A small agricultural work platform for both paddy and dry land.

Abstract

A small agricultural work chassis for paddy and dry fields includes a frame, mounting frame, electric push rod, power unit, RTK rover, depth camera and range extender generator. The invention achieves height and width matching between each mounting plate by adjusting the extension rod of each mounting plate, making the chassis suitable for various agricultural equipment and enabling quick replacement. At the same time, the control module plans the chassis movement, increasing the efficiency of on-site work.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural equipment, in particular to a small agricultural operation chassis for paddy field and dry field. BACKGROUND

[0002] The multifunctional universal chassis of the agricultural vehicle provided in the disclosure No. CN202210685590.0 includes a framework, a walking module, an electric control module, a power module and a navigation module. The walking module includes a driving module and a walking wheel. A transmission module is arranged between the driving module and the walking wheel. The driving module drives the walking wheel through the transmission module. A steering knuckle is arranged at the connection between the walking wheel and the transmission module. An angle sensing module is arranged on the steering knuckle. A steering module is arranged on the framework. The steering module is connected with the steering knuckle. The electric control module includes a main control board. The power module includes a range extender and a battery pack. The navigation module includes a real-time positioning instrument and a monitoring module. The monitoring module is used for detecting and sensing the obstacle information around the chassis. Anti-collision plates are arranged at the front and rear ends of the framework. The universal chassis can realize high-precision navigation.

[0003] The above-mentioned prior art realizes the automation function and high-precision operation function of the chassis, but the adaptability of the chassis itself to other agricultural equipment has not been substantially improved, which still brings troubles to the actual production work and reduces the work efficiency of the production site. SUMMARY

[0004] The purpose of the present application is to provide a small agricultural operation chassis for paddy field and dry field to solve the problems raised in the background.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0006] A small agricultural operation chassis for paddy field and dry field includes a frame, a mounting bracket, an electric push rod, a power assembly, an RTK flow station, a depth camera and a range extender. One end of the mounting bracket is hinged to the frame, and the other end is hinged to the electric push rod. The other end of the electric push rod is hinged to the frame. The power assembly is installed on the frame. The RTK flow station, the depth camera and the range extender are independently installed on the frame. The mounting bracket includes a support rod, a sliding block, an intermediate plate, an extension rod I, an extension rod II, a mounting plate and a lifting and retracting rod III. The support rod has a transverse guide rail. The sliding block is installed on the guide rail. The intermediate plate is hinged to the sliding block. One end of the extension rod I is hinged to the intermediate plate, and the other end is hinged to the sliding block. The extension rod II is perpendicularly arranged at both ends of the intermediate plate. The other end of the extension rod II is fixedly connected to the mounting plate. The mounting plate is uniformly distributed with mounting holes. The lifting and retracting rod III is connected between the two sliding blocks, and the intermediate position of the sliding block is connected with the lifting and retracting rod III and the support rod.

[0007] Preferably, the power assembly comprises a steering mechanism and an advancing mechanism, the steering mechanism is connected with the advancing mechanism through a steering knuckle seat, two advancing mechanisms are respectively arranged on two sides of the steering mechanism, one steering mechanism controls two advancing mechanisms as a group, and the two groups of the frame are arranged symmetrically.

[0008] Preferably, the steering mechanism comprises a straight push rod, a steering arm and a connecting rod, the straight push rod is fixed on the frame and connected with the steering arm through a pin shaft, a U-shaped groove is formed in the upper part of the steering arm, the pin shaft and the U-shaped groove form a sliding pair, a circular shaft in the middle part of the steering arm forms a rotating pair with a hole on the frame, and the lower part of the steering arm is rotatably connected with two connecting rods on the left and right sides, respectively, and the connecting rod is rotatably connected with the steering arm and the steering knuckle seat at both ends.

