Steering device for unmanned driving of agricultural machinery and steering method of steering device

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By designing a trolley steering device for unmanned driving in agricultural machinery, the device uses hydraulic system to transfer steering force and push-up wheel to clear obstacles, solving the problem of device wear during trolley steering, realizing the long life of the device and the trolley normal driving.

CN119428844AInactive Publication Date: 2025-02-14JIANGSU GIANT CROCODILE TECH CO LTD

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Patent Information

Application Number: CN202411619109.3
Authority / Receiving Office: CN · China
Patent Type: Applications(China)
Current Assignee / Owner
Filing Date: 2024-11-13
Publication Date: 2025-02-14
Estimated Expiration: Not applicable · inactive patent

AI Technical Summary

Technical Problem

When using driverless cars for field operations, the stones and pits in the fields can easily block the steering of the car, resulting in faster wear of the rotating device, reduced life or direct damage.

Method used

A steering device for driving-free agricultural machinery is designed, which includes a steering assembly, a push-up assembly and a grass cleaning assembly. The electric push and pull rod drives the plate movement, and the steering force is transferred to the sliding frame with hydraulic oil, to prevent the electric push and pull rod from continuously applying the steering force, thereby protecting the device. At the same time, components such as push-lift wheels and sliding cutters help the car lift obstacles and clean up weeds.

Benefits of technology

It effectively avoids damage to the device when the steering wheel is stuck, extends the life of the steering device, and ensures that the car can smoothly cross obstacles and potholes and resume normal driving.

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Abstract

The invention relates to the technical field of unmanned driving, and discloses a steering device for agricultural machinery unmanned driving and a steering method thereof.The steering device comprises a steering assembly, the steering assembly comprises a fixing plate, a first supporting rod is fixedly connected to the bottom of the fixing plate, and a second supporting rod is fixedly connected to the outer surface of the first supporting rod; an electric push-pull rod is started to drive a first pressing plate to move leftwards or rightwards so as to stretch and extrude hydraulic oil in an oil storage rod, however, due to blocking of two first springs, a first sliding frame is difficult to move, at the moment, the first pressing plate moves to drive the oil storage rod to move, and then a steering wheel is driven to rotate for steering; when the steering wheel is blocked by an obstacle and cannot rotate, an electric push-pull rod drives a first pressing plate to continue to move, the first pressing plate can drive a first sliding frame to move through hydraulic oil and compress and stretch two first springs correspondingly, and by means of the design, when the steering wheel is clamped, the first sliding frame can be driven to move through hydraulic oil; and damage to the device caused by continuous steering force application of the electric push-pull rod is prevented.

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Description

Technical Field

[0001] The present invention relates to the technical field of unmanned driving equipment, and in particular to a steering device and a steering method for unmanned driving of agricultural machinery. Background Art

[0002] In the early 20th century, advanced unmanned systems, including lidar, computer vision, and artificial intelligence, were introduced around the world, enabling agricultural machinery to navigate and perform complex tasks autonomously. Today, these technologies have been widely used in agricultural machinery, significantly improving production efficiency and crop yields.

[0003] When using unmanned vehicles for agricultural operations such as irrigation or fertilization in the fields, stones and potholes in the fields often block the vehicle from turning. If the vehicle is driven to turn forcibly, it will increase the wear of the rotating device, resulting in a reduced life of the steering device or direct damage. The following solutions are proposed to address the above problems. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a steering device for unmanned agricultural machinery, including a steering assembly, the steering assembly includes a fixing plate, a support rod 1 is fixedly connected to the bottom of the fixing plate, and a support rod 2 is fixedly connected to the outer surface of the support rod 1, and further includes:

[0005] The push-up assembly includes a rack arranged below the fixed plate, a gear is meshedly connected to the back of the second rotating shaft, and the inner wall of the gear is rotatably connected to the first rotating shaft;

[0006] The grass clearing component includes a liquid guiding hose 2 fixedly connected to the front side of the support rod 2, one end of the liquid guiding hose 2 away from the support rod 2 is fixedly connected to a rotating shaft, a partition 2 is fixedly connected to the inner wall of the rotating shaft, and a sliding shell is slidably connected to the inner wall of the rotating shaft.

[0007] Preferably, the outer surface of the second support rod is rotatably connected to the inner wall of the rotating shaft, the outer surface of the rotating shaft is rotatably connected to a steering wheel, the inner wall of the second support rod is rotatably connected to an electric push-pull rod, a pressure plate one is fixedly connected to the left side of the output end of the electric push-pull rod, the outer surface of the pressure plate one is slidably connected to an oil storage rod, the interior of the oil storage rod is filled with hydraulic oil, and the pressure plate one divides the hydraulic oil in the oil storage rod into two parts.

[0008] Preferably, the outer surface of the oil storage rod is rotatably connected to the inner wall of the rotating shaft, a buffer box is fixedly connected to the top of the oil storage rod, a partition plate 1 is fixedly connected to the inner wall of the buffer box, a sliding frame 1 is slidably connected to the inner wall of the partition plate 1, the outer surface of the sliding frame 1 is slidably connected to the inner wall of the buffer box, two springs 1 are fixedly connected to the left and right sides of the partition plate 1, and the two springs 1 are fixedly connected to the inner wall of the sliding frame 1 at ends away from each other. The space formed by the two sides of the sliding frame and the inner wall of the buffer box is also filled with hydraulic oil. By arranging the spring 1, the steering force of the device can be buffered.

