a farmland in plain areas, the left hub motor and the right servo motor 42 are in a free rotation state, the speed difference of the left servo motor and the right servo motor 3 is controlled by the whole vehicle controller to realize the turning of the rotary cultivator, and the whole vehicle controller controls the speed and the torque of the left servo motor and the right servo motor 3 and the left hub motor and the right servo motor 42 when the vehicle operates in muddy paddy fields, terraces, tea gardens, orchards and other rugged operation fields, so as to realize the functions of the rotary cultivator such as walking and turning.
According to the double-drive double-power intelligent rotary cultivator, the whole vehicle controller is matched with the intelligent wireless communication module to realize cloud transmission of whole vehicle data; the vehicle control unit and the intelligent wireless communication module are matched to realize cloud transmission of vehicle data, so that remote data acquisition and control can be realized, various technical parameters of the rotary cultivator can be remotely checked, and rotary tillage effects such as the planeness of cultivated land can be analyzed.
According to the double-drive double-power intelligent rotary cultivator, the right servo motor 3 and the left servo motor are both provided with the speed reducer; the operation stability is improved.
According to the double-drive double-power intelligent rotary cultivator, a vehicle control unit collects a vehicle body attitude sensor and an agricultural implement attitude sensor, a displacement sensor capable of feeding back plough depth data in real time is installed in an electric push rod 9 and used for closed loop feedback adjustment of plough depth control, and the vehicle control unit controls the extending length of the electric push rod 9 to adjust plough depth and flatness; the vehicle control unit, the electric push rod and the displacement sensor form a plough depth closed-loop control system, and the plough depth and the flatness are adjusted in real time.
According to the double-drive double-power intelligent rotary cultivator, the buffer wheel systems are of spring-free buffer structures; at least one of the two buffer wheels of the buffer wheel system is ensured to be in reliable contact with the crawler, and the reliable buffer of the walking of the crawler is realized.
The invention relates to a double-drive double-power intelligent rotary cultivator, which is characterized in that a control cabinet 5 is internally provided with a vehicle control unit, a servo walking controller, a hub motor controller, an engine 8 controller and a steering engine controller during working, distributed control of power units is realized, the vehicle control unit coordinates the motion of each control unit of a vehicle body, acquires a vehicle body attitude sensor and an agricultural implement attitude sensor, controls the extending length of an electric push rod 9 to adjust the depth and the flatness according to the acquired information of the vehicle body attitude sensor and the agricultural implement attitude sensor, only a left servo motor and a right servo motor 3 drive a crawler belt to realize the walking of the rotary cultivator when the rotary cultivator walks in a farmland in plain areas, the left hub motor and the right servo motor 42 are in a free rotation state, and the speed difference of the left servo motor and the right servo motor 3 is controlled by the vehicle control unit to realize the turning of the rotary cultivator, when the muddy paddy field, terraced fields, tea garden, during rugged operation in the fields such as orchard operation, whole vehicle controller control left servo motor and right servo motor 3 and left wheel hub motor and right servo motor 42's speed and moment of torsion, realize the walking of rotary cultivator and turn to the function such as, whole vehicle controller realizes the high in the clouds transmission of whole vehicle data with the cooperation of intelligent wireless communication module, can realize far-end data acquisition and control, can long-range each technical parameter who looks over the rotary cultivator, rotary tillage effects such as the roughness of analysis arable land.
The invention relates to a double-drive double-power intelligent rotary cultivator, wherein the installation mode, the connection mode or the arrangement mode of all the components are welding, riveting or other common mechanical modes, the sliding/rotating fixation is that the components do not fall off under the sliding/rotating state, the sealing communication is that two connecting pieces are communicated and simultaneously sealed, the specific structures, the models and the coefficient indexes of all the components are self-contained technologies, the beneficial effects can be realized, all the power utilization modules and the electric appliances are common electric appliances in the market, the power utilization modules and the electric appliances can be used only by being electrically connected with each other according to the use specifications bought back together when bought for use, and the control modules are common self-contained modules, so the details are not repeated.
