阅读说明：本技术 一种岸基投料机器人及其动力传动系统和控制方法 (Shore-based feeding robot and power transmission system and control method thereof ) 是由 刘皞春 陈振雄 左仁义 俞国燕 江文轩 孙志颖 杨佐培 林晓静 于 2021-09-10 设计创作，主要内容包括：本发明涉及水产养殖技术领域,公开了一种岸基投料机器人的动力传动系统,通过将第一液压泵连接第一液压马达和第二液压马达,第一液压马达连接第三液压马达,第二液压马达连接第四液压马达,使液压泵流出的液压油经过第一液压马达和第二液压马达之后再流向第三液压马达和第四液压马达,且通过离合器连接第一液压液压马达和第二液压马达的输出轴,当离合器闭合时,可使第一液压液压马达和第二液压马达排量相同,从而使第三液压马达和第四液压马达的流量相同,使第三液压马达和第四液压马达的转速相同,使左主动轮和右主动轮的移动速度一致,实现越野直行。本发明还提供一种包括上述动力传动系统的岸基投料机器人和控制方法。(The invention relates to the technical field of aquaculture, and discloses a power transmission system of a shore-based feeding robot, by connecting a first hydraulic pump with a first hydraulic motor and a second hydraulic motor, connecting the first hydraulic motor with a third hydraulic motor, connecting the second hydraulic motor with a fourth hydraulic motor, enabling the hydraulic oil flowing out of the hydraulic pump to flow to the third hydraulic motor and the fourth hydraulic motor after passing through the first hydraulic motor and the second hydraulic motor, and connecting output shafts of the first hydraulic motor and the second hydraulic motor through a clutch, when the clutch is closed, the first hydraulic motor and the second hydraulic motor can be made to have the same displacement, therefore, the flow rates of the third hydraulic motor and the fourth hydraulic motor are the same, the rotating speeds of the third hydraulic motor and the fourth hydraulic motor are the same, the moving speeds of the left driving wheel and the right driving wheel are the same, and cross-country straight running is realized. The invention also provides a shore-based feeding robot comprising the power transmission system and a control method.)

1. A control method of a shore-based feeding robot is characterized by comprising the following steps:

the output end of a hydraulic pump is communicated with oil inlets of a first hydraulic motor (5) and a second hydraulic motor (6), output shafts of the first hydraulic motor (5) and the second hydraulic motor (6) are connected through a clutch (4), and oil outlets of the first hydraulic motor (5) and the second hydraulic motor (6) are respectively communicated with oil inlets of a third hydraulic motor (7) connected with a left driving wheel (28) and a fourth hydraulic motor (8) connected with a right driving wheel (29);

the clutch (4) is closed, the hydraulic pump is started, and the left driving wheel (28) and the right driving wheel (29) synchronously rotate at the same speed.

2. The method for controlling a shore-based feeding robot according to claim 1, further comprising: oil outlets of the third hydraulic motor (7) and the fourth hydraulic motor (8) are respectively connected with a first overflow valve (11) and a second overflow valve (12);

setting the allowable values of the first overflow valve (11) and the second overflow valve (12) to be unequal;

and (4) separating the clutch, starting the hydraulic pump, and realizing differential steering of the left driving wheel (28) and the right driving wheel (29).

3. The power transmission system of the shore-based feeding robot is characterized by comprising a hydraulic oil tank (1) and a traveling system, wherein the traveling system comprises a first hydraulic pump (2), a first reversing valve (3), a clutch (4), a first hydraulic motor (5), a second hydraulic motor (6), a third hydraulic motor (7) and a fourth hydraulic motor (8), the input end of the first hydraulic pump (2) is connected with the hydraulic oil tank (1), the output end of the first hydraulic pump (2) is communicated with the oil inlet of the first reversing valve (3), a working oil port A of the first reversing valve (3) is communicated with the oil inlet of the first hydraulic motor (5) and the oil inlet of the second hydraulic motor (6), the oil outlet of the first hydraulic motor (5) is communicated with the oil inlet of the third hydraulic motor (7), the oil outlet of second hydraulic motor (6) with the oil inlet intercommunication of fourth hydraulic motor (8), third hydraulic motor (7) with the oil-out of fourth hydraulic motor (8) all with the work hydraulic fluid port B intercommunication of first switching-over valve (3), the oil return opening of first switching-over valve (3) with hydraulic tank (1) intercommunication, the output shaft and the left action wheel (28) of third hydraulic motor (7) are connected, the output shaft and the right action wheel (29) of fourth hydraulic motor (8) are connected, first hydraulic motor (5) with second hydraulic motor (6) with the both ends of clutch (4) are connected.

4. The power transmission system of the shore-based feeding robot as claimed in claim 3, further comprising a second directional control valve (9) and a third directional control valve (10), wherein an oil inlet of the second directional control valve (9) is communicated with an oil outlet of the first hydraulic motor (5), a working oil port A and a working oil port B of the second directional control valve (9) are respectively communicated with an oil inlet and an oil outlet of the third hydraulic motor (7), and an oil return port of the second directional control valve (9) is communicated with a working oil port B of the first directional control valve (3); an oil inlet of the third reversing valve (10) is communicated with an oil outlet of the second hydraulic motor (6), a working oil port A and a working oil port B of the third reversing valve (10) are respectively communicated with an oil inlet and an oil outlet of the fourth hydraulic motor (8), and an oil return port of the third reversing valve (10) is communicated with a working oil port B of the first reversing valve (3).

