An automatic obstacle avoidance walking mechanism

Abstract

An automatic obstacle avoidance walking mechanism for automatic obstacle avoidance walking of a lifting platform vehicle, comprising a vehicle body mounting frame, an adjusting assembly, a detection assembly, an obstacle avoidance assembly and a control unit, the adjusting assembly is arranged on the vehicle body mounting frame, the detection assembly is arranged at the outer end of the adjusting assembly, the obstacle avoidance assembly is hingedly connected to the detection assembly, the obstacle avoidance assembly rotates forward and backward around the detection assembly, the vehicle body mounting frame is used in cooperation with the lifting platform vehicle, the control unit is arranged on the lifting platform vehicle, the control unit is connected with the lifting platform vehicle and the detection assembly through a circuit, the obstacle avoidance assembly rotates backward to touch the detection assembly when encountering an obstacle, the detection assembly detects a signal and transmits it to the control unit, and the control unit controls the turning of the lifting platform vehicle, which solves the technical problems that the existing obstacle avoidance device has defects in structure and use method, thereby leading to poor obstacle avoidance effect, limited obstacle avoidance range, low work efficiency and high manufacturing and maintenance cost, and can be widely applied in the field of agricultural machinery technology.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery, and particularly relates to an automatic obstacle-avoiding walking mechanism. BACKGROUND

[0002] During the operation process of a farm or an orchard, a lifting platform vehicle is often needed. In order to avoid damaging crops or fruit trees, the lifting platform vehicle needs to change or turn directions to avoid obstacles during the process of advancing, which results in extremely inconvenient operation of the lifting platform vehicle and low operation efficiency. In order to improve the present situation, an obstacle-avoiding device is usually added to the lifting platform vehicle.

[0003] The obstacle-avoiding device mentioned in the prior art usually adopts ultrasonic waves, laser radars or infrared rays to detect obstacles. When the lifting platform vehicle approaches the obstacles, the obstacle-avoiding device makes an action of avoiding or bypassing in advance according to the detection result, so as to avoid collision with the obstacles. However, the measurement result of the ultrasonic waves, the laser radars or the infrared rays is sometimes inaccurate, and tall weeds are easily misjudged as obstacles. Secondly, the detection range of the ultrasonic waves, the laser radars or the infrared rays is limited, and low obstacles cannot be detected, so the obstacle-avoiding device cannot adapt to complex operation environments. In addition, the ultrasonic waves, the laser radars or the infrared rays take a long time to detect obstacles and plan routes, which affects the obstacle-avoiding efficiency and the working efficiency of the lifting platform vehicle. Moreover, the cost of the ultrasonic wave detector, the laser radar detector or the infrared ray detector is high, which results in high manufacturing and maintenance costs of the obstacle-avoiding device. Based on the above situation, the present application provides an automatic obstacle-avoiding walking mechanism which has high automation degree, high operation efficiency, adjustable obstacle-avoiding range, effectively and accurately realizes automatic obstacle avoidance and automatic turning, has low manufacturing and maintenance costs and is strongly dependent. SUMMARY

[0004] The present application aims to provide an automatic obstacle-avoiding walking mechanism, and aims to solve the technical problems that the existing obstacle-avoiding device has defects in structure and use method, so as to result in poor obstacle-avoiding effect, limited obstacle-avoiding range, low working efficiency and high manufacturing and maintenance costs.

[0005] The embodiment of the application provides an automatic obstacle avoidance walking mechanism for automatic obstacle avoidance walking of a lifting platform vehicle, which comprises a vehicle body mounting frame, an adjusting assembly, a detecting assembly, an obstacle avoidance assembly and a control unit, the adjusting assembly is arranged on the vehicle body mounting frame, the detecting assembly is arranged at the outer end of the adjusting assembly, the obstacle avoidance assembly is hingedly connected to the detecting assembly, the obstacle avoidance assembly rotates forward and backward around the detecting assembly, the vehicle body mounting frame is used in cooperation with the lifting platform vehicle, the control unit is arranged on the lifting platform vehicle, the control unit is connected with the lifting platform vehicle and the detecting assembly through lines, the obstacle avoidance assembly rotates backward to touch the detecting assembly when encountering an obstacle, the detecting assembly detects a signal and transmits the signal to the control unit, and the control unit controls the lifting platform vehicle to turn.

[0006] In one embodiment, the adjusting assembly is provided with a front and rear adjusting rod, the front and rear adjusting rod is slidably connected to the vehicle body mounting frame, the front and rear adjusting rod is in L shape, the other end of the front and rear adjusting rod is slidably connected with a left and right adjusting rod, the left and right adjusting rod is provided with a vertical rod, the vertical rod is slidably connected with an up and down adjusting rod, the up and down adjusting rod is provided with a horizontal rod, the horizontal rod is slidably connected with a telescopic rod, one side of the horizontal rod is provided with a hydraulic oil cylinder, the hydraulic oil cylinder is provided with a cylinder piston rod, the other end of the cylinder piston rod is connected with the telescopic rod, the hydraulic oil cylinder is connected with a solenoid valve, the control unit is provided with a lowering switch and a folding switch, the lowering switch and the folding switch are respectively connected with the solenoid valve through lines, and the lowering switch and the folding switch drive the cylinder piston rod to stretch and retract through the solenoid valve, so as to drive the telescopic rod to move left and right.

