Agricultural small smart cross-country type multifunctional intelligent platform

Abstract

The utility model provides an agricultural small-sized smart cross-country type multifunctional intelligent platform. The agricultural small-sized smart cross-country type multifunctional intelligent platform comprises an all-terrain adaptive chassis, a self-adaptive leveling platform and a replaceable operation mechanism, the all-terrain adaptation chassis comprises a platform car side wheel set, a circuit box and a rocker arm bogie and is used for terrain adaptation. And the self-adaptive leveling platform is fixedly connected with the circuit box through an electric push rod. According to the all-terrain adaptive chassis, the front frame body and the rear frame body rotate around a shaft relative to each other or the circuit box through the differential speed of all wheels, self-adaption to terrain conditions is completed, and a machine body is effectively prevented from rolling over; and real-time rapid leveling of the self-adaptive leveling platform is completed through the electric push rod, and the structural stability and the operation accuracy of the device in the operation process are guaranteed. The intelligent platform is small in size and can freely enter and exit from small-area, irregular and scattered cultivated land in hilly and mountainous areas; different operation modules can be additionally arranged on the top of the platform, complex and diversified agricultural technologies in hilly areas can be dealt with, and modular cluster type operation is achieved.

Description

Technical Field

[0001] The utility model belongs to the field of agricultural machinery development in hilly areas, and particularly relates to a small-sized, flexible off-road multifunctional intelligent platform for agriculture. Background Art

[0002] There are many small and irregular arable lands in China's agricultural sector. The arable land in this region has complex terrain, small agricultural fields, rugged surfaces, large slopes, and fragmented and irregular plots, making it difficult for traditional large and medium-sized agricultural machinery to pass normally. At present, most crawler work machinery in this region has limited terrain adaptability and cannot achieve full terrain coverage for some special uneven road conditions in hilly areas. Agricultural machinery operations in hilly areas require a leveling system to ensure that the agricultural machinery can operate normally while moving and will not roll over. The current agricultural machinery leveling system has limited leveling accuracy. , sometimes even causing deformation of the working platform. For many special crops in hilly and mountainous areas that require agronomic processes such as targeted fertilization and precision irrigation, it is impossible to meet its standards. At the same time, the hilly areas are also important production areas of grain, oil, fruit, vegetable and tea in my country. The types of hilly crops produced and the agronomy involved are complex and diverse. At present, most of the agricultural machinery in the hilly areas is dedicated to the purpose, and the degree of integration between agricultural machinery and agronomy is low. Agricultural machinery cannot achieve cluster operation, and the production efficiency is low. It cannot cope with the flexible and complex farming conditions of the fields in the region, and the overall situation is "inorganic and easy to use".

[0003] At present, most agricultural production processes in hilly and mountainous areas still rely on manpower, with low production efficiency and low income for farmers. Farmers are eager for "micro-agricultural machinery" to help agricultural production. Hundreds of millions of acres of hilly and mountainous areas across the country are waiting for mechanization. According to the complex situation of agricultural production in this area, if a small, all-terrain adaptable, precision-operated, and multifunctional, intelligent agricultural machinery with flexible switching of operation modules can be developed, it can solve the current problems of low agricultural mechanization and low production efficiency in hilly and mountainous areas. Therefore, the utility model develops a small, flexible off-road multifunctional intelligent platform for agriculture, which makes agricultural operations more convenient, standardized and efficient, improves the adaptability and economic benefits of agricultural production, and provides farmers with an innovative, efficient and intelligent agricultural production solution. Utility Model Content

[0004] In view of the current problems in hilly areas, such as large size of agricultural machinery, easy rollover of the body, inability to meet the precision agronomic requirements of the region, single operation mode of individual equipment, and low production efficiency, the utility model provides a small, agile off-road multifunctional intelligent platform for agricultural use. On the basis of completing the all-terrain adaptability of the chassis of the device, it realizes precise leveling of the device operating platform and the multifunctionality of the operating module, effectively preventing the body from rolling over, cleverly responding to the complexity and diversity of agronomy, increasing crop yields, and promoting the development of agricultural machinery towards miniaturization, automation, and intelligence.

[0005] The utility model achieves the above technical purpose through the following technical means.