5. The power transmission system of the shore-based feeding robot as claimed in claim 3 or 4, further comprising a first overflow valve (11) and a second overflow valve (12), wherein the oil outlet of the third hydraulic motor (7) is communicated with the working port B of the first reversing valve (3) through the first overflow valve (11), and the oil outlet of the fourth hydraulic motor (8) is communicated with the working port B of the first reversing valve (3) through the second overflow valve (12).

6. The power transmission system of a shore-based feeding robot according to claim 3, further comprising a feeding system, the traveling system comprises a second hydraulic pump (13), a fourth reversing valve (14) and a fifth hydraulic motor (15), the input end of the second hydraulic pump (13) is communicated with the hydraulic oil tank (1), the output end of the second hydraulic pump (13) is communicated with the oil inlet of a fourth reversing valve (14), a working oil port A of the fourth reversing valve (14) is communicated with an oil inlet of the fifth hydraulic motor (15), a working oil port B of the fourth reversing valve (14) is communicated with an oil inlet of the first reversing valve (3) and an oil outlet of the fifth hydraulic motor (15), an oil return port of the fourth reversing valve (14) is communicated with the hydraulic oil tank (1), and the fifth hydraulic motor (15) is used for driving the feeding device.

7. The power transmission system of the shore-based feeding robot according to claim 3, further comprising a control board (20), a battery (21), a sine wave inverter (22) and a solid state relay (42), wherein an input side of the sine wave inverter (22) is connected to the battery (21), an output side of the sine wave inverter (22) is connected in series to the solid state relay (42) and the first reversing valve (3), and the solid state relay (42) is connected to the control board (20).

8. The power transmission system of the shore-based feeding robot is characterized by further comprising a control board (20), a battery (21), a PWM module (23), a proportional valve amplification board (24) and a boost converter (25), wherein the PWM module (23) is connected with the control board (20), the PWM module (23) is connected with the boost converter (25), and the PWM module (23) is connected with the first overflow valve (11) or the second overflow valve (12) through the proportional valve amplification board (24).

9. A shore-based feeding robot, comprising a frame (26), an internal combustion engine (27), a feeding device and the power transmission system of any one of claims 3 to 8, wherein the left driving wheel (28) and the right driving wheel (29) are front wheels, the front part of the frame (26) is a double-layer structure, the internal combustion engine (27) and the first hydraulic pump (2) are positioned at the lower layer of the front part of the frame (26), the hydraulic oil tank (1), the first hydraulic motor (5), the second hydraulic motor (6) and the clutch (4) are positioned at the upper layer of the front part of the frame (26), the third hydraulic motor (7) and the fourth hydraulic motor (8) are mounted at the bottom surface of the frame (26), and the feeding device is arranged at the rear part of the frame (26).

10. The shore-based feeding robot according to claim 9, characterized in that the feeding device comprises a (swivel) base (32) and a bin (33), a fan (34), a three-way valve (35) and a spray pipe (36) mounted on the base (32), the base (32) being rotatably connected to the frame (26), the three-way valve (35) having a first inlet, a second inlet and an outlet, the bin (33) and the fan (34) being connected to the first inlet and the second inlet, respectively, the spray pipe (36) being connected to the outlet, the spray pipe (36) being higher than the front of the frame (26), the top end of the spray pipe (36) being curved.

Technical Field

The invention relates to the technical field of aquaculture, in particular to a shore-based feeding robot and a power transmission system and a control method thereof.

Background

The aquaculture is an important component of agricultural production in China, plays an important role in promoting the development of agricultural economy in China, improving the living standard of people and the like, but has the problems of high cost, low benefit and the like, so that the reduction of the breeding cost is very important. Feed is a modifiable cost in aquaculture, typically accounting for about 65% of aquaculture costs. Plays an important role in reducing the culture cost and perfecting the culture management. Throw the material mode in traditional aquaculture and all adopt the manual work to throw the material, artifical input is difficult to the accuracy and is controlled, and can not guarantee to throw material scope fodder density even, drops into excessive bait and not only can increase the breed cost but also remaining bait can produce the pollution to the environment. However, the growth speed of the aquatic products is influenced by adding too little bait, the cultivation time is prolonged, and other costs and risks are increased. At present, a feeding robot replaces manpower.

The existing feeding robot is divided into a walking device and a feeding device, and the feeding device is arranged on the walking device, so that multi-range feeding is realized. The current walking device is driven by hydraulic pressure. The hydraulic drive can output large thrust or large torque, and can realize low-speed large-tonnage movement; the stepless speed regulation can be conveniently realized, the speed regulation range is wide, and the speed can be regulated in the system operation process; in addition, under the condition of the same power, the hydraulic transmission device has small volume, light weight and compact structure. The hydraulic elements can be connected by pipelines or integrated connection, the layout and installation of the hydraulic elements are very flexible, and a complex system which is difficult to form by other transmission modes can be formed; in addition, the hydraulic transmission can ensure that the movement of the actuating element is very uniform and stable, and the moving part has no reversing impact when reversing; because the reaction speed is high, frequent reversing can be realized; moreover, the operation is simple, the adjustment and control are convenient, and the automation is easy to realize. Especially, when the hydraulic system is used in combination with machine and electricity, complex automatic working circulation can be conveniently realized, and the hydraulic system is convenient for realizing overload protection and is safe and reliable to use. The moving parts in each hydraulic element work in oil liquid and can lubricate automatically, so the elements have long service life.

