Multifunctional miniature agricultural vehicle
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-24
- Publication Date
- 2026-04-10
Smart Images
Figure CN121822703A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to a multifunctional miniature agricultural vehicle, especially suitable for new rural family multifunctional agricultural vehicle. BACKGROUND
[0002] The agricultural machinery has entered the rural areas, and the traditional manual work has been replaced by the mechanical operation in a large area, so that the farmers have time to enjoy in addition to the day and night labor, but due to the existing agricultural machinery is mostly large machinery, in some remote mountainous areas, the farmers still shoulder the physical labor as the main, only a small part of the light and single function of the agricultural machinery is put into agricultural production, and these machines can only save time and physical labor for farmers in the field, but in the process of transporting to the field work, it needs to consume more manpower or financial resources. Therefore, the mountainous farmers can change the function of the agricultural equipment as easily as the large-scale farm, cultivate in the field, and also can travel and shuttle in the market in the daily life, so that various agricultural operations can adapt to the season, and the technology assisted breeding fully conforms to the nature; it provides a multifunctional production auxiliary equipment for the farmers who regard agriculture as their duty, and provides them with more creative space and the improvement of life quality, and fully enjoys the natural results, which has great social significance. SUMMARY
[0003] In order to solve the problem of one machine with multiple functions, and eliminate the trouble of sudden natural weather and environmental changes in the production operation of the farmers, the present application provides a multifunctional miniature agricultural vehicle.
[0004] The main system includes eight systems, namely, kinetic energy management system, security and protection system, braking system, steering system, damping system, environment perception system, trajectory following system and balancing system. The kinetic energy management system is divided into energy supply mechanism, energy efficiency management mechanism and energy consumption monitoring mechanism, which are mainly hardware and software modules for evaluating the input and output of energy and the health status of related facilities. The security and protection system is divided into visual and auditory monitoring mechanism, touch and sensory response mechanism and security and protection processing mechanism, which are mainly hardware and software configurations for evaluating the risks of the vehicle body itself and the external environment, and reporting the risk status and response measures to the main system in real time. The braking system includes brake mechanism, auxiliary balancing mechanism and main body protection mechanism, which are mainly hardware and software configurations of system countermeasures for the impact of risk factors during vehicle operation, including sudden conditions. The steering system includes mechanical steering mechanism and electronic steering mechanism, which are mainly hardware and software configurations for the deflection time and angle of the main body running direction. The damping system includes elastic damping mechanism, pressure damping mechanism and electromagnetic auxiliary damping mechanism, which are mainly buffer and countermeasures for strong vibration caused by collision during the main body operation. The environment perception system includes visual and auditory monitoring mechanism, weather prediction and danger alarm mechanism, which are mainly environment information acquisition and processing devices for the internal and external environment of the main body. The trajectory following system includes rear wheel tracking following mechanism, vehicle team member following mechanism and data analysis navigation mechanism, which are mainly hardware and software measures for individuals and groups to fully adapt to environmental conditions during operation. The balancing system includes gyroscope balancing mechanism, fluid dynamic balancing mechanism and damping balancing mechanism, which are mainly hardware and software control measures for the impact of natural factors such as centripetal force, gravity, wind force and other impact forces on the main body during relative motion and static state. The data processed by each major system is uniform, and the controlled units are cooperatively controlled. The primary and secondary control is corrected and allocated by the main system. The components of each functional mechanism in the system support each other in function and are organically combined into a whole, serving the safety, efficiency and humanity of the main system. These components or input information inform the real-time environment of the main body operation, or output information controls the real-time state of the main body. The purpose is to collect real-time data of the running environment through multiple angles, multiple viewpoints, multiple paths and multiple channels, and to solve the complex running environment of rural fields and the complex and changeable climate and natural environment through the system's established algorithm. At the same time, it provides safe and feasible mechanical operation equipment for different agricultural operations, fully safeguards the physical health and safety of the driver and passengers, reduces the labor risk and improves the labor efficiency.
[0005] A multifunctional miniature agricultural vehicle aims to solve the problems raised in the above background technology. To solve the above technical problems, the multifunctional miniature agricultural vehicle specifically adopts the following technical solutions:
[0006] The multifunctional miniature agricultural vehicle, for example, Figure 1As shown, the main body structure includes a boat-shaped chassis 1, a functional frame assembly 2, a power box 3, a steering wheel 4, a main engine box 5, a wing 6, a rain cloth 7, a propeller 8, a canopy 9, a wing opening screw rod 10, a support rod 11 and a control console 12.
[0007] The mechanical structure of the boat-shaped chassis 1 is as shown in the figure Figure 2 As shown, it mainly includes air inlet 13, main engine box 5, capillary group 14, main pipe 15, motor nest 16, propeller 8 and other structural components, and the hollow position between right capillary group 14-1 and left capillary group 14-2 and front motor nest 16-1 and rear motor nest 16-2 is used to place power box 3, and motor nest 16 is used to install functional frame assembly 2.
[0008] The mechanical structure of the functional frame assembly 2 is as shown in the figure Figure 3 As shown, the functional frame assembly 2 is mainly divided into two parts: functional parts and connecting parts. The functional parts mainly include functional frame positioning column 23, mudguard 24, first-stage shock-absorbing steel frame end positioning pin 25, first-stage shock-absorbing flat fork end positioning pin 26, motor wheel 27, wheel shaft positioning card 28, flat fork 29, flat fork support pin 30, steel frame reinforcing branch 31 and steel frame main beam 32. The functional frame positioning column 23 is located on the vertical center line of the highest point of the steel frame main beam 32. The flat fork 29 is connected to the steel frame main beam 32 through the flat fork support pin 30. The motor wheel 27 is installed on the flat fork 29, which is externally positioned and reinforced by the wheel shaft positioning card 28 and locked by the lock screw. The elastic shock absorber, also known as the first-stage shock absorber, is a pair of one group. Each one is installed at one end of the first-stage shock-absorbing steel frame end positioning pin 25 and at the other end of the first-stage shock-absorbing flat fork end positioning pin 26. The connecting part is adapted to the structure of the motor nest and mainly includes steering gear 17, multi-stage cylinder cover 18, cylinder lock ring 19, first-stage cylinder 20, second-stage cylinder 21 and third-stage cylinder 22. Each cylinder has a complete set of sealing rings, which are nested from inside to outside after being installed with the sealing rings. The functional frame positioning column 23 of the functional part has a stud, which is screwed and fastened with the suspension nut 38 on the third-stage cylinder 22. After the functional frame fixing screw is locked, it is inserted into the motor nest. The flange outside the first-stage cylinder is tightly attached to the flat tapered bearing arranged below the middle hole of the motor nest. The cylinder lock ring 19 is screwed on the upper opening of the first-stage cylinder 20. The steering gear 17 is fixed on the central shaft of the multi-stage cylinder cover 18. The central screw through hole of the central shaft, the hydraulic oil in the cylinder enters and exits through the through hole, and the sealing ring of the multi-stage cylinder cover 18 is embedded in the upper opening of the first-stage cylinder 20. The installation is completed after the lock screw is tightened. The mudguard 24 to the steel frame main beam 32 are functional adapter devices. Each functional frame assembly 2 of each functional part is different. Except that the functional frame positioning column 23 is a standard implanted device, other technical features are designed according to the application function. For example, the water special propeller of the fish feed delivery boat, the special seeding device of the seeding machine, etc.