[0009] Preferably, the back side of the rack is fixedly connected to the front side of the sliding frame, the outer surface of the rotating shaft is rotatably connected to the inner wall of the buffer box, the outer surface of the rotating shaft is fixedly connected to bevel gear 1, the bottom of the bevel gear 1 is meshingly connected to two bevel gears 2, the two bevel gears 2 are symmetrically arranged, the inner wall of the bevel gear 2 is fixedly connected to a limiting block, the inner wall of the bevel gear 2 is rotatably connected to a rotating clamping block, the outer wall of the rotating clamping block is fixedly connected to a coil spring, the coil spring is fixedly connected to the inner wall of the bevel gear 2 at the end away from the rotating clamping block, the inner wall of the bevel gear 2 is rotatably connected to the rotating shaft 2, the outer surface of the rotating shaft 2 is fixedly connected to a fixed clamping block, and by setting a limit block, the rotating clamping block can only rotate in one direction.

[0010] Preferably, the outer surface of the second rotating shaft is rotatably connected to the inner wall of the oil storage rod, the outer surface of the second rotating shaft is fixedly connected to a connecting rod, the outer surface of the connecting rod is rotatably connected to a rotating rod, the outer surface of the rotating rod is rotatably connected to a pressure plate two, the outer surface of the second pressure plate is slidably connected to an oil storage shell, the bottom of the oil storage shell is fixedly connected to the top of the buffer box, the left side of the oil storage shell is fixedly connected to a liquid guiding hose one, the liquid guiding hose one is fixedly connected to the front of the support rod one at the end away from the oil storage shell, the inner wall of the support rod one is slidably connected to a sliding frame two, the outer surface of the sliding frame two is sleeved with a spring two, the bottom of the spring two is fixedly connected to the inner wall of the support rod one, the top of the spring two is fixedly connected to the outer wall of the sliding frame two, the inner wall of the sliding frame two is rotatably connected to a lifting wheel, by providing the lifting wheel, the side of the trolley with a rotating obstacle can be lifted up, so that the trolley can pass over obstacles and potholes to resume normal driving.

[0011] Preferably, the outer surface of the sliding shell is slidably connected to the inner wall of the partition plate 2, a sliding cutting knife is slidably connected to the inner wall of the sliding shell, a spring 3 is fixedly connected to the front of the sliding cutting knife, a back of the spring 3 is fixedly connected to the inner wall of the sliding shell, a sliding block is slidably connected to the inner wall of the rotating shaft, the right side of the sliding block is fixedly connected to the left side of the sliding shell, and a spring 4 is fixedly connected to the left side of the sliding block. By setting the spring 3, the sliding cutting knife can be reset.

[0012] Preferably, the left side of spring four is fixedly connected to the inner wall of the rotating shaft, the left side of the sliding shell is fixedly connected to a pressure plate three, the outer surface of the pressure plate three is slidably connected to the inner wall of the rotating shaft, the left side of the pressure plate three is respectively fixedly connected to a sealing plate one and a sealing plate two, the outer surfaces of the sealing plate one and the sealing plate two are slidably connected to the inner wall of the rotating shaft, the right side of the pressure plate three is fixedly connected to an air outlet shell, the outer surface of the air outlet shell is slidably connected to the inner wall of the rotating shaft, and the sliding block can be reset by setting a spring four, and the elastic force of the spring four is greater than that of the spring three.

[0013] A steering method for an unmanned agricultural machinery steering device comprises the following steps:

[0014] S1: When using this device, first install it at the designated position of the agricultural vehicle. When the steering wheel is blocked by an obstacle, as the electric push-pull rod drives the pressure plate 1 to move, it will transfer the steering force to the sliding frame 1 through the hydraulic oil in the oil storage rod;

[0015] S2: When the sliding frame 1 moves, it will also drive the rack 1 to move, and then drive the rotating shaft 2 to rotate. When the rotating shaft 2 rotates, the hydraulic oil in the oil storage shell will be squeezed, and then the lifting wheel will be pushed to contact the ground and lift the trolley;

[0016] S3: During the downward movement of the sliding frame 2, it compresses the air inside the support rod 1 to push the sliding cutter to cut off the weeds entangled on the device. During the movement of the sliding shell, it also drives the pressure plate 3 to move together, thereby causing the air outlet shell to spray air to clean the remaining weeds.

[0017] The present invention has the following beneficial effects:

[0018] 1. When the trolley is to turn, the electric push-pull rod is started to drive the pressure plate 1 to move to the left or right. During the movement, the pressure plate 1 will stretch and squeeze the hydraulic oil in the oil storage rod at the same time. The hydraulic oil in the squeezed part of the oil storage rod will enter the buffer box and give a pushing force to the sliding frame 1. The hydraulic oil in the stretched part will suck the hydraulic oil in the buffer box into the oil storage rod and give a pulling force to the sliding frame 1. However, due to the obstruction of the two springs 1, the sliding frame 1 is difficult to move. At this time, the movement of the pressure plate 1 will pass through the oil storage rod that is difficult to move. The flowing hydraulic pressure drives the oil storage rod to move, and the oil storage rod will drive the rotating shaft to rotate while moving, and the rotating shaft will drive the steering wheel to rotate for steering. When the steering wheel is blocked by an obstacle and cannot rotate, as the electric push-pull rod drives the pressure plate to continue to move, the pressure plate will drive the sliding frame to move through the hydraulic oil in the oil storage rod and compress and stretch the two springs respectively. This design can transfer the steering force to the sliding frame when the steering wheel is stuck, thereby preventing the electric push-pull rod from continuously applying steering force to damage the device.