The hydraulic drive structure of the existing walking device is that one hydraulic pump is connected with a plurality of hydraulic motors, and the plurality of hydraulic motors are connected in parallel. However, the road conditions on the shore are complex, the road surface is not stable, the resistance of each wheel is different, the resistance of the hydraulic motors connected with each wheel is different, the resistance of the branch where the two hydraulic motors are located is different, and the flow of each parallel branch is different, so that the speed of the wheels driven by each hydraulic motor is inconsistent, and the straight cross-country running is difficult to realize. The left wheel and the right wheel are driven by the same hydraulic motor, straight running can be guaranteed, but steering cannot be carried out, so that the left wheel and the right wheel are connected by the two hydraulic motors to realize differential speed, and steering is further carried out. If connect two hydraulic motor through the clutch, because the distance between two wheels is longer, hydraulic motor must external transmission shaft and clutch be connected, leads to the transmission path to lengthen, has the error, can't guarantee with fast to the transmission shaft is breakable, and life is short. If the overflow valves are connected in the branches to control the resistance of each branch, the resistance of each branch can only be controlled not to exceed a set value, the flow of each branch cannot be guaranteed to be equal, the set value of the resistance of the overflow valves is matched with the resistance of the wheels, control is difficult, and particularly when a non-paved road surface is used, the resistance is basically different at every moment, so that the same speed cannot be controlled only by connecting the overflow valves.

Chinese utility model patent CN203293849U (published as 2013, 11/20) discloses a high ground clearance self-propelled chassis with adjustable ground clearance, which comprises: the system comprises a cab, a liftable ladder, a frame, a front axle, a rear axle, a ground clearance adjusting system and a power system; the ground clearance adjusting system further comprises: the controller, the servo valve and the ground clearance adjusting hydraulic cylinder; the power system further comprises: the engine, the clutch, the pump station, hydraulic motor, the proportional valve, it is preceding, the rear wheel, the driver's cabin is connected on the frame, the engine, the pump station passes through bolted connection on the frame, the engine passes through the clutch and connects the pump station, thereby four hydraulic motor of pump station drive four wheels rotate, four proportional valves pass through the bolt and connect respectively in four hydraulic motor, hydraulic motor articulates respectively in the connecting block, the connecting block passes through the vertical axle of bolted connection front axle, the vertical axle of rear axle. This patent is by four hydraulic motor of a hydraulic pump lug connection, is the relation of connecting in parallel between four hydraulic motor, and a trunk line is exported to the hydraulic oil of hydraulic pump promptly, and the trunk line is connected with four hydraulic motor respectively through four branches. However, the four wheels are subjected to different ground resistances, which causes different resistances of hydraulic motors connected with the four wheels, so that the flow rates of the four branches are different, and the speeds of the wheels are inconsistent when the wheels move straight.

Disclosure of Invention

The invention aims to provide a shore-based feeding robot for realizing the same-speed rotation of a left driving wheel and a right driving wheel, and a power transmission system and a control method thereof.

In order to achieve the above object, the present invention provides a control method for a shore-based feeding robot, comprising:

the output end of the hydraulic pump is communicated with oil inlets of a first hydraulic motor and a second hydraulic motor, output shafts of the first hydraulic motor and the second hydraulic motor are connected through a clutch, and oil outlets of the first hydraulic motor and the second hydraulic motor are respectively communicated with oil inlets of a third hydraulic motor connected with a left driving wheel and a fourth hydraulic motor connected with a right driving wheel;

and closing the clutch, starting the hydraulic pump, and realizing synchronous and same-speed rotation of the left driving wheel and the right driving wheel.

Preferably, the method further comprises the following steps: oil outlets of the third hydraulic motor and the fourth hydraulic motor are respectively connected with a first overflow valve and a second overflow valve;

setting the allowable values of the first overflow valve and the second overflow valve to be unequal;

and the clutch is separated, and the hydraulic pump is started to realize differential steering of the left driving wheel and the right driving wheel.

The invention also provides a power transmission system of the shore-based feeding robot, which comprises a hydraulic oil tank and a traveling system, wherein the traveling system comprises a first hydraulic pump, a first reversing valve, a clutch, a first hydraulic motor, a second hydraulic motor, a third hydraulic motor and a fourth hydraulic motor, the input end of the first hydraulic pump is connected with the hydraulic oil tank, the output end of the first hydraulic pump is communicated with an oil inlet of the first reversing valve, a working oil port A of the first reversing valve is communicated with an oil inlet of the first hydraulic motor and an oil inlet of the second hydraulic motor, an oil outlet of the first hydraulic motor is communicated with an oil inlet of the third hydraulic motor, an oil outlet of the second hydraulic motor is communicated with an oil inlet of the fourth hydraulic motor, oil outlets of the third hydraulic motor and the fourth hydraulic motor are communicated with a working oil port B of the first reversing valve, the oil return port of the first reversing valve is communicated with the hydraulic oil tank, the output shaft of the third hydraulic motor is connected with the left driving wheel, the output shaft of the fourth hydraulic motor is connected with the right driving wheel, and the first hydraulic motor and the second hydraulic motor are connected with two ends of the clutch.

