阅读说明：本技术 一种多足跨步式高通过性牵引机器牛的腿足连接装置 (Leg and foot connecting device of multi-foot striding type high-trafficability traction robot cattle ) 是由 张艳 张飞 张艳鹏 潘春梅 吕勇 张传斌 于 2021-07-13 设计创作，主要内容包括：本发明公开了一种多足跨步式高通过性牵引机器牛的腿足连接装置,其中足连接装置(1)安装在支撑腿(24)的下端,包括一个不锈钢球头(11)、不锈钢球头座(12)、球盖(13)、等节距压缩弹簧簧(14)、足(15)、橡胶履(16)、波纹橡胶防尘套(17)等；腿连接装置(2)安装在多足跨步式高通过性牵引机器牛的抬腿机构(3)上,抬腿机构安装在上、下滑块的前后两端,腿连接装置(2)包括支撑腿支撑腿连接杆(21)、连接板(22)、Q235骑马螺栓(23)、支撑腿(24)、防滑移牙齿(25)、横梁(26)等,支撑腿(24)通过两条Q235骑马螺栓(23)锁扣固定在连接板(22)上,利用防滑移牙齿(25)承受支撑腿(24)的支撑力,遇地面高低起伏变化时,本发明可以利用球关节转动一定角度,使足(15)在不平的地面行走时也有足够的接地面积,减少足对土壤的压实破坏,确保整机的稳定,根据农作物的行距与高度牵引机器牛可以调节左右支撑腿之间的跨度和地隙,减少牵引机器牛进行田间作业时对农作物的损伤。(The invention discloses a multi-foot striding type high-trafficability traction robot leg-foot connecting device, wherein a foot connecting device (1) is arranged at the lower end of a supporting leg (24) and comprises a stainless steel ball head (11), a stainless steel ball head seat (12), a ball cover (13), an equidistant compression spring (14), feet (15), a rubber track (16), a corrugated rubber dustproof sleeve (17) and the like; the leg connecting device (2) is arranged on a leg lifting mechanism (3) of the multi-foot striding type high-trafficability traction robot, the leg lifting mechanism is arranged at the front end and the rear end of an upper sliding block and a lower sliding block, the leg connecting device (2) comprises a leg supporting leg connecting rod (21), a connecting plate (22), Q235 riding bolts (23), a supporting leg (24), anti-sliding teeth (25), a cross beam (26) and the like, the supporting leg (24) is fixed on the connecting plate (22) through two Q235 riding bolts (23) in a locking way, the anti-sliding teeth (25) bear the supporting force of the supporting leg (24), when the ground is fluctuated, the invention can rotate a certain angle by using a ball joint, so that the feet (15) have enough grounding area when walking on the ground, the compaction damage of the feet to the soil is reduced, the stability of the whole machine is ensured, and the ground clearance between the left supporting leg and the right supporting leg can be adjusted according to the line spacing of crops and the high-trafficability traction robot, reduce the damage to crops when the traction machine cattle carries out field operation.)

1. A device for connecting the legs and feet of a multi-legged striding type high-throughput tractor cow, comprising: a foot connecting device (1) and a leg connecting device (2); the leg connecting device (2) is arranged on a leg lifting mechanism (3) of the multi-foot striding type high-trafficability traction robot, and the leg lifting mechanism is arranged at the front end and the rear end of the upper sliding block and the lower sliding block;

the foot connecting device (1) is arranged at the lower end of the supporting leg (24) and comprises a stainless steel ball head (11), a stainless steel ball head seat (12), a ball cover (13), an equal-pitch compression spring (14), a foot (15), a rubber shoe (16) and a corrugated rubber dustproof sleeve (17);

wherein the stainless steel ball head seat (12) is fixed at the lower end of the supporting leg (24), the stainless steel ball head (11) is fixed on the foot (15), the stainless steel ball head (11) is buckled in a ball socket of the stainless steel ball head seat (12) through a ball cover (13), an isometric compression spring (14) is arranged between the stainless steel ball head seat and the foot, a rubber shoe (16) is arranged at the foot bottom, the foot can rotate around the ball center for a certain angle under the action of ground supporting force and the isometric compression spring force, so that the foot has enough grounding area when walking on uneven ground to reduce the compaction damage of the foot to soil, and a corrugated rubber dustproof sleeve (17) is sleeved on the periphery of the foot connecting device;

