Walking farmland mobile platform robot

Abstract

A walking farmland mobile platform robot relates to the field of agricultural machinery, and comprises a load-bearing platform, two longitudinal main motion mechanisms symmetrically arranged about the load-bearing platform, and two transverse auxiliary motion mechanisms; the longitudinal main motion mechanism and the transverse auxiliary motion mechanism are similar in structure, arranged up and down, and their motion directions are perpendicular to each other, and both comprise a load-bearing track, a rolling bearing box, a motor and a motor gear; the load-bearing track cooperates with the rolling bearing box, the motor gear and the rolling bearing box in sequence; the invention drives the movement of the invention by the cooperation between the motor gear and the rack on the load-bearing track; the conversion between the longitudinal main motion and the transverse auxiliary motion is used to imitate a person's striding instead of turning around; the legs and feet are provided to imitate the action of a person raising his knees, so as to clean the crossed leaf surfaces in time, avoid the situation where too many leaf surfaces are pressed tightly and cause excessive resistance during travel, increase the passability, greatly reduce the seedling damage rate, and solve the problem of poor passability in the process of agricultural plant protection.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery, and in particular to a walking farmland mobile platform robot. Background Art

[0002] In recent years, the level of production mechanization has developed rapidly. Although the whole process of mechanized operation has been basically realized, it is currently only a low-quality and low-level mechanization, which simply replaces the heavy labor of human resources, and agricultural mechanization is out of touch with agronomy.

[0003] At present, the more common plant protection machinery is wheeled plant protection machinery. In order to reserve a passage for the plant protection machinery to move, it is necessary to increase the row spacing during sowing, which will reduce the yield of crops. If the reserved passage is narrow during sowing, the leaves will cross during the growth of crops, which will cause resistance to the wheels. If the crossed leaves are not separated from the left and right in time during the movement, the crossed leaves in front of the wheels will be compressed, and the force required to separate them will increase accordingly. The resistance to movement will also increase further, which will eventually cause the plant protection machinery to be unable to move forward. At the same time, it will also cause crushing damage to crops and affect the yield of crops. Therefore, there is a contradiction between the existing wheeled plant protection machinery and crop yield. At the same time, wheeled plant protection machinery can only work on one line at a time. After the work is completed, when you want to move to a nearby area to work, you need to turn the front of the car like a car. This is troublesome to operate and requires a high operating space. Otherwise, you can only turn around in the field and crush crops.

[0004] When farmers walk in crops that are not higher than their knees, they may encounter crops with intertwined leaves, which makes it difficult to pass through. In this case, they only need to lift their knees and separate the intertwined leaves from bottom to top to pass through easily. When people need to reach the edge of a nearby field, they only need to take a few steps to reach it. Therefore, there is a need for an agricultural walking machine that can imitate the movement of human legs, solve the problem of poor passability in agricultural plant protection, separate and turn intertwined crop leaves, and solve the above problem. Summary of the invention

[0005] The purpose of the present invention is to solve the above problems and provide a walking farmland mobile platform robot.

[0006] The technical solution of the present invention is: a walking farm mobile platform robot, comprising a carrying platform, two longitudinal main motion mechanisms and two transverse auxiliary motion mechanisms symmetrically arranged about the carrying platform;

[0007] The longitudinal main motion mechanism and the transverse auxiliary motion mechanism are arranged vertically and their motion directions are perpendicular to each other;

[0008] The longitudinal main motion mechanism comprises two load-bearing rails, two rolling bearing boxes, a motor, and a motor gear;

[0009] The inner middle part of the load-bearing track is provided with a rack, and the two ends are provided with legs and feet;

[0010] The rolling bearing box contains a plurality of rolling bearings and a middle partition; the middle partition separates the four rolling bearings in a group into the left and right sides; the two rolling bearings on the left are coaxial with the two rolling bearings on the right, and the gap between the upper and lower rolling bearings matches the load-bearing track;

[0011] The output end of the motor is downward, and a motor gear is installed so that it is located between the two load-bearing rails;

[0012] The two load-bearing rails first pass through the gap between the two rolling bearings in one rolling bearing box, then mesh the rack with the motor gear in the middle, and then pass through the other rolling bearing box in the same way;

[0013] The structure of the lateral auxiliary motion mechanism is similar to that of the longitudinal main motion mechanism, and also includes two load-bearing rails, two rolling bearing boxes, a motor, and a motor gear. However, auxiliary legs and auxiliary feet are arranged at both ends of the load-bearing rails.

