Anti-rollover walking device for field ridge and furrow operation

Abstract

The present application relates to a kind of field ridge and furrow operation anti-rollover walking device, its structure includes being provided with steering wheel for turning and be used for driving walking track device on vehicle body, track device includes driving shaft, driving wheel is arranged on driving shaft, oscillating sleeve is sleeved on driving shaft, the lower part of oscillating sleeve is connected with swing frame, two driven wheels are arranged on swing frame, driving wheel and two driven wheels are arranged in triangle, track is arranged on driving wheel and two driven wheels, a week gear is provided on driving wheel, tooth hole is uniformly arranged on the center line of track along the length direction of track and cooperates with gear.The overall width of the walking device of the present application can be designed smaller, can pass through the spacing of plants such as sugarcane, to carry out leaf removal, weeding and other treatments to plants, the present application can stably walk in ridge and furrow, track will not appear off-track condition, and can smoothly pass through the terrain with large height difference, can avoid the occurrence of rollover.

Description

TECHNICAL FIELD

[0001] The present application relates to an agricultural machinery walking device, in particular to a field ridge and furrow operation anti-rollover walking device. BACKGROUND

[0002] For sugarcane and other crops, it is necessary to carry out leaf removal, weeding and other treatments during the growth process. However, due to the small row spacing of the plants, generally less than 100 cm, traditional mechanical equipment cannot enter, and the corresponding work can only be done manually, which requires a lot of manpower and time.

[0003] Even if the size of the traditional mechanical equipment such as tractor is modified to make it suitable for the row spacing of sugarcane and other plants, since sugarcane and other plants need to be trimmed when planted to form a U-shaped ridge and furrow between two rows of sugarcane plants, the small width mechanical equipment is prone to rollover when walking in this structure due to the high center of gravity, and when reaching the end of the land position, the device cannot pass due to the high height of the land ridge, and forcibly passing will cause the device to rollover. Moreover, the traditional steering control system needs to set a long transverse transmission pull rod on both sides of the steering gear of the steering shaft, and the overall width of the whole steering control device is large. When the vehicle body is narrow, the space on the transverse width of the vehicle body is limited, and the transverse transmission pull rod installed on both sides of the steering gear of the steering wheel does not have enough moving space, resulting in a small swinging range of the steering wheel, which cannot meet the needs of the vehicle body for steering, and the traditional steering system cannot be applied to the narrow vehicle body.

[0004] The track structure in the prior art can adapt to complex terrain environment, so the track structure is often used in existing agricultural machinery, but the existing track structure is prone to frequent falling off when walking in the U-shaped ridge and furrow between plants, and the installation of the track is difficult, especially in the ridge and furrow, and it is difficult to install and maintain the track. At the same time, the existing track device cannot avoid the problem of easy rollover when the device climbs over the ridge and furrow. The above reasons limit the use of mechanical equipment for leaf removal, weeding and other treatments of sugarcane and other plants in the field.

[0005] Therefore, there is an urgent need for a field operation walking device that can walk in the ridge and furrow and is not prone to rollover. SUMMARY

[0006] The purpose of the present application is to provide a field ridge and furrow operation anti-rollover walking device to solve the problem of easy rollover of the existing mechanical equipment when walking in the field ridge and furrow with small plant spacing.

[0007] The application is achieved as follows: a field ridge and furrow operation anti-rollover walking device, a steering wheel for turning and a caterpillar device for driving walking are arranged on a vehicle body, the caterpillar device comprises a driving shaft, a driving wheel is arranged on the driving shaft, a swing sleeve is sleeved on the driving shaft, a swing frame is connected to the lower part of the swing sleeve, two driven wheels are arranged on the swing frame, the driving wheel and the two driven wheels are arranged in a triangular shape, a caterpillar is arranged on the driving wheel and the two driven wheels, a wheel tooth is arranged on the driving wheel, and tooth holes matched with the wheel tooth are uniformly arranged on the center line of the caterpillar along the length direction of the caterpillar.