[0019] 2. In the present invention, when the sliding frame 1 moves, it will also drive the rack 1 to move together. When the rack moves, it will drive the gear to rotate. The gear will drive the bevel gear 1 to rotate through the rotating shaft 1. The rotation of the bevel gear 1 will drive the two bevel gears 2 to rotate together. The two bevel gears 2 rotate in opposite directions. When the bevel gear 2 rotates, it will drive the rotating block 1 to move together. If the bevel gear 1 drives Figure 5When the bevel gear 2 shown in the figure rotates counterclockwise, the bevel gear 2 will drive the rotating block to contact with the fixed block. Due to the blocking effect of the limit block, the rotating block cannot rotate counterclockwise. As the bevel gear 2 rotates, the rotating block will drive the rotating shaft 2 to rotate counterclockwise through the fixed block. On the contrary, when the bevel gear 2 on the other side drives the rotating block to rotate clockwise, since the rotating block itself can rotate clockwise, when the rotating block contacts the fixed block, the rotating block will overcome the elastic force of the coil spring and rotate clockwise, and thus cannot drive the rotating shaft 2 to rotate through the fixed block. When the rotation direction of the bevel gear 1 is opposite to the above, Figure 5 The bevel gear 2 shown in the figure rotates clockwise, so it cannot drive the rotating shaft 2 to move. At this time, the bevel gear 2 on the other side will drive the rotating shaft 2 to rotate counterclockwise due to its counterclockwise rotation, so that no matter how the bevel gear 1 rotates, the rotating shaft 2 can always rotate in one direction. The rotating shaft 2 will drive the connecting rod to rotate when it rotates. The connecting rod will drive the pressure plate 2 to move upward through the rotating rod when it rotates. The pressure plate 2 will squeeze the hydraulic oil in the oil storage shell during the upward movement, and the squeezed hydraulic oil will be pushed into the liquid guide hose 1, and the liquid guide hose 1 will pass the hydraulic oil into the support rod 1. The hydraulic oil passed into the support rod 1 will push the sliding frame 2 downward and compress the spring 2. When the sliding frame 2 moves downward, it will drive the lifting wheel 1 to move downward together, and then contact the ground through the lifting wheel and lift the trolley. This design can lift the side of the trolley with a rotating obstacle, so that the trolley can cross obstacles and potholes to resume normal driving.

[0020] 3. In the process of the downward movement of the sliding frame 2 of the present invention, it will compress the air inside the support rod 1 and push the air into the liquid guiding hose 2. The liquid guiding hose 2 will pass the air into the interior of the rotating shaft. The air passed into the interior of the rotating shaft will first push the sliding cutter and stretch the spring 3. When the sliding cutter is fully extended from the rotating shaft, as the air continues to be input, the sliding block will be pushed to the left and compress the spring 4. While moving, the sliding block will also drive the sliding shell 1 to move together, and then drive the fully extended sliding cutter to move to the left. While moving, the sliding cutter will cut the weeds wrapped around the connection between the support rod 2 and the rotating shaft. This design can prevent the weeds wrapped around the device from causing difficulty in turning the device, making it difficult for the steering component to work normally.

[0021] 4. In the process of movement of the sliding shell of the present invention, it will also drive the pressure plate three to move together, and the pressure plate three will drive the sealing plate one and the sealing plate two to move together. The sealing plate one and the sealing plate two can block the sliding groove opened on the surface of the rotating shaft to prevent the air inside the rotating shaft from leaking. The pressure plate three will squeeze the air inside the rotating shaft during the movement, and the squeezed air will enter the interior of the air outlet shell through the through hole opened in the pressure plate three. With the continuous movement of the pressure plate three, the air entering the air outlet shell will be ejected from the back of the air outlet shell, and then the weeds that are still left on the rotating shaft after being cut can be blown off. This design can blow off the weeds that remain on the rotating shaft after being cut, and prevent the remaining weeds from being entangled in the connection between the rotating shaft and the support rod two, which will cause difficulty in turning the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the internal cross-sectional structure of the buffer box of the present invention;

[0025] Figure 3 This is a schematic diagram of the overall structure of the second pressing plate of the present invention;

[0026] Figure 4 For the present invention Figure 3 A is a schematic diagram of the enlarged structure of the middle part;

[0027] Figure 5 This is a schematic diagram of the internal cross-sectional structure of the bevel gear 2 of the present invention;

[0028] Figure 6 This is a schematic diagram of the internal cross-sectional structure of a support rod of the present invention;

[0029] Figure 7 It is a schematic diagram of the internal cross-sectional structure of the steering shaft of the present invention;

[0030] Figure 8 It is a schematic diagram of the internal cross-sectional structure of the sliding shell of the present invention;

[0031] Fig. 9 It is a schematic diagram of the working process of the present invention.