[0006] A small, flexible, off-road, multifunctional intelligent platform for agriculture, characterized by comprising an all-terrain adaptive chassis, an adaptive leveling platform, and an operating mechanism;

[0007] The all-terrain adaptive chassis comprises two side wheel sets, a circuit box and a rocker bogie, which are respectively located on the left and right sides of the chassis;

[0008] The side wheel group includes a front frame body, a rear frame body, a front rotating shaft, a front wheel, a middle wheel, and a rear wheel, the front frame body has a first horizontal part and a second horizontal part with a height difference, and the first horizontal part and the second horizontal part are fixedly connected by a first inclined part; the rear frame body includes a second inclined part and a third horizontal part that are fixedly connected, and the second inclined part of the rear frame body is hinged to the first inclined part of the front frame body through the front rotating shaft; the front wheel and the middle wheel are both installed on the first horizontal part and the second horizontal part of the front frame body through a vertical part, and the rear wheel is installed on the third horizontal part of the rear frame body through a vertical part; when the first horizontal part, the second horizontal part, and the third horizontal part are all in a horizontal state, the height of the third horizontal part is greater than the height of the first horizontal part and the height of the second horizontal part, and the front wheel, the middle wheel and the rear wheel are all located on the same horizontal plane;

[0009] Both sides of the circuit box are respectively hinged to the third horizontal part of the rear frame through a rear rotating shaft;

[0010] The rocker bogie comprises a ball head tie rod assembly, a thrust ball bearing seat, a rocker beam and a flat beam. The rocker beam is located on the upper side of the circuit box and spans the platform. The middle part is connected to the top of the circuit box through the thrust ball bearing seat, and the two ends are respectively connected to a ball head tie rod assembly extending in the front-rear direction relative to the platform; the other ends of the two ball head tie rod assemblies are respectively hinged to the flat beams fixedly mounted on the rear frame of the side wheel assembly on the left and right sides of the platform; there are two flat beams on both sides of the platform, the lower ends of the two flat beams are staggered front-rear with the fixing point of the rear frame, and the upper ends are coaxial with the hinge point of the ball head tie rod assembly;

[0011] The adaptive leveling platform is located above the circuit box and is connected to the circuit box through four electric push rods, one end of each of the four electric push rods is fixed to the circuit box, and the free end is connected to the ball joint; the ball joints of the two electric push rods located on a diagonal line of the bottom surface of the adaptive leveling platform are fixedly connected to the adaptive leveling platform in a relative position, and the ball joints of the two electric push rods located on another diagonal line of the bottom surface of the adaptive leveling platform are slidably mounted and fixed on the two optical axes of the bottom surface of the adaptive leveling platform, and the extension directions of the two optical axes are perpendicular to each other;

[0012] The operating mechanism is detachably mounted above the adaptive leveling platform.

[0013] Furthermore, a DC reduction motor is respectively provided at the front wheel, the middle wheel and the rear wheel on both sides for driving.

[0014] Furthermore, steering gears for adjusting the directions of the wheels are respectively arranged at the vertical parts for connecting the front wheels and the rear wheels.

[0015] Furthermore, each of the DC reduction motor and servo has an independent driving circuit board, and is fixed near it respectively. The driving circuit board is connected to the main control board of the circuit box through a wire; the main control board has a built-in PID control program for regulating the operation of the DC reduction motor and the servo; the main control board is arranged in the circuit box, and a display screen for human-computer interaction is arranged on the outside.

[0016] Furthermore, a plurality of through holes are provided on the front frame and the rear frame for routing wires.

[0017] Furthermore, a supporting wheel is respectively arranged at the front wheel, the middle wheel and the rear wheel as a driven wheel.

[0018] Furthermore, the ball joint is fixed to the free end of the electric push rod through a threaded connection.

[0019] Furthermore, the two ends of the optical axis are respectively assembled in miniature bearing seats fixed on the bottom surface of the adaptive leveling platform; the two ball joints fixed in relative positions to the adaptive leveling platform are respectively assembled on a screw rod, and the two ends of the screw rod are also respectively assembled in miniature bearing seats fixed on the bottom surface of the adaptive leveling platform, and the extension directions of the two screw rods are also perpendicular to each other.

[0020] Furthermore, the operating mechanism is detachably installed above the adaptive leveling platform through a mechanism changer, and the mechanism changer includes guide rails fixed on both sides of the adaptive leveling platform, a slider mounting plate and a locking slider fixed on the replaceable operating platform, and the slider mounting plate and the locking slider are adapted to the guide rails.

[0021] Furthermore, the operating mechanism is one of fertilizing, irrigation, plant protection, and harvesting machinery.

[0022] The small-sized, flexible, off-road, multifunctional intelligent agricultural platform described in the utility model, the structural design of the front frame and the rear frame of the side wheel group and the rotatable connection method of the two, combined with the independent drive of the front wheel, the middle wheel and the rear wheel, can achieve the climbing and obstacle crossing of the entire platform through the separate control and differential drive of the DC drive motor. By adjusting the rotation speed of multiple DC reduction motors, the differential adjustment between the front wheel, the middle wheel and the rear wheel can be achieved. When crossing an obstacle in an area with uneven terrain, the device switches to an adaptive mode, the front wheel and the middle wheel accelerate, and the speed is higher than the rear wheel, causing the front frame to rotate around the front rotation axis and lift up. When crossing the obstacle and entering a flat area, the middle wheel decelerates, the front frame falls, the front wheel touches the ground, and quickly speeds up, so that the three wheels are at the same speed, and the device continues to move forward. When the device enters a steep slope area, due to the large slope, it switches to crawling mode, the rear wheels quickly accelerate, the rear frame rotates around the rear rotation axis to lift the entire side wheel group, and the front wheels and middle wheels installed on the front frame go uphill at the same time, then quickly accelerate, and the device switches to adaptation mode to complete terrain adaptation according to the road conditions on the slope.