As a preferred scheme, the hydraulic control system further comprises a second reversing valve and a third reversing valve, wherein an oil inlet of the second reversing valve is communicated with an oil outlet of the first hydraulic motor, a working oil port A and a working oil port B of the second reversing valve are respectively communicated with an oil inlet and an oil outlet of the third hydraulic motor, and an oil return port of the second reversing valve is communicated with a working oil port B of the first reversing valve; an oil inlet of the third reversing valve is communicated with an oil outlet of the second hydraulic motor, a working oil port A and a working oil port B of the third reversing valve are respectively communicated with an oil inlet and an oil outlet of the fourth hydraulic motor, and an oil return port of the third reversing valve is communicated with a working oil port B of the first reversing valve.

Preferably, the hydraulic control system further comprises a first overflow valve and a second overflow valve, an oil outlet of the third hydraulic motor is communicated with the working oil port B of the first reversing valve through the first overflow valve, and an oil outlet of the fourth hydraulic motor is communicated with the working oil port B of the first reversing valve through the second overflow valve.

As a preferable scheme, the feeding device further comprises a feeding system, the traveling system comprises a second hydraulic pump, a fourth reversing valve and a fifth hydraulic motor, the input end of the second hydraulic pump is communicated with the hydraulic oil tank, the output end of the second hydraulic pump is communicated with an oil inlet of the fourth reversing valve, a working oil port A of the fourth reversing valve is communicated with an oil inlet of the fifth hydraulic motor, a working oil port B of the fourth reversing valve is communicated with an oil inlet of the first reversing valve and an oil outlet of the fifth hydraulic motor, an oil return port of the fourth reversing valve is communicated with the hydraulic oil tank, and the fifth hydraulic motor is used for driving the feeding device.

Preferably, the control device further comprises a control board, a battery, a sine wave inverter and a solid state relay, wherein the input side of the sine wave inverter is connected with the battery, the output side of the sine wave inverter is connected with the solid state relay and the first reversing valve in series, and the solid state relay is connected with the control board.

As a preferable scheme, the device further comprises a control board, a battery, a PWM module, a proportional valve amplification board and a boost converter, wherein the PWM module is connected with the control board, the PWM module is connected through the boost converter, and the PWM module is connected with the first overflow valve or the second overflow valve through the proportional valve amplification board.

In addition, the invention also provides a shore-based feeding robot, which comprises a frame, an internal combustion engine, a feeding device and the power transmission system, wherein the left driving wheel and the right driving wheel are front wheels, the front part of the frame is of a double-layer structure, the internal combustion engine and the first hydraulic pump are positioned at the lower layer of the front part of the frame, the hydraulic oil tank, the first hydraulic motor, the second hydraulic motor and the clutch are positioned at the upper layer of the front part of the frame, the third hydraulic motor and the fourth hydraulic motor are arranged on the bottom surface of the frame, and the feeding device is arranged at the rear part of the frame.

As a preferred scheme, the feeding device comprises a base, a material box, a fan, a three-way valve and a material spraying pipe, wherein the material box, the fan, the three-way valve and the material spraying pipe are installed on the base, the base is rotatably connected to the frame, the three-way valve is provided with a first inlet, a second inlet and an outlet, the material box and the fan are respectively connected with the first inlet and the second inlet, the material spraying pipe is connected with the outlet, the material spraying pipe is higher than the front portion of the frame, and the top end of the material spraying pipe is bent.

Compared with the prior art, the invention has the beneficial effects that:

the invention relates to a power transmission system, a feeding robot and a control method, wherein a first hydraulic pump is connected with a first hydraulic motor and a second hydraulic motor, the first hydraulic motor is connected with a third hydraulic motor, the second hydraulic motor is connected with a fourth hydraulic motor, so that hydraulic oil flowing out of the hydraulic pump flows to the third hydraulic motor and the fourth hydraulic motor after passing through the first hydraulic motor and the second hydraulic motor, the invention is connected with output shafts of the first hydraulic motor and the second hydraulic motor through a clutch, when the clutch is closed, the rotating speeds of the first hydraulic motor and the second hydraulic motor can be the same, further the displacement of the first hydraulic motor and the displacement of the second hydraulic motor are the same, the flow of the third hydraulic motor and the flow of the fourth hydraulic motor are the same, the speeds of the third hydraulic motor and the fourth hydraulic motor are the same, and the moving speeds of a left driving wheel and a right driving wheel are the same, the problems of wheel damage, incapability of straight line walking, side turning and the like caused by inconsistent speeds of the left driving wheel and the right driving wheel are solved.

Drawings

Fig. 1 is a flowchart of the operation of a power transmission system of a shore-based feeding robot according to a first embodiment of the present invention.

Fig. 2 is a schematic connection diagram of a control plate, a reversing valve and an overflow valve according to a first embodiment of the invention.

Fig. 3 is a first perspective structural schematic diagram of a shore-based feeding robot according to a second embodiment of the present invention.

Fig. 4 is a second perspective structural schematic diagram of a shore-based feeding robot according to a second embodiment of the present invention.

