Leg adjusting and locking component of tea garden operation robot

Abstract

The invention discloses a tea garden operation robot leg adjusting and locking component, and relates to the technical field of robot leg height adjusting.The tea garden operation robot leg adjusting and locking component comprises a connecting frame, and a rod body is arranged in the connecting frame in a sliding mode; the two grooves are formed in the two side walls of the rod body; and the locking assembly is arranged on the inner wall of the connecting frame. When the ground clearance of the rod body is adjusted, the control assembly drives the locking assembly and the adjusting assembly to change states at the same time, that is, limitation of the rod body and the connecting frame is relieved, and the meshing state of the adjusting assembly and the two rack plates is changed, so that when limitation is relieved, through the effect of the adjusting assembly, the rod body can be locked. The rod body is driven to slide along the connecting frame, during locking, the limiting assembly limits the state of the connecting frame and the rod body, and at the moment, the adjusting assembly does not make contact with the two rack plates, so that a power component of the adjusting assembly is prevented from being affected in the non-working state, and then the precision of the power component of the adjusting assembly is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot leg height adjustment, and in particular to a tea garden operation robot leg adjusting and locking component. BACKGROUND

[0002] In the operation process of tea gardens on tea mountains, due to complex terrain, tea ridges with ups and downs and different intervals, the traditional manual labor method is low in efficiency and high in labor intensity, and existing agricultural robots have problems of being unable to effectively climb, cross and cross ridges when facing complex tea garden terrain, and are difficult to adapt to the operation needs of various tea gardens on tea mountains.

[0003] In the process of climbing, crossing and crossing ridges of the robot, the legs need to be adjusted accordingly, that is, the bottom end of the leg is adjusted to be away from the ground to ensure normal crossing and crossing of the ridge, and under normal conditions, the walking of the robot needs the bottom end part of the leg to contact the ground, and it is inevitable that there will be ups and downs and vibrations in the walking process. The accuracy of the power component for adjusting the height of the robot leg will inevitably be reduced in the long-term vibration working environment, and then the accuracy will be reduced in the subsequent adjustment process. SUMMARY

[0004] The purpose of the present application is to provide a tea garden operation robot leg adjusting and locking component to solve the technical problems in the prior art.

[0005] The present application provides a tea garden operation robot leg adjusting and locking component, comprising: A connecting frame, a rod body is slidably arranged in the connecting frame; Two grooves, two grooves are formed on the two side walls of the rod body; A locking assembly, the locking assembly is arranged on the inner wall of the connecting frame, and the locking assembly is in one of the grooves; An adjusting assembly, the adjusting assembly is arranged on the inner wall of the connecting frame, and the adjusting assembly is in the other groove; A control assembly, the control assembly is arranged on the side wall of the connecting frame, and the control assembly is connected with the locking assembly and the adjusting assembly; The adjusting assembly comprises: Two rack plates, two rack plates are respectively fixed on the two inner walls of one of the grooves; A mounting seat, the mounting seat is formed on the side wall of the connecting frame; A transmission shaft, the transmission shaft passes through the mounting seat; A plurality of transmission assemblies, the transmission assemblies are arranged on the transmission shaft; A tooth ring, the tooth ring is connected with the plurality of transmission assemblies, and the tooth ring is matched with the two rack plates; A power assembly is slidably mounted on the side wall of the connecting frame and connected to the drive shaft and the control assembly.

[0006] Preferably, the transmission assembly includes: A transmission block, which is fixed on the inner wall of the gear ring, and a second neodymium magnet is fixed on each of the two side walls of the transmission block; Two support plates are fixed on the side wall of the transmission shaft, and the two support plates are respectively located on both sides of the transmission block. A first neodymium magnet is fixed on the side wall of each support plate. An arc-shaped rod is fixed to two support plates, and the arc-shaped rod is slidably connected to a transmission block.

[0007] Preferably, the power assembly includes: The mounting box has connecting components fixed at its top and bottom, and both connecting components are fixed to the connecting frame. A servo motor is installed inside the mounting box, and the output shaft and transmission shaft of the servo motor are fixed. A connecting seat, which is fixed to the side wall of the mounting box; A connecting rod, which is rotatably connected to a connecting seat.

[0008] Preferably, the connection component includes: Two fixing plates, both of which are fixed to the side wall of the connecting frame; A limiting rod, which is fixed between two fixed plates; A connecting block is slidably connected to a limiting rod, and the connecting block is fixed to the mounting box.