the leg connecting device (2) comprises a supporting leg connecting rod (21), a connecting plate (22), a Q235 horse-riding bolt (23), a supporting leg (24), anti-sliding teeth (25) and a cross beam (26);

wherein, a single supporting leg (24) is arranged on the supporting leg connecting rod (21) at one end, one supporting leg (24) is respectively arranged on the left and the right of the supporting leg connecting rod (21) at the other end through a cross beam (26), the supporting leg connecting rod is characterized in that the supporting leg connecting rod (21) at one end is welded with a connecting plate (22) into a whole, anti-sliding teeth (25) are designed on the connecting plate (22) along the up-down direction, a plurality of anti-sliding teeth (25) are correspondingly arranged on the contact surface of the supporting leg and the connecting plate (22), a certain interval is arranged between adjacent anti-sliding teeth of the supporting leg, each supporting leg is fixed on the connecting plate (22) through two Q235 horse riding bolts (23) lock catches, the supporting leg (24) is supported by the anti-sliding teeth (25), and the supporting leg is prevented from sliding up and down relative to the connecting plate when the locking force of the Q235 horse riding bolts (23) is insufficient, the supporting leg connecting rod (21) of the other end is welded with the cross beam (26) into a whole, the two ends of the cross beam are respectively fixed with a left connecting plate and a right connecting plate (22) through two Q235 horse riding bolts (23), the left connecting plate and the right connecting plate (22) are locked with a left supporting leg (24) and a right supporting leg (23) through the other two Q235 horse riding bolts, and anti-sliding teeth (25) are also designed on the contact surfaces of the connecting plates and the supporting legs along the vertical direction.

Technical Field

The invention relates to the field of power machinery of agricultural machinery, in particular to a leg and foot connecting device of a multi-foot striding type high-trafficability traction robot.

Background

The multi-foot striding type high-trafficability traction robot successfully solves the problems that an existing tractor is low in ground clearance, large in turning radius, incapable of turning around and steering in situ, incapable of adapting to rough sloping fields or hilly work environments and the like, can meet different field work requirements by hanging different agricultural implements, overcomes the defects of the tractor, and plays an important role in achieving whole-course agricultural mechanization.

The legs and feet of the multi-foot stride type high-passing-ability traction robot cattle span across multiple rows for operation, six legs and feet are equally divided into A, B groups, each group of legs and feet are arranged in bilateral symmetry and move in three straight line directions for walking, wherein one leg and foot in each of A, B two groups of legs and feet are arranged in the middle, the remaining two legs and feet in each group are arranged in bilateral symmetry, the middle leg and the left and right legs have a certain span in the front-back direction, A, B two groups of legs and feet alternately lift legs and move along three straight lines for walking when the traction robot cattle walks, at present, the legs and feet of the multi-foot stride type high-passing-ability traction robot cattle and a support leg connecting rod are usually designed into a whole, the structural arrangement scheme has the advantages of simple structure and low manufacturing cost, but when the walking on a sloping field with fluctuating height, the lower surfaces of the feet cannot adapt to uneven ground, the bottom surfaces of the feet cannot completely land, so that the actual grounding area is too small, the ground pressure is too big, it is serious to the soil compaction destruction, secondly the span of left and right sides sufficient leg is not adjustable, the ground clearance height is also not adjustable, the region of china is vast, the crop kind and the agronomy of planting in different regions are very different, the row spacing of different crops is different, the agricultural demands of planting in different regions are difficult to satisfy to single fixed span, in addition, when pulling the machine ox operation under the prerequisite of guaranteeing that the machine does not harm crops, the ground clearance is lower more stable higher more, consequently from the height that improves the security, when carrying out the operation in the face of the crops of different stem stalk heights, the ground clearance height of pulling the machine ox also should be different. The problems seriously restrict the popularization and the application of the traction robot, so the development of the multi-foot leg-foot connecting device of the traction robot which can adapt to the uneven ground environment, has adjustable left and right span and adjustable ground clearance reduces the damage to crops when the traction robot carries out field operation, and is a problem which is urgently needed to be solved.

