Novel symmetrical agricultural robot

Abstract

The utility model discloses a novel symmetrical agricultural robot, which comprises two vehicle bodies, a driving device, a driving device, a driving device and a driving device, wherein wheels are arranged on the bottom surface of each vehicle body; the two ends of the connecting cross beam are connected with the vehicle bodies, and the two vehicle bodies are symmetrically arranged at the two ends of the connecting cross beam; the longitudinal center line of the vehicle body is vertically connected with the central axis of the cross beam and is integrally H-shaped; the hanging assembly is arranged on the connecting cross beam and is used for hanging an agricultural implement; the power driving system is arranged in the vehicle body and is in driving connection with the suspension assembly and the wheels; and the power supply system is arranged in the vehicle body and supplies power to the power driving system. The system is suitable for a future full unmanned agricultural operation scene.

Description

TECHNICAL FIELD

[0001] The utility model relates to an agricultural equipment for unmanned agricultural operation scene, in particular to a novel symmetrical agricultural robot. BACKGROUND

[0002] The field operation of large-area farmland is usually realized by agricultural tractor towing agricultural machinery, and large-area work can be realized under the condition of few personnel participation. At present, the common method in China is to install agricultural machinery suspension device behind the tractor, and the tractor drags the agricultural machinery through the suspension device to carry out field operation.

[0003] In the face of the demand for future automated agriculture, the current agricultural tractor still needs to be driven manually, or it is modified into a tractor that can support drive-by-wire. However, such a solution still belongs to a modification scheme and is not specially designed for unmanned agricultural operation. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a novel symmetrical agricultural robot to overcome or at least alleviate at least one of the above-mentioned defects of the prior art.

[0005] To achieve the above-mentioned purpose, the utility model provides a novel symmetrical agricultural robot, which comprises:

[0006] Two vehicle bodies, and each vehicle body is provided with wheels on the bottom surface;

[0007] A connecting cross beam, both ends of which are connected to the vehicle bodies, and the two vehicle bodies are symmetrically arranged at both ends of the connecting cross beam; the vehicle body body longitudinal center line is perpendicular to the center axis of the connecting cross beam, and the whole is in H type.

[0008] A suspension assembly arranged on the connecting cross beam for mounting farm tools;

[0009] A power drive system built in the vehicle body, which drives the suspension assembly and the wheels;

[0010] A power supply system built in the vehicle body for supplying power to the power drive system.

[0011] Further, the bottom surface of each vehicle body is provided with two wheels, which are arranged apart along the vehicle body body longitudinal center line and serve as front wheels and rear wheels respectively.

[0012] Further, the center axis of the connecting cross beam is located behind the front wheel axle and is arranged close to the front wheel axle.

[0013] Further, one of the vehicle bodies comprises a first outer cover, and the first outer cover is provided with an engine, an engine radiator and a hydraulic device;

[0014] Another vehicle body comprises a second outer cover, a battery system, an oil tank and a hydraulic oil tank are arranged in the second outer cover;

[0015] The oil outlet of the oil tank is in liquid communication with an oil inlet of the engine through an oil supply pipe; the oil outlet of the hydraulic oil tank is in liquid communication with an oil inlet of the hydraulic device through a hydraulic oil pipe; the battery system supplies power for the engine ignition through a cable.

[0016] Further, the connecting cross beam is a hollow structure, through which the oil pipe and the hydraulic oil pipe in the power driving system and the cable in the power supply system pass, for accommodating the oil pipe, the cable and the hydraulic oil pipe.

[0017] Further, the second outer cover is further provided with a heat dissipation support, the oil of the oil outlet pipe of the hydraulic oil tank is output to the hydraulic device through the hydraulic oil pipe in the connecting cross beam, the hydraulic device provides hydraulic energy for the hydraulic motor, the lifting driving oil cylinder and the steering driving oil cylinder through the central control valve group, and then the hydraulic energy flows into the heat dissipation support through the hydraulic oil pipe in the connecting cross beam, is dissipated through the heat dissipation support and then flows back to the hydraulic oil tank.