[0023] Furthermore, a mechanism changer is installed on the top of the adaptive leveling platform, and the disassembly and assembly of the operating mechanism and the intelligent platform are very convenient. The operating mechanism can be quickly replaced according to the operation requirements of some agronomic processes that require precision operations in hilly and mountainous areas, such as: fixed-point fertilization, precision irrigation, fixed-point pest and disease removal, etc. The intelligent platform described in the utility model is small in size and low in cost, and can build an agronomic operation cluster, which is convenient for realizing the differentiated operation requirements of intelligent agriculture in hilly areas.

[0024] In summary, the beneficial effects of the utility model are as follows:

[0025] This utility model develops a small, flexible off-road multifunctional intelligent platform for agriculture. The small body of the device can easily enter the hilly farmland for operation. The off-road solid chassis can adapt to all terrains in hilly and mountainous areas, respond faster, effectively prevent the body from rolling over, and increase the available arable land area in hilly and mountainous areas. The leveling structure adopted can adjust four electric push rods at the same time to improve the leveling accuracy, which can meet some special agricultural techniques that require precision operations in hilly and mountainous areas. A mechanism changer is provided on the top of the platform, which is easy to disassemble and can switch freely between different operation modules to cope with flexible and complex agricultural farming tasks in hilly and mountainous areas, which is conducive to cluster operation of agricultural machinery and improves production efficiency. The main control board can be equipped with cameras, etc. to meet various intelligent recognition applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a three-dimensional schematic diagram of the utility model small-sized multifunctional intelligent platform for agriculture.

[0027] Figure 2 It is a three-dimensional schematic diagram of the rocker bogie described in the utility model.

[0028] Figure 3 This is a three-dimensional schematic diagram of the all-terrain adaptive chassis of the utility model, in which the display screen and its mounting plate are hidden.

[0029] Figure 4 It is a three-dimensional schematic diagram of the side wheel group of the utility model.

[0030] Figure 5 It is a three-dimensional schematic diagram of the front frame of the utility model, with the front wheel position partially cut away.

[0031] Figure 6 It is a three-dimensional schematic diagram of the rear frame of the utility model.

[0032] Figure 7 It is a three-dimensional schematic diagram of the adaptive leveling platform of the utility model.

[0033] Figure 8 It is a three-dimensional schematic diagram of the ball joint bearing, the ball joint bearing and the square nut of the utility model, with a partial section in the middle.

[0034] Fig. 9 It is a top view of the replaceable operating mechanism described in the utility model.

[0035] Fig.10 It is a three-dimensional schematic diagram of the replaceable operating mechanism of the utility model.

[0036] Fig.11 This is a schematic diagram of the all-terrain adaptive chassis of the utility model being lifted on one side.