[0009] Preferably, the locking component includes: Two connecting plates, both of which are slidably disposed on the inner wall of the connecting frame; Two rubber sheets, each of which is fixed to two connecting plates; Two mounting components are fixed to the inner wall of the connecting frame, and both mounting components are connected to two connecting plates.

[0010] Preferably, the mounting components include: The fixing seat is fixed to the inner wall of the connecting frame; The cylindrical body is fixed to the mounting base; Two sliding rods are slidably disposed inside the cylinder, and the two sliding rods and two connecting plates are fixed.

[0011] Preferred options also include: The first through hole is formed on the side wall of the connecting frame; Adjusting rod, the adjusting rod passing through the first through hole; Two tensioning components are provided, both of which are connected to the adjusting rod, and each of the two tensioning components is connected to one of the two connecting plates.

[0012] Preferably, the tensioning assembly includes: Two mounting bases, one of which is fixed to the adjusting rod, and the other of which is fixed to the connecting plate; Two mounting blocks, each of which is rotatably connected to two mounting bases; A sleeve, wherein the sleeve is fixed to one of the mounting blocks, and a piston is slidably disposed inside the sleeve; The sleeve rod is fixed to another mounting block, and the sleeve rod is fixed to the piston.

[0013] Preferably, the control component includes: A fixing block, which is fixed to the side wall of the connecting frame; An electric push rod, wherein the electric push rod is fixed to a fixing block; A connecting rod is fixed to the telescopic end of the electric push rod. A transmission rod is fixed to one end of the connecting rod, and the transmission rod and the adjusting rod are fixed together. A connecting rod is rotatably provided at the other end of the connecting rod, and the connecting rod and the connecting seat are rotatably connected.

[0014] Preferably, a connecting frame is fixed to the side wall of the connecting frame, the side wall of the connecting frame is provided with mounting holes, and a traveling wheel is provided at the bottom of the rod.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention, through the design of a rod, groove, locking component, control component, and adjustment component, enables the control component to simultaneously change the state of the locking and adjustment components when adjusting the height of the rod off the ground. Specifically, it releases the restriction between the rod and the connecting frame and changes the engagement state of the adjustment component and the two rack plates. Thus, when the restriction is released, the adjustment component drives the rod to slide along the connecting frame. When locked, the restriction component restricts the state of the connecting frame and the rod. At this time, the adjustment component and the two rack plates do not contact each other, so as to avoid affecting the power component of the adjustment component when it is not in operation, thereby ensuring the accuracy of the power component of the adjustment component. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is the invention Figure 1 Enlarged structural diagram at point A in the middle; Figure 3 This is a schematic diagram of the electric push rod, connecting rod, and transmission rod of the present invention; Figure 4 This is a cross-sectional view of the connecting frame structure of the present invention; Figure 5 This is the invention Figure 4 Enlarged structural diagram at point B; Figure 6 This is a schematic cross-sectional view of the sleeve structure of the present invention; Figure 7 This is a schematic diagram of the mounting box, drive shaft, and gear ring structure of the present invention; Figure 8 This is a schematic diagram of the support plate, transmission block, arc rod, first neodymium magnet and second neodymium magnet of the present invention.

[0018] Figure label: 1. Connecting frame; 2. Connecting bracket; 3. Rod body; 4. Traveling wheel; 5. Fixing block; 6. Electric push rod; 7. Connecting rod; 8. Transmission rod; 9. First through hole; 10. Connecting rod; 11. Groove; 12. Rack plate; 13. Fixing plate; 14. Limiting rod; 15. Connecting block; 16. Mounting box; 17. Connecting seat; 18. Fixing seat; 19. Cylinder body; 20. Sliding rod; 21. Connecting plate; 22. Rubber plate; 23. Adjusting rod; 24. Mounting seat; 25. Mounting block; 26. Sleeve; 27. Sleeve rod; 28. Piston; 29. ​​Transmission shaft; 30. Gear ring; 31. Transmission block; 32. Support plate; 33. Arc rod; 34. First neodymium magnet; 35. Second neodymium magnet. Detailed Implementation