[0018] Further, the engine drives the main shaft connected with the hydraulic device, and the hydraulic oil flow of the hydraulic device is controlled by the central control valve group to provide hydraulic energy for the hydraulic motor, the lifting driving oil cylinder and the steering driving oil cylinder.

[0019] Further, the wheel is installed on the wheel support through the hydraulic motor, the axle of the wheel is connected with the power output shaft of the hydraulic motor, the liquid inlet of the hydraulic motor is in liquid communication with the hydraulic motor oil pipe, and the hydraulic motor oil pipe is connected to the vehicle body along the wheel support.

[0020] Further, the steering driving oil cylinder is drivingly connected with the wheel support of the steering wheel in the steering wheel.

[0021] Further, the lifting driving oil cylinder is drivingly connected with the suspension assembly to control the lifting of the farm implement through the suspension assembly.

[0022] The utility model discloses a kind of agricultural machines, which has the following advantages due to the above technical solutions:

[0023] I. Since the vertical force generated by the agricultural machine of the utility model during work is located between the front and rear wheels, the torque generated by the vertical force does not reduce the load of the front wheels, and the driving capacity of the front wheels can be fully utilized during work.

[0024] II. Since the center of gravity of the agricultural machine of the utility model is located between the four wheels, when the agricultural machine needs to be lifted by the suspension and lifted off the ground, the torque generated by the self-weight of the agricultural machine does not cause any wheel to be raised, which prevents the front wheels of ordinary tractors from being raised off the ground, thereby ensuring safe driving, and there is no need to add a large amount of counterweight to the front of the tractor as in ordinary tractors to prevent the front wheels from being raised.

[0025] Third, because the agricultural machinery of this utility model is located between the left and right sides of the vehicle body, the width of the vehicle body and the wheel track are much larger than those of a general tractor. The wider wheel track can improve the stability of the robot during driving.

[0026] Fourth, the design of this utility model results in a reasonable overall weight distribution, which can reduce soil compaction and facilitate agricultural operations.

[0027] This invention is applicable to future fully unmanned agricultural operations. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the external structure of a novel symmetrical agricultural robot according to an embodiment of the present invention.

[0029] Figure 2 This is a schematic diagram of the symmetrical arrangement of the two sides of the vehicle body of the novel symmetrical agricultural robot according to an embodiment of the present invention.

[0030] Figure 3 A cross-sectional schematic diagram of the connecting beam according to an embodiment of this utility model.

[0031] Figure 4 This is a schematic diagram of the hydraulic control section of a novel symmetrical agricultural robot according to an embodiment of this utility model.

[0032] Figure 5 This is a schematic diagram of the wheel section of a novel symmetrical agricultural robot according to an embodiment of the present invention. Detailed Implementation

[0033] In the accompanying drawings, the same or similar reference numerals are used to denote the same or similar elements or elements having the same or similar functions. The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0034] In the description of this utility model, the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this utility model.

[0035] like Figure 1 and Figure 2 As shown, the novel symmetrical agricultural robot provided in this embodiment of the present invention includes two vehicle bodies 1, each vehicle body 1 having wheels 2 on its bottom surface. For example, Figure 1Each vehicle body 1 is rectangular, and the bottom surface of each vehicle body 1 is connected to two wheels 2 through a wheel support 21, and the two wheels 2 are arranged apart along the direction of the center line of the vehicle body 1 (the center line of the length direction of the rectangle) and serve as front wheels and rear wheels, respectively. Thus, the wheels 2 can drive the vehicle body 1 to move. Therefore, the utility model actually forms a new type of agricultural machinery equipment, removes the cockpit of a traditional tractor, and relies on a hydraulic system to realize steering and power output, and can support full automatic driving.

[0036] The novel symmetrical agricultural robot provided in the embodiment further comprises a connecting cross beam 3, and the two vehicle bodies 1 are connected to the two ends of the connecting cross beam 3, and more specifically, the two ends of the connecting cross beam 3 are fixed to the bottom of the two vehicle bodies 1, so that the three are connected into an integrated structure. Preferably, the two vehicle bodies 1 are symmetrically arranged on the connecting cross beam 3, the center line of the vehicle body 1 is perpendicular to the central axis of the connecting cross beam 3, and the whole has an H shape.