[0008] Further, two guide protrusions are arranged between two adjacent tooth holes on the inner side of the caterpillar, a gap between the two guide protrusions is used for accommodating the wheel disc of the driving wheel, and a groove is arranged on the surface of the driven wheel.

[0009] Further, a first limiting hole and a second limiting hole are arranged on the surface of the swing sleeve, the length of the first limiting hole in the circumferential direction of the swing sleeve is greater than the length of the second limiting hole in the circumferential direction of the swing sleeve, a fixed limiting pin and a movable limiting pin are arranged on the vehicle body, the fixed limiting pin is inserted into the first limiting hole, the movable limiting pin is inserted into the second limiting hole, and the insertion or extraction of the movable limiting hole is controlled through a control mechanism.

[0010] Further, the first limiting hole is located at the lower part of the swing sleeve, and the second limiting hole is located at the upper part of the swing sleeve.

[0011] Further, the control mechanism comprises a fixed sleeve, the end of the movable limiting pin is inserted into the fixed sleeve, an elastic member is arranged in the fixed sleeve, a traction member is connected to one end of the movable limiting pin which is inserted into the sleeve, and the traction member is inserted out of the fixed sleeve.

[0012] Further, the steering wheel has two and is located on both sides of the front part of the vehicle body, and the caterpillar device has two and is located on both sides of the rear part of the vehicle body.

[0013] Further, the two driven wheels have the same diameter and are substantially the same as the diameter of the driving wheel, the gap between the two driven wheels and the gap between the driven wheel and the driving wheel are less than the radius of the driven wheel, the width of the caterpillar is greater than the thickness of the driven wheel, and the thickness of the driven wheel is substantially the same as the radius of the driven wheel.

[0014] Further, a mounting sleeve is arranged on the vehicle body, the driving shaft is inserted into the mounting sleeve, the driving shaft is connected with the mounting sleeve through a bearing, and the swing sleeve is sleeved outside the mounting sleeve.

[0015] Further, the application also includes a steering control device for controlling the swing angle of the steering wheels, which comprises a steering wheel device arranged on the vehicle body, a steering wheel mounting frame and a transmission control mechanism; one side of the steering wheel device is provided with a first swing lever driven by the steering wheel device to swing up and down; the steering wheel mounting frame is located at the front of the vehicle body, vertical steering sleeves are arranged on both sides of the steering wheel mounting frame, steering rods are inserted into the steering sleeves, a second swing lever is arranged at the upper end of the steering rod on one side, and the lower ends of the steering rods on both sides are used to connect the steering wheels; the transmission control mechanism comprises a first connecting rod arranged on the vehicle body and located behind the steering gear, the middle part of the first connecting rod is hinged on the vehicle body so that it can swing in the horizontal plane, one end of the first connecting rod is connected with the first swing lever through a second connecting rod, and the other end of the first connecting rod is connected with the second swing lever through a third connecting rod; the two steering wheels are connected through a pull rod.

[0016] Further, the steering wheel mounting frame comprises two horizontal rods arranged side by side up and down, the middle part of the horizontal rod is hinged with the vehicle body, and the end part of the horizontal rod is hinged with the steering sleeve

[0017] Further, the steering wheel device comprises a steering shaft, a steering wheel arranged at one end of the steering shaft and a steering gear arranged at the other end of the steering shaft, the output shaft of the steering gear is arranged horizontally left and right, and the output shaft of the steering gear is connected with the first swing lever.

[0018] The field ridge and furrow operation anti-rollover walking device of the application controls the walking direction through the steering wheels, and the track device serves as a driving and anti-rollover part, the track is supported by two driven wheels and one driving wheel arranged in a triangle, the driving wheel and the driven wheels arranged in a triangle have a compact structure, the total length of the track installed thereon is small, and the part of the lower part of the track contacting the ground is also short, when the track device is located in the U-shaped ridge and furrow, although the two sides of the lower part of the track are unevenly stressed, since the total length of the track is small, the deformation amount generated thereby is also small, and the deformation amount is insufficient to make the track fall off the driven wheel or the driving wheel.

