Field ridge right-angle turning plant monitoring rail car and rail thereof

Abstract

The invention provides a field ridge right-angle turning plant monitoring rail car and a rail thereof, the rail car comprises a steering transmission mechanism, a wheel axle mechanism and a bottom plate, the steering transmission mechanism is arranged on the upper end face of the bottom plate, and the wheel axle mechanism is arranged on the lower end face of the bottom plate; the track comprises a plurality of groups of tracks, each group of tracks comprises two parallel tracks, each group of tracks are vertical to each other, the vertical tracks are connected to form four connecting points, and the connecting points are turning joints. Four-wheel omni-directional right-angle turning is achieved through one steering engine, the turning radius is not needed, driving motors on the wheels face the inner side of the vehicle all the time, the driving motors are not exposed during turning, the structure is simple, and maintenance is easy; a correspondingly designed track is matched, the rotary table is unlocked when a pressing plate is pressed at a turning node of the wheels, the wheels drive the rotary table to turn by 90 degrees, and the boss spring bounces the boss to lock the rotary table after the track car is driven away, so that the turning deviation of the trolley caused by the rotation of the rotary table is prevented.

Description

Technical Field

[0001] The invention relates to the technical field of field monitoring, and in particular to a field ridge right-angle turning plant monitoring track vehicle and a track thereof. Background Art

[0002] The first link in the field crop management process is the acquisition of field information. The effectiveness, accuracy and comprehensiveness of the field information obtained are key factors affecting the correctness of subsequent data analysis and decision-making. Accurate field information is more conducive to decision-making, and through this decision, greater benefits can be obtained in field crop yields.

[0003] With the rapid development of science and technology, field monitoring vehicles or robots have been developed, but the field terrain is complex and the monitoring vehicles are prone to rollover, resulting in poor practicality. Alternatively, tracks are set in the fields to prevent the monitoring vehicles from rolling over. The monitoring vehicles require a certain turning radius to turn, and the field ridges are staggered horizontally and vertically and perpendicular to each other, so the cost of setting up curved tracks is high.

[0004] This case was created to solve the above problems. Summary of the invention

[0005] 1. Technical issues to be solved

[0006] The object of the present invention is to provide a field ridge right-angle turn plant monitoring track vehicle and its track to solve the problems raised in the above-mentioned background technology.

[0007] (II) Technical solution

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: A field ridge right-angle turn plant monitoring track vehicle, comprising a steering transmission mechanism, a wheel axle mechanism and a bottom plate, wherein the steering transmission mechanism is arranged on the upper end surface of the bottom plate, and the wheel axle mechanism is arranged on the lower end surface of the bottom plate;

[0009] The steering transmission mechanism includes a steering gear support frame, in which a steering steering gear is fixed, and three reversing angle devices are arranged at equal intervals on one side of the steering gear support frame, one of which is located in the middle of the base plate, and the other two are located at the edge of the base plate. The reversing angle device includes three bevel gears, one of which is an active bevel gear, and the remaining two are driven bevel gears and are placed and meshed with the active bevel gear in an orthogonal position. The output end of the steering steering gear is connected to the active bevel gear of the reversing angle device in the middle position, and the two reversing angle devices located at the edge of the base plate are connected to the middle reversing angle device through a transmission shaft 1, one end of the transmission shaft 1 is connected to the driven bevel gear of the reversing angle device in the middle position, and the other end is connected to the active bevel gear of the reversing angle device at the edge position, and the driven bevel gear of the reversing angle device at the edge position is connected to a transmission shaft 2, and the transmission shaft 2 is connected to the wheel axle mechanism.