[0014] Preferably, first joint motors are fixed at both ends of the load-bearing track of the longitudinal main motion mechanism; the output end of the first joint motor is connected to the leg, and a second joint motor is fixed at the other end of the leg, and the output end of the second joint motor is connected to the foot.

[0015] Preferably, a first joint motor is fixed at both ends of the load-bearing track of the lateral auxiliary motion mechanism; the output end of the first joint motor is connected to the auxiliary leg, the other end of the auxiliary leg is fixed with a second joint motor, and the output end of the second joint motor is connected to the auxiliary foot.

[0016] Preferably, two "U"-shaped fixing frames are horizontally arranged below the object-carrying platform, namely an upper fixing frame and a lower fixing frame; the four corners of the upper fixing frame and the lower fixing frame are fixed to the object-carrying platform through pillars respectively; two motor fixing plates are arranged in the middle of the two parallel sides of the upper fixing frame, and two motor fixing plates are also arranged in the middle of the two parallel sides of the lower fixing frame, and the sides occupied by the motor fixing plates arranged on the upper fixing frame and the lower fixing frame are perpendicular to each other.

[0017] Preferably, the longitudinal main motion mechanism is fixed between the upper fixed frame and the lower fixed frame, and its motor is fixed on the motor fixing plate of the upper fixed frame; the transverse auxiliary motion mechanism is fixed under the lower fixed frame, and its motor is fixed on the motor fixing plate of the lower fixed frame.

[0018] Preferably, when the legs and feet are stretched out to directly touch the ground, the auxiliary legs and auxiliary feet can also be stretched out to directly touch the ground.

[0019] Preferably, the motors of the symmetrically arranged longitudinal main motion mechanism have the same speed, opposite directions, and are opened and closed at the same time; the motors of the symmetrically arranged transverse auxiliary motion mechanism have the same speed, opposite directions, and are opened and closed at the same time.

[0020] Preferably, the rack occupies at most 1 / 3 of the total length of the load-bearing track.

[0021] The technical effects of the present invention are:

[0022] 1. The walking farmland mobile platform robot of the present invention is provided with gear racks, so that only one driving motor is needed to control the two load-bearing tracks on a longitudinal main motion mechanism to move in opposite directions synchronously, and the legs and feet on the load-bearing tracks can also move in opposite directions synchronously accordingly; and the flexion and extension of the legs and feet caused by the cooperation between the first joint motor and the second joint motor make two of the four feet always contact the ground, and the feet contacting the ground are replaced alternately; when the two motors rotate synchronously in opposite directions, four of the two longitudinal main motion mechanisms always contact the ground, and are replaced alternately, thereby forming the actual effect of longitudinal and transverse movement of the present invention;

[0023] 2. The walking farmland mobile platform robot of the present invention, by setting legs and feet, imitates the action of raising the knees of people, so as to clean the crossed leaves in time, avoid the situation that too many leaves are pressed tightly and cause too much resistance during travel, and solve the problem of poor passability in the process of agricultural plant protection;

[0024] 3. The walking farmland mobile platform robot of the present invention simulates the action of a person straddling across the field by setting a lateral auxiliary motion mechanism, thereby replacing the action of turning the vehicle around; the transmission direction of the lateral auxiliary motion mechanism is perpendicular to the transmission direction of the longitudinal main motion mechanism, and the structure is similar. When the auxiliary foot is extended, the height difference between it and the extended foot is not much, and the longitudinal movement can be converted into lateral movement more smoothly.

[0025] The present invention drives the movement of the present invention by cooperating with the motor gear and the rack on the load-bearing track; imitates a person's striding instead of turning around by converting the longitudinal main movement and the lateral auxiliary movement; and imitates the action of a person raising his knees by arranging legs and feet, so as to clean the crossed leaf surfaces in time, avoid the situation where too many leaves are pressed tightly and cause excessive resistance during travel, increase the passability, greatly reduce the seedling damage rate, and solve the problem of poor passability in the process of agricultural plant protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the three-dimensional structure of the walking-type farmland mobile platform of the present invention during the longitudinal main movement;

[0027] Figure 2 yes Figure 1 A partial cross-sectional top view of

[0028] Figure 3 yes Figure 2 AA section view;

