Crawler drive wheel and intelligent desert planting vehicle

Abstract

The application provides a caterpillar drive wheel and an intelligent desert seedling planting vehicle. The caterpillar drive wheel comprises a power wheel, an outer hanging wheel coaxially arranged on one side of the power wheel and rotatably connected with the power wheel within a preset angle range, a plurality of caterpillar plates uniformly distributed on the circumference of the outer hanging wheel, the middle part of each caterpillar plate being hingedly connected with the outer edge of the outer hanging wheel, a plurality of first connecting rods, each caterpillar plate being movably arranged on the outer edge of the outer hanging wheel through the first connecting rod, one end of the first connecting rod being hingedly connected with the corresponding caterpillar plate, the other end being connected with the power wheel and the outer hanging wheel through a first pin shaft, in a first state, the caterpillar plate is in an open state, the free end of the caterpillar plate can drive the soft medium to walk on the soft ground, in a second state, when being in contact with the hard ground, each caterpillar plate is in a closed state and jointly forms a wheel structure to walk on the hard ground, and the application can simultaneously satisfy stable and flexible walking on the sand and the hard ground and hole forming and seedling planting.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sand planting, in particular to a crawler driving wheel and an intelligent desert planting vehicle. BACKGROUND

[0002] In desertification control, traditional manual planting has problems of low efficiency (less than 300 plants per person per day), high labor intensity (2-3 people are required to work together), and low standardization. The existing mechanized planting equipment mainly adopts "micro-invasive air flow tree planting method" (water flushing method) and "spiral drill tree planting method" (dry planting). The water flushing method forms a hole through high-pressure water flow and is suitable for areas with sufficient water supply, but has poor effect in hard rock layers and consumes a large amount of water (3-5 liters per plant). It is difficult to apply in extremely water-deficient areas. The spiral drill method relies on mechanical drilling and is suitable for water-deficient areas, but it is easy to get stuck in gravel sand layers, and the hole wall collapse rate is high (up to 40% in loose sand) after drilling, making it difficult for the roots of seedlings to anchor.

[0003] In addition, the existing planting equipment also has the following problems:

[0004] 1. Traditional sand planting equipment mostly uses a crawler structure, but the traditional crawler structure has a high probability of getting stuck in flowing sand dunes and is difficult to travel stably. Moreover, it is heavy and not flexible when walking on hard ground.

[0005] 2. A single planting mode cannot simultaneously adapt to complex terrains such as sandy soil and gravel layers.

[0006] Therefore, there is an urgent need for a crawler driving wheel and an intelligent desert planting vehicle that can simultaneously satisfy stable and flexible walking on sand and hard ground, as well as hole formation and planting. SUMMARY

[0007] The purpose of the present application is to provide a crawler driving wheel and an intelligent desert planting vehicle, which aims to solve the technical problems of traditional planting equipment that cannot simultaneously walk stably and flexibly on complex terrains such as sandy soil and gravel layers, and effectively plant.

[0008] To achieve the above-mentioned purpose, in a first aspect, the present application provides a crawler driving wheel, comprising:

[0009] a power wheel for driving connection with a driving shaft;

[0010] an outer hanging wheel coaxially arranged on one side of the power wheel, and the outer hanging wheel is rotatably connected with the power wheel within a preset angle range;

[0011] a plurality of crawler plates evenly arranged on the circumference of the outer hanging wheel, and the middle part of each crawler plate is hinged to the outer edge of the outer hanging wheel;

[0012] a plurality of first connecting rods, each of the track shoes is arranged on the outer edge of the outer wheel through the first connecting rod, one end of the first connecting rod is hinged to the corresponding track shoe, and the other end of the first connecting rod is connected to the driving wheel and the outer wheel through a first pin shaft;

[0013] a second connecting rod, each two adjacent track shoes are connected through the second connecting rod, and a second arc-shaped sliding groove is arranged on the second connecting rod; one of the track shoes is slidably arranged in the second arc-shaped sliding groove through a second pin shaft;

[0014] wherein, in the first state, the track shoes are in an open state, and the free ends of the track shoes can be used to stir the soft medium to adapt to walking on the soft ground; in the second state, when in contact with the hard ground, each of the track shoes is in a closed state and collectively forms a wheel structure to adapt to walking on the hard ground.

[0015] As a further improvement of the above scheme, the track shoe comprises a shoe body, and a first hinge point, a second hinge point and a third hinge point arranged on the inner wall of the shoe body;

[0016] The first hinge point, the second hinge point and the third hinge point are sequentially arranged along the length direction of the shoe body, and each hinge point is not collinear;

[0017] Each of the track shoes is hinged to the outer edge of the outer wheel through the second hinge point thereof;

[0018] One end of the first connecting rod is hinged to the third hinge point of the corresponding track shoe, and the other end of the first connecting rod is connected to the driving wheel and the outer wheel through a first pin shaft.

[0019] As a further improvement of the above scheme, the first hinge points of each two adjacent track shoes are connected through the second connecting rod, and a second arc-shaped sliding groove is arranged on the second connecting rod; the first hinge point of one of the track shoes is slidably arranged in the second arc-shaped sliding groove through a second pin shaft.

[0020] As a further improvement of the above scheme, the driving wheel comprises a driving wheel body and a mounting sleeve arranged at the middle part of the driving wheel body, and the mounting sleeve is used for driving connection with the driving shaft;

[0021] The outer wheel comprises an outer wheel connecting plate and a supporting sleeve arranged on one side of the outer wheel connecting plate;

[0022] The middle part of the outer wheel connecting plate has a mounting hole, and the outer wheel is sleeved on the mounting sleeve through the mounting hole, so that it is coaxially arranged on one side of the driving wheel;

[0023] The outer hanging connecting plate is further provided with a plurality of first arc-shaped sliding grooves with a preset length, and the first pin shafts pass through the first arc-shaped sliding grooves, the power wheels and the other ends of the corresponding first connecting rods in sequence to enable the outer hanging wheels to rotate within the preset angle range.