In the case of no opposite explanation, the directional words included in the terms such as "up-down, left-right, front-back, inside-out, vertical and horizontal" and the like only represent the direction of the term in the normal use state, or be a trivial term understood by those skilled in the art, and should not be considered as limiting the term, at the same time, the numerical terms "first," "second," and "third," etc. do not denote any particular quantity or order, but rather are used to distinguish one from another, furthermore, 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 also includes other elements not expressly listed or inherent to such process, method, article, or apparatus.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (5)
1. A double-drive double-power intelligent rotary cultivator is characterized by comprising a whole vehicle unit (1) and a plough unit (2), wherein the whole vehicle unit (1) consists of a control cabinet (5), a lithium battery pack (6), a vehicle body chassis (7), an engine (8), an electric push rod (9), a push rod upper pin shaft (10), a push rod lower pin shaft, a push rod lug plate, a speed reduction steering engine (15), a steering engine driving wheel (20), a belt (21), a belt driving wheel (43), a vehicle body posture sensor, a right front wheel system, a right side crawler belt buffer mechanism, a right rear wheel system, a right crawler belt wheel system, a left front wheel system, a left side crawler belt buffer mechanism, a left rear wheel system and a left crawler belt wheel system;
the plough unit (2) consists of a right plough (16), a left plough (11) and an agricultural implement attitude sensor;
a control cabinet (5) and a lithium battery pack (6) are arranged on a vehicle body chassis (7), a right servo motor (3) is fixedly arranged on the vehicle body chassis (7), an engine (8) is fixedly arranged on the vehicle body chassis (7), a push rod ear plate is welded on the vehicle body chassis (7), an electric push rod (9) cylinder body ear plate is hinged with a push rod lower pin shaft through a push rod ear plate, an electric push rod (9) rod end ear plate is hinged with an upper end ear plate of a speed reduction steering engine (15) through a push rod upper pin shaft (10), a lower end ear plate of the speed reduction steering engine (15) is hinged with the vehicle body chassis (7) through a pin shaft, a left plough tool (11) shaft and a right plough tool (16) shaft are both provided with through holes, the left plough tool (11) shaft is fixedly arranged with a working shaft of the speed reduction steering engine (15) through a left fixing nut (12), a left fixing bolt (13), a left fixing elastic washer, a left fixing flat washer (14), a right plough tool (16) shaft is fixedly arranged with a working shaft of a speed reducing steering engine (15) through a right fixing nut (17), a right fixing bolt (18), a right fixing elastic washer and a right fixing flat washer (19), a steering engine driving wheel (20) is fixedly arranged on a main shaft of the speed reducing steering engine (15), a belt driving wheel (43) is fixedly arranged on a main shaft of an engine (8), and the steering engine driving wheel (20) and the belt driving wheel (43) are arranged together through a belt (21);
right front wheel system: a wheel disc of a right hub motor (42) is fixedly arranged on a vehicle body chassis (7), and a right front wheel (22) of the crawler is fixedly arranged on an output shaft of the right hub motor (42) through a right front wheel nut (23);
right side track buffer gear: the right-side crawler buffer mechanism comprises two buffer wheel systems, and the two buffer wheels are mounted in the same way: the right buffer wheel (24) is arranged on a right buffer wheel bracket (29) through a right buffer wheel nut (25), a right buffer wheel bolt (26), a right buffer wheel elastic washer (27) and a right buffer wheel flat washer (28), both ends of the right buffer wheel (24) bolt are in a thread form, and both ends of the right buffer wheel (24) bolt are provided with the elastic washer, the nut and the flat washer; a sleeve is welded in the middle of a right buffer wheel support (29), a buffer wheel support pin shaft is installed on a vehicle body chassis (7), threads are arranged at the end part of the buffer wheel support pin shaft, the sleeve of the right buffer wheel support (29) is hinged with the buffer wheel support pin shaft through a right support nut (30), a right support elastic washer (31) and a right support flat washer (32), and the whole right crawler buffer mechanism can rotate around the buffer wheel support pin shaft;
the right rear wheel system: the rear-wheel frame is characterized in that a rear-wheel right support (33) is fixedly mounted on a vehicle body chassis (7), a rear-wheel right (34) is hinged with the rear-wheel right support (33) through a rear-wheel right nut (35), a rear-wheel right bolt (36), a rear-wheel right elastic washer (37) and a rear-wheel right flat washer (38), threads are arranged at two ends of the rear-wheel right bolt (36), and the rear-wheel right elastic washer (37), the rear-wheel right flat washer (38) and the rear-wheel right nut (35) are mounted at two ends of the rear-wheel right bolt (36);
right track wheel system: the rear wheel of the right crawler belt (4) is fixedly arranged on the output shaft of the right servo motor (3) through a right crawler belt rear wheel nut (40);
the right crawler (4) is sleeved on the right rear wheel (34), the right crawler rear wheel (39), the crawler right front wheel (22) and the right buffer wheel (24);
the left front wheel system, the left crawler buffer mechanism, the left rear wheel system and the left crawler wheel system are respectively and symmetrically arranged with the right front wheel system, the right crawler buffer mechanism, the right rear wheel system and the right crawler wheel system;
the vehicle body attitude sensor is fixedly arranged in the middle of a vehicle body chassis (7), and the farm tool attitude sensor is fixedly arranged at the top end of the middle of the steering engine;
a vehicle control unit, a servo walking controller, a hub motor controller, an engine controller and a steering engine controller are arranged in the control cabinet (5), distributed control of the power units is achieved, and the vehicle control unit coordinates movement of each control unit of the vehicle body.
2. The dual-drive dual-power intelligent rotary cultivator of claim 1, wherein the vehicle control unit and the intelligent wireless communication module are matched to realize cloud transmission of vehicle data.