[0037] In one embodiment, the central axis of the connecting cross beam 3 is located behind the axle of the front wheel and is arranged close to the axle of the front wheel.

[0038] The novel symmetrical agricultural robot provided in the embodiment further comprises a suspension assembly 4 arranged on the connecting cross beam 3 and used for mounting agricultural tools such as seeders, harvesters, and weeding machines. The suspension assembly 4 is installed at the middle position of the connecting cross beam 3, and when the agricultural tools are connected to the suspension assembly 4, the center of gravity of the agricultural robot is located in the middle of the four wheels in the horizontal direction. Therefore, the space between the two vehicle bodies can accommodate most agricultural tools of various specifications, so that the mounted agricultural tools are always located at the center of gravity of the whole vehicle body, the stability of the whole vehicle is improved, the problem of tilting of the vehicle body due to deviation of the center of gravity is avoided, additional counterweights are not needed, and the gripping capacity of the four wheels is ensured. In addition, the embodiment is mainly designed for automatic driving, the cockpit is removed, and the mounted agricultural tools are no longer limited to being mounted at the rear of the vehicle.

[0039] The power driving system of the novel symmetrical agricultural robot provided in the embodiment further comprises a power driving system and a power supply system, and the power driving system and the power supply system are both built in the vehicle body 1, the power driving system drives the suspension assembly 4 and the wheels 2, and the power supply system supplies power to the power driving system.

[0040] The main problem solved by the embodiment is that there is currently no agricultural machinery equipment designed for automatic driving, and most of the current cases use tractors for work or are based on tractors to realize automatic driving work.

[0041] In one embodiment, one vehicle body 1 includes a first outer cover 11, and the engine 12, the engine radiator 13 and the hydraulic device 14 in the power driving system are arranged in the first outer cover 11. Another vehicle body 1 includes a second outer cover 15, and the engine oil tank 17 and the hydraulic oil tank 18 in the power driving system and the battery system 16 in the power supply system are arranged in the second outer cover 15.

[0042] The oil outlet of the engine oil tank 17 is in liquid communication with the oil inlet of the engine 12 through an oil supply pipe, and the oil stored in the engine oil tank 17 can be sucked into the engine 12 through the oil supply pipe for engine combustion after the engine is ignited.

[0043] The oil outlet of the hydraulic oil tank 18 and the oil inlet of the hydraulic device 14 are in liquid communication through a hydraulic oil pipe, and the hydraulic oil of the hydraulic oil tank 18 can also be delivered to the hydraulic device 14 through the hydraulic oil pipe 22 for external oil supply. The battery system 16 supplies power to the engine 12 for ignition through a cable, and the electric quantity generated after the engine 12 is started can provide power supply for other devices needing power supply, such as intelligent driving calculation device, vehicle lamp, etc.

[0044] In the above embodiment, the engine 12 can be directly connected with the hydraulic device 14 to realize the whole power output; at the same time, the engine oil tank 17 and the hydraulic oil tank 18 are arranged on the other side, so that the weight of the left and right vehicle bodies 1 can be kept consistent, and the whole vehicle load is uniform.

[0045] In one embodiment, in order to prevent the pipeline from being exposed outside and play a role in protecting the pipeline, the connecting cross beam 3 is arranged as a hollow structure in this embodiment, and the oil pipe 8 in the power driving system and the hydraulic oil pipe 22 and the cable 9 in the power supply system pass through the connecting cross beam 3 for accommodating the oil pipe 8, the hydraulic oil pipe 22 and the cable 9.