[0019] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] The components of the embodiments of the invention described and shown in the accompanying drawings can typically be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0021] Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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 limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] The following is combined with Figures 1 to 8 As shown, an embodiment of the present invention provides a leg adjustment and locking component for a tea garden operation robot, comprising: Connecting frame 1, with rod 3 slidably installed inside connecting frame 1; Two grooves 11 are formed on the two side walls of the rod body 3; A locking component is provided on the inner wall of the connecting frame 1, and the locking component is located in one of the grooves 11; An adjustment component is provided on the inner wall of the connecting frame 1, and the adjustment component is located in another groove 11; A control component is mounted on the side wall of the connecting frame 1, and is connected to the locking component and the adjustment component. The adjustment components include: Two rack plates 12 are respectively fixed on the two inner walls of one of the grooves 11; Mounting base 24 is provided on the side wall of connecting frame 1; Drive shaft 29 passes through mounting base 24; Multiple transmission components are mounted on the transmission shaft 29; Gear ring 30, gear ring 30 is connected to multiple transmission components, and gear ring 30 is adapted to two rack plates 12; The power assembly is slidably mounted on the side wall of the connecting frame 1 and is connected to the drive shaft 29 and the control assembly.

[0025] Furthermore, the transmission components include: The transmission block 31 is fixed on the inner wall of the gear ring 30, and a second neodymium magnet 35 is fixed on both side walls of the transmission block 31. Two support plates 32 are fixed on the side wall of the transmission shaft 29, and the two support plates 32 are respectively located on both sides of the transmission block 31. A first neodymium magnet 34 is fixed on the side wall of each support plate 32. The arc-shaped rod 33 is fixed to the two support plates 32, and the arc-shaped rod 33 is slidably connected to the transmission block 31.

[0026] If the toothed ring 30 interferes with the rack plate 12 during horizontal movement, the toothed ring 30 can rotate within a certain range around the transmission shaft 29 through the action of the first neodymium magnet 34 and the second neodymium magnet 35, as well as through the sliding between the transmission block 31 and the arc rod 33. This ensures that the toothed ring 30 can mesh with the rack plate 12 after adjustment. Through the action of the first neodymium magnet 34 and the second neodymium magnet 35, the first neodymium magnet 34 can be brought closer to the second neodymium magnet 35 during the rotation of the transmission shaft 29. Under the action of repulsion, the toothed ring 30 is driven to rotate through the transmission block 31.

[0027] Furthermore, the powertrain components include: Mounting box 16, with connecting components fixed at the top and bottom, and both connecting components fixed to the connecting frame 1. A servo motor is installed inside the mounting box 16, and the output shaft and transmission shaft 29 of the servo motor are fixed. Connector 17 is fixed to the side wall of mounting box 16; Link 10 is rotatably connected to connecting seat 17.

[0028] Furthermore, the connection components include: Two fixing plates 13 are fixed to the side wall of the connecting frame 1; Limiting rod 14, the limiting rod 14 is fixed between two fixing plates 13; Connecting block 15 is slidably connected to limiting rod 14, and connecting block 15 is fixed to mounting box 16.

[0029] Furthermore, the locking components include: Two connecting plates 21 are slidably disposed on the inner wall of the connecting frame 1; Two rubber plates 22 are fixed to two connecting plates 21 respectively; Two mounting components are fixed to the inner wall of the connecting frame 1, and both mounting components are connected to two connecting plates 21.

[0030] Furthermore, the installation components include: Fixing seat 18, fixing seat 18 is fixed on the inner wall of connecting frame 1; The cylinder 19 is fixed to the mounting base 18; Two sliding rods 20 are slidably disposed inside the cylinder 19, and the two sliding rods 20 and the two connecting plates 21 are fixed.

[0031] Furthermore, it also includes: The first through hole 9 is formed on the side wall of the connecting frame 1; Adjusting rod 23, the adjusting rod 23 passes through the first through hole 9; There are two tensioning components, both of which are connected to the adjusting rod 23, and each of the two tensioning components is connected to one of the two connecting plates 21.

[0032] Furthermore, the tensioning component includes: Two mounting bases 24, one of which is fixed to the adjusting rod 23, and the other mounting base 24 is fixed to the connecting plate 21; Two mounting blocks 25 are rotatably connected to two mounting bases 24 respectively; Sleeve 26, sleeve 26 and one of the mounting blocks 25 are fixed together, and piston 28 is slidably disposed inside sleeve 26; Sleeve 27 is fixed to another mounting block 25, and sleeve 27 is fixed to piston 28.