[0029] Figure 4 It is a three-dimensional structural schematic diagram of the longitudinal main motion mechanism of the present invention;

[0030] Figure 5 yes Figure 4 A partial sectional front view of

[0031] Figure 6 yes Figure 5 BB cross-sectional view;

[0032] Figure 7 yes Figure 5 CC cross-section diagram;

[0033] Figure 8 It is a partial cross-sectional top view of the longitudinal main motion mechanism of the present invention in the initial state;

[0034] Fig. 9 This is one of the three-dimensional structural schematic diagrams of the walking-type farmland mobile platform of the present invention when turning;

[0035] Fig.10 This is the second schematic diagram of the three-dimensional structure of the walking-type farmland mobile platform of the present invention when turning;

[0036] Fig.11 This is the third schematic diagram of the three-dimensional structure of the walking-type farmland mobile platform of the present invention when turning;

[0037] 1. Loading platform, 11. Upper fixing frame, 12. Lower fixing frame, 13. Pillar, 14. Motor fixing plate,

[0038] 2. Longitudinal main motion mechanism, 21. Load-bearing track, 211. Rack, 212. First joint motor, 213. Leg, 214. Second joint motor, 215. Foot, 22. Rolling bearing box, 221. Middle partition, 222. Rolling bearing, 23. Motor, 24. Motor gear, 3. Horizontal auxiliary motion mechanism, 31. Auxiliary leg, 32. Auxiliary foot. DETAILED DESCRIPTION

[0039] Example 1: See Figure 1-11 , as shown in the figure, the walking farmland mobile platform robot includes a load-bearing platform, two longitudinal main motion mechanisms symmetrically arranged about the load-bearing platform, and two lateral auxiliary motion mechanisms;

[0040] The longitudinal main motion mechanism and the transverse auxiliary motion mechanism are arranged vertically and perpendicularly to each other in their motion directions; the longitudinal main motion mechanism is aimed at the motion in the main motion direction of the present invention during normal operation; the transverse auxiliary motion mechanism is aimed at the motion required when the present invention needs to cross;

[0041] The longitudinal main motion mechanism comprises two load-bearing rails, two rolling bearing boxes, a motor, and a motor gear;

[0042] The inner middle part of the load-bearing track is provided with a rack, and the two ends are provided with legs and feet;

[0043] The rolling bearing box contains an array of rolling bearings and a middle partition; the middle partition separates the four rolling bearings in a group into the left and right sides; the two rolling bearings on the left are coaxial with the two rolling bearings on the right, and the gap between the upper and lower rolling bearings matches the load-bearing track; the load-bearing track transmits the supporting force from the ground to the upper rolling bearings through cooperation with the rolling bearing box, and then transmits it to the rolling bearing box and the entire object-bearing platform, while the lower rolling bearing only limits the position of the load-bearing track to ensure the stability of the operation of the entire mechanism;

[0044] The output end of the motor is downward, and a motor gear is installed so that it is located between the two load-bearing rails;

[0045] The two load-bearing rails first pass through the gap between the two rolling bearings in one rolling bearing box, then mesh the rack with the motor gear in the middle, and then pass through the other rolling bearing box in the same way; the rack and the motor gear provide power for the longitudinal main movement, while the rolling bearing box limits the movement direction to the longitudinal direction;

[0046] The structure of the lateral auxiliary motion mechanism is similar to that of the longitudinal main motion mechanism, and also includes two load-bearing rails, two rolling bearing boxes, a motor, and a motor gear. However, auxiliary legs and auxiliary feet are arranged at both ends of the load-bearing rails.

[0047] The first joint motor is fixed at both ends of the load-bearing track of the longitudinal main motion mechanism; the output end of the first joint motor is connected to the leg, the other end of the leg is fixed with the second joint motor, and the output end of the second joint motor is connected to the foot. The leg and foot can be rotated by the first joint motor and the second joint motor, resulting in two states of flexion and extension of the leg and foot.

[0048] The first joint motor is fixed at both ends of the load-bearing track of the lateral auxiliary motion mechanism; the output end of the first joint motor is connected to the auxiliary leg, the other end of the auxiliary leg is fixed with a second joint motor, and the output end of the second joint motor is connected to the auxiliary foot. The auxiliary leg and the auxiliary foot can be rotated by the first joint motor and the second joint motor, resulting in two states of flexion and extension of the leg and foot.