[0007] In one embodiment, the vehicle body mounting frame is provided with a jackscrew I, the other end of the jackscrew I is in contact with the front and rear adjusting rod; the left and right adjusting rod is provided with a jackscrew II, the other end of the jackscrew II is in contact with the front and rear adjusting rod; the vertical rod is provided with a jackscrew III, the other end of the jackscrew III is in contact with the up and down adjusting rod; the horizontal rod is provided with a jackscrew IV, the other end of the jackscrew IV is in contact with the telescopic rod.

[0008] In one of the embodiments, the detection assembly is provided with a lowering detection plate and a sensor I, the outer end of the telescopic rod is hinged with a rotating support, the rotating support rotates up and down around the telescopic rod, the lowering detection plate is arranged on the rotating support close to one end of the telescopic rod, the bottom of the telescopic rod is provided with the sensor I, the control unit is provided with an obstacle avoidance indicator light and a walking control valve, the obstacle avoidance indicator light is connected with the sensor I through a circuit, the walking control valve is connected with the lifting platform vehicle through a circuit, when the rotating support rotates downward around the telescopic rod to the point that the lowering detection plate contacts the sensor I, the obstacle avoidance indicator light is lit, and the walking control valve is actuated to control the lifting platform vehicle to move forward.

[0009] In one of the embodiments, the obstacle avoidance assembly is provided with a hinge shaft, one end of the rotating support away from the telescopic rod is provided with the hinge shaft, the hinge shaft is sequentially sleeved with a fixed tube, a rotating tube, a compression spring and a limiting nut from bottom to top, the hinge shaft is fixedly connected with the rotating support through the fixed tube, the rotating tube is rotatably connected with the hinge shaft, the fixed tube and the rotating tube contact each other, and the contacting surfaces are both inclined surfaces, and the rotating tube rotates forward and backward around the hinge shaft while sliding up and down along the inclined surface of the fixed tube.

[0010] In one of the embodiments, the obstacle avoidance assembly is further provided with an obstacle avoidance sleeve and an obstacle avoidance rod, the obstacle avoidance sleeve is arranged on the rotating tube, the obstacle avoidance rod is slidably connected in the obstacle avoidance sleeve, the obstacle avoidance sleeve is provided with a jackscrew V, and the other end of the jackscrew V contacts the obstacle avoidance rod.

[0011] In one of the embodiments, the detection assembly is further provided with an obstacle avoidance detection plate and a sensor II, the obstacle avoidance detection plate is arranged on the rotating tube, the sensor II is arranged on the rotating support, the sensor II is connected with the control unit through a circuit, when the obstacle avoidance rod encounters an obstacle, the rotating tube is driven to rotate backward until the obstacle avoidance detection plate touches the sensor II, the sensor II detects a signal and transmits the signal to the control unit, and the control unit controls the lifting platform vehicle to turn.

[0012] In one of the embodiments, one end of the cross rod close to the rotating support is provided with a limiting adjustment rod, the outer end of the limiting adjustment rod is rotatably connected with a roller, one end of the rotating support close to the telescopic rod is provided with a limiting plate, and the limiting plate is used in cooperation with the roller.

[0013] In one of the embodiments, a sensor protection plate is arranged on the outer side of the sensor II on the rotating support, the sensor protection plate is L-shaped, the outer end of the telescopic rod is further provided with a buffer block, and the sensor protection plate is used in cooperation with the buffer block.

[0014] In one embodiment, the control unit is further provided with an automatic driving switch, which is connected to the lifting platform vehicle via a circuit; the vehicle body mounting frame is provided with a fixing plate, which has fixing holes that cooperate with the lifting platform vehicle.