[0009] Figure 4The gear 17 is fixed on the middle shaft of the multi-stage cylinder cover 18, the oil channel 37 is connected with the pressure medium pipeline, the multi-stage cylinder cover 18 is matched with the cylinder body lock ring, the upper opening of the first-stage cylinder body 20 is tightly locked by the sealing ring 34, the flange 35 is arranged outside the lower opening of the first-stage cylinder body 20, the second-stage cylinder body 21 is nested inside, a plurality of sealing rings are arranged between the nested cylinder bodies to enhance the sealing performance, and the third-stage cylinder body 22 is further nested inside the second-stage cylinder body 21. Except that the first-stage cylinder body is provided with no groove outside the circle, all the nested cylinder bodies are provided with the outer shape groove which is completely matched with the inner shape groove of the piston port of the upper-stage cylinder body, the piston port is completely matched with the inner shape groove of the outer shape groove of the lower-stage cylinder body, and the innermost nested cylinder body is connected with the steel frame positioning column 23, the middle of the steel frame positioning column 23 is a threaded stud, and the front of the outer positioning column is provided with the function frame fixing screw hole 33.
[0010] The power box 3 is shown as follows: Figure 6 The middle position is the power battery compartment 39, the rear wall of the power battery compartment 39 is provided with a through hole as a fire hydrant 43, the fire hydrant 43 is connected with the water pump chamber 42, the bottom of the water pump chamber 42 is provided with a through hole as a fire hydrant water inlet hole 44, the rear of the water pump chamber 42 is provided with a saddle hinge 41, the power box cover, also called the saddle 40, is connected with the power box 3 through the saddle hinge 41, the bottom of the power box is provided with a bottom support 45, the bottom support 45 is provided with a bottom support cavity 46, the fluid in the boat-shaped chassis 1 can smoothly creep in the space in the boat-shaped chassis 1 and keep the main body moving stably, the front of the power battery compartment 39 is provided with a hydraulic device, which is arranged in two layers, the lower layer is a hydraulic oil tank 47, the top surface of the hydraulic oil tank is provided with two through holes, which are divided into a return oil hole 48 and an oil pump oil inlet hole 49, and the oil pump is installed in a hydraulic chamber 50.
[0011] The mechanical structure of the steering wheel 4 is shown as follows: Figure 7 The steering wheel 4 comprises a handle 51, a center positioning shaft 52, a direction gear 53, a direction gear adjusting shaft 54, a universal joint 55, an axial adjusting positioning hole 56 and an adjusting positioning pin 57, and the steering wheel can be axially and pitch adjusted to adapt to the habitual body position of the operator.
[0012] The inside of the main machine box 5 is provided with various system module mainboards, the pipeline next to the air port 13 has a strong cooling effect, the system modules with large heat generation, such as the kinetic energy management system and the damping system, can be arranged near the air duct, and the security and protection system main control module with little heat generation is arranged in the middle.
[0013] The car wing 6 is also a self-opening door from bottom to top, and can also be called a rain shelter, and the mechanical structure of the car wing 6 is shown as follows: Figure 8 The root of the car wing 6 is provided with a car wing hinge 58, the upper half of the car wing 6 is made of transparent material and is provided with a front ball joint 59 and a rear ball joint 60 at the front and rear upper edges respectively, the lower half is a waterproof plate 63 made of waterproof material, and the lower edge of the waterproof plate 63 is provided with a waterproof rubber strip 62.
[0014] The tight rain cloth 7 is connected with the top cover edge and sets the conical roller shaft or folding shaft, which is convenient for the storage of the tight rain cloth 7 when the wing 6 is folded.
[0015] The propeller 8 is located at the tail end of the main pipe 15 arranged in the boat-shaped chassis 1, is the water wheel driven by the high-speed motor directly driving the blade rotation, cooperates with the air port 13 to set the wind wheel, can reduce the wind resistance, and can also be used as the multifunctional channel device for water walking and propulsion; the impeller arranged at the air port 13 is high in hardness and has the blade, which is beneficial to chopping the solid materials such as waves entering the air port, and is convenient for smoothly discharging from the propeller, and the net cover is arranged at the front and rear ends of the main pipe to prevent small animals from entering the pipe to nest and breed.
[0016] The top cover 9 is divided into a front section, a middle section and a rear section, the front edge of the front section is connected with the front windshield top, and wing hinges are arranged on the left and right sides; the middle section is provided with wing opening vice lead screws and conical roller shafts on the left and right edges; the rear section is folded back by a certain angle, is provided with a window in the middle for ventilation, and the lower edge is connected with the rear wall plate of the vehicle body.
[0017] The wing opening lead screw 10 is divided into two groups and arranged on the left and right edges of the top cover 9 and the front windshield, each group of wing opening lead screws 10 is divided into a main lead screw and a vice lead screw, and the main lead screw and the vice lead screw are driven to rotate by independent motors; the main lead screw motor is provided with an encoder and directly controlled by the security system and / or the wing opening switch, the vice lead screw motor follows the code signal and the tension strength of the main lead screw motor to adjust the direction and speed of rotation; a winged nut is matched on the main lead screw and the vice lead screw, the wing of the winged nut is provided with a through hole for connecting the shaft joint end of the supporting rod 11, and the other end of the supporting rod 11 is spherical and connected to the ball joint of the wing 6; the wing opening lead screw 10 is reversed, just like a butterfly flapping its wings to unfold or fold the wing 6, like Figure 9 the unfolded double wings shown in the figure.
[0018] The control console 12 is arranged in front of the steering wheel, and the top cover of the steering gear box is embedded on the gear box, and the main machine box 5 is arranged at the lower rear of the control console 12, and the data collected and sent is connected with the corresponding data ports of the system module main boards in the main machine box through the data line.
[0019] The gear box is as shown in the figure. Figure 10 The gear box has an outer ring 64 and an inner ring 65, the inner and outer rings are concentric circles, the inner ring is provided with a pair of holes through the center line, the front hole is a bearing hole 66 for positioning the end of the steering wheel, and the rear hole is a bearing hole 67 for stable rotation of the steering wheel, the outer ring is provided with a spherical bearing hole 68, the centers of the three holes are in a straight line, and the straight line passes through the center of the concentric circles of the inner and outer rings.
[0020] The hollow inner ring of the gear box, the steering gear on the functional frame assembly 2 and the direction gear on the steering wheel 4 are in mesh in the space, the left and right steering of the steering wheel is limited to 90 degrees, the center positioning shaft 52 of the steering wheel 4 is provided between the outer ring of the gear box and the steering encoder, the signal of the steering encoder is provided to the electronic steering mechanism of the steering system, and the necessary follow-up data is requested to be provided by the trajectory following system, if the obtained follow-up data is 0, the rear wheels are fixed without deflection like the conventional vehicle, otherwise the rear wheels are driven according to the follow-up mode set by the trajectory following system or the deflection direction of manual operation.
