Multifunctional agricultural operation platform with dynamically adjustable posture

Abstract

The utility model relates to a multifunctional agricultural operation platform with dynamically adjustable posture, which structurally comprises a control system, an electric push rod telescopic system, an electric push rod telescopic system, an electric push rod telescopic system and an electric push rod telescopic system, and is characterized in that the control system is used for measuring the ground clearance of bilateral frames; the electric push rod telescopic system is used for providing power for adjusting the heights of the frames on the two sides; the frame is used for building an operation platform; and the front and rear wheel posture adjusting system is used for realizing lifting of the frames on the two sides. According to different working environments and specific requirements, various working machines can be carried, the heights of the frames on the two sides can be automatically and flexibly adjusted, the posture of the working platform can be dynamically adjusted, it is guaranteed that the working machines are in the best contact state with the ground, the working quality and stability are improved, and the complex and changeable working requirements of hills and mountains can be met.

Description

Technical Field

[0001] The utility model relates to an attitude adjustment platform, in particular to an attitude adjustment device for an agricultural robot platform operating in hilly and mountainous areas. Background Technique

[0002] Due to terrain reasons, it is very inconvenient to carry different equipment for transplanting, fertilizing, and transporting in hilly areas. For example, during the transplanting process of crops in hilly areas, due to the undulating terrain height, some seedlings will not reach the appropriate planting depth during transplanting, which will greatly reduce the survival rate of the seedlings. The commonly used adjustment methods are to replace the high-ground-clearance tires or fixed heightening devices. These methods have defects such as difficult installation, large manual labor, delaying farming time, and fixed ground clearance. At the same time, agricultural machinery vehicles with fixed increased ground clearance also have greater traffic safety hazards due to high center of gravity when walking non-operatively. Therefore, there is an urgent need for a lifting frame that can automatically and quickly change the height of the vehicle frame in hilly and mountainous areas and during operations. Previously, the Xie Shouyong team designed an automatic leveling control system, which is mainly based on the fuzzy PID algorithm and is equipped with a Kalman filter [27, 28, 29, 30, 31] to improve the accuracy of the automatic leveling of the transplanting machine chassis and reduce the leveling time. The utility model realizes height adjustment according to the height of the chassis from the ground measured by an ultrasonic sensor. Summary of the Invention

[0003] The purpose of the utility model is to provide a multifunctional agricultural operation platform with dynamically adjustable attitude to optimize the existing method of solving the difficulty of adjusting the ground clearance of agricultural machinery during operations at different times. It is characterized in that it includes: a control system for measuring the height of both sides of the vehicle frame from the ground and sending control signals to the electric push rod telescopic system; an electric push rod telescopic system including a first-stage electric push rod, a fish-eye joint connector, an electric push rod fixing member, a slider, a slide rail, an aluminum profile fixing member, and a second-stage electric push rod. The electric push rod telescopic system is connected to the vehicle frame through the aluminum profile fixing member. The first-stage electric push rod is connected to the aluminum profile fixing member through the electric push rod fixing member. The second-stage electric push rod is connected to the slider through the fish-eye joint connector. The slider is connected to the aluminum profile fixing member through the slide rail and can move vertically along the slide rail under the push of the first-stage electric push rod and the second-stage electric push rod, providing power for adjusting the height of both sides of the vehicle frame; a vehicle frame for building an operation platform; a front and rear wheel attitude adjustment system for realizing the lifting of both sides of the vehicle frame.

[0004] The present utility model is realized as follows: A multifunctional agricultural operation platform with dynamically adjustable attitude, in which an electric push rod telescopic mechanism is respectively arranged on both left and right sides of the vehicle frame. A slider rail is arranged on the electric push rod telescopic mechanism. A ball eye joint and a lead screw are connected to the slider. There are ball eye joints on both sides of the lead screw. One ball eye joint is connected to the slider, and the other ball eye joint is connected to a U-shaped plate. The U-shaped plate is connected to an L-shaped plate. The L-shaped plate is connected to a wheel arm fixed on the vehicle frame. The wheel arm is connected to a wheel.

[0005] The wheels are divided into a driving wheel and a universal wheel. The wheel arm provided with the driving wheel is fixedly connected through a hub motor shaft passing through the wheel arm and then fixed with a nut. The one provided with the universal wheel is fixed to the wheel arm through the upper screw hole.

[0006] The electric push rod is fixed to the aluminum profile of the vehicle frame through an electric push rod fixing piece.

[0007] The rail is fixed on the same aluminum profile as the electric push rod.

[0008] The slider is connected to the rail.

[0009] The front and rear wheel arms are fixed to the vehicle frame through the U-shaped plate groove.

[0010] A ball eye joint connecting piece is arranged on the slider to fixedly connect the ball eye joints of the front and rear wheels and a secondary push rod.