[0015] This invention provides an automatic obstacle avoidance walking mechanism, the advantages of which are as follows: By setting a limit plate and rollers on the limit adjustment rod to work together, when the release switch drives the cylinder piston rod through the solenoid valve to extend the telescopic rod outward, the limit plate moves away from the obstruction of the rollers, causing the rotating bracket and obstacle avoidance component to rotate downward around the telescopic rod under the influence of their own gravity, thus realizing the automatic lowering of the obstacle avoidance component; by setting a sensor I to work together with the lowering detection plate, when the lowering detection plate contacts the sensor I, the obstacle avoidance indicator light illuminates, and the walking control valve is activated to control the lifting platform vehicle to move forward and start operation; by setting a hinged obstacle avoidance component, when encountering an obstacle, the obstacle avoidance component rotates backward to achieve automatic obstacle avoidance, while simultaneously compressing the compression spring, and automatically resetting by the spring force after passing the obstacle; through The obstacle avoidance detection plate works in conjunction with sensor II to transmit obstacle avoidance signals to the control unit. The control unit then controls the lifting platform vehicle to steer and overcome obstacles. A limit plate works in conjunction with rollers; when the folding switch drives the telescopic rod to retract inward via a solenoid valve, the limit plate is obstructed by the rollers, causing the rotating bracket and obstacle avoidance assembly to rotate upward around the telescopic rod, thus achieving automatic folding of the obstacle avoidance assembly. An adjustment component allows for adjustment of the extension length, extension width, and height of the obstacle avoidance assembly, adapting to different working environments. This invention features a simple structure, low manufacturing and maintenance costs, easy operation, high automation, and strong compatibility. It can be matched with various machines for joint operation, effectively and accurately achieving automatic obstacle avoidance and automatic steering, greatly improving work efficiency and benefiting the development of farm or garden automation. Attached Figure Description

[0016] Figure 1 A schematic diagram of the lowered state of an automatic obstacle avoidance walking mechanism provided in an embodiment of this application;

[0017] Figure 2 for Figure 1 This is a schematic diagram of the automatic obstacle avoidance walking mechanism in its lowered state from another angle.

[0018] Figure 3 for Figure 1 The diagram shows the folded state of an automatic obstacle avoidance walking mechanism.

[0019] Figure 4 for Figure 3 The diagram shows a folded structure of an automatic obstacle avoidance walking mechanism from another angle.

[0020] Figure 5 for Figure 1 Figure 1 is a structural schematic diagram of an adjusting assembly of an automatic obstacle-avoiding walking mechanism according to an embodiment of the present application;

[0021] Figure 6 for Figure 1 Figure 2 is a structural schematic diagram of the adjusting assembly of the automatic obstacle-avoiding walking mechanism according to the embodiment of the present application from another angle;

[0022] Figure 7 for Figure 1 Figure 3 is a structural schematic diagram of a detection assembly of the automatic obstacle-avoiding walking mechanism according to the embodiment of the present application in a down state;

[0023] Figure 8 for Figure 1 Figure 4 is a structural schematic diagram of the detection assembly of the automatic obstacle-avoiding walking mechanism according to the embodiment of the present application in a folded state (1);

[0024] Figure 9 for Figure 1 Figure 5 is a structural schematic diagram of the detection assembly of the automatic obstacle-avoiding walking mechanism according to the embodiment of the present application in a folded state (2);

[0025] Figure 10 for Figure 1 Figure 6 is a structural schematic diagram of a limiting plate of the automatic obstacle-avoiding walking mechanism according to the embodiment of the present application;

[0026] Figure 11 for Figure 1 Figure 7 is a structural schematic diagram of the limiting plate of the automatic obstacle-avoiding walking mechanism according to the embodiment of the present application in an extended state;

[0027] Figure 12 for Figure 1 Figure 8 is a structural schematic diagram of the limiting plate of the automatic obstacle-avoiding walking mechanism according to the embodiment of the present application in a folded state;

[0028] Figure 13 for Figure 1 Figure 9 is a structural schematic diagram of an obstacle-avoiding assembly of the automatic obstacle-avoiding walking mechanism according to the embodiment of the present application in an extended state;

[0029] Figure 14 for Figure 1 Figure 10 is a structural schematic diagram of the obstacle-avoiding assembly of the automatic obstacle-avoiding walking mechanism according to the embodiment of the present application in a folded state.

[0030] Explanation of symbols in the figure:

[0031] 1. Vehicle body mounting frame; 101. Fixed plate; 102. Fixed hole;

[0032] 2. Adjusting assembly; 201. Fore-aft adjusting rod; 202. Port-starboard adjusting rod; 203. Vertical rod; 204. Up-down adjusting rod; 205. Cross rod; 206. Telescopic rod; 207. Hydraulic cylinder; 208. Cylinder piston rod; 209. Jack screw I; 210. Jack screw II; 211. Jack screw III; 212. Jack screw IV;

[0033] 3. Detecting assembly; 301. Rotating bracket; 302. Lowering detecting plate; 303. Sensor I; 304. Obstacle-avoiding detecting plate; 305. Sensor II; 306. Limit adjusting rod; 307. Roller; 308. Limit plate; 309. Flat plate; 310. Inclined plate; 311. Sensor protection plate; 312. Buffer block;

[0034] 4. Obstacle-avoiding assembly; 401. Hinge shaft; 402. Fixed tube; 403. Rotating tube; 404. Compression spring; 405. Limit nut; 406. Obstacle-avoiding sleeve; 407. Obstacle-avoiding rod; 408. Jack screw V. DETAILED DESCRIPTION

[0035] In order to make the technical problems, technical solutions and beneficial effects of the present application more clearly understood, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0036] It should be noted that the terms "upper", "lower", "inner", "outer", "left", "right", "top", "bottom", "high", "low", etc. indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and should not be understood as indicating or implying that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present application.