[0021] The trajectory following system comprises a rear wheel tracking following mechanism, a vehicle team member following mechanism and a data calculation navigation mechanism.
[0022] The rear wheel tracking following mechanism is that the rear wheels follow the running trajectory of the front wheels. The steering encoder of the front wheels provides the steering encoding information to the trajectory following system, the trajectory following system obtains the information, combines the wheel diameter, the front and rear wheelbase, the speed and other parameters of the vehicle body to calculate the delay steering time and deflection angle of the rear wheels from the steering time point of the front wheels, and provides the steering system with the correction value of the cumulative data after the calculation. After receiving the data of the trajectory following system, the electronic steering mechanism of the steering system starts the delay countdown of the rear wheel steering, and controls the rear wheels to deflect according to the steering angle of the front wheels when the countdown is completed.
[0023] The operation principle of the vehicle team following mechanism is basically the same as that of the rear wheel following mechanism. When receiving the steering data information of the main vehicle or the front vehicle, the vehicle team following mechanism calculates the delay steering time and deflection angle of the vehicle from the main vehicle or the front vehicle. The difference lies in that a system correction value of roadblock information is added.
[0024] The operation principle of the data calculation navigation mechanism is slightly different from the above two mechanisms. The data of the data calculation navigation mechanism is obtained from the accumulation of the running trajectory data in the usual operation, fully combines the data of the environment perception system, provides the calculated results to the main system, and lets the main system distribute the instructions to control the deflection direction and speed of the steering system in the running process.
[0025] The steering system mainly sets the software and hardware configuration of the position, time and angle of the deflection of the main running direction. In form, it includes the conventional steering, the following steering and the drift steering. In mechanism setting, it includes the mechanical steering and the electronic steering. The conventional steering is that the wheel train of the mechanical steering mechanism of the steering wheel is the guide wheel, and the electronic steering mechanism is the system control wheel. When the vehicle body is steered, the system controls the system control wheel as a fixed shaft wheel, and the fixed shaft wheel guides the vehicle body to steer and run with the guide wheel. The following steering is that all the wheels including the guide wheel are equipped with the electronic steering mechanism, and all the steering mechanisms run along the trajectory of the guide wheel steering mechanism. The drift steering is that all the wheels are equipped with the mechanical and electronic steering mechanisms, and all the wheels deflect the same angle and direction to drift when the main body is steered.
[0026] The environmental perception system is basically an information data collection system, including visual and auditory monitoring mechanisms, weather prediction and danger warning mechanisms, mainly for detecting internal and external environments during operation to assess risk factors in a timely manner; such as cameras, microphones, infrared thermal imagers, and temperature, humidity, pressure, liquid level, displacement sensors, etc. These environmental perception system elements are placed on the corresponding sensitive parts of the vehicle body, such as pressure sensors placed on the damping system and saddle, and infrared thermal imagers placed on the roof 9 and rotating 360 degrees for scanning. The large amount of information collected by each device in the environmental perception system is provided to the corresponding system module.
[0027] The damping system mainly sets up buffer and / or countermeasures for contact and collision during operation, including elastic damping mechanism, hydraulic damping mechanism and electromagnetic auxiliary damping mechanism. The elastic damping mechanism is a primary damper, which is placed between the flat fork 29 and the steel frame main beam 32. The flat fork support pin 30, the primary damping steel frame end positioning pin 25, and the primary damping flat fork end positioning pin 26 are respectively three corner points of a triangle. The hydraulic damping mechanism is a secondary damper, which is composed of a group of multi-stage oil cylinders through special matching. The inner cavity of all secondary dampers on the vehicle has only one oil hole, and the inner cavities of all secondary dampers are connected to each other. Pressure and displacement sensors are arranged on the cylinder body to collect data, so that the balance system can give oil pressure correction control according to the data.
[0028] The balance system mainly sets up balance maintenance and countermeasures for external forces such as wind force, impact force, centripetal force and stress, including gyroscope balance mechanism, fluid dynamic balance mechanism and damping balance mechanism. The gyroscope balance mechanism is a gyroscope well known to the public. The fluid dynamic balance mechanism and the damping balance mechanism mainly consist of a mixture of liquid and a large number of small spherical solids in the boat-shaped chassis 1. A plurality of blocks are arranged in the space, and the blocks are controlled by the balance system in cooperation with the damping system, steering system, security system and braking system to provide parameters. The purpose is to control the weight loss drift and roll of the vehicle body.
[0029] The security system is divided into visual and auditory monitoring mechanisms, touch and sensory response mechanisms, and security processing mechanisms, mainly for data collection and analysis of internal operating mechanisms and external environmental risk factors, allowing operators to have a wider field of view in a limited space, accurately identifying the source of risk, and making appropriate risk prevention and control. The visual and auditory monitoring mechanisms include visual and auditory equipment configured on the vehicle body. The touch and sensory response mechanisms include monitoring sensor equipment configured on the vehicle body, which serves the safety and security work and makes an assessment of the risks brought by the environment, and takes timely safety measures. For example, the smoke sensor and odor recognition detector in the power box 3 are not only important members of the security system, but also important components of the environmental perception system, mainly for predicting the risk of battery explosion. Once the risk occurs, measures will be taken to remedy it in time.
[0030] The brake system mainly aims at the risks brought by sudden conditions in the operation of the vehicle body, and systematically adopts the soft and hardware configuration of countermeasures, including brake mechanism, auxiliary balancing mechanism and main protection mechanism; the brake mechanism includes an emergency brake button arranged at the center of the handle 51 of the steering wheel 4, a brake device arranged at the left foot side under the steering wheel, mechanical and electronic brake devices in the motor wheel; the auxiliary balancing mechanism includes a baffle and a damping balancer arranged in the boat-shaped chassis 1; and the main protection mechanism includes a secondary shock absorber.
[0031] The kinetic energy management system mainly aims at the distribution management of the energy volume and the health analysis of the energy input and output facilities, and adopts efficient and feasible measures in real time, and is divided into an energy supply mechanism, an energy efficiency management mechanism and an energy consumption monitoring mechanism; the energy supply mechanism includes a solar panel arranged on the ceiling, a wind wheel arranged at the air inlet 13, a motor wheel 27 and a power battery; the energy efficiency management mechanism includes an electric current identification module, a voltage stabilizing module and a charging module, and the electric current identification module distinguishes and identifies which belongs to the recyclable current, and the recyclable current is identified and transmitted to the charger for the battery to be charged or directly powers the propeller 8 and the control console 12 through the voltage stabilizing module; and the energy consumption monitoring mechanism mainly includes a module power meter, and the metering result information is directly provided to the energy efficiency management mechanism, so that the energy efficiency management mechanism can make energy evaluation in real time and optimally distribute energy application.
[0032] The multifunctional micro agricultural vehicle has the following beneficial effects through the above technical solutions.