[0010] Preferably, the wheel axle mechanism includes a wheel frame, a rotating wheel bearing is provided at the upper end of the wheel frame, fixing holes are opened at the four corners of the base plate, the rotating wheel bearing is installed in the fixing holes, a steering shaft is provided at the upper end of the rotating wheel bearing, a driving wheel is connected to the steering shaft, the driving wheel is a bevel gear and meshes with the driven bevel gear of the reversing angle device at the edge position, a rotating wheel is installed under the wheel frame, a motor frame is provided on one side of the wheel frame, a motor is installed on the motor frame, and the output end of the motor is connected to the rotating wheel.

[0011] Preferably, a mounting frame is fixedly provided on one side of the upper end of the wheel frame, and the mounting frame is fixedly connected to the bottom surface of the base plate.

[0012] Preferably, a support seat is installed on the base plate, and the second transmission shaft passes through the support seat.

[0013] Preferably, it also includes an upper plate, which is arranged above the bottom plate, a support rod is provided between the upper plate and the bottom plate, a slide is provided on the upper plate, a placement rack is slidably connected to one side of the slide, a camera servo is provided in the placement rack, and a camera is connected to the upper end of the camera servo.

[0014] The present invention also provides a field ridge track matched with a field ridge right-angle turning plant monitoring track vehicle, comprising a plurality of groups of tracks, each group of the tracks is two parallel tracks, each group of the tracks is perpendicular to the tracks, the vertical tracks are connected to form four connection points, and the connection points are turning joints;

[0015] The turning joint comprises a bearing seat and a fixing seat, wherein the fixing seat is fixedly connected to the bearing seat, a turntable is arranged at the center of the fixing seat, and the turntable is rotatably connected to the bearing seat.

[0016] Preferably, a turntable bearing is provided between the turntable and the bearing seat, and an internal space is formed between the bottom surface of the turntable and the bearing seat.

[0017] Preferably, a vertical groove 1 is provided on the bottom surface of the internal space, a bearing cover is slidably connected in the vertical groove 1, a pressure plate is provided in the center of the turntable, a pressure plate spring is connected to the lower end of the pressure plate, the pressure plate spring passes through the turntable into the internal space and is connected to the bearing cover, the cross-section of the bearing cover is "concave", connecting rods are fixed on both sides of the upper end of the bearing cover, the other end of the connecting rod is fixedly connected to a boss, a boss groove is provided at the lower end of the turntable, and a vertical groove 2 is provided on the bottom surface of the internal space, the boss groove and the vertical groove 2 respectively correspond to the positions directly above and directly below the boss, a boss spring is provided in the vertical groove 2, and the boss spring is connected to the lower end of the boss.

[0018] Preferably, a boss bearing is installed in the bearing cover, the outer diameter wall of the boss bearing is fixed to the inside of the bearing cover, a convex shaft is provided at the lower end of the turntable, the convex shaft is fixed to the inner diameter wall of the boss bearing, and the pressure plate spring passes through the convex shaft and is fixed to the bearing cover.

[0019] (III) Beneficial effects

[0020] After adopting the above technical scheme, the present invention has the following advantages compared with the prior art: the present invention provides a field ridge right-angle turn plant monitoring rail vehicle and its track, which can realize four-wheel omnidirectional right-angle turn by only using one steering servo, without turning radius, and the driving motor on the wheel is always oriented toward the inside of the vehicle, so the driving motor will not be exposed when turning, and the structure is simple and easy to maintain. At the same time, in conjunction with the corresponding designed track, when the wheel is at the turning node and the pressure plate is pressed, the turntable is unlocked, and the wheel drives the turntable to turn 90 degrees. After the rail vehicle drives away, the boss spring will bounce up the boss and lock the turntable to prevent the deviation of the turning of the trolley caused by the rotation of the turntable. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the present invention;

[0022] Figure 2 It is a schematic diagram of a rail car;

[0023] Figure 3 is a schematic diagram of the steering mechanism;

[0024] Figure 4 It is a schematic diagram of the wheel-axle mechanism;

[0025] Figure 5 This is a schematic diagram of a turning joint;

[0026] Figure 6 This is a schematic diagram of the cross section of the bend joint;