[0009] Preferably, the advancing mechanism comprises a motor, a right-angle speed reducer, a fixed seat, a transmission box and a paddy field wheel, the motor is fixedly connected with the right-angle speed reducer, the fixed seat is installed on the frame through bolts, the right-angle speed reducer is fixedly arranged on the top of the fixed seat, the top of the steering knuckle seat is rotatably connected with the bottom of the fixed seat, the bottom of the steering knuckle seat is fixedly connected with the transmission box shell, the power output end of the transmission box is connected with the paddy field wheel, and holes are formed in the middle of the fixed seat and the steering knuckle seat, the shaft of the right-angle speed reducer passes through the holes and is in transmission connection with the gear in the transmission box, so as to drive the paddy field wheel to rotate.

[0010] Preferably, the RTK flow station, the depth camera, the range extender generator, the motor and the straight push rod are electrically connected with the control module.

[0011] Preferably, the control module is composed of an upper computer and a lower computer.

[0012] Compared with the prior art, the present application has the following beneficial effects:

[0013] By adjusting the lifting and retracting rods of each mounting plate, the height, width and narrowness of the position of each mounting plate are matched, so that the chassis can be suitable for various agricultural equipment, and the purpose of rapid replacement is achieved. Meanwhile, the chassis walking is planned through the control module, and the production site work efficiency is increased. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a three-dimensional structural schematic diagram of the present application;

[0015] Figure 2 It is a three-dimensional schematic diagram of the mounting rack of the present application;

[0016] Figure 3 It is a schematic diagram of the power assembly of the present application;

[0017] Figure 4 It is a schematic diagram of the steering mechanism of the present application;

[0018] Figure 5 Schematic diagram of the advancing mechanism of the present application;

[0019] Figure 6 Sectional view of the turning mechanism A of the present application;

[0020] Figure 7 Logic schematic diagram of the control module of the present application.

[0021] In the figure: 1 frame, 2 mounting rack, 21 support rod, 22 sliding block, 23 intermediate plate, 24 telescopic rod I, 25 telescopic rod II, 26 mounting plate, 27 telescopic rod III, 3 electric push rod, 4 power assembly, 41 turning mechanism, 411 turning knuckle seat, 412 linear push rod, 413 turning arm, 414 connecting rod, 42 advancing mechanism, 421 motor, 422 right-angle speed reducer, 423 fixed seat, 424 transmission case, 425 paddy field wheel, 5 RTK flow station, 6 depth camera, 7 range-extending generator. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0023] Embodiment:

[0024] Please refer to Figures 1 to 7 , the present application provides a technical solution:

[0025] A small-sized agricultural working chassis for paddy and dry land fields, comprising a frame 1, a mounting rack 2, an electric push rod 3, a power assembly 4, an RTK flow station 5, a depth camera 6 and a range-extending generator 7, one end of the mounting rack 2 is hinged to the frame 1, the other end is hinged to the electric push rod 3, and the other end of the electric push rod 3 is hinged to the frame 1, the extension control of the electric push rod 3 lifts up and lays down the mounting rack 2, the power assembly 4 is installed on the frame 1, the RTK flow station 5, the depth camera 6 and the range-extending generator 7 are independently installed on the frame 1, as shown in Figure 1 , the mounting rack 2 comprises a support rod 21, a sliding block 22, an intermediate plate 23, a telescopic rod I 24, a telescopic rod II 25, a mounting plate 26 and a telescopic rod III 27, the support rod 21 has a transverse guide rail, the sliding block 22 is installed on the guide rail, the intermediate plate 23 is hinged to the sliding block 22, as shown in Figure 2As shown, the telescopic rod Ⅰ 24 is hinged at one end to the middle plate 23 and at the other end to the sliding block 22, and the telescopic control of the telescopic rod Ⅰ 24 controls the rotation of the middle plate 23, so that the mounting plate 26 can be butted to the mounting hole position on various equipment. The telescopic rod Ⅱ 25 is fixedly connected to the mounting plate 26 at the other end, and the telescopic control of the telescopic rod Ⅱ 25 controls the lifting and lowering of the mounting plate 26, so that the plane of the mounting frame 2 can match the working plane of various equipment. The mounting plate 26 is uniformly distributed with mounting holes, and the telescopic rod Ⅲ 27 is connected between the two sliding blocks 22 to control the distance between the adjacent two mounting plates 26. The sliding block 22 at the middle position has a telescopic rod Ⅲ 27 connected to the support rod 21, and the middle position is connected to fix the position of all mounting plates 26 relative to the support rod 21.