[0024] As a further improvement of the above-mentioned scheme, the track drive wheel further comprises a power sleeve coaxially installed in the mounting sleeve through key connection, and the drive shaft is drivingly connected with the power sleeve to drive the power wheel to rotate.

[0025] As a further improvement of the above-mentioned scheme, the plate body comprises a straight part and a bent part which are integrally connected in sequence, the bent part comprises a first bent plate and a second bent plate, and one end of the two bent plates is integrally connected in sequence and forms a first preset included angle;

[0026] The straight part and the first bent plate are integrally connected in sequence and form a second preset included angle.

[0027] The second hinge point is arranged at the joint of the straight part and the bent part, the first hinge point is arranged at the end of the bent part away from the straight part, and the third hinge point is arranged on the straight part.

[0028] In a second aspect, the application further provides an intelligent desert seedling planting vehicle, comprising a vehicle frame, two drive shafts arranged in parallel at the bottom of the vehicle frame, and track drive wheels provided on the two ends of the drive shafts and provided with the track drive wheels according to the first aspect.

[0029] A hole forming mechanism is arranged on the upper part of the vehicle frame, and a seedling feeding mechanism is arranged in matching with the hole forming mechanism.

[0030] The hole forming mechanism comprises a water gun rod arranged rotatably, a drill bit arranged at one end of the water gun rod in a detachable manner, and a feeding mechanism for driving the water gun rod to feed.

[0031] A first through hole is arranged in the middle part of the water gun rod, a second through hole is arranged in the middle part of the drill bit, and the first through hole and the second through hole are coaxially communicated to form a channel for the punching medium to pass through; a water supply structure is connected to the end of the water gun rod away from the drill bit.

[0032] The end of the water gun rod passes through the vehicle frame and starts the drill bit to rotate to form a hole and / or the water gun rod to water punch a hole according to the geological conditions.

[0033] As a further improvement of the above-mentioned scheme, the feeding mechanism comprises a lifting mechanism and a rotating mechanism arranged at the lifting end of the lifting mechanism, the rotating mechanism comprises a rotating drive motor and a driving gear connected with the rotating drive motor, the outer wall of the water gun rod is provided with a driven gear, and the driving gear is meshingly and drivingly connected with the driven gear to drive the water gun rod to rotate.

[0034] As a further improvement of the above-mentioned scheme, the rotating mechanism further comprises a motor mounting frame, and the motor mounting frame comprises a vertical support plate and a horizontal support plate vertically arranged on the vertical support plate, the vertical support plate is connected with the lifting end of the lifting mechanism, and the rotating drive motor is arranged on the vertical support plate;

[0035] The water gun rod passes through the horizontal support plate and is rotatably arranged on the vertical support plate through a bearing.

[0036] As a further improvement of the above-mentioned scheme, the lifting mechanism is a lead screw lifting mechanism or a chain lifting mechanism arranged on the vehicle frame;

[0037] When the lead screw lifting mechanism is adopted, the rotating mechanism is arranged on the lead screw nut to drive the water gun rod to ascend and descend by rotating the lead screw;

[0038] When the chain lifting mechanism is adopted, the rotating mechanism is arranged on the side of the lifting chain through a connecting piece to drive the water gun rod to ascend and descend by the lifting of the lifting chain.

[0039] Due to the above technical scheme, the present application has the beneficial effects that,

[0040] 1. The track driving wheel is provided, and traditional track equipment is usually designed with fixed teeth or simple adjustable track, so that it is difficult to meet the requirements of strong sand driving in sandy land and low resistance load bearing on ordinary road surface. In the sandy land, the fixed teeth track is prone to insufficient traction and vehicle sinking due to loose sand. On the ordinary road surface, the tooth structure increases the rolling resistance and reduces the energy efficiency. The dynamic opening and closing mechanism (folding / opening state switching) of the track plate is adopted to realize the intelligent driving mode of "one wheel with two modes". Specifically, the combination structure of the power wheel, the outer hanging wheel, the track plate and the first connecting rod is adopted, the track plate is arranged on the outer edge of the outer hanging wheel through the first connecting rod, and the other end of the first connecting rod is connected with the power wheel and the outer hanging wheel through the first pin shaft. The linkage design enables the state switching of the track plate to be automatically completed according to the ground texture without the need for additional driving control device, which simplifies the structure and improves the reliability.

[0041] On the ordinary road surface, the track plate is folded and adhered to the outer edge of the outer hanging wheel to form a continuous load bearing surface. At this time, the track plate directly bears the main load, the contact area with the ground is small, the friction resistance is low, the vehicle body driving smoothness and energy efficiency are significantly improved, and it is especially suitable for efficient operation in non-soft terrain such as farmland road and gravel road.

[0042] When walking on sand ground, the track shoe is synchronously expanded outward through the connecting rod mechanism under the rotation drive of the power wheel, forming a "turbine blade" structure, and the opened track shoe is arranged in a turbine blade shape, which produces a combined force of axial pushing and tangential traction on sand particles when rotating; the sand particles flow in the spiral direction of the blade, on the one hand, forming a "sand wedge" structure between the track and the ground, enhancing the adhesive friction; on the other hand, the flow of sand particles acts on the track shoe, generating additional propulsion torque (similar to the propulsion principle of a propeller), significantly improving the sand climbing ability; at the same time, the problem of "idling and slipping" caused by the direct sinking of the track tooth into the sand layer is avoided, and the problems of vehicle sinking and power shortage in sand driving are completely solved.