[0027] In the figure: 1 bottom plate, 2 steering gear support frame, 3 steering steering gear, 4 reversing angle device, 41 active bevel gear, 42 driven bevel gear, 5 transmission shaft 1, 6 transmission shaft 2, 7 wheel frame, 8 turntable bearing, 9 steering shaft, 10 driving wheel, 11 turntable, 12 motor frame, 13 motor, 14 mounting frame, 15 support seat, 16 upper plate, 17 support rod, 18 slide, 19 placement frame, 20 camera steering gear, 21 camera, 22 track, 23 bearing seat, 24 fixed seat, 25 turntable, 26 pressure plate, 27 pressure plate spring, 28 bearing cover, 29 vertical slot 1, 30 connecting rod, 31 turntable bearing, 32 boss, 33 boss slot, 34 vertical slot 2, 35 boss spring, 36 boss bearing, 37 convex shaft. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below through the accompanying drawings and examples.

[0029] The embodiment of the present invention provides a field ridge right-angle turn plant monitoring track vehicle and its track, such as Figure 1-6 As shown, it includes a steering transmission mechanism, a wheel axle mechanism and a base plate 1, the steering transmission mechanism is arranged on the upper end surface of the base plate 1, the wheel axle mechanism is arranged on the lower end surface of the base plate 1, and the steering transmission mechanism is used to directly change the direction of the rotating wheel 11;

[0030] Reference Figure 3 The steering transmission mechanism includes a steering gear support frame 2, a steering gear support frame 2, a steering gear 3 is fixed in the steering gear support frame 2, and three reversing angle devices 4 are arranged at equal intervals on one side of the steering gear support frame 2, one of which is located in the middle of the bottom plate 1, and the other two are located at the edge of the bottom plate 2. The reversing angle device 4 includes three bevel gears, one of which is a driving bevel gear 41, and the remaining two are driven bevel gears 42 and are placed and meshed with the driving bevel gear 41 in an orthogonal position. The output end of the steering servo 3 is connected to the driving bevel gear 41 of the reversing angle device 4 in the middle position, and the two are located at the edge of the bottom plate 2. The reversing angler 4 is connected to the middle reversing angler 4 through a transmission shaft 1 5. One end of the transmission shaft 1 5 is connected to the driven bevel gear 42 of the reversing angler 4 at the middle position, and the other end is connected to the active bevel gear 41 of the reversing angler 4 at the edge position. The driven bevel gear 42 of the reversing angler 4 at the edge position is connected with a transmission shaft 2 6. The transmission shafts 2 6 on both sides are parallel, and the transmission shaft 2 6 is perpendicular to the transmission shaft 1 5. Through the cooperation of the steering servo 3 and the three reversing anglers 4, the four wheels 11 can achieve synchronous rotation of 90 degrees, thereby achieving zero turning radius turning. The transmission shaft 2 6 is connected to the wheel shaft mechanism, and a support seat 15 is installed on the bottom plate 1. The transmission shaft 2 6 passes through the support seat 15, and the support seat 15 is used to stabilize the transmission shaft 2 6.

[0031] Reference Figure 4 The wheel axle mechanism includes a wheel frame 7, a rotating wheel bearing 8 is provided at the upper end of the wheel frame 7, fixing holes are provided at the four corners of the bottom plate 1, and the rotating wheel bearing 8 is installed in the fixing holes. A steering shaft 9 is provided at the upper end of the rotating wheel bearing 8, and a driving wheel 10 is connected to the steering shaft 8. The driving wheel 10 is a bevel gear and meshes with the driven bevel gear 42 of the reversing angle device 4 at the edge position. The driving wheel 10 changes the angle of the wheel frame 7 to achieve a 90-degree turn. A rotating wheel 11 is installed below the wheel frame 7, and a motor frame 12 is provided on one side of the wheel frame 7. A motor 13 is installed on the motor frame 12, and the output end of the motor 13 is connected to the rotating wheel 11. A mounting frame 14 is fixedly provided on one side of the upper end of the wheel frame 7, and the mounting frame 14 is fixedly connected to the bottom surface of the bottom plate 1. The mounting frame 14 fixes the wheel axle mechanism to the lower end of the bottom plate 1.