[0019] At the same time, the teeth of the driving wheel are engaged with the tooth holes on the track, the guide protrusions on the track can limit the relative deviation from the driving wheel, and the grooves on the driven wheel can limit the deviation between the track and the driven wheel, thereby further preventing the track from falling off.

[0020] The driving axle drives the track to move through a driving wheel, two driven wheels are installed on the swing frame, the swing frame is connected with a swing sleeve sleeved on the driving axle, during walking, the swing frame and the two driven wheels can swing around the driving axle, so as to adapt to the ups and downs of the ground, and the front part of the track is prevented from being locally stressed, and the lower part of the track is stressed as much as possible, the two driven wheels and the driving wheel are clamped after the lower part of the track is stressed, and the track is prevented from being pulled out.

[0021] In addition, the swing range of the swing frame can be controlled, when walking in the ridge ditch, the swing frame only needs to have a smaller swing range, so that it can adapt to the ups and downs of the ground, when it is necessary to pass through the ground ridge with large height difference, the swing frame is controlled to have a larger swing range, so that it can pass through the terrain with large height difference.

[0022] The overall width of the walking device can be designed to be smaller, and the plant can be treated by leaf removal and weeding in the spacing of plants such as sugarcane, the walking device can stably walk in the ridge ditch, the track will not be pulled out, and the terrain with large height difference can be smoothly passed through, and the occurrence of rollover can be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a structural view of the application.

[0024] Figure 2 is a rear view of the application.

[0025] Figure 3 is an inner side view of the track of the application.

[0026] Figure 4 is a connection structure diagram of the swing sleeve, the fixed limiting pin and the movable limiting pin of the application.

[0027] Figure 5 is a transmission principle diagram of the steering control device of the application.

[0028] Figure 6 is Figure 5 a front view.

[0029] In the figure: 1, vehicle body; 2, steering wheel; 3, track device; 4, steering control device; 3-1, driving shaft; 3-2, driving wheel; 3-3, driven wheel; 3-4, track; 3-5, mounting sleeve; 3-6, swing sleeve; 3-7, swing frame; 3-8, wheel tooth; 3-9, groove; 3-10, tooth hole; 3-11, guide protrusion; 3-12, first limiting hole; 3-13, second limiting hole; 3-14, fixed limiting pin; 3-15, movable limiting pin; 3-16, fixed sleeve; 3-17, elastic piece; 3-18, traction piece; 4-1, steering wheel; 4-2, steering shaft; 4-3, steering gear; 4-4, first swing lever; 4-5, first connecting rod; 4-6, second connecting rod; 4-7, third connecting rod; 4-8, second swing lever; 4-9, steering wheel mounting frame; 4-10, steering sleeve; 4-11, steering lever; 4-12, long slot; 4-13, transverse lever. DETAILED DESCRIPTION

[0030] The technical solutions of the present application are further described below in combination with the drawings.

[0031] As shown in Figure 1 , Figure 2 , the present application is a walking device for preventing rollover in field ridge and furrow operation, comprising steering wheels 2 and track devices 3 arranged on a vehicle body 1. The track device 3 comprises a driving shaft 3-1 connected with the vehicle body 1 and driven to rotate by a driving device on the vehicle body 1. A driving wheel 3-2 is arranged on the driving shaft 3-1 and rotates with the driving shaft 3-1. A swing sleeve 3-6 is sleeved on the driving shaft 3-1 and can rotate around the driving shaft 3-1. A swing frame 3-7 is connected to the lower part of the swing sleeve 3-6. Two driven wheels 3-3 are arranged on the swing frame 3-7. The shafts of the two driven wheels 3-3 are mounted on the swing frame 3-7. The two driven wheels 3-3 are located on the front and rear sides below the driving wheel 3-2, and the driving wheel 3-2 and the two driven wheels 3-3 are arranged in a triangular shape. A track 3-4 is arranged on the driving wheel 3-2 and the two driven wheels 3-3. A wheel tooth 3-8 is arranged on the driving wheel 3-2. Tooth holes 3-10 are evenly arranged on the center line of the track 3-4 along the length direction of the track 3-4 and cooperate with the wheel tooth 3-8. The driving wheel 3-2 can drive the track 3-4 to move when it rotates.