[0033] The front motor nest 16-1 and the rear motor nest 16-2 in the motor nest 16 are completely the same in setting and size, and the front and rear function frame assemblies 2 are interchangeable, that is, both can be implanted into different functional agricultural machinery, such as the front wheel implanted with the function device of the mowing function, and the multifunctional miniature agricultural vehicle can become a mowing machine in the field; the rear wheel is replaced with the function device with the soil turning function, and the multifunctional miniature agricultural vehicle can become a soil turning machine in the field; and the rear wheel is replaced with the function device of the rice transplanter, and the multifunctional miniature agricultural vehicle becomes a rice transplanter. In this way, as long as the function suitable agricultural implement is implanted or replaced, the function of the main equipment can be realized, the function equipment replacement is simple and convenient, the connecting piece can be retracted to the shortest position, that is, the hydraulic oil in the cylinder body is recovered, the multi-stage cylinder cover 18 and the cylinder lock ring 19 are disassembled, and the connecting end of the motor wheel is pulled out, so that the function frame assembly 2 can be easily taken out from the motor nest 16. In addition, under the all-around scanning of the infrared thermal imager, the environmental perception system of the multifunctional miniature agricultural vehicle can clearly perceive the occurrence area of the pests and diseases in the field and the real-time activity information of the wild small animals, and the farmers can eliminate the pests and diseases, avoid or routinely drive away the small animals according to the actual situation. In addition, the environmental perception system cooperates with the trajectory following system to accurately judge the real-time information of the surrounding flowing objects including the flowing speed and direction, so as to take measures in advance to avoid; the comprehensive use of multiple balancing mechanisms can quickly and stably adapt to the complex application environment including the centripetal force, gravity and impact force; the chassis of the multifunctional agricultural vehicle is a boat-shaped chassis, and is provided with a special pipeline from the air outlet 13 to the propeller 8, so that the multifunctional agricultural vehicle can smoothly and quickly cross the river without replacing the boat propelling facilities; when the wings 6 of the multifunctional agricultural vehicle are unfolded, they can be used as a camping tent for shading and rain protection in the field; according to the technical features of the trajectory following system, the multifunctional agricultural vehicle can assist large agricultural machinery operation and form multiple unmanned transport teams. BRIEF DESCRIPTION OF DRAWINGS
[0034] Figure 1 It is an appearance schematic diagram of the right wing in the open state;
[0035] Figure 2 It is a schematic diagram of the boat-shaped chassis structure;
[0036] Figure 3 It is a schematic diagram of the function frame assembly;
[0037] Figure 4 It is a schematic diagram of the cross section of the connecting piece;
[0038] Figure 5 It is a schematic diagram of the motor wheel steel frame structure;
[0039] Figure 6 It is a schematic diagram of the power box structure;
[0040] Figure 7 It is a schematic diagram of the steering wheel structure;
[0041] Figure 8 Fig. 1 is a schematic diagram of the vehicle body.
[0042] Figure 9 Fig. 2 is a schematic diagram of the vehicle wings.
[0043] Figure 10 Fig. 3 is a schematic diagram of the gear box.
[0044] In the drawings, the components represented by the respective reference numbers are listed as follows, wherein 8-1 and 8-2 are both propellers 8, -1 and -2 are left and right or front and rear distinguishing reference numbers, and other similar reference numbers are distinguished in the same way:
[0045] In the drawings: 1, boat-shaped chassis; 2, functional frame assembly; 3, power box; 4, steering wheel; 5, main engine box; 6, vehicle wing; 7, loose rain cloth; 8, propeller; 9, canopy; 10, wing opening screw; 11, support rod; 12, control console; 13, air outlet; 14, capillary group; 15, main pipeline; 16, motor nest; 17, steering gear; 18, multi-stage cylinder cover; 19, cylinder lock ring; 20, first-stage cylinder; 21, second-stage cylinder; 22, third-stage cylinder; 23, functional frame positioning column; 24, fender; 25, first-stage shock-absorbing steel frame end positioning pin; 26, first-stage shock-absorbing flat fork end positioning pin; 27, motor wheel; 28, wheel shaft positioning card; 29, flat fork; 30, flat fork support pin; 31, steel frame strengthening branch; 32, steel frame main beam; 33, functional frame fixing screw hole; 34, suspension screw; 35, cylinder flange; 36, cylinder oil hole; 37, oil passage opening; 38, suspension nut; 39, power battery compartment; 40, saddle; 41, saddle hinge; 42, water pump chamber; 43, fire hydrant; 44, fire hydrant water inlet hole; 45, power box bottom support; 46, bottom support hollow; 47, hydraulic oil tank; 48, oil return hole; 49, oil pump oil inlet hole; 50, hydraulic machine chamber; 51, handle; 52, central positioning shaft; 53, steering gear; 54, steering gear adjusting shaft; 55, universal joint; 56, axial adjusting positioning hole; 57, adjusting positioning pin; 58, vehicle wing hinge; 59, front ball joint; 60, rear ball joint; 61, vehicle window; 62, waterproof rubber strip; 63, waterproof plate; 64, outer ring; 65, inner ring; 66, steering wheel end positioning bearing hole; 67, steering wheel smooth rotation bearing hole; 68, spherical bearing hole. DETAILED DESCRIPTION
[0046] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.
[0047] Example 1
[0048] Referring to Figure 1-10, the multifunctional micro agricultural vehicle, the main structure includes a boat-shaped chassis, a functional frame assembly, a power box, a steering wheel, a main engine box, a wing, a loose rain cloth, a propeller, a canopy, a wing opening screw rod, a support rod, a control console, a gear box, and a lead ball.
[0049] The left and right edges of the boat-shaped chassis are each provided with a main pipe, the front end passes through the main engine box to connect the air port, the middle part is tightly connected with the capillary tube group, and the rear end is connected with the propeller. Two blocks are arranged on the center line between the left and right capillary tube groups, and two blocks are also arranged on the center line of the boat-shaped chassis, and the four blocks are arranged in a cross shape. Taking the arc bottom of the boat-shaped chassis as the center, a front motor nest is arranged in front of the capillary tube group, and a rear motor nest is arranged behind the capillary tube group. The front and rear motor nests are mirror images of the vertical plane where the midpoint connecting line of the left and right capillary tube groups is located. A three-stage oil cylinder is arranged between the edges of the left and right capillary tube groups close to the boat-shaped chassis. The oil cylinder passes through the boat-shaped chassis and is connected with a snowshoe-shaped foot plate as a support frame when the vehicle body is stationary. After the above-mentioned devices are installed, the position of the power box is closed to seal the boat-shaped chassis.