[0032] The rail vehicle also includes an upper plate 16, which is arranged above the bottom plate 1, and a support rod 17 is provided between the upper plate 16 and the bottom plate 1, and a slide 18 is provided on the upper plate 16 (driving the placement frame 19 to move up and down, and its structure is the existing technology and will not be repeated), and a placement frame 19 is slidably connected to one side of the slide 18, and a camera servo 20 is provided in the placement frame 19, and a camera 21 is connected to the upper end of the camera servo 20, and a camera 21 is connected to the upper end of the camera servo 20, and a field monitoring camera 21 is on the upper plate 16, and the slide 18 controls the camera 21 to move up and down, and the camera servo 20 can realize the rotation of the camera 21, and the cooperation of the slide 18 and the camera servo 20 realizes field monitoring.

[0033] A field ridge track, comprising a plurality of groups of tracks 22, each group of tracks 22 being two parallel tracks, each group of tracks 22 being perpendicular to each other, the vertical tracks 22 being connected to form four connection points, the connection points being turning joints, and the mutually perpendicular tracks 22 being more convenient to be laid on the field ridge;

[0034] Reference Figure 5-6 The turning joint includes a bearing seat 23 and a fixed seat 24, the fixed seat 24 is fixedly connected to the bearing seat 23, a turntable 25 is provided at the center of the fixed seat 24, the turntable 25 is rotatably connected to the bearing seat 23, the bearing seat 23, the fixed seat 24 and the turntable 25 are coaxially installed, and the fixed seat 24 and the turntable 25 are provided with square grooves perpendicular to each other. It should be noted that the length of the square groove on the turntable 25 is greater than the diameter of the runner 11, and a screw hole is provided on the square groove of the fixed seat 24 for fixed connection with the track 22.

[0035] Reference Figure 6 A turntable bearing 31 is provided between the turntable 25 and the bearing seat 23 , and the turntable 25 can rotate on the bearing seat 23 by means of the turntable bearing 31 . An internal space is formed between the bottom surface of the turntable 25 and the bearing seat 23, and a vertical groove 29 is provided on the bottom surface of the internal space, and a bearing cover 28 is slidably connected in the vertical groove 29. A pressure plate 26 is provided in the center of the turntable 25, and a pressure plate spring 27 is connected to the lower end of the pressure plate 26. The pressure plate spring 27 passes through the turntable 25 into the internal space and is connected to the bearing cover 28. The cross-section of the bearing cover 28 is a "concave" type. Connecting rods 30 are fixed on both sides of the upper end of the bearing cover 28, and a boss 32 is fixedly connected to the other end of the connecting rod 30. A boss groove 33 is provided at the lower end of the turntable 25, and a vertical groove 2 34 is provided on the bottom surface of the internal space. The positions of the boss groove 33 and the vertical groove 2 34 correspond to the upper and lower parts of the boss 32 respectively. A boss spring 35 is provided in the vertical groove 2 34, and the boss spring 35 is connected to the lower end of the boss 32.

[0036] When the pressure plate 26 is not pressed down, the boss spring 35 pushes up the boss 32 together with the connecting rod 30 and the bearing cover 28 (the pressure plate spring 27 cannot overcome the elastic force of the boss spring 35), the connecting rod 30 touches the bottom surface of the turntable 25, and the boss 32 is located in the boss groove 33, that is, the turntable 25 is locked; when the rail car travels to a right angle, the rotating wheel 11 presses down the pressure plate 26, at this time the pressure plate spring 27 presses down the bearing cover 28 together with the boss 32 and the connecting rod 30, the boss 32 disengages from the boss groove 33, and the turntable 25 can rotate at this time.