[0032] The steering wheels 2 are two and located on both sides of the front part of the vehicle body 1. The track devices 3 are two and located on both sides of the rear part of the vehicle body 1.

[0033] The present application adopts the combination of wheel type and track 3-4 type, so that the vehicle body 1 can stably move and walk on complex terrain, and the walking direction can be conveniently adjusted.

[0034] The track device 3 is supported by two driven wheels 3-3, and the lower part of the track 3-4 is a flat section with a certain length, which is used to directly contact the ground. When the vehicle body 1 is running in the U-shaped ridge ditch, the side of the track 3-4 is in contact with the surface of the ridge ditch, and the track 3-4 is subjected to force on one side. Due to the stable support of the driving wheel 3-2 and the driven wheel 3-3 arranged in a triangular shape to the track 3-4, and due to the short length of the track 3-4, the deformation of the track 3-4 under unilateral force is much smaller than the deformation required for the track 3-4 to be separated from the driving wheel 3-2 or the driven wheel 3-3. Therefore, this structure can effectively prevent the track 3-4 from being separated.

[0035] At the same time, the teeth 3-8 on the driving wheel 3-2 are engaged with the tooth holes 3-10 on the surface of the track 3-4, which can prevent the track 3-4 from being separated from the driving wheel 3-2.

[0036] Further, two guide protrusions 3-11 are arranged between two adjacent tooth holes 3-10 on the inner side of the track 3-4, and the gap between the two guide protrusions 3-11 is used to accommodate the wheel disc of the driving wheel 3-2. A groove 3-9 is arranged on the surface of the driven wheel 3-3. When the driving wheel 3-2 is engaged with the track 3-4, the teeth 3-8 are inserted into the tooth holes 3-10 of the track 3-4, and the guide protrusions 3-11 are located at the tooth groove of the driving wheel 3-2, which further ensures that the track 3-4 cannot be separated from the driving wheel 3-2. At the same time, when the track 3-4 is in contact with the driven wheel 3-3, the guide protrusions 3-11 are located in the groove 3-9 of the driven wheel 3-3, and the cooperation between the groove 3-9 and the guide protrusions 3-11 limits the track 3-4 from being separated from the driven wheel 3-3.

[0037] Since the two sides of the groove 3-9 on the driven wheel 3-3 are complete wheel surfaces, when running in the U-shaped ridge ditch, the outer side of the track 3-4 is subjected to force, and after being subjected to force, the track 3-4 directly acts on the outer side of the wheel surface of the driven wheel 3-3, and the track 3-4 is supported by two wheel surfaces of the driven wheel 3-3 which are close to each other, which can effectively avoid the lateral force that causes the track 3-4 to be separated from the wheel body when the track 3-4 is subjected to force on one side.

[0038] Anti-skid protrusions are uniformly distributed in the length direction on the outer side of the track 3-4, which can increase the friction between the track 3-4 and the ground.

[0039] The track 3-4 is made of rubber material, which has excellent wear resistance and flexibility.

[0040] The two driven wheels 3-3 have the same diameter and are substantially the same as the diameter of the driving wheel 3-2, the gap between the two driven wheels 3-3 and the gap between the driven wheel 3-3 and the driving wheel 3-2 are smaller than the radius of the driven wheel 3-3, the width of the track 3-4 is larger than the thickness of the driven wheel 3-3, and the thickness of the driven wheel 3-3 is substantially the same as the radius of the driven wheel 3-3. The structure of the driving wheel 3-2 and the two driven wheels 3-3 is compact, which can make the total length of the track 3-4 as short as possible, thereby reducing the possibility of the track 3-4 being detached.

[0041] One of the driven wheels 3-3 is fixedly installed on the swing frame 3-7 through a long hole, the distance between the two driven wheels 3-3 can be adjusted, and the track 3-4 can be conveniently installed on the driving wheel 3-2 and the two driven wheels 3-3. Before the track 3-4 is installed, the distance between the two driven wheels 3-3 is adjusted to the minimum. After the track 3-4 is installed on the driving wheel 3-2 and the driven wheels, the distance between the two driven wheels 3-3 is adjusted to tension the track 3-4, thereby avoiding the track 3-4 from being detached.

