Weeding vehicle walking wheel reference direction control device

Abstract

A weeding vehicle walking wheel reference direction control device comprises a vehicle frame formed by rotationally connecting the middle of a first vehicle frame beam and the middle of a second vehicle frame beam which are the same in size, transverse supports capable of horizontally rotating are installed at the two ends of the first vehicle frame beam and the two ends of the second vehicle frame beam respectively, and walking wheels are fixedly installed on the transverse supports. A reference direction control mechanism connected with the transverse support is arranged on the frame, and a frame locking mechanism is arranged between the two frame beams. According to the reference direction control mechanism, two control rods which are connected in a sleeved mode are arranged between walking wheel steering supports at the ends of the vehicle frame, and in the process that the two vehicle frame beams rotate relatively to adjust the width, the two control rods can slide relatively to be transversely supported between the two steering supports all the time; the steering support and the transverse support are controlled to rotate in the direction opposite to the arc-shaped swing direction of the frame beam, so that the walking wheels are always consistent with the linear advancing reference direction of the frame in the process of changing the position of the frame beam, and the reference direction is corrected in a pure mechanical linkage control mode.

Description

Technical Field

[0001] The invention relates to the field of sesame weeding vehicles, and in particular to a reference direction control device for a traveling wheel of a weeding vehicle. Background Art

[0002] During the growth of sesame, a large number of weeds will grow between the rows due to sufficient sunlight. It is usually necessary to use a weeder to remove the weeds between the rows to ensure the soil is dry and thus ensure the sesame yield.

[0003] The current sesame weeder frames are generally fixed structures, which cannot be adjusted according to the different row spacings of sesame planting. The wheels may be too close to the sesame seeds and crush them during the forward movement, which requires precise row spacing control for sesame planting. Therefore, sesame weeder frames with spacing adjustment functions have appeared in the market, including frames with X-shaped rotational connections. This frame can adjust the overall width of the frame by rotating the two support beams relative to each other. The structure is simple, stable and easy to operate.

[0004] However, since the running wheels of this structural frame are installed at the outer ends of the support beams, when the two support beams of the X-shaped frame rotate towards or against each other, the running wheels at the outer ends will move in an arc shape at a certain angle with the support beams, causing the four running wheels to be tilted and offset relative to the overall moving square of the frame. This change in the running wheel posture will cause the straight-line moving reference direction of the frame to change, and the reference direction of the frame needs to be re-calibrated. Currently, most of the running wheels of this type are self-driven using independent power to achieve four-wheel independent drive. It is necessary to design sensors to identify the offset angle of the running wheels, and to correct the reference direction of the running wheels by designing control programs in a targeted manner within the control system. This makes the entire mechanical control system more complicated, which is not conducive to controlling costs and reducing operational difficulty. Summary of the invention

[0005] In order to solve the above problems, the present invention proposes a reference direction control device for the traveling wheels of a weeding vehicle.

[0006] The technical solution of the present invention is: a reference direction control device for the travel wheel of a weeding vehicle, comprising a frame formed by a frame beam A and a frame beam B of the same size being rotatably connected in the middle, both ends of the frame beam A and the frame beam B are equipped with horizontally rotatable transverse brackets, the transverse frame body is hinged to the frame beam through two ear plates, a travel wheel is fixedly installed on the transverse bracket, the surface of the travel wheel is provided with an anti-slip protrusion, and a reference direction control mechanism connected to the transverse bracket is provided on the frame, and a frame locking mechanism is provided between the frame beam A and the frame beam B.

[0007] Preferably, the travel wheel is driven by a hub motor, which is installed in the center of the travel wheel. A rotating shaft is provided at the upper end of a U-shaped frame of the travel wheel. The U-shaped frame is connected to a transverse frame through a steering bracket. A steering motor is installed on the upper part of the steering bracket. A protective cover is installed on the steering motor. A vertical shaft sleeve is vertically fixedly connected in the steering bracket. The rotating shaft is sleeved in the shaft sleeve and the upper end of the rotating shaft is coaxially connected to the output shaft of the steering motor. Bearings are provided at both ends of the shaft sleeve, and the rotating shaft is sleeved in the bearing.