[0050] The functional frame assembly is mainly divided into two parts: a functional part and a connecting part. The functional part mainly includes a functional frame positioning column, a steel frame, a spring shock absorber, a flat fork, a wheel shaft positioning card, and a motor wheel. The steel frame is provided with a steel frame main beam, a steel frame reinforcing branch, a functional frame positioning column, a flat fork support pin, a first-stage shock-absorbing steel frame end positioning pin, a first-stage shock-absorbing flat fork end positioning pin, and a fender. The functional frame positioning column is arranged at the highest point of the steel frame main beam. The flat fork is connected with the steel frame main beam through the flat fork support pin. The motor wheel is installed on the flat fork and is positioned and reinforced outside by the wheel shaft positioning card and locked by a lock screw. The spring shock absorber, also known as the first-stage shock absorber, is arranged in a group of two. One end of each is mounted to the first-stage shock-absorbing steel frame end positioning pin, and the other end is mounted to the first-stage shock-absorbing flat fork end positioning pin. The connecting part is adapted to the shape of the motor nest mounting structure and mainly includes a steering gear, a multi-stage cylinder cover, a cylinder body lock ring, a first-stage cylinder body, a second-stage cylinder body, and a third-stage cylinder body. Each cylinder body is provided with a complete set of sealing rings. After the sealing rings are installed, the multi-stage piston cylinder body is nested step by step from the inside to the outside. The functional frame positioning column has a stud. The stud is matched with a suspension nut on the third-stage cylinder body and is screwed and fastened. After the functional frame fixing screw is locked, it is inserted into the motor nest. The flange outside the first-stage cylinder body is tightly attached to the flat tapered bearing arranged at the lower end of the middle hole of the motor nest. The cylinder body lock ring is screwed on the upper opening of the first-stage cylinder body. The steering gear is fixed on the central cylinder of the multi-stage cylinder cover. The central screw hole of the cylinder is used for the inlet and outlet of hydraulic oil. The sealing ring of the multi-stage cylinder cover is embedded in the upper opening of the first-stage cylinder body, and the lock screw is tightened to complete the assembly of the functional frame assembly and the motor nest.
[0051] The motor nest top is installed with a gear box, the gear box has an outer ring and an inner ring, the inner ring and the outer ring are concentric circles, the inner ring has a pair of holes through the center line, the front hole is a steering wheel end positioning bearing hole, the rear hole is a steering wheel stable rotation bearing hole, the outer ring is provided with a spherical bearing hole, the centers of the three holes form a straight line passing through the concentric center of the inner ring and the outer ring, the outer ring of the gear box is aligned with the outer ring of the top of the motor nest, and the inner ring is arranged directly above the steering gear.
[0052] The steering wheel includes a handle, a center positioning shaft, a steering gear, a steering gear adjusting shaft, a universal joint, an axial adjusting positioning hole and an adjusting positioning pin, as shown in Figure 7 After assembly, the steering wheel is inserted and fixed into the gear box, so that the steering gear is engaged with the steering gear.
[0053] The brake is arranged at the left foot position below the steering wheel, and the accelerator is arranged at the right foot position, both the brake and the accelerator are signal input facilities, and the brake or the accelerator cannot be directly started, and all systems need to be inquired in time when the input signal is obtained in the corresponding system, and the running state of all systems is confirmed before the brake or the accelerator is started. For example, when the balance system obtains acceleration information, the damping balance mechanism is started to control the stop block in the boat-shaped chassis to prevent the solid particles from moving backward quickly, so as to keep the center of gravity stable when the vehicle body moves forward.
[0054] The gear box upper cover control console of the front motor nest, the control console includes a display screen, a data interface, a power switch and an electronic switch, and the rear lower part is a main machine box. Data is transmitted and received through the data line to connect the data ports of the system module mainboards in the main machine box; the gear box of the rear motor nest is provided with a motor assembled with a steering gear, the steering gear of the motor is engaged with the steering gear of the function frame assembly, and the gear box is covered with a protective cover.
[0055] The inside of the main machine box is relatively sealed, and various subsystem module mainboards are installed, the left and right air outlet pipes have a strong cooling effect, and the system modules with large heat generation, such as kinetic energy management system, damping system and the like, can be arranged near the air duct, and the security and protection system main control module with little heat generation is arranged in the middle.
[0056] A DC fan is arranged in each of the left and right air outlets, and a mesh cover is arranged on the outer port of the fan.
[0057] The power box is arranged in the middle of the boat-shaped chassis and is tightly matched with the reserved position of the boat-shaped chassis. A power battery compartment is arranged in the middle of the power box. A through hole is arranged on the rear wall of the power battery compartment as a fire hydrant, which is communicated with the water pump chamber. A through hole is arranged at the bottom of the water pump chamber as a fire hydrant water hole. A saddle hinge is arranged at the rear of the water pump chamber. The power box cover, also called saddle, is connected with the power box through the saddle hinge. A bottom support is arranged at the bottom of the power box. A bottom support cavity is arranged below the bottom support. The fluid in the boat-shaped chassis can smoothly pass through the bottom of the power box and peristalsis in the boat-shaped chassis. A square chamber is arranged in the area where the center of the bottom support coincides with the center of gravity of the vehicle body. A damper and four pressure sensors are arranged in the square chamber. A lead ball is located in the center of the square chamber. Damping tubes are connected around the lead ball. Pressure sensors are arranged in the damping tubes.
[0058] The left and right and rear of the boat-shaped chassis are provided with wall plates. The front wall plates are symmetrically arranged on the left and right sides. The rear wall plates are arranged on the left and right sides and the rear, and there are three wall plates in total. The lower roots of the five wall plates are connected with the boat-shaped chassis. The top of the five wall plates is flush with the lower root of the front windshield.
[0059] The roof is divided into three sections, i.e. a front section, a middle section and a rear section. The front end of the front section is connected with the front end of the front windshield. Hinges for connecting with the wings are arranged on the left and right edges of the front section. Left and right wing opening sub-screws are arranged on the left and right edges of the middle section. Motors are arranged at the high ends of the wing opening screws. The motors drive the wing opening screws to rotate. The rear section of the roof is folded back at an acute angle with the middle section. The main body is transparent. The lower end is connected with the top of the rear wall.
[0060] The wings are shaped according to the open area of the wall plates, the front windshield and the roof of the vehicle body. The wings are provided with a front ball joint, a wing hinge and a rear ball joint from front to back. The wing hinge is connected with the roof hinge. The front ball joint is connected with the spherical end of the front support rod. The rear ball joint is connected with the spherical end of the rear support rod. The shaft joint end of the front support rod is connected with the wing nut of the main screw. The shaft joint end of the rear support rod is connected with the wing nut of the sub-screw.
[0061] The wings are opened like the wings of a butterfly, which is also a door opened from bottom to top. The upper half is made of transparent material, and the lower half is made of waterproof material. A waterproof rubber strip is arranged on the edge of the waterproof plate. The support rod is tightened, and the waterproof rubber strip is attached to the groove arranged on the wall plate of the vehicle body.
[0062] The left and right sides of the front windshield are respectively provided with left and right wing opening main lead screws and conical rollers. A motor is arranged at the high end of the wing opening lead screw, and an encoder is attached to the motor. The motor drives the wing opening lead screw to rotate, pushes the wing nut to move on the wing opening lead screw, and connects the shaft joint end of the front support rod. The thick end of the conical roller faces downward and is provided with a spring. The stretchable rain cloth is wrapped on the conical roller and is sewn on the car wing at one end. When the car wing is opened, the stretchable rain cloth is stretched. When the car wing is closed, the spring drives the conical roller to rotate and store the stretchable rain cloth.