[0042] In order to adapt to the ups and downs of the terrain, the track device 3 can swing up and down. The existing track 3-4 obstacle mechanism is arranged on the mounting frame of the track 3-4 wheel, so that the track 3-4 wheel located at the turning position of the front end of the track 3-4 can swing up and down, thereby realizing obstacle crossing. However, this structure causes the track device 3 to have a large size, and the length of the track 3-4 is correspondingly increased. After the length of the track 3-4 is increased, the possibility of the track 3-4 being detached is increased.

[0043] In order to ensure the compactness of the structure of the track device 3 and the length of the track 3-4 as short as possible, the obstacle crossing of the track device 3 of the present application is realized by the rotation of the swing frame 3-7 and the swing sleeve 3-6 around the driving shaft 3-1.

[0044] The mounting sleeve 3-5 is arranged on the vehicle body 1, the mounting sleeve 3-5 is fixedly arranged on the side of the vehicle body 1, the driving shaft 3-1 penetrates the mounting sleeve 3-5, the driving shaft 3-1 is connected with the mounting sleeve 3-5 through a bearing, and the driving shaft 3-1 can freely rotate in the mounting sleeve 3-5, so that the power on the vehicle body 1 is transmitted to the driving wheel 3-2 through the driving shaft 3-1, and the swing sleeve 3-6 is sleeved outside the mounting sleeve 3-5. When encountering ups and downs, the swing sleeve 3-6 rotates around the driving shaft 3-1 on the mounting sleeve 3-5, so as to realize the up-and-down swinging of the swing frame 3-7 and the two driven wheels 3-3.

[0045] Since the track device 3 of the present application has a compact structure and a small size, when encountering a steep slope, the front of the track device 3 is subjected to resistance, which easily causes the whole track device 3 to rotate backward around the driving shaft 3-1, so that the two driven wheels 3-3 are arranged in an up-and-down manner. Therefore, it is necessary to limit the swing amplitude of the swing frame 3-7.

[0046] like Figure 4 As shown, a first limiting hole 3-12 and a second limiting hole 3-13 are provided on the surface of the swing sleeve 3-6. The length of the first limiting hole 3-12 in the circumferential direction of the swing sleeve 3-6 is greater than the length of the second limiting hole 3-13 in the circumferential direction of the swing sleeve 3-6. A fixed limiting pin 3-14 and a movable limiting pin 3-15 are provided on the vehicle body 1. The fixed limiting pin 3-14 is inserted into the first limiting hole 3-12, and the movable limiting pin 3-15 is inserted into the second limiting hole 3-13. The insertion or removal of the movable limiting hole is controlled by a control mechanism.

[0047] The present invention limits the swing range of the swing sleeve 3-6 by means of the first limiting hole 3-12 and the second limiting hole 3-13. When the vehicle body 1 travels on terrain with small undulations, such as in the furrow (moving along the furrow direction), the swing frame 3-7 needs a small swing range to adapt to the undulating ground. At this time, the movable limiting pin 3-15 is inserted into the second limiting hole 3-13, and the swing range of the swing sleeve 3-6 is limited by the length of the second limiting hole 3-13. When vehicle 1 reaches the end of the furrow and needs to turn, vehicle 1 needs to cross the ridge. When vehicle 1 passes through terrain with large height differences such as ridges and high embankments, the swing frame 3-7 needs to have a large swing range. At this time, the movable limiting pin 3-15 is pulled out from the second limiting hole 3-13. In this way, the swing range of the swing sleeve 3-6 will be limited by the length of the first limiting hole 3-12. Since the length of the first limiting hole 3-12 is greater than that of the second limiting hole 3-13, the swing range of the swing sleeve 3-6 becomes larger to meet the obstacle crossing needs of vehicle 1 for obstacles of greater height.