[0032] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0033] In the figure: 1. Steering assembly; 101. Fixed plate; 102. Support rod 1; 103. Support rod 2; 104. Rotating shaft; 105. Steering wheel; 106. Electric push-pull rod; 1061. Pressing plate 1; 107. Oil storage rod; 108. Buffer box; 109. Partition 1; 110. Sliding frame 1; 111. Spring 1; 2. Push-up assembly; 201. Rack; 202. Gear; 203. Rotating shaft 1; 204. Bevel gear 1; 205. Bevel gear 2; 206. Limit block; 207. Rotating block; 208. Coil spring; 209, fixed block; 210, rotating shaft 2; 211, connecting rod; 212, rotating rod; 213, pressing plate 2; 214, oil storage shell; 215, liquid guide hose 1; 216, sliding frame 2; 217, spring 2; 218, lifting wheel; 3, grass cleaning component; 301, liquid guide hose 2; 302, partition 2; 303, sliding shell; 304, sliding cutter; 305, spring 3; 306, sliding block; 307, spring 4; 308, pressing plate 3; 309, sealing plate 1; 310, sealing plate 2; 311, air outlet shell. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] For example, see Figure 1 - Figure 2 The present invention is a steering device for unmanned agricultural machinery, comprising a steering assembly 1, the steering assembly 1 comprising a fixing plate 101, a support rod 102 is fixedly connected to the bottom of the fixing plate 101, a support rod 2 103 is fixedly connected to the outer surface of the support rod 102, and further comprising:

[0036] The push-up assembly 2 includes a rack 201 disposed below the fixed plate 101, a gear 202 meshingly connected to the back of the second rotating shaft 210, and an inner wall of the gear 202 is rotatably connected to the first rotating shaft 203;

[0037] The grass cleaning component 3 includes a liquid guiding hose 301 fixedly connected to the front side of the support rod 103, one end of the liquid guiding hose 301 away from the support rod 103 is fixedly connected to the rotating shaft 104, the inner wall of the rotating shaft 104 is fixedly connected to the partition 2 302, and the inner wall of the rotating shaft 104 is slidably connected to the sliding shell 303.

[0038] The outer surface of the support rod 103 is rotatably connected to the inner wall of the rotating shaft 104, and the outer surface of the rotating shaft 104 is rotatably connected to the steering wheel 105. The inner wall of the support rod 103 is rotatably connected to the electric push-pull rod 106. The left side of the output end of the electric push-pull rod 106 is fixedly connected to a pressure plate 1061, and the outer surface of the pressure plate 1061 is slidably connected to an oil storage rod 107. When using this device, first install this device at a designated position of the agricultural vehicle. When the vehicle needs to turn, start the electric push-pull rod 106 to drive the pressure plate 1061 to move to the left or to the right. During the movement, the pressure plate 1061 will simultaneously stretch and squeeze the hydraulic oil inside the oil storage rod 107.

[0039] The outer surface of the oil storage rod 107 is rotatably connected to the inner wall of the rotating shaft 104, and a buffer box 108 is fixedly connected to the top of the oil storage rod 107. A partition 109 is fixedly connected to the inner wall of the buffer box 108. A sliding frame 110 is slidably connected to the inner wall of the partition 109. The outer surface of the sliding frame 110 is slidably connected to the inner wall of the buffer box 108. Two springs 111 are fixedly connected to the left and right sides of the partition 109 respectively. The two springs 111 are fixedly connected to the inner wall of the sliding frame 110 at the ends away from each other. The hydraulic oil of the squeezed part of the oil storage rod 107 will enter the buffer box 108 and give the sliding frame 110 a pushing force, and the hydraulic oil of the stretched part will suck the hydraulic oil in the buffer box 108 into the oil storage rod 107 and give the sliding frame 110 a pulling force, but due to the two springs 11 1, so the sliding frame 110 is difficult to move, at this time the movement of the pressure plate 1061 will drive the oil storage rod 107 to move through the hydraulic pressure that is difficult to flow in the oil storage rod 107, and the oil storage rod 107 will drive the rotating shaft 104 to rotate while moving, and the rotating shaft 104 will drive the steering wheel 105 to rotate for steering. When the steering wheel 105 is blocked by an obstacle and cannot rotate, as the electric push-pull rod 106 drives the pressure plate 1061 to continue to move, the pressure plate 1061 will drive the sliding frame 110 to move through the hydraulic oil in the oil storage rod 107 and compress and stretch the two springs 111 respectively. This design can transfer the steering force to the sliding frame 110 when the steering wheel 105 is stuck, thereby preventing the electric push-pull rod 106 from continuously applying steering force to damage the device.