[0046] In one embodiment, as shown in Figure 4 , the engine 12 drives the main shaft connected with the hydraulic device 14, and the hydraulic device 14 adopts a triple hydraulic pump as shown in Figure 3 , and the hydraulic oil flow is controlled by the central control valve group 5, so that the hydraulic motor 23, the lifting driving oil cylinder 7 and the steering driving oil cylinder 6 can be provided with hydraulic energy. Unlike traditional agricultural machinery (for example, tractor), the engine 12 of the utility model does not directly drive the vehicle movement through the gearbox or the transmission system. Instead, as shown in Figure 3 , on one side of the engine 12, the triple hydraulic pump is matched, and the energy generated by the engine 12 is input into the triple hydraulic pump, and the triple hydraulic pump realizes three kinds of power output through the flow control of the central control valve group 5: wheel power output, wheel steering power output and power output for the mounted farm tools.

[0047] In one embodiment, a heat dissipation bracket 19 is also provided inside the second outer cover 15. The heat dissipation bracket 19 can be implemented using commercially available heat dissipation pipe products. When the heat dissipation bracket 19 is working, the oil from the outlet pipe of the hydraulic oil tank 18 is output to the hydraulic device 14 through the hydraulic oil pipe 22 in the connecting beam 3. The hydraulic device 14 provides hydraulic energy to the hydraulic motor 23, the lifting drive cylinder 7 and the steering drive cylinder 6 through the central control valve group 5, and then flows into the heat dissipation bracket 19 through the hydraulic oil pipe 22 in the connecting beam 3. After being cooled by the heat dissipation bracket 19, it flows back to the hydraulic oil tank 18.

[0048] In one embodiment, such as Figure 5 As shown, wheel 2 is mounted on wheel bracket 21 via hydraulic motor 23. The axle of wheel 2 is connected to the power output shaft of hydraulic motor 23. The inlet of hydraulic motor 23 is in liquid communication with hydraulic motor oil pipe 23a. Hydraulic motor oil pipe 23a is connected to the vehicle body 1 along wheel bracket 21.

[0049] The engine 12 provides power to drive the main shaft of the hydraulic device 14 to rotate. When the rated speed is reached, a sufficient pressure difference is generated to draw hydraulic oil from the hydraulic oil tank 18 and supply it to the hydraulic motor 23 through the central control valve group 5. The hydraulic motor 23 converts hydraulic energy into mechanical energy and outputs it to drive the axle to rotate, thereby driving the wheel 2 to rotate, and thus making the vehicle move.

[0050] During operation, the hydraulic device 14 will also control the opening of the solenoid valve in the central control valve group 5 in the oil circuit according to the changes in load and resistance. It will then precisely control the flow of hydraulic oil supplied to the hydraulic motor 23 as needed, thereby controlling the speed of the hydraulic motor 23 and thus controlling the vehicle speed.

[0051] Similarly, the steering drive cylinder 6 is connected to the steering wheel, and the central control valve group 5 controls the amount of hydraulic oil supplied to the steering drive cylinder 6, thereby controlling the stroke of the steering drive cylinder 6, pushing the steering wheel to the required steering angle, and realizing the vehicle's steering and driving.

[0052] Similarly, the lifting drive cylinder 7 drives the suspension assembly 4, and the central control valve group 5 can also control the amount of hydraulic oil supplied to the lifting drive cylinder 7 and control the lifting stroke of the lifting drive cylinder 7, thereby controlling the lifting of the agricultural implement through the suspension assembly 4.

[0053] In the above embodiments, the agricultural robot can be controlled manually using a remote control, or it can be controlled by an intelligent controller inside the vehicle. After the walking path instructions are programmed, the intelligent controller controls the operation of each component, enabling the robot to automatically walk in the field and complete agricultural operations.