[0008] Preferably, the reference control mechanism includes an electric push rod, which is obliquely connected between the ends of the frame beam and the transverse bracket, the base of the electric push rod is hinged to the side of the end of the frame beam A or the frame beam B, and the outer end of the telescopic rod of the electric push rod is hinged to the middle of the transverse bracket.

[0009] Preferably, the reference control mechanism includes a control rod A and a control rod B installed between two steering brackets at both ends of the frame, the control rod A is a circular hollow rod, the control rod B is a cylindrical rod, the control rod B is slidably mounted inside the control rod B, the outer end of the control rod A is fixedly connected to the outer side surface of one of the steering brackets, the outer end of the control rod B is fixedly connected to the outer side surface of the other steering bracket, the axis of the control rod A and the control rod B is parallel to the surface of the frame beam A or the frame beam B, and the direction of the axis is consistent with the width direction of the frame formed by the two frame beams.

[0010] Preferably, the frame locking mechanism includes a sliding bar A, a sliding bar B and a sleeve rod, the sliding bar A and the sliding bar B are both square rods, the sleeve rod is also a square rod, the outer end of the sliding bar A is hinged to the end of the first beam body, and the outer end of the sliding bar B is hinged to the end of the second beam body. The problem of installation dimension deviation is solved by hinged connection, ensuring smooth relative sliding of the sliding bar and the sleeve rod, the sleeve rod is sleeved between the sliding bar A and the sliding bar B, and top screws are provided at both ends of the sleeve rod.

[0011] Preferably, the frame beam A includes a first beam body and a second beam body, the inner ends of the first beam body and the second beam body are fixedly connected by two clamping plates, the two clamping plates are arranged parallel to each other, and a square hole with a size larger than the cross-section of the beam body is formed between the clamping plates and the inner end surfaces of the two beam bodies, and the second beam body is rotatably connected in the square hole by a pin shaft, and a radial limit hole is provided at the lower end of the pin shaft.

[0012] The beneficial technical effect of the present invention is as follows: the traveling wheel of the present invention is movably connected to the frame beam through a transverse bracket, so that the traveling wheel can freely rotate an angle at the outer end of the frame beam, and two control rods that are mutually sleeved are arranged between the traveling wheel steering brackets at the ends of the frame. During the relative rotation of the two frame beams to adjust the width, the two control rods will slide relatively and always be laterally supported between the two steering brackets, and the steering bracket together with the transverse bracket is controlled to rotate in the direction opposite to the arc-shaped swinging direction of the frame beam, so that the traveling wheel is always consistent with the straight-line travel reference direction of the frame during the change of the position of the frame beam, and the reference direction is corrected by a purely mechanical linkage control method to avoid the problem of deviation in the overall reference direction of the frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional structural schematic diagram of the present invention; Figure 2 It is a schematic diagram of the top view of the structure of the present invention; Figure 3 It is a schematic diagram of a top view of another reference direction control mechanism provided in the present invention; Figure 4 It is a three-dimensional structural schematic diagram of the travel wheel and the control device thereof of the present invention; Figure 5 It is a schematic diagram of the internal structure of the present invention.

[0014] In the figure, 11. frame beam A, 111. first beam body, 112. second beam body, 113. clamping plate, 114. pin shaft, 115. square hole, 12. frame beam B, 13. transverse bracket, 141. walking wheel, 142. hub motor, 143. U-shaped frame, 144. rotating shaft, 145. steering bracket, 146. steering motor, 147. bushing, 151. electric push rod, 152. control rod A, 153. control rod B, 161. sliding rod A, 162. sleeve rod, 163. top screw. DETAILED DESCRIPTION

[0015] Example 1, see the attached specification Figure 1-2 4-5. A reference direction control device for the travel wheel of a weeding vehicle, comprising a frame formed by a frame beam A 11 and a frame beam B 12 of the same size being rotatably connected in the middle, the frame beam A 11 and the frame beam B 12 being square tube beams, the frame beam A 11 and the frame beam B 12 being deformed after relative rotation, the spacing between the two ends of the frame beams being changed, and the width adjustment being achieved, both ends of the frame beam A 11 and the frame beam B 12 being provided with a horizontally rotatable transverse bracket 13, the transverse bracket 13 being fixedly provided with a travel wheel 141, and the frame being provided with a reference direction control mechanism connected with the transverse bracket 13, and a frame locking mechanism being provided between the frame beam A 11 and the frame beam B 12.