[0037] In the figure, 1. All-terrain chassis; 11. Side wheel group; 1111. Front wheel; 1112. Middle wheel; 1113. Rear wheel; 1114. Support wheel; 1121. Front rotating shaft; 1122. Rear rotating shaft; 113. Front frame; 1131. U-shaped beam; 1132. I-shaped connecting plate; 1133. Support wheel connecting plate; 1134. Flat plate; 1135. Flat plate gasket; 1136. Servo mounting frame; 1137. Motor mounting frame; 1138. T-shaped Linear rail square beam; 1139. Supplementary square body; 114. Rear frame; 115. Servo; 116. DC reduction motor; 117. Axial locking ring; 118. Drive circuit board; 12. Circuit box; 121. Side plate; 122. Aluminum profile; 123. Vertical bearing seat; 124. Diamond bearing seat; 125. Welding plate; 126. Main control board; 127. Display screen; 13. Rocker arm bogie; 131. Ball head tie rod assembly; 132. Single head 90 degree mounting seat; 133. Thrust ball bearing seat; 134. Rocker beam; 135. Flat beam; 136. Bearing seat pad; 2. Adaptive leveling platform; 21. Electric push rod; 22. Ball joint; 235. Outer ring; 23. Ball joint bearing; 231. Square nut; 232. Upper clamp; 233. Lower clamp; 234. Copper column; 24. Square nut; 25. Lead screw; 26. Optical axis; 27. Miniature bearing seat; 3. Replaceable operating mechanism; 31. Pest and disease detection camera head; 32. pesticide spraying device; 321. lifting slide; 322. spraying slide; 323. nozzle angle adjustment bracket; 324. stepper motor; 325. device frame; 3251. guide rail; 3252. slider; 326. timing belt; 33. pesticide box; 331. pesticide pipeline; 332. pump; 333. nozzle; 4. push rod limit block; 5. stepped shaft; 6. mechanism changer; 61. guide rail; 62. lockable slider; 63. slider mounting plate. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0039] The small-sized, flexible, off-road, multifunctional intelligent agricultural platform of the utility model comprises an all-terrain adaptive chassis 1, an adaptive leveling platform 2, and a replaceable operating mechanism 3. Figure 1 , 3As shown in Figures 4 and 5, the all-terrain adaptive chassis 1 is mainly composed of two side wheel groups 11, a circuit box 12 and a rocker bogie 13 located on the left and right sides of the chassis 1. The side wheel group 11 includes a front frame body 113, a rear frame body 114, a front rotating shaft 1121, a front wheel 1111, a middle wheel 1112 and a rear wheel 1113. The front frame body 113 has a first horizontal part and a second horizontal part with a height difference, and the first horizontal part and the second horizontal part are fixedly connected by a first inclined part. The rear frame body 114 includes a second inclined part and a third horizontal part that are fixedly connected. The second inclined part of the rear frame body 114 is hinged to the first inclined part of the front frame body 113 through the front rotating shaft 1121, and the two sides of the front rotating shaft 1121 are axially fixed by axial locking rings 117. The front wheel 1111 and the middle wheel 1112 are both mounted on the first horizontal part and the second horizontal part of the front frame 113 through the vertical part, and the rear wheel 1113 is mounted on the third horizontal part of the rear frame 114 through the vertical part; when the first horizontal part, the second horizontal part and the third horizontal part are all in a horizontal state, the height of the third horizontal part is greater than the height of the first horizontal part and greater than the height of the second horizontal part, and the front wheel 1111, the middle wheel 1112 and the rear wheel 1113 are all located on the same horizontal plane. Both sides of the circuit box 12 are respectively hinged on the third horizontal part of the rear frame 114 through a rear rotating shaft 1122, thereby forming the overall structure of the chassis.

[0040] Specifically, the horizontal parts of the front frame 113 and the rear frame 114 both use U-shaped beams 1131. The inclined parts all use flat plates 1134, and the two flat plates 1134 are relatively installed on both sides of the U-shaped beam 1131 and tightened with screws and nuts. A flat plate gasket 1135 is installed between the two flat plate gaskets 1135 of the first inclined part to leave an installation spacing for the front frame 113 and the rear frame 114; there is no need to install a flat plate gasket 1135 between the two flat plate gaskets 1135 of the second inclined part. A plurality of through holes are provided on the U-shaped beam 1131 for wiring. The U-shaped beam 1131 is spliced ​​with an I-shaped connecting plate 1132 and a supporting wheel connecting plate 1133 and rivets or bolts, wherein the I-shaped connecting plate 1132 connects the inner two sides, and the supporting wheel connecting plate 1133 connects the outer two sides. The vertical portion for connecting the front wheel 1111 and the rear wheel 1113 adopts a T-shaped linear rail square beam 1138.

[0041] like Figure 3-6As shown, the front wheel 1111, the middle wheel 1112, and the rear wheel 1113 on both sides are differential wheels, each driven by a DC reduction motor 116. By adjusting the rotation speed of multiple DC reduction motors 116, the differential adjustment between the front wheel 1111, the middle wheel 1112, and the rear wheel 1113 can be achieved. The DC reduction motor 116 is installed on the U-beam 1131 through the motor mounting frame 1137. A support wheel 1114 is installed on the U-beam 1131 beside each front wheel 1111, the middle wheel 1112, and the rear wheel 1113 to provide support as a driven wheel to prevent damage to the motor shaft due to unilateral support.

[0042] A steering gear 115 for adjusting the direction of the wheels is respectively provided at the vertical parts connecting the front wheel 1111 and the rear wheel 1113 . The mounting head of the servo 115 is inserted into the servo mounting frame 1136, and the mounting holes on both sides thereof correspond to the holes of the servo mounting frame 1136, and are tightened and fixed with screws and nuts; the servo mounting frame 1136 is installed on the inner side of the U-shaped beam 1131 at the frontmost part of the front frame 113 or the rearmost part of the rear frame 114, and the two are threadedly connected. The lower part of the servo mounting frame 1136 is threadedly connected to the T-shaped linear rail square beam 1138. For the front frame 113, the long screw passes through the U-shaped beam 1131 and the supplementary square body 1139 to be connected with the T-shaped linear rail square beam 1138. For the rear frame 114, the long screw passes through the U-shaped beam 1131 and the T-shaped linear rail square beam 1138 to be directly connected. Both are fixed connections, driven by the servo, and can rotate freely within a range of 180 degrees. By controlling its rotation angle, turning or turning in situ can be achieved, thereby completing the adjustment of the direction and posture of the small, flexible off-road multifunctional intelligent platform for agriculture in complex terrain areas.