[0033] When the adjusting rod 23 is in the middle position of the first through hole 9, the distance between the two mounting seats 24 is the smallest, which allows the sleeve rod 27 to enter the sleeve 26. Under the action of the piston 28, the air pressure in the sleeve 26 rises. Through the reaction force, the two connecting plates 21 tend to move away from each other. At this time, the rubber plate 22 abuts against the inner surface of the groove 11. Through the friction between the rubber plate 22 and the groove 11, the fixation between the rod body 3 and the connecting frame 1 can be guaranteed. When the adjusting rod 23 is above or below the first through hole 9, the distance between the two mounting seats 24 is at its maximum, which can drive the two connecting plates 21 to move closer to each other, so that the rubber plate 22 is away from the inner surface of the groove 11, thereby reducing the overall friction between the rod body 3 and the connecting frame 1, so as to facilitate the sliding between the rod body 3 and the connecting frame 1.

[0034] Furthermore, the control components include: Fixing block 5 is fixed to the side wall of connecting frame 1; Electric push rod 6, electric push rod 6 and fixing block 5 are fixed; Connecting rod 7 is fixed to the telescopic end of electric push rod 6. One end of connecting rod 7 is fixed with transmission rod 8, and transmission rod 8 and adjusting rod 23 are fixed. The other end of connecting rod 7 is rotatably connected with connecting rod 10, and connecting rod 10 and connecting seat 17 are rotatably connected.

[0035] When the switch of the electric push rod 6 is turned on, the electric push rod 6 drives the connecting rod 7 to move. During the movement of the connecting rod 7, the mounting box 16 is pushed to move through the action of the connecting rod 10 and the connecting seat 17. During the movement of the connecting rod 7, the adjusting rod 23 is driven to slide in the first through hole 9 through the transmission rod 8.

[0036] Furthermore, a connecting frame 2 is fixed to the side wall of the connecting frame 1, and the side wall of the connecting frame 2 is provided with mounting holes. A traveling wheel 4 is provided at the bottom of the rod body 3.

[0037] The specific working method is as follows: When it is necessary to adjust the distance between the walking wheel 4 and the connecting frame 1, that is, to adjust the overall height of the tea garden operation robot, turn on the switch of the electric push rod 6. When the electric push rod 6 works, it drives the connecting rod 7 to move. During the movement of the connecting rod 7, the mounting box 16 is pushed to move through the action of the connecting rod 10 and the connecting seat 17. Then, the gear ring 30 is driven to move through the servo motor, the transmission shaft 29, the support plate 32, the arc rod 33 and the transmission block 31. When the gear ring 30 is engaged with one of the rack plates 12, turn on the switch of the servo motor. At this time, the rod 3 rises along the connecting frame 1. When the gear ring 30 is engaged with the other rack plate 12, the servo motor works and the rod 3 falls along the connecting frame 1, thus realizing the overall height adjustment of the tea garden operation robot. During the movement of the connecting rod 7, the transmission rod 8 drives the adjusting rod 23 to slide in the first through hole 9. Then, through the mounting seat 24, mounting block 25, sleeve 26, piston 28 and sleeve rod 27, the two connecting plates 21 are brought closer to each other, thereby moving the rubber plate 22 away from the inner surface of the groove 11, so as to reduce the friction between the connecting frame 1 and the rod body 3 as a whole, thus ensuring that the rod body 3 can slide normally along the connecting frame 1. After the height adjustment is completed, the connecting rod 7 is reset by the electric push rod 6. At this time, under the action of the piston 28, the air pressure inside the sleeve rod 27 rises. Through the action of air pressure, the two connecting plates 21 separate from each other. At this time, the rubber plate 22 abuts against the inner surface of the groove 11 to increase the overall friction between the rod body 3 and the connecting frame 1. At this time, the fixing between the connecting frame 1 and the rod body 3 can be achieved.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A leg adjustment and locking component for a tea garden operation robot, characterized in that, include: A connecting frame (1) is provided with a rod (3) slidably disposed within the connecting frame (1); Two grooves (11) are formed on the two side walls of the rod (3); A locking component is disposed on the inner wall of the connecting frame (1) and is located in one of the grooves (11); An adjustment component is disposed on the inner wall of the connecting frame (1) and is located in another groove (11); A control component is disposed on the side wall of the connecting frame (1), and the control component is connected to the locking component and the adjusting component; The adjustment component includes: Two rack plates (12) are respectively fixed on the two inner walls of one of the grooves (11); Mounting base (24), which is provided on the side wall of the connecting frame (1); Drive shaft (29) passes through mounting base (24); Multiple transmission components are mounted on a transmission shaft (29); A toothed ring (30) is connected to multiple transmission components and is adapted to two rack plates (12); The power assembly is slidably disposed on the side wall of the connecting frame (1) and connected to the transmission shaft (29). The power assembly is also connected to the control assembly.

