Four-wheeled independently steered and driven telescopic field operation robot platform

Abstract

The invention discloses a four-wheeled independently steered and driven telescopic field operation robot platform. The four-wheeled independently steered and driven telescopic field operation robot platform comprises a rack, a rack connecting mechanism, a width adjusting mechanism, four steering and traveling assemblies and a motion control system. The rack is a telescopic split type rack, and comprises an upper rack and two side racks which are symmetrically arranged on two sides of the upper rack. The rack connecting mechanism, the width adjusting mechanism, a wheel assembly and the motion control system are mounted on the upper rack, the rack connecting mechanism has a telescopic connecting structure, and is connected with the side racks on the two sides separately, and the width adjusting mechanism is connected with the rack connecting mechanism, and drives the rack connecting mechanism to stretch and retract. The four steering and traveling assemblies are separately mounted at thefront ends and the rear ends of the side racks, independent steering and traveling control of the four steering and traveling assemblies is implemented, and the height of the robot platform is adjusted by a telescopic structure. Compared with the prior art, the four-wheeled independently steered and driven telescopic field operation robot platform has the advantages that requirements of differentfield operation environments are met, the stability is good, and motion adjustment is flexible and convenient.

Description

technical field [0001] The invention relates to agricultural field operation robot technology, in particular to a telescopic field operation robot platform driven by four-wheel independent steering. Background technique [0002] Field operation robots are under the control of computer software systems, can adapt to the agricultural production environment and crop types, have the functions of perception and independent decision-making, and carry out mechatronic automation of agricultural production operations such as field information collection, plant protection operations, fruit and vegetable picking, and crop topping. The equipment has been widely used in agricultural production at home and abroad. Field work robots have improved agricultural productivity, changed agricultural production models, alleviated labor shortages, initially improved the agricultural production environment, and provided conditions for agricultural factory production. [0003] According to differen...

AI Technical Summary

Problems solved by technology

In the existing robot platforms for field work, although there are robot platforms with adjustable wheelbase and height, most of them are forced to open the wheels to both sides. Since the direction of the wheels is different from the adjustment direction during the adjustment process, the frame needs to be lifted or Forcible adjustment; there is also a technology to adjust the width by rotating the wheel arm, and the adjustment process controls the direction of the wheel to be the same as the adjustment direction, but the wheelbase adjustment will also cause the front and rear wheelbase of the robot to change, thus affecting the working parameters and performance of the robot

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