The invention relates to a wheel and foot combined orchard conveyor and a method. The wheel and foot combined orchard conveyor comprises a carrying platform, a conveyor chassis, wheel legs, foot legs and a control system. The carrying platform is fixedly connected to the upper end face of the conveyor chassis. The three wheel legs and the three foot legs are installed on the lower end face of the conveyor chassis. Each wheel leg comprises a wheel leg long-stroke electric push rod, a driving wheel mounting disc and a driving wheel; the foot leg comprises a foot leg long-stroke electric push rod, an electric foot fixing disc and an electric foot; the electric foot comprises a short-stroke electric push rod and a foot pad. The wheel legs and the foot legs are all composed of the electric push rods, and therefore lifting and steering of the object carrying platform and obstacle crossing walking actions alternately carried out through the wheels and the feet are achieved; and the controller realizes steering, lifting of the loading platform and alternate walking control of the wheels and the feet according to the length change rule of the electric push rod obtained by analogue simulation before operation.
本发明涉及一种轮足并用果园运输机及方法,轮足并用果园运输机包括载物平台、运输机底盘、轮腿、足腿和控制系统;载物平台固接在运输机底盘的上端面;三只轮腿和三只足腿安装在运输机底盘的下端面;所述轮腿包括轮腿长行程电推杆、驱动轮安装盘和驱动轮;所述足腿包括足腿长行程电推杆、电动足固定盘和电动足;所述电动足包括短行程电推杆和足垫。本发明的轮腿和足腿均由电推杆组成,从而实现载物平台的升降、转向以及通过轮足交替进行的越障行走动作;控制器通过作业前仿真模拟获取的电推杆的长度变化规律,实现转向、载物平台升降、轮足交替行走控制。
Wheel and foot combined orchard conveyor and method
一种轮足并用果园运输机及方法
2022-05-31
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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