[0026] As a preferred embodiment, the power assembly includes a steering mechanism 41 and an advancing mechanism 42, and the steering mechanism 41 is connected to the advancing mechanism 42 through a steering knuckle seat 411, as shown in Figure 3 As shown, the two advancing mechanisms 42 are arranged on the two sides of the steering mechanism 41 respectively, and the two advancing mechanisms 42 share one steering mechanism 41, which can better cooperate to complete the turning action. One steering mechanism 41 controls two advancing mechanisms 42 as a group, and the front and rear groups of power assemblies 4 are arranged symmetrically, and the front and rear groups of power assemblies 4 work respectively to provide more power and maneuverability for the chassis.

[0027] As a preferred embodiment, the steering mechanism 41 includes a straight push rod 412, a steering arm 413 and a connecting rod 414, the straight push rod 412 is fixed on the rack 1 and connected to the steering arm 413 through a pin shaft, as shown in Figure 4 As shown, a U-shaped groove is formed in the upper part of the steering arm 413, and the pin shaft and the U-shaped groove form a sliding pair. The middle shaft of the steering arm 413 and the hole on the rack 1 form a rotating pair, which converts the linear motion of the straight push rod 412 into the rotary motion of the steering arm 413 with the middle part as the shaft. The lower part of the steering arm 413 is rotatably connected to the connecting rod 414 on both sides, and the connecting rod 414 is rotatably connected to the steering arm 413 and the steering knuckle seat 411 at both ends, so as to convert the rotary motion of the steering arm 413 into the swing of the steering knuckle seat 411 left and right.

[0028] As a preferred embodiment, the advancing mechanism 42 includes a motor 421, a right-angle speed reducer 422, a fixed seat 423, a transmission box 424 and a paddy field wheel 425, and the motor 421 is fixedly connected to the right-angle speed reducer 422, as shown in Figure 5As shown, the fixed seat 423 is bolted on the rack 1, the right-angle speed reducer 422 is fixed on the top of the fixed seat 423, the knuckle seat 411 is rotatably connected to the bottom of the fixed seat 423, the bottom of the knuckle seat 411 is fixedly connected to the outer shell of the transmission box 424, the power output end of the transmission box 424 is connected to the paddy field wheel 425, and the fixed seat 423 and the knuckle seat 411 are both provided with holes in the middle, and the like Figure 6 As shown, the shaft of the right-angle speed reducer 422 passes through the hole and is drivingly connected to the gear in the transmission box 424, so as to drive the paddy field wheel 425 to rotate.

[0029] As a preferred embodiment, the RTK flow station 5, the depth camera 6, the range extender generator 7, the motor 421 and the linear push rod 412 are all electrically connected to the control module, the control module adopts the mode of upper computer plus lower computer, the upper computer is electrically connected to the RTK flow station 5 and the depth camera 6, the lower computer is electrically connected to the motor 421 and the linear push rod 412, and the range extender generator 7 provides power for the whole system, and the like Figure 7 As shown, the upper computer ros master controller adopts, for example, NVIDIA TX2, the lower computer adopts a motion controller with STM32F4 chip as the core, the upper computer can be connected to the Internet, and existing map resources can be used online or downloaded offline, the chassis state is preliminarily determined through the RTK flow station 5, the depth camera 6 is used to detect and learn the field, for example, the method with the patent number CN2023114545489 is adopted, then the upper computer issues instructions to the lower computer, and the lower computer controls the motor 421 and the linear push rod 412 to realize precise action, and the control module can also be remotely controlled.

[0030] The working principle of the application is as follows: first, the telescopic rod III 27 in the mounting frame 2 is adjusted to adjust the spacing of the mounting plate 26 to the required position, then the telescopic rod I 24 is adjusted to control the rotation of the mounting plate 26, and finally the telescopic rod II 25 is adjusted to control the heave of the mounting plate 26, so that various equipment is firmly mounted on the mounting frame 2, and then the mounting frame 2 is folded up and laid down through the control of the electric push rod 3, and the work is completed in cooperation, and the control module accurately plans the walking route of the chassis, and cooperates with the installed equipment to work efficiently.