[0049] Two "U"-shaped fixing frames are horizontally arranged below the object-carrying platform, namely an upper fixing frame and a lower fixing frame; the four corners of the upper fixing frame and the lower fixing frame are fixed to the object-carrying platform through pillars respectively; two motor fixing plates are arranged in the middle of the two parallel sides of the upper fixing frame, and two motor fixing plates are also arranged in the middle of the two parallel sides of the lower fixing frame, and the sides occupied by the motor fixing plates arranged on the upper fixing frame and the lower fixing frame are perpendicular to each other; the motor fixing plates are used to fix the motors of the longitudinal main motion mechanism and the transverse auxiliary motion mechanism. Since their motion directions are perpendicular to each other, this factor should also be taken into consideration when setting the motor position.

[0050] The longitudinal main motion mechanism is fixed between the upper fixing frame and the lower fixing frame, and its motor is fixed on the motor fixing plate of the upper fixing frame; the transverse auxiliary motion mechanism is fixed under the lower fixing frame, and its motor is fixed on the motor fixing plate of the lower fixing frame.

[0051] When the legs and feet are stretched out to directly touch the ground, the auxiliary legs and auxiliary feet can also be stretched out to directly touch the ground, so as to ensure the overall stability when the longitudinal and lateral movement directions are switched.

[0052] The motors of the symmetrically arranged longitudinal main motion mechanism have the same speed, opposite directions, and are opened and closed at the same time to ensure that the load-bearing rails can run stably and synchronously; the motors of the symmetrically arranged transverse auxiliary motion mechanism have the same speed, opposite directions, and are opened and closed at the same time to ensure that the load-bearing rails can run stably and synchronously.

[0053] The rack occupies at most 1 / 3 of the total length of the load-bearing track.

[0054] Longitudinal main motion: reference Figure 8 As shown, when the present invention is in the initial state, the load-bearing track of the longitudinal main motion mechanism is longitudinally flush, the legs and feet are perpendicular to the load-bearing track and downward, and the feet are in contact with the ground; the outer legs and feet are slowly raised, and the inner legs and feet remain in their original state; after the legs and feet are retracted, the motors of the two longitudinal main motion mechanisms are started at the same time, driving the motor gears to rotate, and the inner and outer racks move synchronously in the opposite direction, the left motor rotates clockwise, and the right motor rotates counterclockwise, and the object-bearing platform moves forward together with the outer load-bearing track, and the stroke of the object-bearing platform is half of the stroke of the load-bearing track. When the stroke limit of the rack is reached, the motor stops, the outer legs and feet are unfolded, and after the outer feet touch the ground, the inner legs and feet are slowly retracted; the motors of the two longitudinal main motion mechanisms are started in the opposite direction at the same time, that is, the left motor rotates counterclockwise, and the right motor rotates clockwise, and the object-bearing platform moves forward together with the inner load-bearing track until the stroke limit of the rack is reached, the motor stops, the inner legs and feet are unfolded, and after the inner feet touch the ground, the outer legs and feet are slowly retracted. Repeat this process over and over again to achieve the main longitudinal movement.

[0055] Lateral auxiliary movement: Since the lateral auxiliary movement mechanism is similar to the longitudinal main movement mechanism in structure, its movement process is also the same. The difference is that the direction of the lateral auxiliary movement is lateral; the auxiliary leg and auxiliary foot replace the leg and foot to flex and extend; the auxiliary foot contacts the ground instead of the auxiliary foot.