3. The dual-drive dual-power intelligent rotary cultivator of claim 2, wherein the right servo motor (3) and the left servo motor are both provided with a speed reducer.
4. The dual-drive dual-power intelligent rotary cultivator of claim 3, wherein the vehicle control unit collects a vehicle body attitude sensor and an agricultural implement attitude sensor, a displacement sensor capable of feeding back plough depth data in real time is installed inside the electric push rod (9) according to the collected information of the vehicle body attitude sensor and the agricultural implement attitude sensor and used as closed loop feedback regulation of plough depth control, and the vehicle control unit controls the extending length of the electric push rod (9) to adjust plough depth and flatness.
5. The dual-drive dual-power intelligent rotary cultivator of claim 4, wherein the buffering wheel systems are of spring-free buffering structures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010957625.2A CN112119682B (en) | 2020-09-10 | 2020-09-10 | Double-drive double-power intelligent rotary cultivator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010957625.2A CN112119682B (en) | 2020-09-10 | 2020-09-10 | Double-drive double-power intelligent rotary cultivator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112119682A CN112119682A (en) | 2020-12-25 |
| CN112119682B true CN112119682B (en) | 2022-07-05 |
Family
ID=73845577
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010957625.2A Active CN112119682B (en) | 2020-09-10 | 2020-09-10 | Double-drive double-power intelligent rotary cultivator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112119682B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5203099A (en) * | 1992-04-03 | 1993-04-20 | Commodities, Inc. | Self-powered, submersible dredge apparatus |
| CN202847431U (en) * | 2012-08-09 | 2013-04-03 | 富平县悦达机械制造有限公司 | Crawler tractor applying modified walking gearbox |
| CN207173728U (en) * | 2017-08-24 | 2018-04-03 | 中联重机浙江有限公司 | A kind of full landform 360 degree of rotation track driving mechanisms of rotary cultivator |
| CN110249722A (en) * | 2019-04-09 | 2019-09-20 | 丰疆智能科技股份有限公司 | Crawler belt type miniature ploughing machine and its assembly method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2457725A1 (en) * | 2003-02-11 | 2004-08-11 | Joseph Thompson | Track propelled turf care device |
-
2020
- 2020-09-10 CN CN202010957625.2A patent/CN112119682B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5203099A (en) * | 1992-04-03 | 1993-04-20 | Commodities, Inc. | Self-powered, submersible dredge apparatus |
| CN202847431U (en) * | 2012-08-09 | 2013-04-03 | 富平县悦达机械制造有限公司 | Crawler tractor applying modified walking gearbox |
| CN207173728U (en) * | 2017-08-24 | 2018-04-03 | 中联重机浙江有限公司 | A kind of full landform 360 degree of rotation track driving mechanisms of rotary cultivator |
| CN110249722A (en) * | 2019-04-09 | 2019-09-20 | 丰疆智能科技股份有限公司 | Crawler belt type miniature ploughing machine and its assembly method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112119682A (en) | 2020-12-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021250696A1 (en) | An all-terrain utility vehicle and methods thereof | |
| EP2596693B1 (en) | Autonomous self-actuated ploughing implement | |
| CN103814633B (en) | Miniature four-wheel drive seat type cultivator | |
| CN112119682B (en) | Double-drive double-power intelligent rotary cultivator | |
| CN209192086U (en) | A kind of paddy field sowing Agricultural Robot | |
| JP3616803B2 (en) | Paddy weeder | |
| US20170142956A1 (en) | Utility Walk-Behind Vehicle for Agriculture and Property Maintenance | |
| US4189008A (en) | Agricultural machine with detachable and separately usable propelling structure | |
| KR101324237B1 (en) | Agricultural convenient electric machinery | |
| CN210841314U (en) | Novel automatic whiteflower hogfennel root weeder | |
| US11667326B2 (en) | Automatic guidance performance improvement and transport with articulated machine form | |
| CN210466134U (en) | Automatic driving agricultural machine and power system thereof | |
| JP7035035B2 (en) | Electric uniaxial tractor | |
| CN203633068U (en) | Miniature four-wheel drive seat cultivator | |
| CN2894217Y (en) | Hand multi-purpose field working machine | |
| CN212519880U (en) | Intelligent cruise cultivator | |
| CN207389351U (en) | A kind of intelligent family moving platform for monitor on field | |
| CN207476175U (en) | A kind of agricultural all-in-one machine of multifunctional motor-driven | |
| KR101876287B1 (en) | Carriage with steering | |
| US20240217597A1 (en) | Autonomous Electric Tractor | |
| CN2448055Y (en) | Miniature multi-function rotary tiller | |
| Reiser et al. | Design, modelling and control of a novel agricultural robot with interlock drive system | |
| CN219182017U (en) | Power transmission device of agricultural implement | |
| CN220674316U (en) | Portable rotary cultivator | |
| CN2476921Y (en) | Three-wheel tillage machine similar to vehicle wheel |
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 |