[0031] Although embodiments of the application have been shown and described, it is to be understood that the application is not limited to the details of the foregoing embodiment, and that various changes, modifications, substitutions and variations can be made by those skilled in the art without departing from the spirit and principles of the application, and the scope of the application is defined by the appended claims and their equivalents.

Claims

1. A small agricultural operation chassis for dry and wet fields, comprising a frame (1), a mounting frame (2), an electric push rod (3), a power assembly (4), an RTK flow station (5), a depth camera (6) and an extended-range generator (7), characterized in that: one end of the mounting frame (2) is hinged to the frame (1), the other end is hinged to the electric push rod (3), and the other end of the electric push rod (3) is hinged to the frame (1), the power assembly (4) is installed on the frame (1), and the RTK flow station (5), the depth camera (6) and the extended-range generator (7) are independently installed on the frame (1); the mounting frame (2) comprises a support rod (21), a sliding block (22), an intermediate plate (23), a telescopic rod I (24), a telescopic rod II (25), a mounting plate (26) and a telescopic rod III (27), the support rod (21) has a transverse guide rail, the sliding block (22) is installed on the guide rail, the intermediate plate (23) is hinged to the sliding block (22), the telescopic rod I (24) is hinged to the intermediate plate (23) at one end and to the sliding block (22) at the other end, the telescopic rod II (25) is fixedly connected to the mounting plate (26) at the other end, the mounting plate (26) is uniformly distributed with mounting holes on the plate surface, and the telescopic rod III (27) is connected between the two sliding blocks (22), wherein the sliding block (22) at the middle position has the telescopic rod III (27) connecting the support rod (21).

2. A small-sized agricultural working chassis for paddy and upland fields according to claim 1, characterized in that: The two power assemblies (4) are symmetrically arranged before and after the frame (1), and the power assembly (4) comprises a steering mechanism (41) and a forward mechanism (42), the two forward mechanisms (42) are arranged on the two sides of the steering mechanism (41) respectively, and the steering mechanism (41) is connected with the two forward mechanisms (42) through the steering knuckle seat (411) respectively.

3. A small agricultural working platform for use in water-logged fields according to claim 2, characterized in that: The steering mechanism (41) comprises a linear push rod (412), a steering arm (413) and a connecting rod (414), the linear push rod (412) is fixed on the frame (1) and connected with the steering arm (413) through a pin shaft, a U-shaped groove is formed in the upper part of the steering arm (413), the pin shaft and the U-shaped groove form a sliding pair, a circular shaft in the middle of the steering arm (413) forms a rotating pair with a hole in the frame (1), and the lower part of the steering arm (413) is rotatably connected with two connecting rods (414) on the left and right sides respectively, and the two ends of the connecting rod (414) are rotatably connected with the steering arm (413) and the steering knuckle seat (411).

4. A small-sized agricultural working chassis for paddy and upland fields according to claim 3, characterized in that: The advancing mechanism (42) comprises a motor (421), a right-angle speed reducer (422), a fixed seat (423), a transmission box (424) and a paddy field wheel (425), the motor (421) is fixedly connected with the right-angle speed reducer (422), the fixed seat (423) is bolted on the rack (1), the right-angle speed reducer (422) is fixedly arranged on the top of the fixed seat (423), the top of the knuckle seat (411) is rotatably connected with the bottom of the fixed seat (423), the bottom of the knuckle seat (411) is fixedly connected with the outer shell of the transmission box (424), the fixed seat (423) and the knuckle seat (411) are both provided with holes in the middle, the power output end of the transmission box (424) is connected with the paddy field wheel (425), the shaft of the right-angle speed reducer (422) passes through the hole and is drivingly connected with the gear in the transmission box (424), so as to drive the paddy field wheel (425) to rotate.

5. A compact agricultural working platform for use in water-logged fields according to claim 4, characterized in that: The RTK flow station (5), the depth camera (6), the range extender generator (7), the motor (421) and the linear push rod (412) are electrically connected with the control module.

6. A small agricultural working platform for use in water-logged fields according to claim 5, characterized in that: The control module is composed of an upper computer and a lower computer.

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