[0056] Turn: Reference Figure 9-11 As described above, when the present invention needs to turn, the longitudinal main motion mechanism needs to be in the original state, that is, the load-bearing track of the longitudinal main motion mechanism is aligned longitudinally, the legs and feet are perpendicular to the load-bearing track and downward, and the feet are in contact with the ground. For the lateral auxiliary motion mechanism, the auxiliary legs and auxiliary feet are retracted, and the load-bearing track of the lateral auxiliary motion mechanism is aligned horizontally. The auxiliary legs and auxiliary feet of the lateral auxiliary motion mechanism are extended until the auxiliary legs and auxiliary feet are perpendicular to the load-bearing track and downward, and the auxiliary feet are closest to the ground. Then the legs and feet of the longitudinal main motion mechanism are slowly retracted. In this process, the auxiliary feet will stand firm on the ground instead of the feet. When the legs and feet are retracted, a lateral auxiliary movement is performed to achieve the lateral displacement of the entire walking farmland mobile platform until it reaches the designated location. When the walking farmland mobile platform is displaced to a suitable position, the lateral auxiliary motion mechanism automatically adjusts to the initial state, that is, the load-bearing track of the lateral auxiliary motion mechanism is aligned longitudinally, the auxiliary legs and auxiliary feet are perpendicular to the load-bearing track and downward, and the auxiliary feet are in contact with the ground. The legs and feet of the longitudinal main motion mechanism are slowly extended until the legs and feet are perpendicular to the load-bearing track and downward, and the feet replace the auxiliary feet in contact with the ground. Afterwards, the auxiliary legs and the auxiliary feet are slowly retracted. The present invention has entered the designated position and is ready for the longitudinal main movement.

Claims

1. A walking farmland mobile platform robot, comprising a load-bearing platform, two longitudinal main motion mechanisms and two transverse auxiliary motion mechanisms symmetrically arranged about the load-bearing platform; Features: The longitudinal main motion mechanism and the transverse auxiliary motion mechanism are arranged vertically and their motion directions are perpendicular to each other. The longitudinal main motion mechanism comprises two load-bearing rails, two rolling bearing boxes, a motor, and a motor gear; The inner middle part of the load-bearing track is provided with a rack, and the two ends are provided with legs and feet; the rack occupies at most 1 / 3 of the total length of the load-bearing track; The rolling bearing box contains a plurality of rolling bearings and a middle partition; the middle partition separates the four rolling bearings in a group into the left and right sides; the two rolling bearings on the left are coaxial with the two rolling bearings on the right, and the gap between the upper and lower rolling bearings matches the load-bearing track; The output end of the motor is downward, and a motor gear is installed so that it is located between the two load-bearing rails; The two load-bearing rails first pass through the gap between the two rolling bearings in one rolling bearing box, then mesh the rack with the motor gear in the middle, and then pass through the other rolling bearing box in the same way; The lateral auxiliary motion mechanism comprises two load-bearing rails, two rolling bearing boxes, a motor, and a motor gear, and auxiliary legs and auxiliary feet are arranged at both ends of the load-bearing rails; The first joint motors are fixed at both ends of the load-bearing track of the longitudinal main motion mechanism; the output end of the first joint motor is connected to the leg, the other end of the leg is fixed with a second joint motor, and the output end of the second joint motor is connected to the foot; The two ends of the load-bearing track of the lateral auxiliary motion mechanism are fixed with first joint motors; the output end of the first joint motor is connected to the auxiliary leg, the other end of the auxiliary leg is fixed with a second joint motor, and the output end of the second joint motor is connected to the auxiliary foot.

2. The walking farmland mobile platform robot according to claim 1, characterized in that: Two "U"-shaped fixing frames are horizontally arranged below the object-carrying platform, namely an upper fixing frame and a lower fixing frame; the four corners of the upper fixing frame and the lower fixing frame are fixed to the object-carrying platform through pillars respectively; two motor fixing plates are arranged in the middle of the two parallel sides of the upper fixing frame, and two motor fixing plates are also arranged in the middle of the two parallel sides of the lower fixing frame, and the sides occupied by the motor fixing plates arranged on the upper fixing frame and the lower fixing frame are perpendicular to each other.

3. The walking farmland mobile platform robot according to claim 2, characterized in that: The longitudinal main motion mechanism is fixed between the upper fixing frame and the lower fixing frame, and its motor is fixed on the motor fixing plate of the upper fixing frame; the transverse auxiliary motion mechanism is fixed under the lower fixing frame, and its motor is fixed on the motor fixing plate of the lower fixing frame.

4. The walking farmland mobile platform robot according to claim 1, characterized in that: When the legs and feet are stretched out to directly touch the ground, the auxiliary legs and auxiliary feet can also be stretched out to directly touch the ground.

5. The walking farmland mobile platform robot according to claim 1, characterized in that: The motors of the symmetrically arranged longitudinal main motion mechanism have the same speed, opposite directions, and are opened and closed at the same time; the motors of the symmetrically arranged transverse auxiliary motion mechanism have the same speed, opposite directions, and are opened and closed at the same time.

Images