[0043] In the embodiment given in the attached drawings, the height of the front wheel 1111 is adjusted by a supplementary cube 1139 to ensure that the bottoms of the front wheel 1111, the middle wheel 1112, and the rear wheel 1113 are located in the same plane. Each of the DC reduction motors 116 and steering gears 115 has an independent driving circuit board 118, or the DC reduction motors 116 and steering gears 115 of the same wheel share a driving circuit board 118, and the driving circuit boards 118 are respectively fixed near the DC reduction motors 116 or steering gears 115 controlled by them, and are installed on the U-shaped beam 1131 near the DC reduction motors 116 or steering gears 115. The driving circuit board 118 is connected to the main control board of the circuit box 12 through a wire, and RP2040 is used as the main control chip of the driving circuit. The main control board has a built-in PID control program for regulating the operation of the DC reduction motors 116 and steering gears 115. The motor adopts closed-loop control and built-in PID. I2C communication is adopted between the driving circuit board 118 and the main control board. The driving circuit board 118 acts as a slave and adopts 12V power supply. The board has a built-in 5V / 3.3V voltage conversion. A total of six driving circuit boards 118 are installed on the all-terrain adaptive chassis 1 to complete the driving of six DC reduction motors 116 and four servos 115.

[0044] In this embodiment, the circuit box 12 is a bus box for the entire intelligent platform circuit, which is constructed by side panels 121 and aluminum profiles 122. A display screen 127 is installed on the front side for human-computer interaction. A Raspberry Pi 5 main control board and various module adapter boards are built in, which facilitates the debugging of the main control board in the circuit box 12, and can design some intelligent applications of the replaceable operating mechanism 3. The welding plate 125 is fixed to the inner side of the frame constructed by the aluminum profiles 122 on both sides of the circuit box 12, and the vertical bearing seat 123 and the diamond bearing seat 124 are installed on the welding plate 125 to provide support for the rear rotating shaft 1122.

[0045] The rocker bogie 13 includes a ball head tie rod assembly 131, a thrust ball bearing seat 133, a rocker beam 134, and a flat beam 135. The rocker beam 134 is located on the upper side of the circuit box 12 and spans the platform. The middle part is connected to the aluminum profile 122 frame on the top of the circuit box 12 through the thrust ball bearing seat 133, and the two ends are respectively connected to a ball head tie rod assembly 131 extending in the front and rear direction relative to the platform. The other ends of the two ball head tie rod assemblies 131 are respectively hinged to the flat beams 135 fixed on the rear frame 114 of the side wheel group 11 on the left and right sides of the platform. There are two flat beams 135 on both sides of the platform. The lower ends of the two flat beams are staggered front and rear from the fixing point of the rear frame 114, and the upper ends are coaxial with the hinge point of the ball head tie rod assembly 131. Specifically, a single-head 90-degree mounting seat 132 is fixed on the rear frame 114, and the fixing point of the flat beam 135 and the rear frame 114 is on the single-head 90-degree mounting seat 132. The lower part of the thrust ball bearing seat 133 is threadedly connected to the bearing seat pad 136, and the upper part is threadedly connected to the rocker beam 134; the rocker beam 134 can rotate slightly around the thrust ball bearing seat 133.

[0046] The two rotating shafts on both sides of the chassis, wherein the front rotating shaft 1121 can realize the relative rotation between the front frame 113 and the rear frame 114, when the front wheel 1111 encounters a slope or an obstacle, the front wheel 1111 can be lifted relative to the rear wheel 1113 and the middle wheel 1112 to adapt to the climbing and obstacle crossing state. When the heights of the left and right sides are inconsistent and the front-to-rear height difference of one side is inconsistent with that of the other side, since the left and right sides of the circuit box 12 are respectively connected to the rear frame 114 through a rear rotating shaft 1122, and a rocker bogie is arranged between the left and right sides and the circuit box 12, at this time, the circuit box 12 not only tilts in the left and right directions, but also the two sides rotate in different directions relative to the rear frame, causing the rear frame to twist, such as Fig.11 shown.