[0016] The frame locking mechanism includes a slide bar A 161, a slide bar B and a sleeve rod 162. The outer end of the slide bar A 161 is hinged to the end of the first beam body 111, and the outer end of the slide bar B is hinged to the end of the second beam body 112. The sleeve rod 162 is sleeved between the slide bar A 161 and the slide bar B. When the width of the frame beam A 11 and the frame beam B 12 are adjusted, the two slide bars move toward or oppositely in the sleeve rod to adjust the length as the width of the frame beam changes. After the frame width is adjusted to the right position, the slide bar and the sleeve rod are locked by the top screws 163 at both ends of the sleeve rod 162 to achieve the overall locking of the frame.

[0017] The travel wheel 141 is driven by a hub motor 142. A rotating shaft 144 is provided at the upper end of a U-shaped frame 143 of the travel wheel 141. The U-shaped frame 143 is connected to the transverse frame 13 through a steering bracket 145. A steering motor 146 is installed on the upper part of the steering bracket 145. A shaft sleeve 147 is vertically fixedly connected to the steering bracket 145. The rotating shaft 144 is sleeved in the shaft sleeve 147 and the upper end of the rotating shaft 144 is coaxially connected to the output shaft of the steering motor 146. The U-shaped frame 143 can rotate freely in the U-shaped frame 143 through the rotating shaft 144. The travel wheel 141 is driven to rotate in the U-shaped frame 143 by the hub motor 142 to achieve walking, and the steering motor 146 can drive the rotating shaft 144 to rotate in the shaft sleeve 147, thereby driving the travel wheel 141 to rotate horizontally to achieve steering.

[0018] The reference control mechanism of this embodiment includes an electric push rod 151, the base of the electric push rod 151 is hinged to the side of the end of the frame beam A 11 or the frame beam B 12, and the outer end of the telescopic rod of the electric push rod 151 is hinged to the middle of the transverse bracket 13. When the two support beams of the X-shaped frame are rotated toward or oppositely to adjust the width, the electric push rod 151 is started to push or pull the transverse bracket 13 of the running wheel 141, and the transverse bracket 13 and the running wheel 141 rotate synchronously to adjust the angle, so that the direction of the running wheel 141 is consistent with the straight-line travel reference direction of the frame.

[0019] The frame beam A 11 includes a first beam body 111 and a second beam body 112. The first beam body 111 and the second beam body 112 have the same size. The inner ends of the first beam body 111 and the second beam body 112 are fixedly connected by two clamping plates 113. A square hole 115 is formed between the clamping plates 113 and the inner end surfaces of the two beam bodies. The second beam body 112 is rotatably connected in the square hole 115 by a pin shaft 114. The second beam body 112 swings within the size range of the square hole 115. A reinforcement part is provided in the middle of the second beam body 112. The pin shaft 114 passes through the pin hole in the center of the reinforcement part. The reinforcement part is used to improve the supporting strength of the middle part of the second beam body 112 when it rotates. The upper and lower surfaces of the reinforcement part are respectively in contact with the inner surfaces of the two clamping plates 113, which can improve the precision and stability of the frame.

[0020] Example 2, see the attached specification Figure 1-2 This embodiment is basically the same as the first embodiment, except that the reference control mechanism in the first embodiment is replaced by a control rod A 152 and a control rod B 153 which are installed between two steering brackets 145 at both ends of the frame. The control rod A 152 is a hollow rod, and the control rod B 153 is slidably mounted in the control rod B 153. The outer end of the control rod A 152 is fixedly connected to the outer side surface of one of the steering brackets 145, and the outer end of the control rod B 153 is fixedly connected to the outer side surface of the other steering bracket 145. A connecting seat is provided at the outer ends of the two control rods, and the control rods can be firmly connected to the steering bracket 145 through the connecting seat; the axes of the control rod A 152 and the control rod B 153 are parallel to the surface of the frame beam A 11 or the frame beam B 12, and the direction of the axis is consistent with the width direction of the frame formed by the two frame beams. The installation position of the control rod is limited to ensure that the two control rods can slide relative to each other during the frame width adjustment process, thereby realizing the direction control of the running wheel 141.