[0040] For example 2, please refer to Figure 3 - Fig. 9The present invention is a steering device for unmanned agricultural machinery. On the basis of Example 1, the back of the rack 201 is fixedly connected to the front of the sliding frame 110, the outer surface of the rotating shaft 103 is rotatably connected to the inner wall of the buffer box 108, the outer surface of the rotating shaft 203 is fixedly connected to the bevel gear 104, the bottom of the bevel gear 104 is meshed and connected to two bevel gears 205, the two bevel gears 205 are symmetrically arranged, the inner wall of the bevel gear 205 is fixedly connected to the limited block 206, the inner wall of the bevel gear 205 is rotatably connected to the rotating block 207, the outer wall of the rotating block 207 is fixedly connected to the coil spring 208, and the coil spring 208 is connected to the inner wall of the rotating block 207 at one end away from the rotating block 207. The inner wall of bevel gear 205 is fixedly connected, and the inner wall of bevel gear 205 is rotatably connected with rotating shaft 210. The outer surface of rotating shaft 210 is fixedly connected with fixed clamping block 209. When the sliding frame 110 moves, it will also drive the rack 201 to move together. When the rack 201 moves, it will drive the gear 202 to rotate. The gear 202 will drive the bevel gear 1 204 to rotate through the rotating shaft 1 203. The rotation of bevel gear 1 204 will drive the two bevel gears 205 to rotate together, and the two bevel gears 205 rotate in opposite directions. When the bevel gear 205 rotates, it will drive the rotating clamping block 207 to move together. If the bevel gear 1 204 drives Figure 5 When the bevel gear 205 shown in the figure rotates counterclockwise, the bevel gear 205 will drive the rotating block 207 to contact with the fixed block 209. Due to the blocking effect of the limit block 206, the rotating block 207 cannot rotate counterclockwise. As the bevel gear 205 rotates, the rotating block 207 will drive the rotating shaft 210 to rotate counterclockwise through the fixed block 209. On the contrary, when the bevel gear 205 on the other side drives the rotating block 207 to rotate clockwise, since the rotating block 207 itself can rotate clockwise, when the rotating block 207 contacts the fixed block 209, the rotating block 207 will overcome the elastic force of the coil spring 208 and rotate clockwise, and thus cannot drive the rotating shaft 210 to rotate through the fixed block 209. When the rotation direction of the bevel gear 1 204 is opposite to the above, Figure 5 The bevel gear 205 shown in the figure rotates clockwise, so it cannot drive the rotating shaft 210 to move. At this time, the bevel gear 205 on the other side will drive the rotating shaft 210 to rotate counterclockwise due to counterclockwise rotation, so that no matter how the bevel gear 1 204 rotates, the rotating shaft 210 can always rotate in one direction.

[0041] The outer surface of the second rotating shaft 210 is rotatably connected to the inner wall of the oil storage rod 107, the outer surface of the second rotating shaft 210 is fixedly connected with a connecting rod 211, the outer surface of the connecting rod 211 is rotatably connected with a rotating rod 212, the outer surface of the rotating rod 212 is rotatably connected with a pressing plate 213, the outer surface of the pressing plate 213 is slidably connected with an oil storage shell 214, the bottom of the oil storage shell 214 is fixedly connected to the top of the buffer box 108, the left side of the oil storage shell 214 is fixedly connected with a liquid guiding hose 1 215, the liquid guiding hose 1 215 is fixedly connected to the front of the support rod 1 102 at one end away from the oil storage shell 214, the inner wall of the support rod 102 is slidably connected with a sliding frame 216, the outer surface of the sliding frame 216 is sleeved with a spring 217, the bottom of the spring 217 is fixedly connected to the inner wall of the support rod 102, the top of the spring 217 is fixedly connected to the outer wall of the sliding frame 216, and the sliding frame 21 The inner wall of the vehicle is rotatably connected with a lifting wheel 218. The rotating shaft 210 drives the connecting rod 211 to rotate when it rotates. The connecting rod 211 drives the pressing plate 213 to move upward through the rotating rod 212 when it rotates. The pressing plate 213 squeezes the hydraulic oil in the oil storage shell 214 during the upward movement. The squeezed hydraulic oil is pushed into the liquid guiding hose 1 215. The liquid guiding hose 1 215 passes the hydraulic oil into the support rod 102. The hydraulic oil passed into the support rod 102 pushes the sliding frame 216 downward and compresses the spring 217. When the sliding frame 216 moves downward, it drives the lifting wheel 218 to move downward together, and then contacts the ground through the lifting wheel 218 and lifts the trolley. This design can lift the side of the trolley with a rotating obstacle, so that the trolley can pass over obstacles and potholes to resume normal driving.

[0042] The outer surface of the sliding shell 303 is slidably connected to the inner wall of the partition 2 302, and the inner wall of the sliding shell 303 is slidably connected with a sliding cutter 304, and the front of the sliding cutter 304 is fixedly connected with a spring 305, and the back of the spring 305 is fixedly connected to the inner wall of the sliding shell 303. The inner wall of the rotating shaft 104 is slidably connected with a sliding block 306, and the right side of the sliding block 306 is fixedly connected to the left side of the sliding shell 303, and the left side of the sliding block 306 is fixedly connected with a spring 4 307. When the sliding frame 216 moves downward, it will compress the air inside the support rod 102 and push the air into the liquid guiding hose 2 301. The liquid guiding hose 2 301 will pass the air into the interior of the rotating shaft 104 and into the rotating shaft. The air inside the shaft 104 will first push the sliding cutter 304 and stretch the spring three 305. When the sliding cutter 304 is fully extended from the rotating shaft 104, as the air continues to be input, the sliding block 306 will be pushed to the left and compress the spring four 307. The sliding block 306 will also drive the sliding shell 303 to move while moving, thereby driving the fully extended sliding cutter 304 to move to the left. The sliding cutter 304 will cut the weeds wrapped around the connection between the support rod 2 103 and the rotating shaft 104 while moving. This design can prevent the weeds wrapped around the device from causing difficulty in steering the device, making it difficult for the steering assembly 1 to work normally.