[0043] The conventional complex terrain walking equipment often needs to rely on sensors, hydraulic systems and other external devices to realize the state adjustment of the track, and has problems of response lag, complex structure, high energy consumption and the like. The present application adjusts the state of the wheel according to the geological conditions through the mechanical linkage design of the power wheel-hanging wheel-connecting rod; specifically, when the vehicle body enters the sand from the ordinary road, the power wheel produces a slight speed fluctuation due to the increase of the sand layer resistance, and the fluctuation is transmitted to the connecting rod mechanism through the hanging wheel, driving the track shoe to expand outward synchronously; on the contrary, when leaving the sand, the speed of the power wheel rises, the connecting rod mechanism automatically resets, and the track shoe is folded. The whole process can adapt to the rapid change of the sand dune, sand ridge and the like; the linkage of multiple components only relies on mechanical transmission, avoiding the introduction of precise components such as hydraulic pipelines and sensors, reducing the failure rate, and at the same time reducing the overall weight, which is more suitable for the lightweight demand of agricultural equipment such as the planting machine.

[0044] The present application realizes terrain self-adaptation through pure mechanical linkage, solves the problems of complex structure, high cost and easy failure of traditional intelligent track, and provides a low-cost and high-reliability terrain adaptation solution for sand working equipment, which is especially suitable for agricultural, forestry and other cost-sensitive scenarios.

[0045] 2、The present application provides an intelligent desert planting vehicle, comprising the track driving wheel of the first aspect,

[0046] The present track driving wheel can stably and flexibly walk on complex terrain, so that the planting equipment can reach the working site more quickly and accurately, reducing the interruption or position deviation caused by terrain limitation, thereby significantly improving the efficiency and quality of planting operation, and being especially suitable for planting operation in complex terrain areas such as desert and mountain;

[0047] In addition, the present application realizes the multi-mode free switching of "drilling - water flushing" through the cooperation design of the detachable drill bit and the water flushing function of the water gun rod; the drilling mode: in the area where the sand layer is hard or compact, the drill bit is started to rotate to form a hole through mechanical cutting, avoiding the hole wall collapse problem caused by the loose sand particles in the water flushing hole forming, and the hole type regularity is high to provide stable support for the seedling planting; the water flushing mode: in the area where the sand layer is loose or the water content is extremely low, the water gun rod is switched to the water flushing hole forming, the sand layer is cut by using the high-pressure water flow to quickly form a hole with uniform diameter, and the water flow can suspend the sand particles to reduce the secondary collapse risk of the hole wall; the drilling and water flushing combined mode: in some special terrain, the coaxial through hole structure and the detachable drill bit are cooperatively designed to make the drilling and water flushing functions be executed synchronously or alternately in the same operation process to form a combined hole forming mechanism of "cutting guide - flushing solid wall"; the sand layer is mechanically cut when the drill bit rotates to quickly break through the hard sand layer or the rock layer to form an initial guide hole; the water gun rod synchronously sprays high-pressure water flow into the drill hole to suspend the loose sand particles in the hole wall by water flow flushing to reduce the risk of hole wall collapse caused by the gravity or vibration of the sand particles; at the same time, the water flow can discharge the sand cuttings generated by cutting out of the hole to avoid the blockage of the hole to affect the operation of the feeding mechanism; the coaxial channel realizes the real-time cooperation of "drilling and flushing", deeply integrates the "guiding function" of drilling and the "solid wall function" of water flushing, and forms an efficient combined hole forming link.

[0048] The coaxial through hole structure of the water gun rod and the drill bit and the detachable setting of the drill bit construct an integrated system of "medium conveying - hole forming execution"; the hole forming medium (such as water) is directly connected through the first through hole in the middle of the water gun rod and the second through hole in the middle of the drill bit, and when the hole forming mode is switched, the pipeline connection does not need to be adjusted, the operation is convenient, and the leakage or blockage problem caused by the multi-pipeline switching of the traditional equipment is avoided; the drill bit can be quickly replaced with different diameters according to the seedling specifications (such as seedling height and root size), and the detachable design of the water gun rod and the drill bit facilitates the cleaning of the blockage or the replacement of the worn parts, and the equipment maintenance time is greatly reduced. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, below the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained according to the structures shown in these drawings without creative labor for those skilled in the art.

[0050] Figure 1 It is a perspective view of a track drive wheel disclosed by the present application;

[0051] Figure 2 It is a front view of a track drive wheel (all track plates are closed) disclosed by the present application;

[0052] Figure 3 for Figure 2 AA sectional view;

[0053] Figure 4 This is a perspective view of the track plate disclosed in this invention;

[0054] Figure 5 This is a side view of the track plate disclosed in this invention;

[0055] Figure 6 This is a cross-sectional schematic diagram of the power wheel disclosed in this invention;

[0056] Figure 7 This is a front view schematic diagram of the second link disclosed in this invention;

[0057] Figure 8 This is a front view schematic diagram of the first link disclosed in this invention;

[0058] Figure 9 This is a three-dimensional schematic diagram of the external wheel disclosed in this invention;

[0059] Figure 10 This is a front view schematic diagram of a tracked drive wheel (with some track plates open) disclosed in this invention;

[0060] Figure 11 This is a three-dimensional schematic diagram of an intelligent desert seedling planting vehicle disclosed in this invention;

[0061] Figure 12 This is a three-dimensional schematic diagram of an intelligent desert seedling planting vehicle (without the frame) disclosed in this invention;

[0062] Figure 13 This is a front view schematic diagram of part of the internal structure of an intelligent desert seedling planting vehicle disclosed in this invention;

[0063] Figure 14 This is a bottom view schematic diagram of the drill bit disclosed in this invention;

[0064] Figure 15 for Figure 14 CC cross-sectional view;

[0065] Figure label:

[0066] 01. Track drive wheel; 1. Power wheel; 11. Power wheel body; 12. Mounting sleeve; 2. External wheel; 21. External connecting plate; 22. Support sleeve; 23. First arc-shaped groove; 3. Track plate; 31. Plate body; 311. Straight section; 312. Bending section; 32. First hinge point; 33. Second hinge point; 34. Third hinge point; 4. First connecting rod; 5. First pin; 6. Second connecting rod; 61. Second arc-shaped groove; 7. Power sleeve;

[0067] 02, frame; 03, drive shaft; 04, hole forming mechanism; 041, lance; 042, drill bit; 043, driven gear;

[0068] 05, seedling feeding mechanism; 06, feeding mechanism; 061, lifting mechanism; 062, rotating mechanism; 063, rotating drive motor; 064, driving gear; 065, motor mounting rack.