[0048] The first limiting hole 3-12 is located at the lower part of the swing sleeve 3-6, and the second limiting hole 3-13 is located at the upper part of the swing sleeve 3-6.

[0049] like Figure 4 As shown, the control mechanism includes a fixed sleeve 3-16, with the end of a movable limiting pin 3-15 inserted into the fixed sleeve 3-16. An elastic element 3-17 is installed inside the fixed sleeve 3-16. A traction element 3-18 is connected to the end of the movable limiting pin 3-15 that inserts into the sleeve, and the traction element 3-18 extends out of the fixed sleeve 3-16. Pulling the traction element 3-18 with external force can pull the movable limiting pin 3-15 out of the second limiting hole 3-13, simultaneously compressing the spring. When the external force is released, the movable limiting pin 3-15 automatically resets and inserts back into the second limiting hole 3-13 under the restoring force of the spring. The traction element 3-18 can extend to the driver's seat of the vehicle body 1 via a rope, brake cable, etc., facilitating quick operation and control by the driver.

[0050] Furthermore, the present invention also includes a steering control device 4 for controlling the swing angle of the steering wheel 2, such as... Figure 1、 Figure 5 、 Figure 6 The turning control device 4 includes a steering wheel 4-1 device, a steering wheel mounting frame 4-9 and a transmission control mechanism, which are arranged on the vehicle body 1.

[0051] The steering wheel 4-1 device is arranged at the front of the vehicle body 1 and behind the steering wheel mounting frame 4-9, and one side of the steering wheel 4-1 device is provided with a first swing lever 4-4 driven by the steering wheel 4-1 device, which swings up and down around a swing shaft.

[0052] The steering wheel mounting frame 4-9 is located at the front of the vehicle body 1, and vertical steering sleeves 4-10 are arranged on both sides of the steering wheel mounting frame 4-9, and steering rods 4-11 are arranged in the steering sleeves 4-10, which can rotate in the steering sleeves 4-10, and the lower ends of the two steering rods 4-11 on both sides are connected to the steering wheels 2, and when the steering rods 4-11 rotate in the steering sleeves 4-10, the steering wheels 2 can be swung together. A second swing lever 4-8 is arranged at the upper end of the steering rod 4-11 on one side, and the second swing lever 4-8 and the first swing lever 4-4 are located on different sides of the vehicle body 1, and the steering rod 4-11 on the side is driven to rotate through the second swing lever 4-8, thereby directly driving the steering wheel 2 on the side to turn.

[0053] The two steering wheels 2 on both sides are connected by a pull rod (not shown in the figure), so that when the steering wheel 2 on the side provided with the second swing lever 4-8 swings, the other steering wheel 2 also swings together to ensure the synchronization of the two steering wheels 2.

[0054] The transmission between the first swing lever 4-4 and the second swing lever 4-8 is realized through the transmission control mechanism, which includes a first connecting rod 4-5, a second connecting rod 4-6 and a third connecting rod 4-7. The first connecting rod 4-5 is located a certain distance behind the steering wheel 4-1 device, and the first connecting rod 4-5 spans the width direction of the vehicle body 1, and the two ends of the first connecting rod 4-5 are located on both sides of the vehicle body 1, and the middle part of the first connecting rod 4-5 is hinged on the vehicle body 1, so that it can swing in the horizontal plane around the hinge point. The first swing lever 4-4 on one side of the vehicle body 1 is connected to one end of the first connecting rod 4-5 through the second connecting rod 4-6, and the second swing lever 4-8 on the other side of the vehicle body 1 is connected to the other end of the first connecting rod 4-5 through the third connecting rod 4-7.

[0055] Since the first swing lever 4-4, the second swing lever 4-8 and the first connecting rod 4-5 are not in the same plane, ball joints are arranged at one end or both ends of the first connecting rod 4-5 and the second connecting rod 4-6, so that the swing lever and the connecting rod can be stably connected.

[0056] In order to install the first connecting rod 4-5, long holes 4-12 are opened on the side walls of the vehicle body 1 on both sides, and the first connecting rod 4-5 passes through the long holes 4-12. The long holes 4-12 have a certain length and can accommodate the swing of the first connecting rod 4-5.