[0063] The left and right edges of the middle section of the roof are also provided with conical rollers, and the size specifications are different from those of the conical rollers of the front windshield, so as to accommodate the stretchable rain cloth behind.
[0064] The top surface of the front section and the middle section of the roof is provided with heat insulation cotton, and the solar panel is arranged on the heat insulation cotton. The infrared thermal imager, the laser speedometer and the high-definition camera are arranged at the diagonal center of the front section and can rotate by 360 degrees.
[0065] The three-in-one camera is arranged beside the front logo, beside the rear logo and on the roof, respectively.
[0066] The five-in-one laser speedometer is arranged on the front, rear, left, right and roof of the vehicle body, respectively.
[0067] The exterior includes main lights, functional light decorations and rearview mirrors, which are arranged according to the conventional combination of vehicle shape style.
[0068] Example 2
[0069] The functional frame assembly is mainly divided into two parts of a functional part and a connecting part. The functional part of the water special propeller mainly comprises a functional frame positioning column, a steel bullet shell, brake blades, a brake hub, a steel ingot, a spring, an electromagnet, a motor, an impeller and the like. The motor has a shaft at one end, the impeller is fixed to the central shaft of the motor, the electromagnet is installed at the other end of the motor, the center of the electromagnet is located on the center line of the motor shaft, the electromagnet is externally provided with the brake hub, the brake hub is a long rectangular ring, the ring is provided with multiple slots, all the slots are symmetrically arranged at the center of the ring, two steel ears of the same size are welded outside each slot, and a through hole is formed in the middle of the steel ear. The steel ingot is provided with a slot around the periphery, the number and division of the slot are the same as those of the brake hub, the brake blades are like flat feathers, two holes are formed from the small head, the distance between the two holes is determined according to the size of the brake hub and the steel ingot, the hole at the top is installed on the steel ingot, and the other hole is installed on the brake hub, all the slots are provided with brake blades, like an opened umbrella, the brake hub and the steel ingot have the same center, the steel ingot is connected to the spring, the spring is further connected to the sharp top inside the bullet shell, the tail of the bullet shell is also provided with a slot according to the number and division of the slot of the brake hub, and is installed at the end of the motor provided with the electromagnet. The functional frame positioning column is arranged on the motor shell; the connecting part is adapted to the motor nest installation structure, mainly comprising a steering gear, a multi-stage cylinder cover, a cylinder lock ring, a first-stage cylinder, a second-stage cylinder and a third-stage cylinder, each cylinder is provided with a complete sealing ring, after the sealing ring is installed, the sealing ring is nested from inside to outside, is inserted into the motor nest, the flange outside the first-stage cylinder is tightly arranged on the flat tapered bearing arranged at the lower end of the hole in the motor nest, the cylinder lock ring is screwed on the upper opening of the first-stage cylinder, the steering gear is fixed on the central cylinder of the multi-stage cylinder cover, the screw hole is arranged in the center of the cylinder, the hydraulic oil in the cylinder is discharged and enters through the screw hole, the sealing ring of the multi-stage cylinder cover is embedded in the upper opening of the first-stage cylinder, and the lock nut is screwed; the functional frame positioning column is provided with a stud, the stud is screwed and fastened with the suspension nut on the third-stage cylinder, after the functional frame fixing screw is locked, the assembly of the water special propeller functional part and the motor nest is completed, the multifunctional miniature agricultural vehicle is applied in aquaculture operation, and more opportunities and development are brought to the freshwater aquaculture industry.
[0070] Example 3
[0071] The functional frame assembly is mainly divided into two parts of a functional part and a connecting part. The functional part of the hill forming machine mainly comprises a lower opening H-shaped support, a motor rolling cage, an open hook plow, a turnover plow, and an arc-shaped harrow, etc. A functional frame positioning column is arranged at the middle of the top of the main beam of the lower opening H-shaped support. A universal joint is arranged in front of the functional frame positioning column. The lower opening H-shaped support is forked to load the motor rolling cage. The universal joint is installed behind the open hook plow. The left and right turnover plows are installed behind the open hook plow. The open hook plow, the left turnover plow, and the right turnover plow are arranged in an isosceles triangle. The arc-shaped harrow is arranged behind the left and right turnover plows. The arc-shaped two ends of the arc-shaped harrow and the four points of the left and right turnover plows form a rectangle. The connecting part is adapted to the motor nest installation structure. The connecting part mainly comprises a steering gear, a multi-stage cylinder cover, a cylinder lock ring, a first-stage cylinder, a second-stage cylinder, and a third-stage cylinder. Each cylinder has a complete sealing ring. After the sealing ring is installed, it is gradually nested from the inside to the outside and inserted into the motor nest. The flange outside the first-stage cylinder is tightly arranged with the planar tapered bearing arranged below the middle hole of the motor nest. The cylinder lock ring is screwed on the upper opening of the first-stage cylinder. The steering gear is fixed on the central cylinder of the multi-stage cylinder cover. The screw through hole is in the center of the cylinder. The hydraulic oil in the cylinder enters and exits through the through hole. The sealing ring of the multi-stage cylinder cover is embedded in the upper opening of the first-stage cylinder. The locking screw is tightened. The screw column is arranged in the functional frame positioning column. The screw column is matched with the suspension nut on the third-stage cylinder to be screwed and fastened. After the functional frame locking screw is tightened, the assembly of the functional part of the hill forming machine and the motor nest is completed. The function of planting crops by the multifunctional miniature agricultural vehicle is realized. A solution is provided for the standardization of mountainous agricultural production. The efficiency of mountainous rural production can be greatly improved.
[0072] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "tight connection" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0073] Obviously, the above-described embodiments are only some embodiments but not all the embodiments of the present application, the preferred embodiments of the present application are shown in the drawings, but do not limit the patent scope of the present application. The present application can be implemented in many different forms, and conversely, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing specific embodiments, or make equivalent replacements to the technical features therein. Any equivalent structure made by using the content of the present application specification and drawings, directly or indirectly applied to other related technical fields, is also within the patent protection scope of the present application.