[0069] The implementation, functional features and advantages of the present application will be further described with reference to the accompanying drawings. DETAILED DESCRIPTION

[0070] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0071] It should be noted that all directional indications (such as up, down, …) in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0072] In addition, the description such as "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features.

[0073] In addition, the technical solutions of each embodiment of the present application can be combined with each other, but it must be based on the realization of the ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection required by the present application.

[0074] Example 1

[0075] Referring to Figures 1-10 The present application provides a track driving wheel, which comprises a power wheel 1, an external wheel 2, a plurality of track plates 3 and a plurality of first connecting rods 4. The structure and connection relationship of each component will be described one by one as follows:

[0076] The power wheel 1, referring to Figure 6The power wheel 1 includes a power wheel body 11 and a mounting sleeve 12 disposed in the middle of the power wheel body 11. The mounting sleeve 12 is used to connect with the external drive shaft 03 by key or spline to realize the input of power. In this embodiment, the power wheel body 11 is a circular plate with a preset diameter. The circular plate has a plurality of first connecting holes evenly distributed near the outer edge for hinged connection with one end of the first connecting rod 4.

[0077] External wheel 2, see Figure 9 The external wheel 2 is coaxially mounted on one side of the power wheel 1. It includes an external connecting plate 21 and a support sleeve 22 on one side of the external connecting plate 21. The external connecting plate 21 has a mounting hole in its center. The external wheel 2 is fitted onto the mounting sleeve 12 through the mounting hole, making it coaxially mounted on one side of the power wheel 1. The external connecting plate 21 also has several first arc-shaped grooves 23 with preset lengths. The first pin 5 passes through the first arc-shaped grooves 23, the power wheel 1, and the other end of the corresponding first connecting rod 4 in sequence, allowing the external wheel 2 to rotate within a preset angle range. Preferably, the inner diameter of the support sleeve 22 is larger than the outer diameter of the power wheel body 11, and several first arc-shaped grooves 23 with preset lengths are evenly distributed circumferentially on the external connecting plate 21, each corresponding to one of the first connecting holes. The outer edge of the external wheel 2 also has several connecting ears evenly distributed, and each connecting ear has a second mounting hole for hinged connection with the center of the track plate 3.

[0078] Track plates 3 are evenly distributed on the circumference of the external rollers 2 (the number is usually an even number, such as 8, depending on the size of the drive wheel); see [link to documentation]. Figure 4 and Figure 5 Each track plate 3 is an arc-shaped plate structure (the arc matches the outer edge of the outer wheel 2), and its inner wall (the side facing the center of the drive wheel) is provided with a first hinge point 32, a second hinge point 33, and a third hinge point 34 along the length direction (i.e., the circumferential tangent direction) in sequence (the three are not collinear and are distributed in a "triangular" pattern); wherein:

[0079] The second hinge point 33 is the middle hinge point of the track plate 3. It is hinged to the connecting lug of the outer wheel 2 through the pin, so as to realize the rotational freedom of the track plate 3 around the outer wheel 2.

[0080] The third hinge point 34 is located on the free end side of the track plate 3 and is hinged to one end of the first connecting rod 4 by a pin.

[0081] The first hinge point 32 is located on the root side of the track plate 3 (away from the free end) and is used to connect with the second link 6 (see the improved structure below for details);

[0082] First link 4, see... Figure 1 ,Figure 2 and Figure 8 The number of the first connecting rods 4 is consistent with the number of the track plates 3, one end of each first connecting rod 4 is hinged with the third hinge point 34 of the corresponding track plate 3 through a pin shaft, and the other end is connected with the driving wheel 1 and the outer wheel 2 through the first pin shaft 5 (preferably, the first pin shaft 5 penetrates the first connecting hole of the driving wheel 1 and corresponds to the first arc-shaped sliding groove 23 of the outer wheel 2).

[0083] The second connecting rod 6, as shown in Figure 1 , Figure 2 and Figure 7 The first hinge points 32 of every two adjacent track plates 3 are connected through the second connecting rod 6, so that the track plates 3 form a linkage structure in pairs (the number of the second connecting rods 6 is half of the number of the track plates 3, and is uniformly distributed along the circumference of the outer wheel 2);

[0084] The second connecting rod 6 is an arc-shaped plate rod structure (the arc is matched with the outer edge of the outer wheel 2), one end of which is provided with a second arc-shaped sliding groove 61 (the center of the sliding groove is coincided with the center of the outer wheel 2); in a group of linkage track plates 3, the first hinge point 32 of one track plate 3 is slidably arranged in the second arc-shaped sliding groove 61 through a second pin shaft, and the first hinge point 32 of the other track plate 3 is hinged with the other end of the second connecting rod 6 through a pin screw.