Therefore, the invention provides the leg-foot connecting device of the multi-foot striding type high-trafficability traction robot, when the multi-foot striding type high-trafficability traction robot walks on a sloping field with fluctuating height, the bottom surfaces of the feet can completely land, the ground pressure is effectively reduced, the compaction damage of the feet to soil is reduced, the span and the ground clearance of the left and right feet of the traction robot are adjusted according to different agricultural requirements, the damage of the traction robot to crops is reduced, the performance of the multi-foot traction robot is improved, and the device has an important effect on realizing the whole-course mechanization of agriculture.

Disclosure of Invention

In order to solve the problems that the conventional multi-foot traction robot cattle cannot adapt to the terrain with fluctuating height, the spans of the left leg and the right leg are not adjustable, the height of the ground clearance is not adjustable and the like, the invention provides a leg and foot connecting device of the multi-foot striding type high-trafficability traction robot cattle, and the invention is implemented by the following technical scheme.

A leg and foot connecting device of a multi-foot striding type high-trafficability traction robot cattle comprises a foot connecting device and a leg connecting device, wherein the leg connecting device is arranged on a leg lifting mechanism of the multi-foot striding type high-trafficability traction robot cattle, and the leg lifting mechanism is arranged at the front end and the rear end of an upper sliding block and a lower sliding block of the traction robot cattle;

the foot connecting device is arranged at the lower end of the supporting leg and comprises a stainless steel ball head, a stainless steel ball head seat, a ball cover, an equal-pitch compression spring, feet, a rubber shoe, a corrugated rubber dustproof sleeve and the like, and is characterized in that the stainless steel ball head seat is fixed at the lower end of the supporting leg, the stainless steel ball head is fixed on the feet, the stainless steel ball head is buckled in a ball socket of the stainless steel ball head seat through the ball cover, the equal-pitch compression spring is arranged between the ball cover and the feet, the rubber shoe is arranged at the foot bottom, and the feet can rotate around the ball center for a certain angle under the action of the equal-pitch compression spring force and the ground supporting force, so that the feet have enough grounding area when walking on uneven ground, the compaction damage of the feet to soil is reduced, and the dustproof rubber sleeve is sleeved outside the foot connecting device to prevent dust from entering the ball joint and reduce the abrasion of the ball joint;

the leg connecting device comprises a supporting leg connecting rod, a connecting plate, a Q235 horse riding bolt, a supporting leg, an anti-slip tooth, a cross beam and the like, wherein a single supporting leg is installed on the supporting leg connecting rod at one end, and a supporting leg is installed on the supporting leg connecting rod at the other end through the left side and the right side of the cross beam;

the supporting leg connecting rod is characterized in that: the supporting leg connecting rod at one end is provided with a single leg, the supporting leg connecting rod and the connecting plate are welded into a whole, two anti-slip teeth are designed on the connecting plate along the vertical direction, a plurality of anti-slip teeth are also designed on the contact surface of the supporting leg and the connecting plate, a certain distance is reserved between adjacent anti-slip teeth of the supporting leg, the supporting leg is fixed on the connecting plate through two Q235 horse riding bolt locks, the supporting force of the supporting leg is borne by the anti-slip teeth, the supporting leg is prevented from sliding up and down relative to the connecting plate when the locking force of the Q235 horse riding bolt is insufficient, the supporting leg can move up and down relative to the connecting plate for a certain distance after the Q235 horse riding bolt is loosened;

the supporting leg connecting rod is characterized in that: the supporting leg connecting rod of the supporting leg at the other end is welded with the cross beam into a whole, the left and right ends of the cross beam are respectively fixed with a left connecting plate and a right connecting plate through two Q235U-shaped bolt latches, and simultaneously, the left and right connecting plates are respectively fixed with a left supporting leg and a right supporting leg through two Q235U-shaped bolt latches;

has the positive and beneficial effects that: the invention can lead the whole lower surface of the feet to be completely landed when the traction machine cow walks on a slope with fluctuating height, effectively reduces the ground pressure of the traction machine cow, adjusts the span and the ground clearance of the left and right feet of the traction machine cow according to different agricultural requirements of different crops, reduces the damage of the traction machine cow to the crops, improves the performance of the multi-foot traction machine cow, and plays an important role in realizing the whole-course mechanization of agriculture.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a cross-sectional view (partially enlarged) of the leg and foot attachment apparatus of the present invention;