Claims
1. A multi-functional micro agricultural vehicle, the main system is composed of eight systems including environment perception system, trajectory following system, balance system, characterized in that: The eight systems include kinetic energy management system, security system, braking system, steering system, damping system, environmental perception system, trajectory following system and balance system; The kinetic energy management system is mainly provided with software and hardware modules for evaluating the input and output of energy and the health status of related facilities, including energy supply mechanism, energy efficiency management mechanism and energy consumption monitoring mechanism, for systematically taking real-time response measures for the distribution management of energy volume and the health analysis of energy input and output facilities; The security system collects and analyzes data of internal operating mechanism and external environmental risk factors, accurately identifies the risk source, makes corresponding risk prevention and control, and reports the risk status and response measures to the main system in real time, including visual and auditory monitoring mechanism with extended field of view, touch and sensory response mechanism serving the security system, and processing mechanism for timely response to security incidents; The braking system mainly takes countermeasures for the risks caused by sudden conditions during the operation of the vehicle body, including brake mechanism, auxiliary balance mechanism and main protection mechanism; The steering system mainly sets software and hardware configurations for the deflection location, time and angle of the main body running direction, including conventional steering, following steering and drift steering in form, and mechanical steering and electronic steering in mechanism setting; The damping system mainly sets buffer and / or countermeasures for contact and collision during operation, including elastic damping mechanism, hydraulic damping mechanism and electromagnetic auxiliary damping mechanism; The environmental perception system mainly sets environmental information collection and processing devices for internal and external environment detection during operation, including visual and auditory monitoring mechanisms such as infrared thermal imager, meteorological prediction mechanisms including temperature and humidity sensors, and danger alarm mechanisms including pressure and liquid level meters; The trajectory following system mainly sets software and hardware measures for individuals and groups to fully adapt to environmental conditions during operation, including front wheel encoding information and rear wheel tracing following mechanism containing wheel diameter, wheelbase and speed parameters, vehicle fleet member following mechanism containing front vehicle trajectory information and vehicle wheel diameter, vehicle distance, speed and road barrier information parameters, and data refining navigation mechanism containing accumulated normal operation trajectory data; The balance system mainly sets measures for maintaining balance and counteracting external forces including wind force, gravity, impact force, centripetal force and stress, including gyroscope balance mechanism, fluid dynamic balance mechanism and damping balance mechanism; Each system runs independently, the data format is unified, the interactive processing is carried out, the controlled units are cooperatively controlled, the control execution is primary and secondary, and the main system corrects and allocates; The main structure of the multifunctional micro agricultural vehicle includes a boat-shaped chassis (1), a functional frame assembly (2), a power box (3), a steering wheel (4), a main engine box (5), a vehicle wing (6), a loose rain cloth (7), a propeller (8), a canopy (9), a wing opening screw rod (10), a support rod (11), a control console (12) and a gear box. The boat-shaped chassis (1) is provided with an air inlet (13), a main engine box (5), a capillary tube group (14), a main pipeline (15), a motor nest (16), and a propeller (8). The front end of the main pipeline (15) penetrates the main engine box to connect the air inlet (13). The middle part is tightly connected with the capillary tube group (14). The rear end is connected with the propeller (8). The power box (3) is located in the hollow position between the right and left capillary tube groups and the front and rear motor nests. A stop block is arranged on the center line between the right and left capillary tube groups. A stop block is also arranged on the center line of the boat-shaped chassis. The stop block is actuated by the balance system in cooperation with the damping system, the steering system, the security system, and the braking system to provide parameter control. A three-stage oil cylinder is arranged between the edges of the right and left capillary tube groups near the boat-shaped chassis. The oil cylinder penetrates the boat-shaped chassis to connect a snowshoe-like foot plate. The front and rear motor nests are arranged in front of and behind the capillary tube group, respectively, with the arc bottom of the boat-shaped chassis (1) as the center. The front and rear motor nests are mirror images with respect to the vertical plane in which the midpoint connecting line of the right and left capillary tube groups is located. The motor nest (16) is installed with a functional frame assembly (2). The functional frame assembly (2) is inserted and connected from the lower part of the motor nest in the downward direction. A first-stage cylinder body (20) is tightly arranged on the bottom flange of the motor nest. A flat taper bearing is arranged at the lower end of the middle hole of the motor nest. A cylinder body lock ring (19) is rotatably installed on the upper opening of the first-stage cylinder body. A steering gear is fixedly installed on the middle shaft of a multi-stage cylinder cover. A screw through hole is arranged in the middle shaft. Hydraulic oil in the cylinder body enters and exits through the through hole. The multi-stage cylinder cover is press-fitted on the upper opening of the first-stage cylinder body. The functional frame assembly (2) mainly includes a connecting part and a functional part. The connecting part includes a steering gear (17), a multi-stage cylinder cover (18), a cylinder body lock ring (19), a first-stage cylinder body (20), a second-stage cylinder body (21), a third-stage cylinder body (22), and a sealing ring. Except for the first-stage cylinder body (20), all the embedded cylinder bodies are provided with an outer shape groove that is completely matched with the inner shape groove of the piston port of the upper-stage cylinder body. The piston port is completely matched with the inner shape groove of the outer shape groove of the lower-stage cylinder body. After the sealing ring is installed, the first-stage cylinder body (20) is embedded with the second-stage cylinder body (21), and the second-stage cylinder body (21) is embedded with the third-stage cylinder body (22). The functional part is mainly composed of a functional frame positioning column (23) and a functional adapter. The functional adapter has special functions, including water special propeller, seeding machine, mower, and other agricultural machinery facilities. The functional frame positioning column (23) has a threaded stud. The threaded stud is connected with a suspension nut (38) on the third-stage cylinder body. A functional frame retaining screw hole (33) is installed with a supporting screw. The motor nest (16) is installed with a gear box at the top. The gear box has an outer ring (64) and an inner ring (65). The inner and outer rings are concentric circles. The inner ring (65) has a pair of holes passing through the center line. The front hole is a steering wheel end positioning bearing hole (66). The rear hole is a steering wheel stable rotation bearing hole (67). The outer ring is provided with a spherical bearing hole (68). The centers of the three holes form a straight line passing through the concentric centers of the inner and outer rings. The outer ring of the gear box is aligned and connected with the top outer ring of the motor nest. The inner ring (65) is arranged directly above the steering gear (17). The power box (3) is provided with a bottom support (45) at the bottom, and a bottom support cavity (46) is arranged below the bottom support (45); a power battery compartment (39) is arranged at the middle position, and a through hole is arranged in the rear wall of the power battery compartment (39) to communicate with a water pump chamber (42) of a fire hydrant (43); a fire hydrant water inlet hole (44) is arranged at the bottom of the water pump chamber (42), the fire hydrant water inlet hole (44) extends to the boat-shaped chassis, a saddle hinge (41) is arranged at the rear of the water pump chamber (42), a saddle (40) is linked through the saddle hinge (41), and the front of the power battery compartment (39) is provided with two layers of hydraulic devices; the lower layer is a hydraulic oil tank (47), two through holes are formed in the top surface of the hydraulic oil tank (47) to form an oil return hole (48) and an oil pump oil inlet hole (49), and the upper layer is a hydraulic machine chamber 50; The steering wheel (4) comprises a handle (51), a center positioning shaft (52), a direction gear (53), a direction gear adjusting shaft (54), a universal joint (55), an axial adjusting positioning hole (56) and an adjusting positioning pin (57); the center positioning shaft (52) is sleeved with the direction gear adjusting shaft (54), the direction gear (53) is fixed on the direction gear adjusting shaft (54), the direction gear adjusting shaft (54) is connected with the universal joint (55), the universal joint (55) is connected with one end of the handle shaft, a plurality of axial adjusting positioning holes (56) are uniformly distributed in a straight line, the handle (51) is sleeved with the universal joint (55), and the adjusting positioning pin (57) is inserted into the axial adjusting positioning hole (56); The direction gear (53) is engaged with the steering gear (17), and a cover control console (12) is inlaid on the gear box; The control console (12) is connected with the main machine box (5) through a data line, a windshield is arranged at the front upper side, and the top end of the windshield is connected with a top canopy (9); The main machine box (5) is internally provided with a system module mainboard, and a pipeline connected with the air outlet (13) penetrates through the main machine box (5); One end of the elastic rain cloth (7) is connected with a conical roller shaft; The propeller (8) is located at the tail end of the boat-shaped chassis (1) and connected with a pipeline (15), and cooperates with the wind wheel of the air outlet (13) to form a multifunctional device which can not only cool the system, but also help to reduce wind resistance and can also be used as a water walking propeller; The top canopy (9) is divided into a front section, a middle section and a rear section, the front edge of the front section is connected with the top of the windshield, wing hinges are arranged on the left and right sides of the middle section, and the wing hinges are hinged with wings (6); the left and right edges of the middle section are respectively provided with wing opening screws (10) and conical roller shafts, and the wing opening screws (10) are matched with wing nuts; Windows are arranged in the middle of the rear section, and the front end is connected with the rear wall plate of the vehicle body at a certain angle; The root of the wing (6) is provided with a wing hinge (58), the upper half of the wing (6) is a window (61), the front and rear upper edges of the window (61) are respectively provided with a front ball joint (59) and a rear ball joint (60), and the lower half is a waterproof plate (63), and the lower edge of the waterproof plate (63) is provided with a waterproof rubber strip (62).