[0057] As shown in Figure 5 , Figure 6 The steering wheel mounting frame 4-9 includes two horizontal rods 4-13 arranged side by side above and below, the ends of the horizontal rods 4-13 are connected with the steering sleeve 4-10, and the middle part of the horizontal rods 4-13 is hinged with the vehicle body 1. The cross section of the steering sleeve 4-10 is rectangular, and a hole for passing through the vertical steering rod 4-11 is opened along the length direction of the steering sleeve 4-10, the steering rod 4-11 passes through the steering sleeve 4-10 and can rotate around its own axis in the steering sleeve 4-10. The ends of the horizontal rods 4-13 are two protruding connecting ears, the steering sleeve 4-10 is located between the two connecting ears, and the steering sleeve 4-10 is connected with the connecting ears through a pin shaft, and the steering sleeve 4-10 can rotate around the pin shaft in the space between the two connecting ears.

[0058] In this way, the two horizontal rods 4-13 and the two steering sleeves 4-10 form a parallelogram structure, and when the two horizontal rods 4-13 swing around the hinge shaft in the middle, the two steering sleeves 4-10 are always in a vertical state. When encountering uneven road surfaces on both sides, the two steering wheels 2 move up and down to different heights, and through the above-mentioned parallelogram structure, the two horizontal rods 4-13 swing to make the two steering wheels 2 adapt to the different road conditions on both sides, but the two steering sleeves 4-10 are always in a vertical state, thereby avoiding the tilting of the vehicle body 1 due to the uneven road surfaces on both sides, and the structure of the steering wheel mounting frame 4-9 in cooperation with the track device 3 can further prevent the vehicle body 1 from rolling over and falling.

[0059] The steering wheel 4-1 device includes a steering shaft 4-2, a steering wheel 4-1 located at one end of the steering shaft 4-2, and a steering gear 4-3 located at the other end of the steering shaft 4-2. The output shaft of the steering gear 4-3 is arranged horizontally left and right of the vehicle body 1, and the output shaft of the steering gear 4-3 is connected with the first swing rod 4-4. By rotating the steering wheel 4-1, the steering shaft 4-2 can be driven to rotate, and the steering gear 4-3 converts the direction of the power to rotation around the horizontal axis of the vehicle body 1 left and right.

[0060] Among them, the steering gear 4-3 can be a worm steering gear 4-3, which increases the output of the steering force through the transmission ratio of the worm gear, and at the same time, since the worm gear mechanism has a self-locking function, the swing of the steering wheel 2 is only controlled by the steering wheel 4-1 and is not affected by external forces.

[0061] The above-mentioned turning control device 4 is dedicated to a relatively narrow vehicle body 1, the torsion force of the steering wheel 4-1 is output to one side through the steering gear 4-3, then converted into a pulling force through the first swing rod 4-4, and transmitted to the rear through the second pulling rod to the first connecting rod 4-5 in the form of a lever structure, the pulling force is transmitted to the other side of the vehicle body 1 through the lever structure of the first connecting rod 4-5, and transmitted to the second swing rod 4-8 through the third pulling rod, the second swing rod 4-8 converts the pulling force into a torsion force acting on the steering rod 4-11, so as to turn the steering wheel 2 on this side, and the two steering wheels 2 are connected through the pulling rod, so as to realize the synchronous turning of the two steering wheels 2.

[0062] The present application adopts a connecting rod along the length direction of the vehicle body 1 to replace the original connecting rod arranged along the width direction of the vehicle body 1, and transmits the force output from one side of the steering wheel 4-1 steering gear 4-3 to the other side through multiple connecting rods along the length direction of the vehicle body 1 which is relatively rich in space, so as to realize the control of the steering wheel 2. The above-mentioned structure has a relatively low requirement on the space in the width direction of the vehicle body 1, and can be applied to a very narrow vehicle body 1, and meets the requirement of the turning control of the relatively narrow vehicle body 1.