[0037] Please refer to Figure 1 A structure diagram of a lowering state of an automatic obstacle-avoiding walking mechanism provided in an embodiment of the present application is shown in the figure. For the convenience of description, only the parts related to the present embodiment are shown, and the details are described as follows:

[0038] In one of the embodiments, please refer to Figure 2The application discloses an automatic obstacle-avoiding walking mechanism which is installed on a lifting platform vehicle and comprises a vehicle body mounting frame 1, an adjusting assembly 2, a detecting assembly 3, an obstacle-avoiding assembly 4 and a control unit. The adjusting assembly 2 is arranged on the vehicle body mounting frame 1, the detecting assembly 3 is arranged at one end of the adjusting assembly 2, the obstacle-avoiding assembly 4 is hingedly connected to the detecting assembly 3, the obstacle-avoiding assembly 4 rotates forward and backward around the detecting assembly 3, the vehicle body mounting frame 1 is used in cooperation with the lifting platform vehicle, the control unit is arranged on the lifting platform vehicle, the control unit is connected with the lifting platform vehicle and the detecting assembly 3 through lines, when an obstacle is encountered, the obstacle-avoiding assembly 4 is hindered by the obstacle and rotates backward around the detecting assembly 3, automatic obstacle avoidance is realized, at this time, the obstacle-avoiding assembly 4 touches the detecting assembly 3, the detecting assembly 3 detects a signal and transmits the signal to the control unit, the control unit controls the lifting platform vehicle to turn and continue working after avoiding the obstacle.

[0039] Specifically, please combine Figure 5 and Figure 6 , an automatic driving switch is arranged on the control unit and connected with the lifting platform vehicle through lines, during working, the automatic driving switch is rotated, the lifting platform vehicle is converted into an automatic driving mode, after working, the automatic driving switch is reversely rotated, the lifting platform vehicle is closed in the automatic driving mode; a fixing plate 101 is arranged on the vehicle body mounting frame 1, fixing holes 102 are arranged on the fixing plate 101, the fixing holes 102 are used in cooperation with the lifting platform vehicle, the automatic obstacle-avoiding walking mechanism is conveniently installed on the lifting platform vehicle, in the embodiment, the automatic obstacle-avoiding walking mechanism is installed at the right front of the lifting platform vehicle.

[0040] The adjusting assembly 2 is provided with a front and rear adjusting rod 201, a left and right adjusting rod 202, a vertical rod 203, an up and down adjusting rod 204, a horizontal rod 205, an extension rod 206, a hydraulic oil cylinder 207 and an oil cylinder piston rod 208. The front and rear adjusting rod 201 is arranged on the vehicle body mounting frame 1 and is in sliding connection with the vehicle body mounting frame 1. The front and rear adjusting rod 201 is horizontally arranged and is in L shape. The other end of the front and rear adjusting rod 201 is in sliding connection with the left and right adjusting rod 202. The left and right adjusting rod 202 is horizontally arranged. The vertical rod 203 is arranged on the left and right adjusting rod 202 and is vertically arranged. The up and down adjusting rod 204 is arranged in the vertical rod 203 and is in sliding connection with the vertical rod 203. The up and down adjusting rod 204 is vertically arranged. The horizontal rod 205 is arranged on the up and down adjusting rod 204 and is horizontally arranged. The extension rod 206 is arranged in the horizontal rod 205 and is in sliding connection with the horizontal rod 205. The hydraulic oil cylinder 207 is arranged on one side of the horizontal rod 205 and is parallel to the extension rod 206. The oil cylinder piston rod 208 is arranged in the hydraulic oil cylinder 207 and is connected with the extension rod 206. The hydraulic oil cylinder 207 is connected with an electromagnetic valve. The control unit is provided with a lowering switch and a folding switch. The lowering switch and the folding switch are respectively connected with the electromagnetic valve through lines. Before operation, the lowering switch is pressed to drive the oil cylinder piston rod 208 to extend through the electromagnetic valve, so as to drive the extension rod 206 to extend outward along the horizontal direction. After operation, the folding switch is pressed to drive the oil cylinder piston rod 208 to retract through the electromagnetic valve, so as to drive the extension rod 206 to retract inward along the horizontal direction until the oil cylinder piston rod 208 retracts into the hydraulic oil cylinder 207.