[0043] The left side of spring four 307 is fixedly connected to the inner wall of the rotating shaft 104, the left side of the sliding shell 303 is fixedly connected to the pressure plate three 308, the outer surface of the pressure plate three 308 is slidably connected to the inner wall of the rotating shaft 104, the left side of the pressure plate three 308 is respectively fixedly connected to the sealing plate one 309 and the sealing plate two 310, the outer surfaces of the sealing plate one 309 and the sealing plate two 310 are both slidably connected to the inner wall of the rotating shaft 104, the right side of the pressure plate three 308 is fixedly connected to the air outlet shell 311, the outer surface of the air outlet shell 311 is slidably connected to the inner wall of the rotating shaft 104, when the sliding shell 303 moves, it will also drive the pressure plate three 308 to move together, the pressure plate three 308 will drive the sealing plate one 309 and the sealing plate two 310 to move together, the sealing plate The first 309 and the second sealing plate 310 can block the sliding groove provided on the surface of the rotating shaft 104 to prevent the air inside the rotating shaft 104 from leaking. The pressure plate three 308 will squeeze the air inside the rotating shaft 104 during the movement, and the squeezed air will enter the interior of the air outlet shell 311 through the through hole provided in the pressure plate three 308. As the pressure plate three 308 continues to move, the air entering the air outlet shell 311 will be ejected from the back of the air outlet shell 311, thereby blowing off the weeds that remain on the rotating shaft 104 after being cut. This design can blow off the weeds that remain on the rotating shaft 104 after being cut, and prevent the remaining weeds from being entangled in the connection between the rotating shaft 104 and the second support rod 103, which makes it difficult for the device to turn.

[0044] The steering method of the unmanned driving steering device comprises the following steps:

[0045] S1: When using the device, first install the device at a designated position of the agricultural vehicle. When the steering wheel 105 is blocked by an obstacle, as the electric push-pull rod 106 drives the pressure plate 1061 to move, the steering force will be transferred to the sliding frame 110 through the hydraulic oil in the oil storage rod 107;

[0046] S2: When the sliding frame 110 moves, it also drives the rack 201 to move, thereby driving the rotating shaft 210 to rotate. When the rotating shaft 210 rotates, the hydraulic oil in the oil storage shell 214 will be squeezed, thereby pushing the lifting wheel 218 to contact the ground and lift the trolley;

[0047] S3: When the sliding frame 216 moves downward, it compresses the air inside the support rod 102 to push the sliding cutter 304 to cut off the weeds entangled on the device. When the sliding shell 303 moves, it also drives the pressure plate 308 to move together, so that the air outlet shell 311 sprays air to clean the remaining weeds.

[0048] A specific application of this embodiment is:

[0049] When using the device, first install the device at the designated position of the agricultural trolley. When the trolley is to turn, start the electric push-pull rod 106 to drive the pressure plate 1061 to move to the left or right. During the movement, the pressure plate 1061 will stretch and squeeze the hydraulic oil inside the oil storage rod 107 at the same time. The hydraulic oil in the squeezed part of the oil storage rod 107 will enter the buffer box 108 and give a pushing force to the sliding frame 110. The hydraulic oil in the stretched part will suck the hydraulic oil in the buffer box 108 into the oil storage rod 107 and give a pulling force to the sliding frame 110. However, due to the obstruction of the two springs 111, the sliding frame 110 is difficult to move. At this time, the movement of the pressure plate 1061 will pass The oil storage rod 107 is driven to move by the hydraulic pressure that is difficult to flow in the oil storage rod 107. The oil storage rod 107 drives the rotating shaft 104 to rotate while moving, and the rotating shaft 104 drives the steering wheel 105 to rotate for steering. When the steering wheel 105 is blocked by an obstacle and cannot rotate, as the electric push-pull rod 106 drives the pressure plate 1061 to continue to move, the pressure plate 1061 drives the sliding frame 110 to move through the hydraulic oil in the oil storage rod 107 and compresses and stretches the two springs 111 respectively. This design can transfer the steering force to the sliding frame 110 when the steering wheel 105 is stuck, preventing the electric push-pull rod 106 from continuously applying the steering force to damage the device.