Claims

1. A field furrow working anti-rollover walking device, characterized in that, The vehicle body is provided with a steering wheel for turning and a track device for driving walking, the track device comprises a driving shaft, a driving wheel is arranged on the driving shaft, a swing sleeve is sleeved on the driving shaft, a swing frame is connected to the lower part of the swing sleeve, two driven wheels are arranged on the swing frame, the driving wheel and the two driven wheels are arranged in a triangular shape, a track is arranged on the driving wheel and the two driven wheels, a wheel tooth is arranged on the driving wheel, and a tooth hole matched with the wheel tooth is uniformly arranged on the center line of the track along the length direction of the track; A first limiting hole and a second limiting hole are arranged on the surface of the swing sleeve, the length of the first limiting hole in the circumferential direction of the swing sleeve is greater than the length of the second limiting hole in the circumferential direction of the swing sleeve, a fixed limiting pin and a movable limiting pin are arranged on the vehicle body, the fixed limiting pin is inserted into the first limiting hole, and the movable limiting pin is inserted into the second limiting hole, and the insertion or extraction of the movable limiting pin is controlled by a control mechanism; The control mechanism comprises a fixed sleeve, the end of the movable limiting pin is inserted into the fixed sleeve, an elastic member is arranged in the fixed sleeve, a traction member is connected to one end of the movable limiting pin which is inserted into the sleeve, and the traction member is inserted out of the fixed sleeve; An installation sleeve is arranged on the vehicle body, the driving shaft is inserted into the installation sleeve, and the driving shaft is connected with the installation sleeve through a bearing, and the swing sleeve is sleeved outside the installation sleeve.

2. The field furrow work anti-roll-over walking device of claim 1, wherein, Two guide protrusions are arranged between two adjacent tooth holes on the inner side of the track, a gap between the two guide protrusions is used for accommodating the wheel disc of the driving wheel, and a groove is arranged on the surface of the driven wheel and used for accommodating the guide protrusion.

3. The field furrow work anti-roll-over walking device of claim 1, wherein, The first limiting hole is located at the lower part of the swing sleeve, and the second limiting hole is located at the upper part of the swing sleeve.

4. The field furrow work anti-roll-over walking device of claim 1, wherein, The steering wheel is provided with two steering wheels arranged on the two sides of the front part of the vehicle body, and the track device is provided with two track devices arranged on the two sides of the rear part of the vehicle body.

5. The field furrow work anti-roll-over walking device of claim 1, wherein, The diameters of the two driven wheels are the same and substantially the same as the diameter of the driving wheel, the gap between the two driven wheels and the gap between the driven wheel and the driving wheel are smaller than the radius of the driven wheel, the width of the track is greater than the thickness of the driven wheel, and the thickness of the driven wheel is substantially the same as the radius of the driven wheel.

6. The field furrow work anti-roll-over walking device of claim 1, wherein, A steering control device for controlling the swing angle of the steering wheel is further included, the steering control device comprises a steering wheel device arranged on the vehicle body, a steering wheel mounting frame, and a transmission control mechanism; One side of the steering wheel device is provided with a first swing rod driven by the steering wheel device to swing up and down; The steering wheel mounting frame is arranged at the front part of the vehicle body, vertical steering sleeves are arranged on the two sides of the steering wheel mounting frame, steering rods are inserted into the steering sleeves, a second swing rod is arranged on the upper end of the steering rod on one side, and the lower ends of the steering rods on the two sides are used for connecting the steering wheels. The transmission control mechanism comprises a first connecting rod arranged on the vehicle body and located behind the steering gear, the middle part of the first connecting rod is hinged on the vehicle body to enable the first connecting rod to swing in a horizontal plane, one end of the first connecting rod is connected with the first swing rod through a second connecting rod, and the other end of the first connecting rod is connected with the second swing rod through a third connecting rod. The two steering wheels are connected through a pull rod.

7. The field furrow work anti-roll-over walking device of claim 6, wherein, The steering wheel mounting frame comprises two transverse rods arranged in parallel in up and down directions, the middle parts of the transverse rods are hinged with the vehicle body, and the end parts of the transverse rods are hinged with the steering sleeve.

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