FIG. 3 is a schematic view (partially enlarged view) of the structure of the single-leg joint apparatus of the present invention;

FIG. 4 is a schematic view (partially enlarged view) of the structure of the two-leg joint of the present invention;

in the figure, the following steps are carried out: 1. a foot attachment device; 2. a leg attachment means; 3. a leg lifting mechanism; 11. a stainless steel ball head; 12. a stainless steel ball head seat; 13. a ball cover; 14. the spring springs are compressed at equal pitches; 15. a foot; 16. a rubber shoe; 17. a corrugated rubber dust-proof sleeve; 21. support leg connecting rods; 22. a connecting plate; q235 horseshoe bolts; 24. supporting legs; 25. anti-slippage of teeth; 26. a cross beam;

Detailed Description

The invention is further described below with reference to the accompanying drawings:

as shown in figure 1, the invention relates to a multi-foot striding type high-throughput traction robot leg-foot connecting device, which comprises a foot connecting device (1) and a leg connecting device (2); the leg connecting device (2) is arranged on a leg lifting mechanism of the multi-foot striding type high-trafficability traction robot, and the leg lifting mechanism is respectively arranged at the front end and the rear end of the upper sliding block and the lower sliding block of the traction robot;

as shown in figure 2, the foot connecting device (1) is arranged at the lower end of a supporting leg (24) and comprises a stainless steel ball head (11), a stainless steel ball head seat (12), a ball cover (13), an equal-pitch compression spring (14), a foot (15), a rubber shoe (16) and a corrugated rubber dustproof sleeve (17), and is characterized in that the stainless steel ball head seat (11) is fixed at the lower end of the supporting leg (24), the stainless steel ball head (11) is fixed on the foot (15), the stainless steel ball head (11) is buckled in a ball socket of the stainless steel ball head seat (12) through the ball cover (13), the equal-pitch compression spring (14) is arranged between the stainless steel ball head seat (12) and the foot (15), the rubber shoe (16) is arranged at the foot bottom, the foot (15) can rotate around the ball center for a certain angle under the action of the ground force and the equal-pitch compression spring force, so that the uneven foot can adapt to the ground environment when walking on the ground, the ground contact area is enough to reduce the compaction damage of soil, and the corrugated rubber dustproof sleeve (17) prevents dust from entering the ball joint;

as shown in figures 3 and 4, the leg connecting device (2) comprises a supporting leg connecting rod (21), a connecting plate (22), Q235 horse riding bolts (23), supporting legs (24), anti-slip teeth (25) and a cross beam (26), wherein the supporting leg connecting rod (21) at one end is provided with a single supporting leg (24), the supporting leg connecting rod (21) at the other end is provided with one supporting leg (24) respectively through the cross beam (26) and the left and the right, the supporting leg connecting rod is characterized in that the supporting leg connecting rod (21) at one end and the connecting plate (22) are welded into a whole, the connecting plate is provided with the anti-slip teeth (25) along the up-down direction, a plurality of anti-slip teeth (25) are also designed on the contact surface of the supporting leg and the connecting plate, a certain interval is reserved between the adjacent anti-slip teeth, each supporting leg is locked and fixed on the connecting plate (22) through two Q235 horse riding bolts (23), the supporting force of the supporting legs (24) is borne by the anti-sliding teeth (25), the supporting legs are prevented from sliding up and down relative to the connecting plates due to insufficient locking force of the Q235 horse riding bolts (23), the supporting leg connecting rods (21) of the supporting legs at the other ends are welded with the cross beam (26) into a whole, the left end and the right end of the cross beam are respectively fixed with a left connecting plate and a right connecting plate (22) through the two Q235 horse riding bolts (23), the left connecting plate and the right connecting plate are locked with the left supporting leg and the right supporting leg (24) through the other two Q235 horse riding bolts (23), and the anti-sliding teeth (25) are designed on the contact surfaces of the connecting plates and the supporting legs in the same way;

the above examples are only for illustrating the preferred embodiments of the system of the present invention, but the system is not limited to the above embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the system within the knowledge of those skilled in the art should be covered within the technical scope of the system claimed.