[0050] When the sliding frame 110 moves, it will also drive the rack 201 to move together. When the rack 201 moves, it will drive the gear 202 to rotate. The gear 202 will drive the bevel gear 1 204 to rotate through the rotating shaft 1 203. The rotation of the bevel gear 1 204 will drive the two bevel gears 205 to rotate together, and the two bevel gears 205 rotate in opposite directions. When the bevel gear 205 rotates, it will drive the rotating block 207 to move together. If the bevel gear 1 204 drives Figure 5 When the bevel gear 205 shown in the figure rotates counterclockwise, the bevel gear 205 will drive the rotating block 207 to contact with the fixed block 209. Due to the blocking effect of the limit block 206, the rotating block 207 cannot rotate counterclockwise. As the bevel gear 205 rotates, the rotating block 207 will drive the rotating shaft 210 to rotate counterclockwise through the fixed block 209. On the contrary, when the bevel gear 205 on the other side drives the rotating block 207 to rotate clockwise, since the rotating block 207 itself can rotate clockwise, when the rotating block 207 contacts the fixed block 209, the rotating block 207 will overcome the elastic force of the coil spring 208 and rotate clockwise, and thus cannot drive the rotating shaft 210 to rotate through the fixed block 209. When the rotation direction of the bevel gear 1 204 is opposite to the above, Figure 5 The bevel gear 205 shown in the figure rotates clockwise, so it cannot drive the second shaft 210 to move. At this time, the bevel gear 205 on the other side will drive the second shaft 210 to rotate counterclockwise due to counterclockwise rotation, so that no matter how the bevel gear 1 204 rotates, the second shaft 210 can always rotate in one direction. When the second shaft 210 rotates, it will drive the connecting rod 211 to rotate. When the connecting rod 211 rotates, it will drive the second pressure plate 213 to move upward through the rotating rod 212. The second pressure plate 213 will squeeze the oil storage shell during the upward movement. The hydraulic oil in 214 will be pushed into the liquid guiding hose 1 215, and the liquid guiding hose 1 215 will pass the hydraulic oil into the support rod 102. The hydraulic oil passed into the support rod 102 will push the sliding frame 216 downward and compress the spring 217. When the sliding frame 216 moves downward, it will drive the lifting wheel 218 to move downward together, and then contact the ground through the lifting wheel 218 and lift the trolley. This design can lift up the side of the trolley with a rotating obstacle, so that the trolley can pass over obstacles and potholes to resume normal driving;

[0051] When the sliding frame 216 moves downward, it will compress the air inside the support rod 102 and push the air into the liquid guiding hose 2 301. The liquid guiding hose 2 301 will pass the air into the interior of the rotating shaft 104. The air passed into the interior of the rotating shaft 104 will first push the sliding cutter 304 and stretch the spring 305. When the sliding cutter 304 is fully extended from the rotating shaft 104, as the air continues to be input, the sliding block 306 will be pushed to the left and compress the spring 4 307. When the sliding block 306 moves, it will also drive the sliding shell 303 to move together, thereby driving the fully extended sliding cutter 304 to move to the left. When the sliding cutter 304 moves, it will cut the weeds wrapped around the connection between the support rod 2 103 and the rotating shaft 104. This design can prevent the weeds wrapped around the device from causing difficulty in steering the device, making it difficult for the steering assembly 1 to work normally.

[0052] When the sliding shell 303 moves, it will also drive the pressure plate 308 to move together. The pressure plate 308 will drive the sealing plate 1 309 and the sealing plate 2 310 to move together. The sealing plate 1 309 and the sealing plate 2 310 can block the sliding groove opened on the surface of the rotating shaft 104 to prevent the air inside the rotating shaft 104 from leaking. The pressure plate 308 will squeeze the air inside the rotating shaft 104 during the movement, and the squeezed air will enter the interior of the air outlet shell 311 through the through hole opened in the pressure plate 308. As the pressure plate 308 continues to move, the air entering the air outlet shell 311 will be ejected from the back of the air outlet shell 311, thereby blowing off the weeds that remain on the rotating shaft 104 after being cut. This design can blow off the weeds that remain on the rotating shaft 104 after being cut, and prevent the remaining weeds from being entangled in the connection between the rotating shaft 104 and the support rod 2 103, causing difficulty in turning the device.

[0053] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A steering device for unmanned agricultural machinery, comprising a steering assembly (1), wherein the steering assembly (1) comprises a fixing plate (101), a support rod 1 (102) is fixedly connected to the bottom of the fixing plate (101), and a support rod 2 (103) is fixedly connected to the outer surface of the support rod 1 (102), wherein: Also includes: A lifting assembly (2), the lifting assembly (2) comprising a rack (201) arranged below the fixed plate (101), a gear (202) meshingly connected to the back of the second rotating shaft (210), and an inner wall of the gear (202) rotatably connected to the first rotating shaft (203); A grass cleaning component (3), the grass cleaning component (3) comprising a second liquid guiding hose (301) fixedly connected to the front of a second support rod (103), one end of the second liquid guiding hose (301) away from the second support rod (103) being fixedly connected to a rotating shaft (104), a second partition (302) being fixedly connected to the inner wall of the rotating shaft (104), and a sliding shell (303) being slidably connected to the inner wall of the rotating shaft (104).

2. A steering device for unmanned agricultural machinery according to claim 1, characterized in that: The outer surface of the second support rod (103) is rotatably connected to the inner wall of the rotating shaft (104), the outer surface of the rotating shaft (104) is rotatably connected to a steering wheel (105), the inner wall of the second support rod (103) is rotatably connected to an electric push-pull rod (106), the left side of the output end of the electric push-pull rod (106) is fixedly connected to a pressure plate 1 (1061), and the outer surface of the pressure plate 1 (1061) is slidably connected to an oil storage rod (107).