[0085] The present application realizes the switching of the two working states through the relative rotation of the driving wheel 1 and the outer wheel 2, and the linkage of the first connecting rod 4 and the second connecting rod 6, specifically as follows:

[0086] The first state (soft ground walking, the track plates 3 in contact with the ground are opened in turn):

[0087] When the driving wheel enters the soft ground such as sandy soil and mud flat, the outer wheel 2 rotates in the circumferential direction relative to the driving wheel 1 due to the ground resistance. At this time, the outer wheel 2 pulls the first connecting rod 4 through the first pin shaft 5, and the other end of the first connecting rod 4 pushes the free end of the track plate 3 to swing outward (open) through the third hinge point 34, until the free end of the track plate 3 is in contact with the soft ground; at this time, the free end of the track plate 3 stirs the medium such as sand and mud in the process of the rotation of the driving wheel, increases the effective contact area with the ground, avoids the driving wheel from sinking into the soft ground, and at the same time, enhances the walking traction through the reaction force of the medium;

[0088] In this state, the second arc-shaped sliding groove 61 of the second connecting rod 6 swings synchronously with the rotation of the outer wheel 2, and the second pin shaft slides in the second arc-shaped sliding groove 61 (the sliding range corresponds to the maximum opening angle of the track plate 3), which ensures the synchronization of the opening actions of the adjacent track plates 3 and prevents the track plate 3 from being stuck due to uneven local resistance.

[0089] Second state (hard ground walking, track shoe 3 closed):

[0090] When the driving wheel enters the hard ground such as cement ground, rock road and the like, the driving force of the driving wheel 1 overcomes the ground resistance, and the outer wheel 2 is not rotated relative to the driving wheel 1. At this time, the first pin shaft 5 pulls the free end of the track shoe 3 inward (closed) through the first connecting rod 4, and the outer edges of all the track shoes 3 are adhered to form a complete wheel structure (the outer edge contour after closing is consistent with a common wheel). At this time, the driving wheel is in direct contact with the hard ground through the closed track shoe 3, and the rolling resistance is reduced compared with the open state, and the rigidity of the wheel structure can avoid gravel and the like from being stuck in the track gap, and the smoothness and reliability of the hard ground walking are improved;

[0091] In this state, the second pin shaft of the second connecting rod 6 slides to the limit position of the second arc-shaped sliding groove 61, and the rigidity of the second connecting rod 6 ensures that the closing angles of all the track shoes 3 are consistent, so that the uneven wheel rim caused by the misalignment of the track shoes 3 is avoided.

[0092] The conventional track equipment mostly adopts fixed tooth shape or simple adjustable track design, and it is difficult to balance the strong sand plowing demand in the sand ground and the low resistance load bearing requirement on the ordinary road surface: in the sand ground, the fixed tooth shape track is easy to cause insufficient traction and vehicle sinking due to loose sand; on the ordinary road surface, the tooth shape structure increases the rolling resistance and reduces the energy efficiency.

[0093] The present application realizes the intelligent driving mode of "one wheel dual mode" through the dynamic opening and closing mechanism (folding / opening state switching) of the track shoe 3. Specifically, the combination structure of the driving wheel 1, the outer wheel 2, the track shoe 3 and the first connecting rod 4 is adopted, the track shoe 3 is arranged to be openable and closable at the outer edge of the outer wheel 2 through the first connecting rod 4, and the other end of the first connecting rod 4 is connected with the driving wheel 1 and the outer wheel 2 through the first pin shaft 5. This linkage design enables the state switching of the track shoe 3 to be automatically completed according to the ground texture, without the need for additional driving control device, which simplifies the structure and improves the reliability.

[0094] In the ordinary road surface working condition, the track shoe 3 is folded and adhered to the outer edge of the outer wheel 2 to form a continuous load bearing surface. At this time, the track shoe 3 directly bears the main load, the contact area with the ground is small, the friction resistance is low, the vehicle body driving smoothness and energy efficiency are significantly improved, and it is especially suitable for efficient operation in non-soft terrain such as farmland road and sandstone road;

[0095] In the sand ground working condition, the track shoe 3 is expanded outward along the tangent direction synchronously through the connecting rod mechanism under the rotary driving of the driving wheel 1 to form a "turbine blade" structure. The opened track shoe 3 is arranged in a turbine blade shape, as shown in Figure 10When rotating, the blade generates a composite force of axial pushing and tangential traction on the sand particles; after being stirred, the sand particles flow along the spiral direction of the blade, on the one hand, forming a sand wedge structure between the track and the ground, enhancing the adhesive friction; on the other hand, the flow of sand particles acts on the track plate 3, generating additional propulsion torque (similar to the propulsion principle of a propeller), significantly improving the sand climbing ability; at the same time, it avoids the problem of "idling and slipping" caused by the direct sinking of the track teeth into the sand layer, and completely solves the problems of getting stuck and insufficient power in the sand.

[0096] The conventional complex terrain walking equipment often needs to rely on sensors, hydraulic systems and other external devices to realize the track state adjustment, and has problems of response lag, complex structure, high energy consumption and the like. The present application adjusts the state of the wheel according to the geological conditions through the mechanical linkage design of the power wheel 1-hanging wheel-link rod; specifically, when the vehicle body enters the sand from the ordinary road, the power wheel 1 generates a slight speed fluctuation due to the increase of sand layer resistance, and the fluctuation is transmitted to the link mechanism through the hanging wheel, driving the track plate 3 to expand outward synchronously; on the contrary, when leaving the sand, the speed of the power wheel 1 rises, and the link mechanism automatically resets, and the track plate 3 is folded. The whole process can adapt to the rapid change of sand dunes, sand ridges and other terrains;

[0097] The multi-component linkage only relies on mechanical transmission, avoids the introduction of hydraulic pipelines, sensors and other precision components, reduces the failure rate, reduces the overall weight, and is more suitable for the lightweight needs of agricultural equipment such as planters.

[0098] The present application realizes terrain self-adaptation through pure mechanical linkage, solves the problems of complex structure, high cost and easy failure of traditional intelligent track, and provides a low-cost and high-reliability terrain adaptation solution for sand working equipment, especially suitable for agricultural, forestry and other cost-sensitive scenarios.