[0041] Adjustment assembly 2 also includes set screws I 209, II 210, III 211, and IV 212. Set screw I 209 is mounted on the vehicle body mounting bracket 1, with its other end contacting the front and rear adjusting rods 201. Set screw II 210 is mounted on the left and right adjusting rods 202, with its other end contacting the front and rear adjusting rods 201. Set screw III 211 is mounted on the vertical rod 203, with its other end contacting the upper and lower adjusting rods 204. Set screws I 209, II 210, and III 211 serve a fixing function; by turning set screws I 209, II 210, and III 211, the adjustment mechanism is adjusted accordingly. Adjusting the front and rear adjusting rods 201, left and right adjusting rods 202, and up and down adjusting rods 204 allows for adjustment of the extension length, extension width, and height of the obstacle avoidance component 4, adapting to different working environments. A set screw IV 212 is installed on the crossbar 205, with the other end of the set screw IV 212 contacting the telescopic rod 206. When the piston rod 208 of the hydraulic cylinder extends and retracts, causing the telescopic rod 206 to move horizontally left and right inside the crossbar 205, the set screw IV 212 is turned to prevent unnecessary swaying of the telescopic rod 206 in the front and rear directions. At this time, the set screw IV 212 will not affect the left and right movement of the telescopic rod 206 inside the crossbar 205.

[0042] Please see Figure 7 ,for Figure 1 The diagram shown is a schematic of an automatic obstacle avoidance walking mechanism with its detection component in a lowered state. For ease of explanation, only the parts relevant to this embodiment are shown, and are described in detail below:

[0043] In one embodiment, please refer to Figure 3 , Figure 4 ,and Figure 10 The detection component 3 is equipped with a rotating bracket 301, a limit adjustment rod 306, a roller 307, and a limit plate 308. The rotating bracket 301 is located at the outer end of the telescopic rod 206 and is hinged to the telescopic rod 206. The rotating bracket 301 rotates up and down around the telescopic rod 206 to realize the lowering and folding of the obstacle avoidance component 4. A limit adjustment rod 306 is provided on the end of the crossbar 205 near the rotating bracket 301. The limit adjustment rod 306 is threadedly connected to the rotating bracket 301. A roller 307 is provided on the outer end of the limit adjustment rod 306. The roller 307 is rotatably connected to the limit adjustment rod 306. A limit plate 308 is provided on the end of the rotating bracket 301 near the telescopic rod 206. The limit plate 308 works in conjunction with the roller 307 to limit the obstacle avoidance component 4.

[0044] Specifically, please combine Figure 11 and Figure 12The limiting plate 308 is V-shaped and has a straight plate 309 and an inclined plate 310. The included angle between the straight plate 309 and the inclined plate 310 is an obtuse angle. When the rotating bracket 301 rotates up and down around the telescopic rod 206, the roller 307 contacts the straight plate 309 or the inclined plate 310. Before operation, the roller 307 contacts the straight plate 309. When the release switch drives the cylinder piston rod 208 through the solenoid valve to extend the telescopic rod 206 outward, the straight plate 309 leaves the obstruction of the roller 307. At this time, the rotating bracket 301 and the obstacle avoidance component 4 rotate downward around the telescopic rod 206 under the influence of their own gravity, realizing the automatic lowering of the obstacle avoidance component 4. After the roller 307 slides past the straight plate 309, it contacts the inclined plate 310. The inclined plate 310 is in an inclined state with the outer end facing up and the inner end facing down. The roller 307 limits the inclined plate 310 to prevent the obstacle avoidance component 4 from falling. When the folding switch drives the cylinder piston rod 208 through the solenoid valve to retract the telescopic rod 206 inward, the telescopic rod 206 drives the rotating bracket 301 to move inward. The inclined plate 310 is obstructed by the roller 307, causing the rotating bracket 301 and the obstacle avoidance component 4 to rotate upward around the telescopic rod 206, realizing the automatic folding of the obstacle avoidance component 4 until the cylinder piston rod 208 retracts into the hydraulic cylinder 207. At this time, the roller 307 contacts the flat plate 309. The length of the limit adjustment rod 306 can be finely adjusted by turning it so that the limit plate 308 and the roller 307 can be used in a better manner.

[0045] Please combine Figure 8 and Figure 9 The detection component 3 is also equipped with a lowering detection plate 302 and a sensor I 303. The lowering detection plate 302 is installed on one end of the rotating bracket 301 near the telescopic rod 206, and the sensor I 303 is installed at the bottom of the telescopic rod 206. The control unit is equipped with an obstacle avoidance indicator light and a travel control valve. The obstacle avoidance indicator light is connected to the sensor I through a line, and the travel control valve is connected to the lifting platform vehicle through a line. When the rotating bracket 301 rotates downward around the telescopic rod 206 until the lowering detection plate 302 contacts the sensor I 303, the obstacle avoidance indicator light is lit, and the obstacle avoidance component 4 is in the lowering state. At this time, the travel control valve is activated, and the lifting platform vehicle moves slowly to the right front direction to start operation.