[0047] The DC reduction motor 116 adjusts the speed to achieve differential adjustment between the front wheel 1111, the middle wheel 1112, and the rear wheel 1113. The all-terrain adaptive chassis 1 adapts to the terrain through the adaptation mode and the crawling mode. When crossing an obstacle in an area with uneven terrain, the adaptation mode is switched to the adaptation mode, and the front wheel 1111 and the middle wheel 1112 are accelerated, with a speed higher than the rear wheel 1113, causing the front frame 113 to rotate around the front rotation axis 1121 and lift the front wheel 1111. When crossing the obstacle and entering the flat area, the middle wheel 1112 decelerates, the front frame 113 falls, and the front wheel 1111 lands and quickly speeds up, so that the three wheels move at the same speed and continue to move forward. When the device enters the terrace area, the side wheel group of the device can be switched to the creeping mode or the unilateral creeping mode. The creeping mode is that the side wheel groups on both sides crawl at the same time, and the working mechanism of the unilateral creeping mode is: the rear wheel 1113 of one side of the side wheel group is accelerated rapidly, the rear frame body 114 rotates around the rear rotation axis 1122, and the side wheel group 11 is lifted, so that the front wheel 1111 and the middle wheel 1112 installed on the front frame body 113 on this side are on the terrace. At this time, the rocker arm bogie 13 plays the role of transferring the load, such as Figure 2 , Figure 3 , Fig.11 As shown, the circuit box twists, the center of gravity shifts to the other side, and the load is transferred to the side wheel set 11 on the other side through the rocker bogie 13, which applies pressure to it so that the three wheels of the side wheel set 111 are in close contact with the ground, providing support and effectively preventing the device from tipping over. After the front wheels 1111 and the middle wheels 1112 on one side of the device are on the terrace, the wheel set on the other side crawls with the same mechanism. When the front wheels 1111 and the middle wheels 1112 installed on the front frame 113 on both sides are successfully on the terrace, they are quickly accelerated, driving the rear wheels 1113 on both sides to successfully go up the terrace, and then the device switches to the adaptation mode and completes the terrain adaptation according to the road conditions on the slope.

[0048] The adaptive leveling platform 2 and the replaceable operating mechanism 3, installed on the circuit box 12, can respond quickly to the posture changes of the all-terrain adaptive chassis 1 to complete the leveling of the platform to ensure that the replaceable operating mechanism 3 can operate normally during the movement of the device and effectively prevent the fuselage from rolling over.

[0049] like Figure 7As shown, the adaptive leveling platform 2 is located above the circuit box 12. The adaptive leveling platform 2 adopts a four-corner leveling mechanism to improve the leveling accuracy. The adaptive leveling platform 2 is connected to the circuit box 12 through four electric push rods 21 with encoders. The adaptive leveling platform 2 uses four electric push rods 21 to complete the real-time leveling of the adaptive leveling platform 2. The telescopic range of the electric push rod 21 is 0-30mm, and the PID algorithm is used to form a closed-loop control to accurately adjust the real-time height of the four corners of the adaptive leveling platform 2. One end of the four electric push rods 21 is respectively fixed on the circuit box 12, and the free end is connected to the ball joint 22; the ball joints 22 of two electric push rods 21 located on a diagonal line of the bottom surface of the adaptive leveling platform 2 are fixedly connected to the adaptive leveling platform in a relative position, and the ball joints 22 of two electric push rods 21 located on another diagonal line of the bottom surface of the adaptive leveling platform 2 are slidably mounted on two optical axes 26 fixed on the bottom surface of the adaptive leveling platform through square nuts 24 without internal threads, and the extension directions of the two optical axes 26 are perpendicular to each other.

[0050] The two ball joints 22 fixed relative to the adaptive leveling platform are respectively assembled on a screw rod 25 through a square nut 24 with an internal thread, and the square nut 24 is connected to the screw rod 25 and can be relatively self-locking. The two ends of the screw rod 25 are also respectively assembled in a micro bearing seat 27 fixed on the bottom surface of the adaptive leveling platform 2, and the extension directions of the two screw rods 25 are also perpendicular to each other.

[0051] The structure of the ball joint 22 is as follows: Figure 8 As shown, it is composed of a ball head, a ball joint bearing 23, and a square nut 24, which provides a ball joint connection between the electric push rod and the upper platform to increase the degree of freedom of adjustment. The ball joint 22 is connected to the electric push rod 21 by threads. The ball joint bearing 23 includes a square nut sheet 231, an upper clamping sheet 232, a lower clamping sheet 233, and a copper column 234. It is a "two-layer" structure. The first layer is that the upper clamping sheet 232 and the lower clamping sheet 233 clamp the outer ring 235 of the ball joint 22 and fix it with a copper column. The second layer is that the upper clamping sheet 232 is raised with a copper column and fixedly connected with the square nut sheet 231; the square nut 24 is threadedly connected and fixed to the square nut sheet 231.

[0052] The electric push rod 21 adopts a group leveling method, each group completes the leveling of one axis, and two groups complete the leveling of two axes, that is, complete the leveling of the plane. The self-locking and orthogonal installation methods of the lead screw are used to limit the redundant degrees of freedom, so that the leveling state is uniquely determined. The moving pair composed of the ball joint, the optical axis 26 and the square nut 24 provided by the ball joint 22 ensures that the electric push rod 21 has redundant degrees of freedom in both the horizontal and vertical directions when adjusting the height of the four corners; a group of optical axes 26 that are orthogonally distributed and diagonally installed can limit one horizontal or one vertical degree of freedom, and a group of lead screws 25 that are orthogonally distributed and diagonally installed can limit one horizontal and one vertical degree of freedom due to self-locking; the use of this orthogonal distribution and combined installation form can eliminate redundant degrees of freedom, ensuring that after the four electric push rods 21 complete the leveling of the device, the adaptive leveling platform 2 can achieve self-locking, so that the replaceable operating mechanism 3 can work normally.