In the figure, 1-hydraulic tank; 2-a first hydraulic pump; 3-a first reversing valve; 4-a clutch; 5-a first hydraulic motor; 6-a second hydraulic motor; 7-a third hydraulic motor; 8-a fourth hydraulic motor; 9-a second reversing valve; 10-a third directional valve; 11-a first overflow valve; 12-a second overflow valve; 13-a second hydraulic pump; 14-a fourth directional valve; 15-a fifth hydraulic motor; 16-a first one-way valve; 17-a second one-way valve; 18-a third one-way valve; 19-a fourth one-way valve; 20-a control panel; 21-a battery; 22-a sine wave inverter; 23-a PWM module; 24-proportional valve amplification plate; 25-a boost converter; 26-a frame; 27-internal combustion engine; 28-left driving wheel; 29-right driving wheel; 30-left driven wheel; 31-right driven wheel; 32-a base; 33-a material box; 34-a fan; 35-three-way valve; 36-a material spraying pipe; 37-first spring damping; 38-second spring damping; 39-a third relief valve; 40-a first on-off valve; 41-a second on-off valve; 42-a solid state relay; 43-oil sump of internal combustion engine.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example one

As shown in fig. 1 and fig. 2, the power transmission system of a bank-based feeding robot according to a preferred embodiment of the present invention includes a hydraulic oil tank 1 and a traveling system, the traveling system includes a first hydraulic pump 2, a first direction valve 3, a clutch 44, a first hydraulic motor 55, a second hydraulic motor 66, a third hydraulic motor 77 and a fourth hydraulic motor 88, an input end of the first hydraulic pump 22 is connected to the hydraulic oil tank 1, an output end of the first hydraulic pump 2 is communicated with an oil inlet of the first direction valve 3, a working oil port a of the first direction valve 3 is communicated with an oil inlet of the first hydraulic motor 5 and an oil inlet of the second hydraulic motor 6, an oil outlet of the first hydraulic motor 5 is communicated with an oil inlet of the third hydraulic motor 7, an oil outlet of the second hydraulic motor 6 is communicated with an oil inlet of the fourth hydraulic motor 8, oil outlets of the third hydraulic motor 7 and the fourth hydraulic motor 8 are communicated with a working oil port B of the first direction valve 3, the oil return port of the first reversing valve 3 is communicated with the hydraulic oil tank 1, the output shaft of the third hydraulic motor 7 is connected with the left driving wheel 28, the output shaft of the fourth hydraulic motor 8 is connected with the right driving wheel 29, and the first hydraulic motor 5 and the second hydraulic motor 6 are connected with two ends of the clutch 4. In the present embodiment, by connecting the first hydraulic pump 2 to the first hydraulic motor 5 and the second hydraulic motor 6, connecting the first hydraulic motor 5 to the third hydraulic motor 7, connecting the second hydraulic motor 6 to the fourth hydraulic motor 8, and allowing the hydraulic oil from the hydraulic pump to flow to the third hydraulic motor 7 and the fourth hydraulic motor 8 after passing through the first hydraulic motor 5 and the second hydraulic motor 6, and connecting the output shafts of the first hydraulic motor and the second hydraulic motor 6 through the clutch 4, when the clutch 4 is closed, the rotational speeds of the first hydraulic motor and the second hydraulic motor 6 can be the same, and further the displacements of the first hydraulic motor and the second hydraulic motor 6 can be the same, so that the flow rates of the third hydraulic motor 7 and the fourth hydraulic motor 8 are the same, the speeds of the third hydraulic motor 7 and the fourth hydraulic motor 8 are the same, and the moving speeds of the left driving wheel 28 and the right driving wheel 29 are the same, the problems of wheel damage, incapability of straight walking, side turning and the like caused by inconsistent speeds of the left driving wheel 28 and the right driving wheel 29 are avoided. When the first reversing valve 3 is positioned at the left machine position, the oil way is communicated; when the first reversing valve 3 is positioned at the right machine position, the oil path is not communicated; thus, by controlling the first directional valve 3, the start-stop can be controlled.

Furthermore, the power transmission system also comprises a second reversing valve 9 and a third reversing valve 10, an oil inlet of the second reversing valve 9 is communicated with an oil outlet of the first hydraulic motor 5, a working oil port A and a working oil port B of the second reversing valve 9 are respectively communicated with an oil inlet and an oil outlet of the third hydraulic motor 7, and an oil return port of the second reversing valve 9 is communicated with a working oil port B of the first reversing valve 3; an oil inlet of the third reversing valve 10 is communicated with an oil outlet of the second hydraulic motor 6, a working oil port A and a working oil port B of the third reversing valve 10 are respectively communicated with an oil inlet and an oil outlet of the fourth hydraulic motor 8, and an oil return port of the third reversing valve 10 is communicated with a working oil port B of the first reversing valve 3. When the second reversing valve 9 is located at the left machine position, hydraulic oil enters from an oil inlet of the third hydraulic motor 7 and flows out from an oil outlet of the third hydraulic motor 7, so that the third hydraulic motor 7 rotates forwards; when the second reversing valve 9 is located at the right machine position, hydraulic oil enters from the oil outlet of the third hydraulic motor 7 and flows out from the oil inlet of the third hydraulic motor 7, so that the third hydraulic motor 7 is reversely rotated. In the same way, the forward and reverse rotation of the fourth hydraulic motor 8 can be realized by driving the third reversing valve 10. The third hydraulic motor 7 and the fourth hydraulic motor 8 rotate forward and backward to realize the forward and backward movement of the robot.