[0037] A boss bearing 36 is installed in the bearing cover 28, and the outer diameter wall of the boss bearing 36 is fixed to the inside of the bearing cover 28. A cam 37 is provided at the lower end of the turntable 25, and the cam 37 is fixed to the inner diameter wall of the boss bearing 36. The pressure plate spring 27 passes through the cam 37 and is fixed to the bearing cover 28. Through the cooperation of the boss bearing 36 and the cam 37, the turntable 25 will not affect the pressure plate spring 27 when rotating (the pressure plate spring 27 does not rotate).

[0038] Working principle: The motor on the wheel axle mechanism of the rail car starts to operate, and the rail car runs on the track. While running, the camera 21 will lift the position of the camera 21 by controlling the slide 18 or change the direction of the camera 21 by rotating the camera servo 20, automatically identifying the position of the fruit, leaves, and rhizomes of the crop, judging whether the crop has pests and diseases, and transmitting the data to the cloud platform if pests are found. When the rail car runs to the turning mouth (i.e., the mutually vertical connection between the tracks 22), that is, the four wheels 11 (i.e., wheels) of the car are all located at the center of the turntable 25 in the turning interface, the steering servo 3 rotates to drive the active bevel gear 41 of the middle reversing angle device 4, and then drives the active bevel gear 41, the driven bevel gear 42, the driving wheel 10, the steering shaft 9, the wheel frame 7, and the wheel 11 of the reversing angle devices 4 on both sides in turn, so as to realize the rotation of the wheel 11 by ninety degrees, and the direction of the motor 13 on the wheel 11 is always toward the inside of the car, and the motor 13 will not be exposed when turning. At the same time, the rotating wheel 11 presses the pressure plate 26, and the pressure plate 26 presses down the pressure plate spring 27. The pressure plate spring 27 presses against the bearing cover 28, driving the connecting rod 30 and the boss 32 to move downward, so that the boss 32 is pressed down to leave the boss groove 33 on the lower end surface of the turntable 25, and the rotating wheel 11 drives the turntable 25 to turn 90 degrees. After the rail car leaves the turning mouth, the boss spring 35 bounces the boss 32 into the boss groove 33, locking the turntable 25 to prevent the deviation of the trolley turning caused by the rotation of the turntable.

[0039] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A field ridge right-angle turn plant monitoring track vehicle, characterized in that: It comprises a steering transmission mechanism, a wheel axle mechanism and a base plate (1), wherein the steering transmission mechanism is arranged on the upper end surface of the base plate (1), and the wheel axle mechanism is arranged on the lower end surface of the base plate (1); The steering transmission mechanism comprises a steering gear support frame (2), wherein a steering gear (3) is fixed in the steering gear support frame (2), and three reversing angle devices (4) are arranged at equal intervals on one side of the steering gear support frame (2), one of which is located in the middle of the bottom plate (1) and the other two are located at the edge of the bottom plate (2), and the reversing angle device (4) comprises three bevel gears, one of which is a driving bevel gear (41), and the remaining two are driven bevel gears (42) and are arranged and meshed with the driving bevel gear (41) at an orthogonal position, and the output end of the steering gear (3) is connected to the middle bevel gear (41). The first and second drive shafts (5) are connected to the driving bevel gear (41) of the reversing angle device (4) at the middle position, the two reversing angle devices (4) located at the edge of the bottom plate (2) are connected to the middle reversing angle device (4) through a transmission shaft (5), one end of the transmission shaft (5) is connected to the driven bevel gear (42) of the reversing angle device (4) at the middle position, and the other end is connected to the driving bevel gear (41) of the reversing angle device (4) at the edge position, the driven bevel gear (42) of the reversing angle device (4) at the edge position is connected to a transmission shaft (6), and the transmission shaft (6) is connected to the wheel shaft mechanism.