[0099] As a preferred embodiment, in order to solve the problems of coaxiality deviation and power transmission loosening of the driving shaft 03 and the power wheel 1 caused by direct connection in the traditional track driving wheel 01, the present application adds a power sleeve 7 in the mounting sleeve 12 of the power wheel 1, and realizes the accuracy and reliability of power transmission through key connection. The specific structure is as follows:

[0100] The power sleeve 7 is a cylindrical structure with open ends, and one end has a limiting cylinder along the outer circumferential surface. A standard key groove (such as a flat key groove or an involute spline groove) is processed on the outer circumferential surface, and the size of the key groove is completely matched with the guide key groove on the inner wall of the mounting sleeve 12. When installed, the power sleeve 7 is inserted into the flat key (or spline) through the key groove and the guide key groove of the mounting sleeve 12, so that the power sleeve 7 and the mounting sleeve 12 are coaxially fixed and ensure that they do not rotate relative to each other; the power sleeve 7 is processed with a connecting key groove matched with the output end of the driving shaft 03, and the output end of the driving shaft 03 is inserted into the key groove and connected with the power sleeve 7 spline, so that the rotating power of the driving shaft 03 is transmitted to the power sleeve 7 through the spline, and finally drives the power wheel 1 to rotate synchronously;

[0101] The power sleeve 7 as an intermediate transition piece can effectively compensate for the installation error of the driving shaft 03 and the mounting sleeve 12, and avoid the power wheel 1 from being worn or the key connection from being invalid due to the coaxiality deviation; the key groove cooperation between the power sleeve 7 and the mounting sleeve 12 limits the radial displacement, and the spline connection with the driving shaft 03 limits the axial displacement, realizing double constraints of power transmission and significantly improving the stability of power transmission.

[0102] As a preferred embodiment, in order to enhance the structural strength and action flexibility of the track shoe 3 during opening and closing, the plate body 31 of the track shoe 3 is designed to be integrally bent, and the position distribution of the hinge points is optimized. The specific structure is as follows:

[0103] The plate body 31 is made of stamping or casting process in one piece, and the whole is in an arc-shaped plate structure; the plate body 31 includes a flat part 311 and a bent part 312;

[0104] The bent part 312 includes a first bent plate and a second bent plate, one end of the two bent plates is integrally connected and forms a first preset included angle (preferably 120°-150°, the specific angle is adjusted according to the shape of the outer edge connecting ear of the outer hanging wheel 2); the other end of the two bent plates is a free end, which is used to stir soft medium or contact with hard ground; and a groove is arranged in the middle of the bent part 312 to avoid interference with the outer edge of the outer hanging wheel 2 when the track shoe 3 is closed;

[0105] The flat part 311 is connected to one end of the bent part 312 and integrally connected with the bent part 312 to form a second preset included angle (preferably 90°-120°), so that the plate body 31 as a whole presents a composite structure of "arc-shaped-flat-bent", which not only ensures the fit with the outer hanging wheel 2, but also enhances the sand stirring or load bearing capacity of the free end;

[0106] Three hinge points are arranged on the inner wall (the side facing the center of the driving wheel) of the plate body 31 along the length direction, and the specific positions are as follows:

[0107] Second hinge point 33, provided at the joint of flat part 311 and bending part 312 (i.e. the joint boundary of the two), is hinged with the outer edge of outer hanging wheel 2 through a pin shaft, as the fulcrum of the rotation of track plate 3 around outer hanging wheel 2;

[0108] First hinge point 32, provided at the end of bending part 312 away from flat part 311 (i.e. the free end side of the two bending plates), is used for connecting the second connecting rod 6 between adjacent track plates 3;

[0109] Third hinge point 34, provided on flat part 311 (between second hinge point 33 and the free end of track plate 3), is used for connecting first connecting rod 4;

[0110] With second hinge point 33 as the fulcrum, third hinge point 34 as the power input end, and first hinge point 32 as the constraint end; when first connecting rod 4 pushes or pulls third hinge point 34, plate body 31 rotates around second hinge point 33, and first hinge point 32 moves synchronously and reversely, so that the free end of track plate 3 generates a large swing amplitude, meeting the sand stirring demand on soft ground;

[0111] Through the optimization of the bending angle, the free end of plate body 31 is completely matched with the outer edge of outer hanging wheel 2 in the closed state, improving the rim integrity when walking on hard ground and reducing the rolling resistance.

[0112] Embodiment 2

[0113] Referring to Figures 11-15 The application also provides an intelligent desert seedling planting vehicle, which comprises a vehicle frame 02 and two drive shafts 03 which are arranged in parallel at the bottom of the vehicle frame 02 and spaced apart; the two ends of each drive shaft 03 are respectively provided with a track drive wheel 01 as provided in embodiment 1; the track drive wheel 01 is used to realize the walking and turning of the vehicle on the desert ground.

[0114] A hole forming mechanism 04 and a seedling feeding mechanism 05 are arranged in sequence along the length direction of the vehicle frame 02; the two mechanisms are arranged in matching positions in space to ensure that the seedling feeding mechanism 05 can accurately push the seedlings into the holes after the hole forming operation is completed;

[0115] The hole forming mechanism 04 comprises a water gun rod 041 which is rotatably arranged, a drill bit 042 which is detachably arranged at one end of the water gun rod 041, and a feeding mechanism 06 which is used to drive the water gun rod 041 to feed;

[0116] The water gun rod 041 is vertically arranged in the vehicle frame 02, and a first through hole is formed in the middle of the water gun rod 041 in the axial direction;

[0117] The drill bit 042 is detachably fixed to the drill bit 042 end (close to the ground side) of the water gun rod 041 by a threaded connection structure, the middle part of the drill bit 042 is provided with a second through hole in the axial direction, the second through hole is coaxially communicated with the first through hole, and the two through holes jointly form a flow channel for the punching medium (usually water); the outer peripheral surface of the drill bit 042 is provided with a spiral drill tooth for assisting in cutting sand;

[0118] The end away from the drill bit 042 of the water gun rod 041 is connected with a water supply structure (not shown in the figure) through a rotary joint, the water supply structure includes a water tank and a high-pressure water pump fixed to the vehicle frame 02, the water inlet of the high-pressure water pump is communicated with the water tank, and the water outlet is connected with the rotary joint through a high-pressure hose, for conveying high-pressure water into the first through hole;