The power transmission system of the embodiment further includes a first overflow valve 11 and a second overflow valve 12, an oil outlet of the third hydraulic motor 7 is communicated with the working oil port B of the first reversing valve 3 through the first overflow valve 11, and an oil outlet of the fourth hydraulic motor 8 is communicated with the working oil port B of the first reversing valve 3 through the second overflow valve 12. By controlling the allowable values of the first and second spill valves 11, 12, the displacements of the third and fourth hydraulic motors 7, 8 can be controlled. The clutch 4 is released, allowing the flow rates of the third hydraulic motor 7 and the fourth hydraulic motor 8 to be different. When the robot needs to turn left, the clutch 4 enters a separation state in advance, the speed of the third hydraulic motor 7 and the speed of the fourth hydraulic motor 8 are allowed to be different, then the flow of hydraulic oil flowing through the third hydraulic motor 7 is controlled to be reduced by adjusting the allowed value of the first overflow valve 11, so that the rotating speed of the robot is reduced, the speed of the left driving wheel 28 is reduced, the right driving wheel 29 moves before the left driving wheel 28 due to the speed advantage, and the whole body of the robot turns left. After the curve is completed, the clutch 4 is reset, and the left driving wheel 28 and the right driving wheel 29 are restored to the original state and continue to move forward at the same speed. In the present embodiment, the first overflow valve 11 is connected to the oil return port of the second direction valve 9, and the second overflow valve 12 is connected to the oil return port of the third direction valve 10.

In this embodiment, the power transmission system further includes a feeding system, the traveling system includes a second hydraulic pump 13, a fourth directional valve 14 and a fifth hydraulic motor 15, an input end of the second hydraulic pump 13 is communicated with the hydraulic oil tank 1, an output end of the second hydraulic pump 13 is communicated with an oil inlet of the fourth directional valve 14, a working oil port a of the fourth directional valve 14 is communicated with an oil inlet of the fifth hydraulic motor 15, a working oil port B of the fourth directional valve 14 is communicated with an oil inlet of the first directional valve 3 and an oil outlet of the fifth hydraulic motor 15, an oil return port of the fourth directional valve 14 is communicated with the hydraulic oil tank 1, and the fifth hydraulic motor 15 is used for driving the feeding device. When the fourth reversing valve 14 is in the left position, hydraulic oil is output from the second hydraulic pump 13 to the fifth hydraulic motor 15, so that the fifth hydraulic motor 15 rotates, and the hydraulic oil is output from the fifth hydraulic motor 15 and flows back to the hydraulic oil tank 1; when the fourth reversing valve 14 is located at the right machine position, hydraulic oil is output from the second hydraulic pump 13 to the oil inlet of the first reversing valve 3, the second hydraulic pump 13 and the first hydraulic pump 2 simultaneously supply oil to the third hydraulic motor 7 and the fourth hydraulic motor 8, the double-pump pressure supply operation is changed, and the walking speed of the robot is immediately changed from the low speed mode to the high speed mode. The first hydraulic pump 2 and the second hydraulic pump 13 of the present embodiment are two pump bodies of a twin hydraulic pump.

In addition, the power transmission system of the present embodiment further includes a first check valve 16, a second check valve 17, a third check valve 18, and a fourth check valve 19; the output end of the first hydraulic pump 2 is connected with the oil inlet of the first reversing valve 3 through a first one-way valve 16, and the output end of the second hydraulic pump 13 is connected with the oil inlet of the fourth reversing valve 14 through a second one-way valve 17, so that the backflow of hydraulic oil is avoided; an oil outlet of the fifth hydraulic motor 15 is communicated with a working oil port B of the fourth reversing valve 14 through a third one-way valve 18, so that hydraulic oil of the fifth hydraulic motor 15 is prevented from flowing into a power system during feeding; the working oil port B of the fourth direction valve 14 is communicated with the oil inlet of the first direction valve 3 through the fourth check valve 19, and hydraulic oil is prevented from flowing to the fifth hydraulic motor 15 when the double-pump pressure supply is performed.

In the present embodiment, the first direction valve 3, the second direction valve 9, and the third direction valve 10 are two-position four-way solenoid valves, and the fourth direction valve 14 is a three-position four-way solenoid valve.

In addition, the oil return port of the first change valve 3 communicates with the hydraulic oil tank 1 via a third relief valve 39, and the pressure of the main oil passage can be controlled. The output end of the first hydraulic pump 2 is communicated with the hydraulic oil tank 1 through a first switch valve 40, and the second hydraulic pump 13 is communicated with the hydraulic oil tank 1 through a first switch valve 41, so that the oil way can be cut off in time.

Further, the power transmission system of the present embodiment further includes a control board 20, a battery 21, a sine wave inverter 22, and a solid-state relay 42, an input side of the sine wave inverter 22 is connected to the battery 21, an output side of the sine wave inverter 22 is connected in series to the solid-state relay 42 and the first directional control valve 3, and the solid-state relay 42 is connected to the control board 20. The output voltage of the control board 20 is small, and the control voltage of the solenoid valve is large, so that the solid-state relay 42 in the solenoid directional valve takes charge of the work needing further voltage conversion to output the signal to the solenoid directional valve. The control panel 20 of this embodiment is Arduino Due, a CPU using Atmel SAM3X8E ARM Cortex-M3, a 32-bit ARM core-based control panel. Control board 20 has 54 digital input/output pins (12 of which can be used as PWM outputs), 12 analog inputs, 4 UARTs (hardware serial port), an 84MHz clock, a USB OTG capable connection, 2 DACs (digital to analog), 2-way TWI, a power jack, an SPI connector, a JTAG connector, a reset button, and an erase button. The first reversing valve 3 is an electromagnetic valve, the input control signal voltage of the electromagnetic reversing valve is 220V alternating current, and the output voltage of the control board 20 is 3.3V. When the control panel 20 outputs high electric frequency, the 220V voltage connected to the solid-state relay 42 is switched on, and the electromagnetic directional valve starts to carry out valve position conversion according to the received electric signal, so that the control of the working position of the directional valve is realized. In the embodiment, the second direction valve 9, the third direction valve 10 and the fourth direction valve 14 are respectively connected in parallel with the first direction valve 3, so that the control panel 20 controls the valve positions of the second direction valve 9, the third direction valve 10 and the fourth direction valve 14 to be switched.