[0011] The present utility model is a multifunctional agricultural operation platform with dynamically adjustable attitude, which can carry a variety of operation machines. By respectively telescoping the electric push rods on both sides, one side of the vehicle frame is lifted or lowered, so as to adapt to the terrain. Also, the whole vehicle frame can be lifted or lowered by simultaneously telescoping the electric push rods on both sides, so that the ground clearance of the vehicle frame adapts to the operation requirements. It can dynamically adjust the attitude of the operation platform according to the terrain and the types of operation machines, and has strong adaptability. Description of the Drawings

[0012] Figure 1 is the structural diagram of the present utility model.

[0013] Figure 2 is the left view of the present utility model.

[0014] Figure 3 is the schematic diagram of the vehicle frame in the lowered state of the present utility model.

[0015] Figure 4 is the schematic diagram of one side of the vehicle frame rising and the other side lowering of the present utility model.

[0016] Figure 5 is the front view of one side of the vehicle frame rising and the other side lowering of the present utility model.

[0017] Figure 6It is the front view of the electric push rod telescopic system of the present utility model.

[0018] Figure 7 It is the left view of the electric push rod telescopic system of the present utility model.

[0019] Figure 8 It is the schematic diagram of the universal wheel structure of the present utility model.

[0020] Figure 9 It is the schematic diagram of the driving wheel structure of the present utility model.

[0021] Figure 10 It is the flow chart of the frame lifting of the present utility model.

[0022] 1. Control system; 2. Electric push rod telescopic system; 3. Frame; 4. Front and rear wheel attitude adjustment system; 201. First-stage electric push rod; 202. Ball eye joint connecting piece; 203. Electric push rod fixing piece; 204. Slide block; 205. Slide rail; 206. Aluminum profile fixing piece; 207. Second-stage electric push rod; 401. Ball eye push rod; 402. U-shaped plate; 403. L-shaped plate; 404. Double U-shaped plate I; 405. Ball eye connecting rod; 406. Rear wheel arm; 407. Double U-shaped plate II; 408. Sheet metal mounting piece; 409. Rear wheel; 410. U-shaped plate groove; 411. Front wheel arm; 412. Front wheel. Specific embodiments

[0023] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0024] As Figure 1 、 Figure 2 、 Figure 3 and Figure 4 shown, the utility model includes a control system 1, an electric push rod telescopic system 2, a frame 3, front and rear wheels 4, etc.

[0025] An electric push rod telescopic system 2 is respectively arranged at the central positions on the left and right sides of the frame 3. The left and right sides of the electric push rod telescopic system 2 are connected to the front wheel arm 411 and the rear wheel arm 406 through the ball eye push rod 401 to form an outer eight-shaped structure. This structure can ensure that the front and rear wheels on one side are at the same height and always in an outer eight structure, and one side of the frame is supported by two wheels together to ensure the stability of the frame 3.

[0026] The electric push rod telescopic system 2 includes a vertical aluminum profile fixing member 206 for fixing the entire system on the vehicle frame 1. The electric push rod fixing member 203 is installed on the aluminum profile fixing member 206. The first-stage electric push rod 201 is fixed on the electric push rod fixing member 203. The second-stage electric push rod 207 is connected to the fish-eye joint connecting member 202. The slide rail 205 is fixed on the axis of symmetry of the aluminum profile fixing member 206. The slider 204 is fixed on the slide rail 205. The fish-eye joint connecting member 202 is fixed on the slider 204 and connects the fish-eye push rod 401.

[0027] The U-shaped plate groove 410 is used to fix the entire front wheel structure on the vehicle frame 3. The front wheel arm 411 is fixed on the U-shaped plate groove 410. The L-shaped plate 403 is fixed on the front wheel arm 411. The U-shaped plate 402 is fixed on the L-shaped plate 403. Then the U-shaped plate 402 is used to connect the fish-eye push rod 401. The front wheel 412 is fixed on the front wheel arm 411.

[0028] The double U-shaped plate Ⅰ 404 is used to fix the entire rear wheel structure on the vehicle frame 3. The rear wheel arm 406 is fixed on the double U-shaped plate Ⅰ 404. The fish-eye connecting rod 405 is fixed on the double U-shaped plate Ⅰ 404. The L-shaped plate 403 is fixed on the rear wheel arm 406. The U-shaped plate 402 is fixed on the L-shaped plate 403. Then the U-shaped plate 402 is used to connect the fish-eye push rod 401. The double U-shaped plate Ⅱ 407 is used to connect the rear wheel arm 406 and the fish-eye connecting rod 405. The double U-shaped plate Ⅱ 407 is used to fix the sheet metal mounting member 408. The sheet metal mounting member 408 connects the rear wheel 409.

[0029] The control system 1 is connected to the vehicle frame 3 through a fixing plate. The ultrasonic sensor is connected to the vehicle frame 3 to measure the ground clearance height of both sides of the vehicle frame 3.