[0021] The steps for adjusting the width of the frame of this embodiment are as follows: first, loosen the top screw 163 to release the locking of the frame locking mechanism on the frame beam A 11 and the frame beam B 12, rotate the two frame beams toward or oppositely, adjust the straight-line distance between the two ends of the frame beam, and then adjust the overall width of the frame; second, during the relative rotation of the two frame beams to adjust the width, the control rod A 152 and the control rod B 153 slide relatively, and are always supported laterally between the two steering brackets 145, and the steering bracket 145 together with the transverse bracket 13 are controlled to rotate in the direction opposite to the arc-shaped swing direction of the frame beam, so that the running wheel 141 is always consistent with the straight-line travel reference direction of the frame during the change of the position of the frame beam; third, re-tighten the top screw 163 to lock the slide bar A 161, the slide bar B and the sleeve rod 162 in the frame locking mechanism, the frame is locked and fixed, and the frame width adjustment is completed. The reference direction is corrected by a purely mechanical linkage control method to avoid the problem of deviation in the overall reference direction of the frame.

Claims

1. A reference direction control device for the running wheels of a weeding vehicle, characterized in that: The invention comprises a frame formed by a frame beam A and a frame beam B of the same size which are rotatably connected in the middle, both ends of the frame beam A and the frame beam B are equipped with horizontally rotatable transverse brackets, running wheels are fixedly installed on the transverse brackets, and a reference direction control mechanism connected to the transverse brackets is provided on the frame, and a frame locking mechanism is provided between the frame beam A and the frame beam B.

2. A reference direction control device for the running wheels of a weeding vehicle according to claim 1, characterized in that: The travel wheel is driven by a hub motor. A rotating shaft is provided at the upper end of a U-shaped frame of the travel wheel. The U-shaped frame is connected to a transverse frame through a steering bracket. A steering motor is installed on the upper part of the steering bracket. A shaft sleeve is vertically fixedly connected inside the steering bracket. The rotating shaft is sleeved in the shaft sleeve and the upper end of the rotating shaft is coaxially connected to the output shaft of the steering motor.

3. The reference direction control device for the running wheel of a weeding vehicle according to claim 1, characterized in that: The reference control mechanism comprises an electric push rod, the base of the electric push rod is hinged to the end side of the frame beam A or the frame beam B, and the outer end of the telescopic rod of the electric push rod is hinged to the middle part of the transverse bracket.

4. The reference direction control device for the running wheel of a weeding vehicle according to claim 1, characterized in that: The reference control mechanism includes a control rod A and a control rod B installed between two steering brackets at both ends of the frame. The control rod A is a hollow rod, and the control rod B is slidably mounted inside the control rod B. The outer end of the control rod A is fixedly connected to the outer side surface of one of the steering brackets, and the outer end of the control rod B is fixedly connected to the outer side surface of the other steering bracket. The axes of the control rod A and the control rod B are parallel to the surface of the frame beam A or the frame beam B, and the direction of the axis is consistent with the width direction of the frame formed by the two frame beams.

5. The reference direction control device for the running wheel of a weeding vehicle according to claim 1, characterized in that: The frame locking mechanism includes a slide bar A, a slide bar B and a sleeve rod, the outer end of the slide bar A is hinged to the end of the first beam body, the outer end of the slide bar B is hinged to the end of the second beam body, the sleeve rod is sleeved between the slide bar A and the slide bar B, and top screws are provided at both ends of the sleeve rod.

6. The reference direction control device for the running wheel of a weeding vehicle according to claim 1, characterized in that: The frame beam A comprises a first beam body and a second beam body, the inner ends of the first beam body and the second beam body are fixedly connected by two clamping plates, a square hole is formed between the clamping plates and the inner end surfaces of the two beam bodies, and the second beam body is rotatably connected in the square hole by a pin shaft.

Images