[0046] Please see Figure 13 ,for Figure 1 The diagram shows a schematic of an automatic obstacle avoidance walking mechanism with the obstacle avoidance component in an extended state. For ease of explanation, only the parts relevant to this embodiment are shown, and are described in detail below:

[0047] In one embodiment, please refer to Figure 14The obstacle avoidance assembly 4 is provided with a hinge shaft 401, a fixed tube 402, a rotating tube 403, a compression spring 404 and a limiting nut 405. The hinge shaft 401 is arranged at one end of the rotating support 301 away from the telescopic rod 206. The fixed tube 402, the rotating tube 403, the compression spring 404 and the limiting nut 405 are sequentially sleeved on the hinge shaft 401 from bottom to top. The hinge shaft 401 is fixedly connected with the rotating support 301 through the fixed tube 402. The rotating tube 403 is rotatably connected with the hinge shaft 401. The fixed tube 402 is in contact with the rotating tube 403. The contact surfaces of the two are both inclined surfaces. The rotating tube 403 rotates backward around the hinge shaft 401 and slides upward along the inclined surface of the fixed tube 402 at the same time, so as to compress the compression spring 404. At this time, the limiting nut 405 limits the compression spring 404. After passing the obstacle, the spring force is used to realize automatic reset.

[0048] The obstacle avoidance assembly 4 is further provided with an obstacle avoidance sleeve 406, an obstacle avoidance rod 407 and a top screw Ⅴ 408. The obstacle avoidance sleeve 406 is arranged on the rotating tube 403. The obstacle avoidance rod 407 is slidably connected in the obstacle avoidance sleeve 406. The top screw Ⅴ 408 is arranged on the obstacle avoidance sleeve 406. The other end of the top screw Ⅴ 408 is in contact with the obstacle avoidance rod 407. The top screw Ⅴ 408 fixes the obstacle avoidance rod 407. By tightening the top screw Ⅴ 408, the extension length of the obstacle avoidance rod 407 can be adjusted.

[0049] When the obstacle avoidance rod 407 is hindered by the obstacle, the rotating tube 403 is driven to rotate backward, so as to realize automatic obstacle avoidance. At the same time, the rotating tube 403 slides upward along the inclined surface of the fixed tube 402, so as to compress the compression spring 404. After passing the obstacle, the spring force of the compression spring 404 drives the rotating tube 403 to slide downward along the inclined surface of the fixed tube 402 and rotate forward at the same time, so as to realize automatic reset.

[0050] Please combine Figures 7-9 The detection assembly 3 is further provided with an obstacle avoidance detection plate 304 and a sensor Ⅱ 305. The obstacle avoidance detection plate 304 is arranged on the rotating tube 403. The sensor Ⅱ 305 is arranged on the rotating support 301. The sensor Ⅱ 305 is connected with the control unit through a circuit. When the obstacle avoidance rod 407 meets the obstacle, the rotating tube 403 is driven to rotate backward until the obstacle avoidance detection plate 304 touches the sensor Ⅱ 305. At this time, the obstacle avoidance assembly 4 is in the obstacle avoidance state. The sensor Ⅱ 305 detects the obstacle avoidance signal transmitted by the obstacle avoidance detection plate 304 and transmits the obstacle avoidance signal to the control unit. The control unit controls the lifting platform vehicle to turn left and then turn right and front, until the obstacle is passed. The lifting platform vehicle continues to move in the right and front direction.

[0051] The detection assembly 3 is further provided with a sensor protection plate 311 and a buffer block 312, the sensor protection plate 311 is arranged on the rotating support 301 and is arranged outside the sensor II 305, the sensor protection plate 311 is in an L shape, the outer end of the telescopic rod 206 is provided with the buffer block 312, and the sensor protection plate 311 is used in cooperation with the buffer block 312, when the rotating support 301 rotates upwards around the telescopic rod 206 to the state that the oil cylinder piston rod 208 is retracted into the hydraulic oil cylinder 207, the sensor protection plate 311 is just in contact with the buffer block 312, the sensor II 305 is protected, and damage caused by collision of the sensor II 305 is prevented.

[0052] The following is described in combination with Figures 1-14 The working principle of the automatic obstacle avoidance walking mechanism is described as follows:

[0053] Before work, the automatic driving switch on the rotating control unit is rotated, the lifting platform vehicle is converted into an automatic driving mode, and then the lowering switch on the control unit is pressed, the lowering switch drives the oil cylinder piston rod 208 to drive the telescopic rod 206 to extend outward along the horizontal direction through the electromagnetic valve, the flat plate 309 is away from the obstruction of the roller 307, the rotating support 301 and the obstacle avoidance assembly 4 rotate downwards around the telescopic rod 206 under the influence of the self gravity, automatic lowering of the obstacle avoidance assembly 4 is realized, until the lowering detection plate 302 is in contact with the sensor I 303, the obstacle avoidance indicator light is lit, and the obstacle avoidance assembly 4 is in a lowering state, at this time, the walking control valve on the control unit is rotated, the lifting platform vehicle slowly travels to the right front direction, and work is started.