[0030] The working process of the front and rear wheel attitude adjustment system 4 is as Figure 10 shown. When the ultrasonic sensor detects that the ground clearance height of the vehicle frame is far (near), the second-stage electric push rod 207 extends (retracts) from the fixed first-stage electric push rod 201. As a result, the electric push rod fixing member 203 and the slider 204 move downward (upward) along the slide rail 205 together, driving the fish-eye push rod 401 to move downward (upward). The fish-eye push rod 401 acts on the U-shaped plate 402. The downward (upward) force of the U-shaped plate 402 causes the rear wheel arm 406 to rotate, thereby reducing (increasing) the angle between the rear wheel arm 406 and the horizontal plane. Therefore, the height is reduced (increased). The fish-eye push rod 401 acts on the U-shaped plate 402. The downward (upward) force of the U-shaped plate 402 causes the front wheel arm 411 to rotate, thereby reducing (increasing) the angle between the front wheel arm 411 and the horizontal plane. Therefore, the height is reduced (increased). Since the front wheel arm 411 and the rear wheel arm 406 form an outward V structure, they rise and fall simultaneously. The electric push rod telescopic systems 2 on both sides of the vehicle frame can operate independently or synchronously. When operating independently, each of the electric push rod systems 2 on both sides has an ultrasonic sensor to detect the ground clearance height and can change the ground clearance height separately asFigure 4 Figure 5 As shown, it can adapt to the undulating hilly terrain. When running synchronously, the telescopic systems 2 of the electric push rods on both sides rise or fall simultaneously to change the overall ground clearance of the vehicle frame 3, realizing the lifting of the vehicle frame 3. Thus, when running on non-working ground, the overall center of gravity rises or falls, improving safety.

[0031] The core of the present utility model is to provide a multi-functional agricultural operation platform with dynamically adjustable attitude. According to different operation environments and specific requirements, the control system 1 monitors the ground clearance of the bilateral vehicle frames 3 and sends control signals to the telescopic system 2 of the electric push rods. The secondary electric push rod 207 pushes the fish-eye push rod 401, driving the front wheel arm 411 to rotate. Then, due to the parallelogram structure, the rear wheel arm 406 and the fish-eye connecting rod 405 make the same rotation, thereby automatically and flexibly adjusting the height of the bilateral vehicle frames to ensure that the operation machinery maintains the best contact state with the ground, improving the operation quality and stability, and meeting the operation requirements of complex and changeable hilly and mountainous areas.

[0032] The above has introduced in detail a multi-functional agricultural operation platform with dynamically adjustable attitude provided by the present utility model. The principle and implementation manner of the present utility model have been elaborated herein. The description of the above embodiments is only used to help understand the method and its core idea of the present utility model. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present utility model, several improvements and modifications can still be made to the present utility model, and these improvements and modifications also fall within the protection scope of the claims of the present utility model.

Claims

1. A multi-functional agricultural operation platform with dynamically adjustable posture, characterized in that, Including: A control system (1) for measuring the ground clearance of the bilateral frame (3) and sending control signals to the electric push rod telescopic system (2); The electric push rod telescopic system (2) includes a primary electric push rod (201), a fish-eye joint connecting piece (202), an electric push rod fixing piece (203), a slider (204), a slide rail (205), an aluminum profile fixing piece (206), and a secondary electric push rod (207). The electric push rod telescopic system (2) is connected to the frame (3) through the aluminum profile fixing piece (206). The primary electric push rod (201) is connected to the aluminum profile fixing piece (206) through the electric push rod fixing piece (203). The secondary electric push rod (207) is connected to the slider (204) through the fish-eye joint connecting piece (202). The slider (204) is connected to the aluminum profile fixing piece (206) through the slide rail (205) and can move vertically along the slide rail (205) under the push of the primary electric push rod (201) and the secondary electric push rod (207) to provide power for adjusting the height of the bilateral frame (3); A frame (3) for building an operation platform; A front and rear wheel attitude adjustment system (4) for realizing the lifting of the bilateral frame (3).

2. The multifunctional agricultural operation platform with dynamically adjustable posture according to claim 1, wherein, The front and rear wheel attitude adjustment system (4) includes a fish-eye push rod (401), a U-shaped plate (402), an L-shaped plate (403), a double U-shaped plate I (404), a fish-eye connecting rod (405), a rear wheel arm (406), a double U-shaped plate II (407), a sheet metal mounting part (408), a rear wheel (409), a U-shaped plate groove (410), a front wheel arm (411), and a front wheel (412); The front and rear wheel attitude adjustment system (4) is connected to the frame (3) through the double U-shaped plate I (404) and the U-shaped plate groove (410), and is connected to the electric push rod telescopic system (2) through the fish-eye push rod (401) and the fish-eye joint connecting piece (202); The fish-eye push rod (401) is connected to the rear wheel arm (406) through the U-shaped plate (402) and the L-shaped plate (403); Both the rear wheel arm (406) and the fish-eye connecting rod (405) are respectively connected to the double U-shaped plate I (404) and the double U-shaped plate II (407) to form a parallelogram structure; The rear wheel (409) is connected to the double U-shaped plate II (407) through the sheet metal mounting part (408); The fish-eye push rod (401) is connected to the front wheel arm (411) through the U-shaped plate (402) and the L-shaped plate (403); The front wheel arm (411) is connected to the U-shaped plate groove (410) and is connected to the front wheel (412).

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