[0119] The feeding mechanism 06 is arranged at the rear end (away from the drill bit 042 end) of the water gun rod 041, including a lifting mechanism 061 and a rotating mechanism 062 arranged at the lifting end of the lifting mechanism 061, the rotating mechanism 062 includes a rotating drive motor 063 and a driving gear 064 connected with the rotating drive motor 063, the outer wall of the water gun rod 041 is provided with a driven gear 043, and the driving gear 064 is in meshing transmission connection with the driven gear 043 to drive the water gun rod 041 to rotate; the water gun rod 041 is driven to feed linearly in the axial direction through the lifting of the lifting mechanism 061, so as to realize the adjustment of the drilling depth;

[0120] The drill bit 042 end of the water gun rod 041 penetrates through the through hole in the bottom of the vehicle frame 02 and extends to the vicinity of the ground, and in operation, the geological conditions can be manually judged, if the geology is hard, the rotating drive motor 063 of the drill bit 042 is started, and the sand soil is cut into a hole through the spiral drill tooth of the drill bit 042; if the geology is loose, the rotating drive motor 063 of the drill bit 042 is closed, and only high-pressure water is conveyed into the first through hole by the high-pressure water pump, and the sand soil is impacted by the water jet to realize water punching; if the geology is complex, the rotating drive motor 063 and the high-pressure water pump can be started at the same time, and the drill bit 042 and the water punching are combined to form a hole, and the multiple hole forming modes can be switched according to the actual geological conditions, so as to improve the adaptability of the equipment to different desert environments.

[0121] The seedling conveying mechanism 05 is arranged in front of the hole forming mechanism 04 (in the direction of the vehicle head moving forward), including a seedling box and a seedling taking mechanism; the seedling box is used for storing tree seedlings to be planted, and the seedling taking mechanism is used for conveying single tree seedlings from the seedling box. When the hole forming mechanism 04 completes hole forming and retreats to the initial position, the seedling taking mechanism conveys the tree seedlings to the hole forming mechanism directly above, and the tree seedlings are vertically pushed into the hole forming mechanism through the seedling pushing mechanism, and the seedling planting operation is completed.

[0122] The track driving wheel 01 can stably and flexibly walk on complex terrains, so that the seedling planting device can reach the working site more quickly and accurately, reduces the work interruption or position deviation caused by terrain limitation, and significantly improves the efficiency and quality of seedling planting operation, and is especially suitable for seedling planting operation in complex terrain regions such as deserts and mountains.

[0123] In addition, the present application is designed in cooperation with the water flushing function of the water gun rod 041 and the detachable drill bit 042, realizing the multi-mode free switching of "drilling-water flushing". Drilling mode: in the area where the sand layer is hard or compact, the drill bit 042 is started to rotate to form a hole through mechanical cutting, avoiding the hole wall collapse problem caused by the loose sand particles in the water flushing hole forming, and the hole type regularity is high, providing stable support for seedling planting. Water flushing mode: in the area where the sand layer is loose or the water content is very low, switch to the water flushing hole forming of the water gun rod 041, use high-pressure water flow to cut the sand layer, quickly form a hole with uniform diameter, and the water flow can suspend the sand particles to reduce the risk of secondary collapse of the hole wall. Drilling and water flushing combined mode: in some special terrain, through the cooperative design of the coaxial through hole structure and the detachable drill bit 042, the drilling and water flushing functions are simultaneously or alternately executed in the same operation process, forming a combined hole forming mechanism of "cutting guide-scrubbing wall fixing". The drill bit 042 rotates to mechanically cut the sand layer, quickly breaks through the hard sand layer or the rock debris layer to form an initial guide hole. The water gun rod 041 synchronously sprays high-pressure water flow into the drill hole, suspends the loose sand particles in the hole wall by water flow flushing, and reduces the risk of hole wall collapse caused by the falling of sand particles due to gravity or vibration. At the same time, the water flow can discharge the sand cuttings generated by cutting outside the hole in real time, avoiding the blockage of the hole to affect the operation of the feeding mechanism 06. Through the coaxial channel, the real-time cooperation of drilling and flushing is realized, the guide function of drilling and the "wall fixing function" of water flushing are deeply integrated, and an efficient combined hole forming link is formed.

[0124] As a preferred embodiment, referring to Figure 12 , the rotating mechanism 062 further comprises a motor mounting frame 065, and the motor mounting frame 065 comprises a vertical support plate and a horizontal support plate vertically arranged on the vertical support plate, the vertical support plate is connected with the lifting end of the lifting mechanism 061, and the rotating drive motor 063 is arranged on the vertical support plate;

[0125] The water gun rod 041 passes through the through hole of the horizontal support plate and is rotatably arranged on the mounting position of the vertical support plate through a bearing, so as to realize the rotation of the water gun rod 041 around its own axis under the drive of the rotating drive motor 063, and at the same time, the horizontal support plate forms radial support for the water gun rod 041.

[0126] As a preferred embodiment, the lifting mechanism 061 can be selected from two forms of screw lifting mechanism 061 and chain lifting mechanism 061:

[0127] When the screw lifting mechanism 061 is adopted, the rotating mechanism 062 is fixed on the screw nut of the screw lifting mechanism 061 as a whole; the screw nut moves along the screw shaft by driving the screw to rotate, thereby driving the rotating mechanism 062 and the water gun rod 041 to complete the lifting and feeding action;

[0128] When the chain lifting mechanism 061 is adopted, referring to Figure 13 , the rotating mechanism 062 is fixedly connected with the side of the lifting chain through a connecting piece (such as a fixing seat); the lifting action of the chain directly drives the rotating mechanism 062 and the water gun rod 041 to synchronously lift by driving the chain to circulate, thereby realizing the feeding function.