2. A field ridge right-angle turn plant monitoring track vehicle according to claim 1, characterized in that: The wheel axle mechanism comprises a wheel frame (7), a rotating wheel bearing (8) is arranged at the upper end of the wheel frame (7), fixing holes are opened at the four corners of the bottom plate (1), the rotating wheel bearing (8) is installed in the fixing holes, a steering shaft (9) is arranged at the upper end of the rotating wheel bearing (8), a driving wheel (10) is connected to the steering shaft (8), the driving wheel (10) is a bevel gear and meshes with a driven bevel gear (42) of a reversing angle device (4) at an edge position, a rotating wheel (11) is installed below the wheel frame (7), a motor frame (12) is arranged on one side of the wheel frame (7), a motor (13) is installed on the motor frame (12), and an output end of the motor (13) is connected to the rotating wheel (11).

3. A field ridge right-angle turn plant monitoring track vehicle according to claim 2, characterized in that: A mounting frame (14) is fixedly provided on one side of the upper end of the wheel frame (7), and the mounting frame (14) is fixedly connected to the bottom surface of the bottom plate (1).

4. A field ridge right-angle turn plant monitoring track vehicle according to claim 1, characterized in that: A support seat (15) is installed on the base plate (1), and the second transmission shaft (6) passes through the support seat.

5. A field ridge right-angle turn plant monitoring track vehicle according to claim 1, characterized in that: The invention also comprises an upper plate (16), wherein the upper plate (16) is arranged above the bottom plate (1), a support rod (17) is arranged between the upper plate (16) and the bottom plate (1), a slide (18) is arranged on the upper plate (16), a placement rack (19) is slidably connected to one side of the slide (18), a camera servo (20) is arranged in the placement rack (19), and a camera (21) is connected to the upper end of the camera servo (20).

6. A field ridge track, characterized in that: It comprises a plurality of groups of tracks (22), each group of the tracks (22) is two parallel tracks, each group of the tracks (22) is perpendicular to the tracks (22), and the connection between the perpendicular tracks (22) forms four connection points, and the connection points are turning joints; The turning joint comprises a bearing seat (23) and a fixing seat (24), wherein the fixing seat (24) is fixedly connected to the bearing seat (23), a turntable (25) is provided at the center of the fixing seat (24), and the turntable (25) is rotatably connected to the bearing seat (23).

7. A field ridge track according to claim 6, characterized in that: A turntable bearing (31) is provided between the turntable (25) and the bearing seat (23), and an internal space is formed between the bottom surface of the turntable (25) and the bearing seat (23).

8. A field ridge track according to claim 7, characterized in that: A vertical groove (29) is provided on the bottom surface of the internal space, and a bearing cover (28) is slidably connected in the vertical groove (29). A pressure plate (26) is provided at the center of the turntable (25), and a pressure plate spring (27) is connected to the lower end of the pressure plate (26). The pressure plate spring (27) passes through the turntable (25) and enters the internal space to be connected to the bearing cover (28). The cross section of the bearing cover (28) is a "concave" type, and both sides of the upper end of the bearing cover (28) are fixedly provided with A connecting rod (30), the other end of which is fixedly connected to a boss (32), a boss groove (33) is provided at the lower end of the turntable (25), a second vertical groove (34) is provided on the bottom surface of the internal space, the boss groove (33) and the second vertical groove (34) are respectively located directly above and directly below the boss (32), a boss spring (35) is provided in the second vertical groove (34), and the boss spring (35) is connected to the lower end of the boss (32).

9. A field ridge track according to claim 8, characterized in that: A boss bearing (36) is installed in the bearing cover (28), and the outer diameter wall of the boss bearing (36) is fixed to the inside of the bearing cover (28). A convex shaft (37) is provided at the lower end of the turntable (25), and the convex shaft (37) is fixed to the inner diameter wall of the boss bearing (36). The pressure plate spring (27) passes through the convex shaft (37) and is fixed to the bearing cover (28).

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