Further, the power transmission system further comprises a PWM module 23, a proportional valve amplification plate 24 and a boost converter 25, wherein the PWM module 23 is connected with the control plate 20, the PWM module 23 is connected through the boost converter 25, and the PWM module 23 is connected with the first overflow valve 11 or the second overflow valve 12 through the proportional valve amplification plate 24. The control principle of the relief valve is similar to that of the on-off value, and the control board 20 generates a signal to output the signal from the output pin, but since the operation of the relief valve is controlled not by a simple on-off value but by an analog value, signal conversion is required. The PWM pin of the control board 20 is used for transmitting a signal to the PWM template, the PWM module 23 converts a received signal into a signal in a range of 0.3V to 10V and then transmits the signal to the proportional valve amplification board 24 through the output port, because the electromagnet in the overflow valve needs to overcome spring force and hydraulic force when outputting, enough current is needed, and an industrial control standard signal is usually a lower voltage signal or a 0-20mA/4-20mA current signal, the PWM voltage conversion module control signal is 0 to 10V, the load capacity of the low voltage or current is very weak and is not enough to push the electromagnet in the overflow valve to shift, therefore, the proportional valve amplification board 24 plays a role of signal matching, receives a weak control signal from the PWM converter, outputs the voltage needed by the overflow valve electromagnet, and enables the overflow valve to work normally. The first and second relief valves 11 and 12 of the present embodiment are proportional relief valves.

Example two

As shown in fig. 3 and 4, the shore-based feeding robot of the present embodiment preferably includes a frame 26, an internal combustion engine 27, a feeding device, and a power transmission system of the first embodiment, wherein both a left driving wheel 28 and a right driving wheel 29 are front wheels, the front portion of the frame 26 is a double-layer structure, the internal combustion engine 27 and the first hydraulic pump 2 are located at a lower layer of the front portion of the frame 26, the hydraulic oil tank 1, the first hydraulic motor 5, the second hydraulic motor 6, and the clutch 4 are located at an upper layer of the front portion of the frame 26, the third hydraulic motor 7 and the fourth hydraulic motor 8 are mounted on a bottom surface of the frame 26, and the feeding device is located at a rear portion of the frame 26. In the embodiment, the hydraulic oil tank 1 with heavier mass is arranged on the lower layer, and other lighter hydraulic elements are arranged on the upper layer, so that the machine body space occupied by the installation of the driving system can be saved to the maximum extent, and the robot has smaller integral size and compact structure. In addition, the left drive wheel 28 and the right drive wheel 29 are both front wheels, and the stroke spanned by the hydraulic oil path can be shortened to the maximum extent by placing the internal combustion engine 27 in front. The internal combustion engine 27 of the present embodiment is connected to the first hydraulic pump 2 by a telescopic universal joint. The shore-based feeding robot of the present embodiment further includes an internal combustion engine oil tank 43, the internal combustion engine 27 is communicated with the internal combustion engine oil tank 43, and the internal combustion engine oil tank 43 is placed on the upper layer of the front portion of the vehicle frame 26.

In addition, a left driven wheel 30 and a right driven wheel 31 are connected to the lower portion of the frame 26 in the embodiment, the left driven wheel 30 and the right driven wheel 31 are rear wheels, and the diameters of the left driving wheel 28 and the right driving wheel 29 are larger than the diameters of the left driven wheel 30 and the right driven wheel 31, so that the bicycle frame is more suitable for complex road conditions such as climbing. The left driven wheel 30 and the right driven wheel 31 of the embodiment are universal wheels, and the left driven wheel 30 and the right driven wheel 31 are respectively connected to the frame 26 through a rear wheel support in a manner of being capable of rotating 360 degrees around the vertical direction, so that the rear half fuselage is prevented from being disconnected when the robot turns. The left driving wheel 28 and the right driving wheel 29 of the present embodiment are respectively connected to the frame 26 through a front wheel bracket, a first spring damper 37 is disposed between the left driving wheel 28 and the right driving wheel 29 and the respective front wheel bracket, and a second spring damper 38 is disposed between the left driven wheel 30 and the right driven wheel 31 and the respective rear wheel, so as to achieve buffering and shock absorption, and ensure that the vehicle body can stably pass through when the road conditions are poor. The output shafts of the third hydraulic motor 7 and the fourth hydraulic motor 8 are respectively connected with the wheel shafts of the left driving wheel 28 and the right driving wheel 29 through the shaft couplings, so that the service life of the hydraulic motors can be protected to the maximum extent. The left driving wheel 28, the right driving wheel 29, the left driven wheel 30 and the right driven wheel 31 all adopt agricultural tires.