3. A steering device for unmanned agricultural machinery according to claim 2, characterized in that: The outer surface of the oil storage rod (107) is rotatably connected to the inner wall of the rotating shaft (104); a buffer box (108) is fixedly connected to the top of the oil storage rod (107); a partition plate (109) is fixedly connected to the inner wall of the buffer box (108); a sliding frame (110) is slidably connected to the inner wall of the partition plate (109); the outer surface of the sliding frame (110) is slidably connected to the inner wall of the buffer box (108); two springs (111) are fixedly connected to the left and right sides of the partition plate (109); and the two springs (111) are fixedly connected to the inner wall of the sliding frame (110) at their ends away from each other.

4. A steering device for unmanned agricultural machinery according to claim 3, characterized in that: The back of the rack (201) is fixedly connected to the front of the sliding frame (110); the outer surface of the rotating shaft (203) is rotatably connected to the inner wall of the buffer box (108); the outer surface of the rotating shaft (203) is fixedly connected to a bevel gear (204); the bottom of the bevel gear (204) is meshedly connected to two bevel gears (205); the two bevel gears (205) are symmetrically arranged; the inner wall of the bevel gear (205) is fixedly connected to a limit block ( 206), the inner wall of the bevel gear 2 (205) is rotatably connected to a rotating block (207), the outer wall of the rotating block (207) is fixedly connected to a coil spring (208), the coil spring (208) is fixedly connected to the inner wall of the bevel gear 2 (205) at one end away from the rotating block (207), the inner wall of the bevel gear 2 (205) is rotatably connected to a rotating shaft 2 (210), and the outer surface of the rotating shaft 2 (210) is fixedly connected to a fixed block (209).

5. The steering device for unmanned agricultural machinery according to claim 4, characterized in that: The outer surface of the second rotating shaft (210) is rotatably connected to the inner wall of the oil storage rod (107); the outer surface of the second rotating shaft (210) is fixedly connected to a connecting rod (211); the outer surface of the connecting rod (211) is rotatably connected to a rotating rod (212); the outer surface of the rotating rod (212) is rotatably connected to a second pressing plate (213); the outer surface of the second pressing plate (213) is slidably connected to an oil storage shell (214); the bottom of the oil storage shell (214) is fixedly connected to the top of the buffer box (108); the left side of the oil storage shell (214) is fixedly connected to a liquid guide hose (1). (215), the liquid guiding hose 1 (215) is fixedly connected to the front of the support rod 1 (102) at one end away from the oil storage shell (214), the inner wall of the support rod 1 (102) is slidably connected to the sliding frame 2 (216), the outer surface of the sliding frame 2 (216) is sleeved with a spring 2 (217), the bottom of the spring 2 (217) is fixedly connected to the inner wall of the support rod 1 (102), the top of the spring 2 (217) is fixedly connected to the outer wall of the sliding frame 2 (216), and the inner wall of the sliding frame 2 (216) is rotatably connected to a lifting wheel (218).

6. A steering device for unmanned agricultural machinery according to claim 5, characterized in that: The outer surface of the sliding shell (303) is slidably connected to the inner wall of the partition plate 2 (302); the inner wall of the sliding shell (303) is slidably connected to a sliding cutter (304); the front of the sliding cutter (304) is fixedly connected to a spring 3 (305); the back of the spring 3 (305) is fixedly connected to the inner wall of the sliding shell (303); the inner wall of the rotating shaft (104) is slidably connected to a sliding block (306); the right side of the sliding block (306) is fixedly connected to the left side of the sliding shell (303); and the left side of the sliding block (306) is fixedly connected to a spring 4 (307).

7. The steering device for unmanned agricultural machinery according to claim 6, characterized in that: The left side of the spring four (307) is fixedly connected to the inner wall of the rotating shaft (104); the left side of the sliding shell (303) is fixedly connected to a pressure plate three (308); the outer surface of the pressure plate three (308) is slidably connected to the inner wall of the rotating shaft (104); the left side of the pressure plate three (308) is respectively fixedly connected to a sealing plate one (309) and a sealing plate two (310); the outer surfaces of the sealing plate one (309) and the sealing plate two (310) are both slidably connected to the inner wall of the rotating shaft (104); the right side of the pressure plate three (308) is fixedly connected to an air outlet shell (311); the outer surface of the air outlet shell (311) is slidably connected to the inner wall of the rotating shaft (104).

8. A steering method for an unmanned driving steering device of an agricultural machine, using the unmanned driving steering device as claimed in claim 7, characterized in that: The steps include: S1: When using the device, first install the device at a designated position on the agricultural vehicle. When the steering wheel (105) is blocked by an obstacle, as the electric push-pull rod (106) drives the pressure plate 1 (1061) to move, it will transfer the steering force to the sliding frame 1 (110) through the hydraulic oil in the oil storage rod (107); S2: When the sliding frame 1 (110) moves, it also drives the rack (201) to move, thereby driving the rotating shaft 2 (210) to rotate. When the rotating shaft 2 (210) rotates, the hydraulic oil in the oil storage shell (214) will be squeezed, thereby pushing the lifting wheel (218) to contact the ground and lift the trolley; S3: During the downward movement of the sliding frame 2 (216), it compresses the air inside the support rod 1 (102) to push the sliding cutter (304) to cut off the weeds entangled on the device. During the movement of the sliding shell (303), it also drives the pressing plate 3 (308) to move together, thereby causing the air outlet shell (311) to spray air to clean the remaining weeds.