[0129] The two forms of the lifting mechanism 061 can be flexibly selected according to the space layout of the equipment, the load demand and the driving precision and the like, and can meet the demand of the lifting and feeding of the water gun rod 041.

[0130] The above are only the preferred embodiments of the present application, and do not limit the patent range of the present application, and any equivalent structural transformation made under the inventive concept of the present application, and directly / indirectly applied in other related technical fields by using the content of the present application are included in the patent protection range of the present application.

Claims

1. A track drive wheel characterized by, include: The drive wheel is used for driving connection with the drive shaft. An external wheel is coaxially mounted on one side of the power wheel, and the external wheel and the power wheel are rotatably connected within a preset angle range; Several track plates are evenly distributed on the circumference of the external roller, and the middle part of each track plate is hinged to the outer edge of the external roller. A plurality of first links are provided, each of the track plates being detachably and detachably disposed on the outer edge of the external wheel via the first link. One end of the first link is hinged to the corresponding track plate, and the other end of the first link is connected to both the drive wheel and the external wheel via a first pin. The second link connects every two adjacent track plates, and the second link is provided with a second arc-shaped groove; one of the track plates is slidably disposed in the second arc-shaped groove by means of a second pin. In the first state, the track plates are in an open state, and the free ends of the track plates can move the soft medium to adapt to walking on soft surfaces; in the second state, when in contact with hard ground, each of the track plates is in a closed state and together forms a wheel-like structure to adapt to walking on hard surfaces. The drive wheel includes a drive wheel body and a mounting sleeve disposed in the middle of the drive wheel body, the mounting sleeve being used for drive connection with the drive shaft; The external wheel includes an external connecting plate and a support sleeve disposed on one side of the external connecting plate; The external connecting plate has a mounting hole in the middle, and the external wheel is sleeved on the mounting sleeve through the mounting hole, so that it is coaxially arranged on one side of the power wheel; The external connecting plate is also provided with several first arc-shaped sliding grooves with a preset length. The first pin passes through the first arc-shaped sliding groove, the power wheel and the other end of the corresponding first connecting rod in sequence, so that the external wheel can rotate within the preset angle range.

2. A track drive wheel according to claim 1, wherein The track plate includes a plate body, and a first hinge point, a second hinge point, and a third hinge point disposed on the inner wall of the plate body. The first hinge point, the second hinge point, and the third hinge point are arranged sequentially along the length direction of the plate body, and the hinge points are not collinear. Each track plate is hinged to the outer edge of the external wheel through its second hinge point. One end of the first connecting rod is hinged to the third hinge point of the corresponding track plate.

3. A tracked drive wheel according to claim 2, characterized in that, The first hinge points of every two adjacent track plates are connected by the second link; the first hinge point of one of the track plates is slidably disposed in the second arc-shaped groove by the second pin.

4. A tracked drive wheel according to any one of claims 1-3, characterized in that, The track drive wheel also includes a power sleeve, which is coaxially mounted in the mounting sleeve via a key connection. The drive shaft is driven by the power sleeve to drive the drive wheel to rotate.

5. A tracked drive wheel according to claim 2 or 3, characterized in that, The plate body includes a straight part and a bent part that are integrally connected. The bent part includes a first folding plate and a second folding plate, and one end of the two folding plates are integrally connected and form a first preset angle. The straight portion is integrally connected to the first folding plate and forms a second preset angle; The second hinge point is located at the junction of the straight portion and the bent portion, the first hinge point is located at the end of the bent portion away from the straight portion, and the third hinge point is located on the straight portion.

6. A smart desert seedling planting vehicle, characterized in that, The vehicle includes a frame and two drive shafts that are spaced apart and parallel to each other at the bottom of the frame. Each of the drive shafts is provided with a tracked drive wheel as described in any one of claims 1-5. The upper part of the frame is provided with a hole-forming mechanism and a seedling delivery mechanism that is matched with the hole-forming mechanism; The drilling mechanism includes a rotatable water gun rod, a drill bit detachably disposed at one end of the water gun rod, and a feed mechanism for driving the water gun rod to feed. The water gun rod has a first through hole in the middle, and the drill bit has a second through hole in the middle. The first through hole and the second through hole are coaxially connected to form a channel for the flushing medium to pass through. A water supply structure is connected to the end of the water gun rod away from the drill bit. The drill bit end of the water gun rod passes through the vehicle frame and, depending on the geological conditions, the drill bit is started to rotate to form a hole and / or the water gun rod is used to flush the hole.

7. The intelligent desert seedling planting vehicle according to claim 6, characterized in that, The feeding mechanism includes a lifting mechanism and a rotating mechanism disposed at the lifting end of the lifting mechanism. The rotating mechanism includes a rotary drive motor and a drive gear connected to the rotary drive motor. The outer wall of the water gun rod is provided with a driven gear. The drive gear and the driven gear are meshed and connected to drive the water gun rod to rotate.

8. The intelligent desert seedling planting vehicle according to claim 7, characterized in that, The rotating mechanism further includes a motor mounting bracket, which includes a vertical support plate and a horizontal support plate vertically disposed on the vertical support plate. The vertical support plate is connected to the lifting end of the lifting mechanism, and the rotating drive motor is mounted on the vertical support plate. The water gun rod passes through the horizontal support plate and is rotatably mounted on the vertical support plate via a bearing.

9. A smart desert seedling planting vehicle according to claim 7 or 8, characterized in that, The lifting mechanism is a screw lifting mechanism or a chain lifting mechanism mounted on the vehicle frame; When a screw lifting mechanism is used, the rotating mechanism is set on the screw nut so that the water gun rod can be raised and lowered by rotating the screw. When a chain lifting mechanism is used, the rotating mechanism is set on the side of the lifting chain through a connector, so that the water gun rod is raised and lowered by the lifting of the lifting chain.

Images