[0054] During work, when an obstacle is encountered, the obstacle avoidance rod 407 drives the rotating pipe 403 to rotate backwards, automatic obstacle avoidance is realized, until the obstacle avoidance detection plate 304 touches the sensor II 305, at this time, the sensor II 305 detects the obstacle avoidance signal and transmits it to the control unit, the control unit controls the lifting platform vehicle to turn left and then travel to the right front direction until the obstacle is crossed, at the same time, the rotating pipe 403 slides upwards along the inclined surface of the fixed pipe 402 to compress the compression spring 404, after the obstacle is crossed, the spring force of the compression spring 404 drives the rotating pipe 403 to slide downwards along the inclined surface of the fixed pipe 402 and rotate forwards at the same time, automatic reset is realized, the lifting platform vehicle continues to travel to the right front direction, and the obstacle avoidance action is repeated until work is completed.

[0055] After the work is finished, the walking control valve on the control unit is reversed, the lifting platform vehicle stops moving, the folding switch on the control unit is pressed again, the folding switch drives the oil cylinder piston rod 208 through the electromagnetic valve to drive the telescopic rod 206 to retract in the horizontal direction, the telescopic rod 206 drives the rotating support 301 to move inward, at this time the inclined plate 310 is hindered by the roller 307, so that the rotating support 301 and the obstacle avoidance assembly 4 rotate upward around the telescopic rod 206, until the oil cylinder piston rod 208 retracts into the hydraulic oil cylinder 207, at this time the roller 307 is in contact with the flat plate 309, and the sensor protection plate 311 is in contact with the buffer block 312, the obstacle avoidance assembly 4 is in a folded state, and the obstacle avoidance indicator light is turned off; finally, the automatic driving switch is reversed, and the lifting platform vehicle closes the automatic driving mode; when not working, the automatic obstacle avoidance walking mechanism can be disassembled and placed.

[0056] The automatic obstacle avoidance walking mechanism is provided with the limiting plate 308 and the roller 307 on the limiting adjusting rod 306, when the lower switch drives the telescopic rod 206 to extend outward through the electromagnetic valve driving the oil cylinder piston rod 208, the limiting plate 308 is hindered by the roller 307, so that the rotating support 301 and the obstacle avoidance assembly 4 rotate downward around the telescopic rod 206 under the influence of its own gravity, realizing automatic lowering of the obstacle avoidance assembly 4; the sensor I 303 is provided in cooperation with the lowering detection plate 302, when the lowering detection plate 302 is in contact with the sensor I 303, the obstacle avoidance indicator light is turned on, the walking control valve is reversed to control the lifting platform vehicle to move forward, and the work starts; the hinged obstacle avoidance assembly 4 is provided, when an obstacle is encountered, the obstacle avoidance assembly 4 rotates backward, realizing automatic obstacle avoidance, and the compression spring 404 is compressed, and after passing the obstacle, the spring force of the compression spring 404 realizes automatic reset; the obstacle avoidance detection plate 304 is provided in cooperation with the sensor II 305, the obstacle avoidance signal is transmitted to the control unit, the control unit controls the lifting platform vehicle to turn, and the obstacle is passed; the limiting plate 308 is provided in cooperation with the roller 307, when the folding switch drives the telescopic rod 206 to retract inward through the electromagnetic valve, the limiting plate 308 is hindered by the roller 307, so that the rotating support 301 and the obstacle avoidance assembly 4 rotate upward around the telescopic rod 206, realizing automatic folding of the obstacle avoidance assembly 4; the adjusting assembly 2 is provided to realize the adjustment of the extension length, extension width and height of the obstacle avoidance assembly 4, which is suitable for different working environments; the automatic obstacle avoidance walking mechanism has the advantages of simple structure, low manufacturing and maintenance cost, simple operation, high automation degree, strong dependence, matching with various machines for common work, effective and accurate realization of automatic obstacle avoidance and automatic turning, greatly improved work efficiency, and wide application in the field of agricultural machinery technology.