[0053] The operating mechanism 3 is detachably mounted above the adaptive leveling platform 2. A slider mounting plate 63 and a lockable slider 62 are installed on the side panels of each replaceable operating mechanism 3, which can slide into the adaptive leveling platform 2 from the guide rails 61 on both sides of the adaptive leveling platform 2 and be locked and connected with the guide rails 61 on the adaptive leveling platform 2. The replaceable operating mechanism 3 can directly slide in or out of the adaptive leveling platform 2 through the guide rails 61, and disassembly is very convenient. The replaceable operating mechanism 3 is installed on the adaptive leveling platform 2 and can be used for some agronomy that requires precision operations in hilly and mountainous areas, such as: fixed-point fertilization, precision irrigation, fixed-point pest and disease removal and other agronomy processes.

[0054] This embodiment only takes a fixed-point pest and disease treatment device as an example, which can realize the precision of plant protection. Fig. 9 , Fig.10The replaceable operating mechanism 3 shown in the figure is a fixed-point pest control device, including a pest detection camera 31, a pesticide spraying device 32, and a pesticide box 33; the pesticide spraying device 32 includes a lifting slide 321, a spraying slide 322, a nozzle angle adjustment bracket 323, a stepper motor 324, a device frame 325, and a synchronous belt 326; the pesticide box 33 includes a pesticide pipeline 331, a pump 332, and a nozzle 333; the device frame 325 includes a guide rail 3251 and a slider 3252. The pest detection camera 31 adopts a pan-tilt structure for image recognition and can detect pests and diseases on crops in a large range; the pesticide box 33 is used to store pesticide liquid, and uses a pump 332 as a power source to transport the pesticide to the pesticide spraying device 32 through a pesticide pipeline 331 and spray it through a nozzle 333; the device frame 325 of the pesticide spraying device 32 is built with aluminum profiles, and guide rails 3251 and sliders 3252 are installed on the aluminum profiles on both sides of the frame to play a lifting and guiding role; the lifting slide 321 is driven by a stepping motor 324, and the up and down movement of the slide is realized by a screw drive; the spraying slide 322 is installed on On the lifting slide 321, driven by a stepper motor 324, the spraying slide 322 on the lifting slide 321 is driven by a synchronous belt 326 to achieve left and right sliding of the spraying slide 322; the nozzle angle adjustment bracket 323 is installed on the spraying slide 322 and driven by two servos, which can finely adjust the direction of pesticide spraying to achieve fixed-point pest and disease treatment of specific crops; the fixed-point pest and disease treatment device first performs image recognition through a camera to detect diseased plants, and the device controls the spraying slide 322 to move to the corresponding position, the nozzle angle adjustment bracket 323 adjusts the nozzle 333 toward the diseased plant, and the pump 332 is turned on to spray pesticides.

[0055] The embodiments are preferred implementations of the present invention, but the present invention is not limited to the above-mentioned implementations. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essential content of the present invention belong to the protection scope of the present invention.