The feeding device of the embodiment comprises a base 32, a material box 33, a fan 34, a three-way valve 35 and a spraying pipe 36, wherein the material box 33, the fan 34, the three-way valve 35 and the spraying pipe 36 are installed on the base 32, the base 32 is rotatably connected to the frame 26, the three-way valve 35 is provided with a first inlet, a second inlet and an outlet, the material box 33 and the fan 34 are respectively connected with the first inlet and the second inlet, the spraying pipe 36 is connected with the outlet, the spraying pipe 36 is higher than the front part of the frame 26, and the top end of the spraying pipe 36 is bent. The distance that can deliver of the material scheme is thrown to the air-assisted feeding that this embodiment adopted is farther, and loading and unloading bait convenient and fast. And the base 32 rotates to turn the material spraying pipe 36 and control the feeding direction. The output shaft of the fifth hydraulic motor 15 of this embodiment is sleeved with a first driving wheel, the input shaft of the fan 34 is sleeved with a second driving wheel, the first driving wheel and the second driving wheel are connected through a driving belt, the diameter of the second driving wheel is larger than that of the first driving wheel, and the rotating speed of the fan 34 is increased. In addition, its top surface is located to the first import of the three-way valve 35 of this embodiment, and the top of three-way valve 35 is located to workbin 33, and its bottom surface is located to the blanking mouth of workbin 33, and the blanking mouth communicates with first import, and the blanking mouth goes out to locate the push-pull valve, makes during the material in the workbin 33 falls into three-way valve 35 under the action of gravity, and the degree of opening and shutting of push-pull valve steerable blanking mouth for control blanking volume. The second inlet of the three-way valve 35 is arranged at the rear end of the three-way valve, and the outlet of the three-way valve 35 is arranged at the front end of the three-way valve, so that the material spraying pipe 36 is positioned in the middle, and the material spraying pipe 36 is protected.

EXAMPLE III

The control method of the shore-based feeding robot in the preferred embodiment of the invention comprises the following steps:

(1) the output end of the hydraulic pump is communicated with the oil inlets of a first hydraulic motor 5 and a second hydraulic motor 6, the output shafts of the first hydraulic motor 5 and the second hydraulic motor 6 are connected through a clutch 4, and the oil outlets of the first hydraulic motor 5 and the second hydraulic motor 6 are respectively communicated with the oil inlets of a third hydraulic motor 7 connected with a left driving wheel 28 and a fourth hydraulic motor 8 connected with a right driving wheel 29;

the clutch 4 is closed, the hydraulic pump is started, and the left driving wheel 28 and the right driving wheel 29 rotate at the same speed.

(2) Further, in the present embodiment, oil outlets of the third hydraulic motor 7 and the fourth hydraulic motor 8 are respectively connected with a first overflow valve 11 and a second overflow valve 12;

setting the allowable values of the first overflow valve 11 and the second overflow valve 12 to be unequal;

the clutch 4 is separated, the hydraulic pump is started, and differential steering of the left driving wheel 28 and the right driving wheel 29 is realized.

In the control method of the embodiment, the clutch 4 is controlled to be closed, so that the left driving wheel 28 and the right driving wheel 29 can rotate at the same speed, and when the steering is performed, the allowable values of the first overflow valve 11 and the second overflow valve 12 are set to be unequal values, so that the flow rates of the third hydraulic motor 7 and the fourth hydraulic motor 8 are unequal, the rotating speeds of the third hydraulic motor 7 and the fourth hydraulic motor 8 are unequal, and differential speed is realized to perform steering.

In addition, in the embodiment, the input end of the hydraulic pump is connected with the first hydraulic motor 5, the second hydraulic motor 6 and the hydraulic oil tank 1 through the first reversing valve 3, so that the on-off of an oil path is realized; the third hydraulic motor 7 is connected with the first hydraulic motor 5 and the first reversing valve 3 through a second reversing valve 9, and the fourth hydraulic motor 8 is connected with the second hydraulic motor 6 and the first reversing valve 3 through a third reversing valve 10, so that the forward and reverse rotation of the third hydraulic motor 7 and the fourth hydraulic motor 8 is realized. The first reversing valve 3, the second reversing valve 9 and the third reversing valve 10 are all electromagnetic valves, the voltage at two ends of a coil of the electromagnetic valve and the set voltage are compared and output through a voltage comparator, if the voltage is larger than the set voltage, a high level is output, then the rising edge and the falling edge of the voltage are detected at the output end of the voltage comparator through an external interrupt program of the single chip microcomputer, and the time difference between the rising edge and the falling edge is recorded. The time difference is always normal and the electromagnetic valve works normally within the estimation range, otherwise, the electromagnetic valve breaks down; the detection and automatic control of the electromagnetic valve are realized.

In summary, the embodiment of the present invention provides a power transmission system of a shore-based feeding robot, which connects a first hydraulic pump 2 with a first hydraulic motor 5 and a second hydraulic motor 6, the first hydraulic motor 5 is connected with a third hydraulic motor 7, the second hydraulic motor 6 is connected with a fourth hydraulic motor 8, so that hydraulic oil flowing out from the hydraulic pump flows to the third hydraulic motor 7 and the fourth hydraulic motor 8 after passing through the first hydraulic motor 5 and the second hydraulic motor 6, and the present invention connects output shafts of the first hydraulic motor and the second hydraulic motor 6 through a clutch 4, when the clutch 4 is closed, the rotation speeds of the first hydraulic motor and the second hydraulic motor 6 can be the same, and further the displacement of the first hydraulic motor and the second hydraulic motor 6 can be the same, so that the flow rates of the third hydraulic motor 7 and the fourth hydraulic motor 8 can be the same, and the speeds of the third hydraulic motor 7 and the fourth hydraulic motor 8 can be the same, the moving speeds of the left driving wheel 28 and the right driving wheel 29 are the same, and the problems of wheel damage, incapability of straight-line walking, side turning and the like caused by the inconsistent speeds of the left driving wheel 28 and the right driving wheel 29 are avoided. The embodiment of the invention also provides a shore-based feeding robot comprising the power transmission system and a control method.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.