[0057] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software manner depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0058] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent replacements; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. An automatic obstacle avoidance walking mechanism for automatic obstacle avoidance walking of a lifting platform vehicle, characterized by, Including car body mounting frame, adjusting assembly, detection assembly, barrier component and control unit, the adjusting assembly is arranged on the car body mounting frame, the detection assembly is arranged on the outer end of the adjusting assembly, the barrier component is hinged on the detection assembly, the barrier component rotates around the detection assembly, the car body mounting frame is used with the lifting platform car, the control unit is arranged on the lifting platform car, the control unit is connected with the lifting platform car and the detection assembly through the circuit, the barrier component rotates backward when encountering obstacles and touches the detection assembly, the detection assembly detects the signal and transmits it to the control unit, the control unit controls the lifting platform car to turn; The adjusting assembly is provided with front and rear adjusting rods, the front and rear adjusting rods are slidably connected on the car body mounting frame, the front and rear adjusting rods are L-shaped, the other end of the front and rear adjusting rods is slidably connected with left and right adjusting rods, the left and right adjusting rods are provided with vertical rods, the vertical rods are slidably connected with upper and lower adjusting rods, the upper and lower adjusting rods are provided with horizontal rods, the horizontal rods are slidably connected with telescopic rods, one side of the horizontal rods is provided with a hydraulic oil cylinder, the hydraulic oil cylinder is provided with a cylinder piston rod, the other end of the cylinder piston rod is connected with the telescopic rod, the hydraulic oil cylinder is connected with a solenoid valve, the control unit is provided with a lowering switch and a folding switch, the lowering switch and the folding switch are respectively connected with the solenoid valve through the circuit, the lowering switch and the folding switch drive the cylinder piston rod to extend and retract through the solenoid valve, and drive the telescopic rod to move left and right; The car body mounting frame is provided with a jackscrew I, the other end of the jackscrew I is in contact with the front and rear adjusting rods; the left and right adjusting rods are provided with a jackscrew II, the other end of the jackscrew II is in contact with the front and rear adjusting rods; the vertical rods are provided with a jackscrew III, the other end of the jackscrew III is in contact with the upper and lower adjusting rods; the horizontal rods are provided with a jackscrew IV, the other end of the jackscrew IV is in contact with the telescopic rod; The detection assembly is provided with a lowering detection plate and a sensor I, the outer end of the telescopic rod is hingedly connected with a rotating support, the rotating support rotates up and down around the telescopic rod, one end of the rotating support close to the telescopic rod is provided with the lowering detection plate, the bottom of the telescopic rod is provided with the sensor I, the control unit is provided with an obstacle avoidance indicator and a walking control valve, the obstacle avoidance indicator is connected with the sensor I through the circuit, the walking control valve is connected with the lifting platform car through the circuit, when the rotating support rotates downward around the telescopic rod to the point where the lowering detection plate contacts the sensor I, the obstacle avoidance indicator is lit, and the walking control valve is actuated to control the lifting platform car to move forward; One end of the horizontal rod close to the rotating support is provided with a limiting adjusting rod, the outer end of the limiting adjusting rod is rotatably connected with a roller, one end of the rotating support close to the telescopic rod is provided with a limiting plate, and the limiting plate is used in cooperation with the roller.

2. The automatic obstacle avoidance walking mechanism according to claim 1, characterized in that, The obstacle avoidance assembly is provided with a hinge shaft, the hinge shaft is provided at one end of the rotating support away from the telescopic rod, a fixed tube, a rotating tube, a compression spring and a limiting nut are sequentially sleeved on the hinge shaft from bottom to top, the hinge shaft is fixedly connected with the rotating support through the fixed tube, the rotating tube is rotatably connected with the hinge shaft, the fixed tube is in contact with the rotating tube, and the contact surfaces of the fixed tube and the rotating tube are both inclined surfaces, and the rotating tube rotates forward and backward around the hinge shaft while sliding upward and downward along the inclined surface of the fixed tube.

3. The automatic obstacle avoidance walking mechanism according to claim 2, characterized in that, The obstacle avoidance assembly is also provided with an obstacle avoidance sleeve and an obstacle avoidance rod, the obstacle avoidance sleeve is arranged on the rotating tube, the obstacle avoidance rod is slidably connected in the obstacle avoidance sleeve, and a jackscrew V is arranged on the obstacle avoidance sleeve, and the other end of the jackscrew V is in contact with the obstacle avoidance rod.

4. The automatic obstacle avoidance walking mechanism according to claim 3, characterized in that, The detection assembly is also provided with an obstacle avoidance detection plate and a sensor II, the obstacle avoidance detection plate is arranged on the rotating tube, the sensor II is arranged on the rotating support, the sensor II is connected with the control unit through a circuit, the obstacle avoidance rod rotates backward when encountering an obstacle, until the obstacle avoidance detection plate touches the sensor II, the sensor II detects a signal and transmits the signal to the control unit, and the control unit controls the lifting platform vehicle to turn.

5. The automatic obstacle avoidance walking mechanism according to claim 4, characterized in that, A sensor protection plate is arranged on the rotating support outside the sensor II, the sensor protection plate is L-shaped, the outer end of the telescopic rod is also provided with a buffer block, and the sensor protection plate is used in cooperation with the buffer block.

6. The automatic obstacle avoidance walking mechanism according to claim 1, wherein An automatic driving switch is also arranged on the control unit, the automatic driving switch is connected with the lifting platform vehicle through a circuit, a fixed plate is arranged on the vehicle body mounting frame, a fixed hole is arranged on the fixed plate, and the fixed hole is used in cooperation with the lifting platform vehicle.

Images