Claims

1. A small, flexible, off-road, multifunctional intelligent platform for agricultural use, characterized in that: It comprises an all-terrain adaptive chassis (1), an adaptive leveling platform (2), and an operating mechanism (3); The all-terrain adaptive chassis (1) comprises two side wheel sets (11) respectively located on the left and right sides of the chassis (1), a circuit box (12) and a rocker bogie (13); The side wheel group (11) comprises a front frame (113), a rear frame (114), a front rotating shaft (1121), a front wheel (1111), a middle wheel (1112), and a rear wheel (1113); the front frame (113) comprises a first horizontal portion and a second horizontal portion with a height difference, and the first horizontal portion and the second horizontal portion are fixedly connected by a first inclined portion; the rear frame (114) comprises a second inclined portion and a third horizontal portion that are fixedly connected, and the second inclined portion of the rear frame (114) is hinged to the front frame (1111) through the front rotating shaft (1121). 13); the front wheel (1111) and the middle wheel (1112) are both mounted on the first horizontal portion and the second horizontal portion of the front frame body (113) through the vertical portion, and the rear wheel (1113) is mounted on the third horizontal portion of the rear frame body (114) through the vertical portion; when the first horizontal portion, the second horizontal portion, and the third horizontal portion are all in a horizontal state, the height of the third horizontal portion is greater than the height of the first horizontal portion and greater than the height of the second horizontal portion, and the front wheel (1111), the middle wheel (1112), and the rear wheel (1113) are all located on the same horizontal plane; Both sides of the circuit box (12) are respectively hinged to the third horizontal portion of the rear frame (114) via a rear rotating shaft (1122); The rocker bogie (13) comprises a ball head tie rod assembly (131), a thrust ball bearing seat (133), a rocker beam (134), and a flat beam (135). The rocker beam (134) is located on the upper side of the circuit box (12) and spans the platform. The middle part is connected to the top of the circuit box (12) through the thrust ball bearing seat (133), and the two ends are respectively connected to a ball head tie rod assembly (131) extending in the front-rear direction relative to the platform; the other ends of the two ball head tie rod assemblies (131) are respectively hinged to the flat beams (135) fixedly mounted on the rear frame (114) of the side wheel group (11) on the left and right sides of the platform; the number of flat beams (135) on both sides of the platform is two, the lower ends of the two flat beams are staggered front-rear with the fixing point of the rear frame (114), and the upper ends are coaxial with the hinge point of the ball head tie rod assembly (131); The adaptive leveling platform (2) is located above the circuit box (12) and is connected to the circuit box (12) via four electric push rods (21), one end of each of the four electric push rods (21) being fixed to the circuit box (12), and the free end of each of the four electric push rods (21) being connected to a ball joint (22); the ball joints (22) of two electric push rods (21) located on a diagonal line of the bottom surface of the adaptive leveling platform (2) are fixedly connected to the adaptive leveling platform at a relative position, and the ball joints (22) of two electric push rods (21) located on another diagonal line of the bottom surface of the adaptive leveling platform (2) are slidably mounted on two optical axes (26) fixed to the bottom surface of the adaptive leveling platform, and the extension directions of the two optical axes (26) are perpendicular to each other; The operating mechanism (3) is detachably mounted above the adaptive leveling platform (2).

2. The small-sized, flexible, off-road, multifunctional intelligent platform for agriculture according to claim 1 is characterized in that: A DC reduction motor (116) is respectively provided at the front wheel (1111), the middle wheel (1112) and the rear wheel (1113) located on both sides for driving.

3. The small-sized, flexible, off-road, multifunctional intelligent platform for agriculture according to claim 2 is characterized in that: A steering gear (115) for adjusting the direction of the wheels is respectively arranged at the vertical parts for connecting the front wheel (1111) and the rear wheel (1113).

4. The small-sized, flexible, off-road, multifunctional intelligent platform for agriculture according to claim 2 or 3, characterized in that: Each of the DC reduction motor (116) and the steering gear (115) has an independent driving circuit board (118) which is fixed near each other. The driving circuit board (118) is connected to a main control board of a circuit box (12) through a wire. The main control board has a built-in PID control program for regulating the operation of the DC reduction motor (116) and the steering gear (115). The circuit box (12) is provided with a main control board (126) and a display screen (127) for human-computer interaction.

5. The small-sized, flexible, off-road, multifunctional intelligent platform for agriculture according to claim 1 is characterized in that: The front frame (113) and the rear frame (114) are provided with a plurality of through holes for routing wires.

6. The small-sized, flexible, off-road, multifunctional intelligent platform for agriculture according to claim 1 is characterized in that: A supporting wheel (1114) is respectively arranged at the front wheel (1111), the middle wheel (1112), and the rear wheel (1113) as a driven wheel.

7. The small-sized, flexible, off-road, multifunctional intelligent platform for agriculture according to claim 1 is characterized in that: The ball joint (22) is fixed to the free end of the electric push rod (21) through a threaded connection.

8. The small-sized, flexible, off-road, multifunctional intelligent platform for agriculture according to claim 1 is characterized in that: The two ends of the optical axis (26) are respectively mounted in a micro bearing seat (27) fixed on the bottom surface of the adaptive leveling platform (2); two ball joints (22) fixed at relative positions to the adaptive leveling platform are respectively mounted on a screw rod (25), and the two ends of the screw rod (25) are also respectively mounted in a micro bearing seat (27) fixed on the bottom surface of the adaptive leveling platform (2), and the extension directions of the two screw rods (25) are also perpendicular to each other.

9. The small-sized, flexible, off-road, multifunctional intelligent platform for agriculture according to claim 1, characterized in that: The operating mechanism (3) is detachably mounted above the adaptive leveling platform (2) through a mechanism changer (6); the mechanism changer (6) comprises guide rails (61) fixed on both sides of the adaptive leveling platform (2), a slider mounting plate (63) and a locking slider (62) fixed on the operating mechanism (3); the slider mounting plate (63) and the locking slider (62) are adapted to the guide rails (61).

10. The small-sized, flexible, off-road, multifunctional intelligent platform for agriculture according to claim 1, characterized in that: The operating mechanism (3) is a fertilizing, irrigation, plant protection, or harvesting machine.

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