[0054] In the above embodiments, the agricultural robot can also be driven by an electric motor. The engine and hydraulic system are replaced with a battery and a motor control system, and the hydraulic motor is replaced with an electric motor. Power is provided by the battery, and the motor control system controls the motor's rotation, thereby driving the robot. The four wheels can also be replaced by tracks.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Those skilled in the art should understand that modifications can be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A novel symmetrical agricultural robot, characterized by, The utility model relates to a kind of agricultural tractor, including: Two car bodies (1), the bottom of each car body (1) is provided with wheel (2); Connecting crossbeam (3), its both ends are connected car body (1), and two car bodies (1) are symmetrically arranged at the both ends of connecting crossbeam (3), and the body longitudinal center line of car body (1) is perpendicular to the central axis of connecting crossbeam (3), and it is H-shaped as a whole; Suspension assembly (4) is arranged on connecting crossbeam (3), for hanging agricultural implement; Power drive system, which is built into car body (1), drives connecting suspension assembly (4) and wheel (2); Power supply system, which is built into car body (1), supplies power for power drive system.

2. The novel symmetrical agricultural robot as claimed in claim 1, wherein, The bottom of each car body (1) is provided with two wheels (2), which are arranged separately as front wheels and rear wheels along the direction of the body longitudinal center line of car body (1).

3. The novel symmetrical agricultural robot as claimed in claim 2, wherein, The central axis of connecting crossbeam (3) is located behind the axle of front wheel, and is arranged close to the axle of front wheel.

4. The novel symmetrical agricultural robot according to any one of claims 1-3, characterized in that, One of the car bodies (1) includes a first outer cover (11), and the first outer cover (11) is provided with an engine (12), an engine radiator (13) and a hydraulic device (14) in the power drive system; The other car body (1) includes a second outer cover (15), and the second outer cover (15) is provided with a motor oil tank (17) and a hydraulic oil tank (18) in the power drive system and a battery system (16) in the power supply system; The outlet of the motor oil tank (17) is in liquid communication with the inlet of the engine (12) through an oil supply pipe; the outlet of the hydraulic oil tank (18) and the inlet of the hydraulic device (14) are in liquid communication through a hydraulic oil pipe; the battery system (16) supplies power for the engine (12) through a cable.

5. The novel symmetrical agricultural robot as claimed in claim 4, wherein, The connecting crossbeam (3) is a hollow structure, and the oil pipe (8) and the hydraulic oil pipe (22) in the power drive system and the cable (9) in the power supply system pass through the connecting crossbeam (3) for accommodating the oil pipe (8), the cable (9) and the hydraulic oil pipe (22).

6. The novel symmetrical agricultural robot as claimed in claim 5, wherein, The second outer cover (15) is further provided with a heat dissipation support (19), and the oil of the oil outlet pipe of the hydraulic oil tank (18) is output to the hydraulic device (14) in the power drive system through the hydraulic oil pipe (22) in the connecting crossbeam (3), and the hydraulic device (14) provides hydraulic energy for the hydraulic motor (23), the lifting drive cylinder (7) and the steering drive cylinder (6) through the central control valve group (5), and then flows into the heat dissipation support (19) through the hydraulic oil pipe (22) in the connecting crossbeam (3), and then returns to the hydraulic oil tank (18) after heat dissipation through the heat dissipation support (19).

7. The novel symmetrical agricultural robot as claimed in claim 6, wherein, The engine (12) drives the main shaft connected with the hydraulic device (14), and the hydraulic oil flow of the hydraulic device (14) is controlled by the central control valve group (5) to provide hydraulic energy for the hydraulic motor (23), the lifting drive cylinder (7) and the steering drive cylinder (6).

8. The novel symmetrical agricultural robot as claimed in claim 7, wherein, The wheel (2) is installed on the wheel support (21) through the hydraulic motor (23), the axle of the wheel (2) is connected with the power output shaft of the hydraulic motor (23), the inlet of the hydraulic motor (23) is in liquid communication with the hydraulic motor oil pipe (23a), and the hydraulic motor oil pipe (23a) is connected to the car body (1) along the wheel support (21).

9. The novel symmetrical agricultural robot as claimed in claim 7, wherein, The steering drive cylinder (6) is drivingly connected to the wheel carrier of the steering wheel (2).

10. The novel symmetrical agricultural robot as claimed in claim 7, wherein, The lifting drive cylinder (7) is drivingly connected to the suspension assembly (4) to control the lifting of the implement by the suspension assembly (4).

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