2. The multi-functional micro utility vehicle as claimed in claim 1, wherein, The rear wheel tracking and following mechanism is that the front wheel steering encoder provides steering encoding information to the trajectory following system, the trajectory following system obtains information, combines wheel diameter, front and rear wheelbase, speed and other parameters of the vehicle body to calculate the delay steering time and deflection angle of the rear wheel from the steering time point of the front wheel, and provides the steering system with the correction value of the accumulated data after the steering system receives the data from the trajectory following system, and the electronic steering mechanism of the steering system starts the rear wheel steering operation countdown; The operation principle of the vehicle fleet following mechanism is basically the same as that of the rear wheel following mechanism, which calculates the delay steering time and deflection angle of the vehicle from the front vehicle or the host vehicle after receiving the steering data information, and the difference lies in that the data sampling and source are different, and the system correction value provided by the environment perception system needs to be added; The operation principle of the data calculation and navigation mechanism is slightly different from the above two mechanisms. The data of the data calculation and navigation mechanism is derived from the accumulation of ordinary operation trajectory data, fully combines the data of the environment perception system, and provides the calculated results to the main system to let the main system allocate instructions to control the deflection direction, time and speed of the steering system in the operation process.
3. The multi-functional micro utility vehicle of claim 1, wherein, The hollow inner ring of the gear box is used for the steering gear of the functional frame assembly (2) to engage with the direction gear on the steering wheel (4). The steering wheel steering limit is ± 90 degrees. The center positioning shaft (52) of the steering wheel is arranged between the outer ring of the gear box and the steering encoder. The signal of the steering encoder is provided to the electronic steering mechanism of the steering system and the trajectory following system. At the same time, the trajectory following system is requested to provide necessary following data. If the obtained following data is 0, it is a regular steering. If it is not 0, it follows the steering or drift steering according to the following mode set by the trajectory following system, or manually operates the deflection direction to travel.
4. The multi-functional micro utility vehicle of claim 1, wherein, Left and right wing opening lead screws and conical rollers are arranged on the left and right sides of the windshield respectively. A motor is arranged on the high end of the wing opening lead screw. An encoder is arranged on the motor. The motor drives the wing opening lead screw to rotate, pushes the wing nut to walk on the wing opening lead screw, and connects the shaft joint end of the supporting rod. The thick end of the conical roller faces downward and is provided with a spring. The elastic rain cloth is wrapped on the conical roller and is sewn on the wing. When the wing is opened, the elastic rain cloth is stretched. When the wing is closed, the conical roller is driven to rotate to store the elastic rain cloth by the spring.
5. The multi-functional micro utility vehicle of claim 1, wherein, The wing opening lead screw (10) is divided into left and right groups. Each group of wing opening lead screws (10) is divided into a main lead screw and an auxiliary lead screw. The main and auxiliary lead screws are driven to rotate by independent motors. The main lead screw motor is provided with an encoder and is directly controlled by the security system and / or the wing opening switch. The auxiliary lead screw motor follows the encoding signal and tension strength of the main lead screw motor to adjust the direction and speed of rotation.
6. The multi-functional micro utility vehicle of claim 1, wherein, The elastic damping mechanism is a first-order damper arranged on the functional part. The hydraulic damping mechanism is a second-order damper composed of a group of multi-stage oil cylinders through special precision matching. The inner cavities of all second-order dampers on the vehicle have only one oil hole. The inner cavities of all second-order dampers are connected to each other. Pressure and displacement sensors are arranged on the cylinder body to collect damping data, so that the main system can fully understand the performance of the second-order dampers and control the balance system to correct and control the oil pressure in each group of second-order dampers according to the data.
7. The multi-functional micro utility vehicle of claim 1, wherein, The power box (3) bottom is provided with a bottom support (45), and the bottom support is provided with a bottom support cavity. The liquid and a large number of spherical solid mixtures contained in the boat-shaped chassis (1) can smoothly pass through the power box bottom and wriggle in the boat-shaped chassis. The center of the bottom support coincides with the gravity center of the vehicle body, and a square closed room is arranged in the coinciding area. A heavy ball body is arranged in the center of the square closed room. The heavy ball body is connected with a damping pipe in a square shape. A pressure sensor is arranged in the damping pipe.
8. The multi-functional micro utility vehicle of claim 1, wherein, The energy supply mechanism includes a solar panel arranged on the ceiling, a wind wheel arranged at the air inlet, a motor wheel and a power battery. The energy efficiency management mechanism includes an electric current identification module, a voltage stabilizing module, a charging module and other electric appliance function modules. The electric current identification module identifies the recoverable electric current and delivers the constant voltage stabilized by the voltage stabilizing module to the charger to charge the battery, or directly supplies power to the propeller 8 and the control console 12. The energy consumption detection mechanism mainly includes a module power meter, which directly provides the metering result information to the energy efficiency management mechanism, so that the energy efficiency management mechanism can make real-time energy evaluation and optimally allocate energy application.
9. The multi-functional micro utility vehicle of claim 1, wherein, The top surface of the front section and the middle section of the ceiling (9) is provided with heat insulation cotton, and the solar panel is laid on the heat insulation cotton. The diagonal center of the front section is provided with a 360-rotatable infrared thermal imager, a speedometer and a high-definition camera. The speedometer is five-in-one, and is arranged on the ceiling and the front, rear, left and right of the vehicle body. The camera is three-in-one, and is arranged on the ceiling, beside the front vehicle logo and beside the rear vehicle logo.