2. The leg adjustment and locking component for a tea garden operation robot according to claim 1, characterized in that, The transmission assembly includes: Transmission block (31), the transmission block (31) is fixed on the inner wall of the gear ring (30), and a second neodymium magnet (35) is fixed on both side walls of the transmission block (31). Two support plates (32) are fixed on the side wall of the transmission shaft (29), and the two support plates (32) are respectively located on both sides of the transmission block (31). A first neodymium magnet (34) is fixed on the side wall of each support plate (32). An arc-shaped rod (33) is fixed to two support plates (32), and the arc-shaped rod (33) is slidably connected to the transmission block (31).

3. The leg adjustment and locking component for a tea garden operation robot according to claim 1, characterized in that, The power assembly includes: Mounting box (16), the top and bottom of the mounting box (16) are fixed with connecting components, and both connecting components are fixed with the connecting frame (1). The mounting box (16) is equipped with a servo motor, and the output shaft and transmission shaft (29) of the servo motor are fixed. Connecting seat (17), the connecting seat (17) is fixed on the side wall of the mounting box (16); Link (10) and connecting seat (17) are rotatably connected.

4. The leg adjustment and locking component for a tea garden operation robot according to claim 3, characterized in that, The connection component includes: Two fixing plates (13) are fixed to the side wall of the connecting frame (1); A limiting rod (14) is fixed between two fixing plates (13); A connecting block (15) is slidably connected to a limiting rod (14), and the connecting block (15) is fixed to a mounting box (16).

5. The leg adjustment and locking component for a tea garden operation robot according to claim 4, characterized in that, The locking component includes: Two connecting plates (21) are slidably disposed on the inner wall of the connecting frame (1); Two rubber plates (22) are fixed to two connecting plates (21) respectively; Two mounting components are fixed to the inner wall of the connecting frame (1), and both mounting components are connected to two connecting plates (21).

6. The leg adjustment and locking component for a tea garden operation robot according to claim 5, characterized in that, The installation components include: Fixing seat (18), the fixing seat (18) is fixed on the inner wall of the connecting frame (1); The cylindrical body (19) and the fixed base (18) are fixed together; Two sliding rods (20) are slidably disposed inside the cylinder (19), and the two sliding rods (20) and the two connecting plates (21) are fixed.

7. The leg adjustment and locking component for a tea garden operation robot according to claim 6, characterized in that, Also includes: The first through hole (9) is opened on the side wall of the connecting frame (1); Adjusting rod (23), the adjusting rod (23) passes through the first through hole (9); Two tensioning components are provided, both of which are connected to the adjusting rod (23) and are respectively connected to two connecting plates (21).

8. The leg adjustment and locking component for a tea garden operation robot according to claim 7, characterized in that, The tensioning component includes: Two mounting bases (24), one of which is fixed to the adjusting rod (23), and the other of which is fixed to the connecting plate (21); Two mounting blocks (25), each of which is rotatably connected to two mounting bases (24); Sleeve (26), the sleeve (26) and one of the mounting blocks (25) are fixed, and a piston (28) is slidably disposed inside the sleeve (26); Sleeve rod (27), which is fixed to another mounting block (25), and sleeve rod (27) is fixed to piston (28).

9. The leg adjustment and locking component for a tea garden operation robot according to claim 3, characterized in that, The control component includes: Fixing block (5), the fixing block (5) is fixed on the side wall of the connecting frame (1); An electric push rod (6) is fixed to a fixing block (5); Connecting rod (7), the connecting rod (7) is fixed on the telescopic end of the electric push rod (6), one end of the connecting rod (7) is fixed with a transmission rod (8), and the transmission rod (8) and the adjusting rod (23) are fixed, and the other end of the connecting rod (7) is rotatably provided with a connecting rod (10), and the connecting rod (10) and the connecting seat (17) are rotatably connected.

10. The leg adjustment and locking component for a tea garden operation robot according to claim 1, characterized in that, The connecting frame (1) has a connecting bracket (2) fixed to its side wall. The connecting bracket (2) has an installation hole on its side wall. The rod (3) has a walking wheel (4) at its bottom.

Images