A mobile robot for agricultural use

Abstract

The present invention discloses a mobile robot for agricultural use, which comprises a chassis, a suspension system and wheels. The suspension system comprises a bracket assembly, a transmission assembly and a shock-absorbing assembly. The bracket assembly comprises a cantilever and a slewing bearing. The upper end of the cantilever is rotatably arranged on the chassis through the slewing bearing. The lower end of the cantilever is equipped with a wheel. The transmission assembly comprises a transmission mechanism and an automatic tensioning mechanism. The transmission mechanism comprises a main transmission wheel, a slave transmission wheel and a transmission chain. The automatic tensioning mechanism comprises a tensioning member and two tensioning wheels. The two tensioning wheels are respectively pressed on the left and right outer sides of the transmission chain. The tensioning member is connected between the two tensioning wheels. One end of the shock-absorbing assembly is connected to the chassis, and the other end is connected to the cantilever. In the present invention, the cantilever can swing back and forth relative to the chassis to adapt to uneven road conditions, thereby improving the anti-seismic performance of the agricultural robot. The two sides of the transmission chain are automatically tensioned by two tensioning wheels, so that the transmission chain is not prone to transmission failure due to relaxation.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a mobile robot for agriculture. Background Art

[0002] Agricultural robots are the application of robots in agricultural production. They are a new generation of unmanned automatic machines that can be controlled by different software programs to adapt to various operations, can sense and adapt to changes in crop types or environment, and have artificial intelligence such as detection (such as vision, etc.) and calculation. Agricultural mobile robots have excellent controllability, fast travel speed and flexible turning, fast operation speed, high operation quality, and can perform high-load agricultural operations. The promotion and application of agricultural robots has changed the operation mode of traditional agriculture, realized agricultural automation, informatization and intelligence, effectively improved the efficiency of agricultural production, reduced the labor intensity of agricultural production, and increased the economic benefits of agricultural products.

[0003] Existing agricultural robots generally include chassis, suspension, wheels, transmission structure, drive mechanism, battery, lifting platform and other structures, wherein a connecting seat is provided on the side of the chassis, the upper end of the suspension is generally fastened to the connecting seat by screws to achieve the installation and fixation of the suspension, the lower end of the suspension is installed with wheels, the transmission structure is provided in the suspension, the input end of which is connected to the drive mechanism and the output end is connected to the wheels, the power of the agricultural robot is transmitted to the wheels through the transmission structure, and then the whole vehicle is driven to move, the battery is used to provide power for the drive mechanism, and the drive mechanism generally adopts a drive motor, which is used to drive the wheels to move, the lifting platform is provided in the chassis, and is driven up and down relative to the chassis by the lifting mechanism.

[0004] For the above-mentioned connection mode of the suspension, since the frame and the suspension are rigidly connected, the shock resistance of the agricultural robot is poor, and its stability when walking on uneven ground is not good. At the same time, according to the characteristics of the transmission chain, when the agricultural robot moves forward and backward, the motor driving the transmission structure needs to continuously rotate forward and reverse, which can easily cause the transmission chain to become loose after running for a long time. Since there is no tensioning structure on the transmission chain, or only a single-sided tensioning structure is provided, it is easy to cause transmission failure of the transmission structure, affecting the normal use of the agricultural robot.

[0005] There are currently two main types of lifting mechanisms for lifting platforms, one is a column-type lifting mechanism, and the other is a scissor-type lifting mechanism. For the column-type lifting mechanism, most of them adopt a screw transmission structure, which has the problems of high cost and large size. For the scissor-type lifting mechanism, most of them use hydraulics as power to push the scissor-type bracket to unfold or fold to complete the lifting of the lifting platform. Although it has the advantage of small size after storage, it also has the problems of high cost and large size because the hydraulic drive requires the cooperation of hydraulic circuits and pipelines. Therefore, the lifting platform of the existing agricultural robot cannot meet the requirements of low cost and small size.

[0006] In addition, a brake and a brake bolt are provided in the driving motor. The brake bolt is used to clamp the motor shaft or release the brake from the motor shaft, thereby braking the motor. This braking method can only be achieved when the battery is powered. When the battery cannot supply power, the motor will be powered off and in a brake state, making it impossible for the wheels to move, resulting in difficulty in the movement of the agricultural robot. Summary of the invention

[0007] The object of the present invention is to provide an agricultural mobile robot which has good shock resistance and is not prone to transmission failure.

[0008] To achieve the above object, the present invention adopts the following technical solutions:

[0009] A mobile robot for agricultural use, comprising a chassis, a suspension system and wheels, the suspension system comprising a support assembly, a transmission assembly and a shock absorbing assembly, the support assembly comprising a cantilever and a slewing bearing, the upper end of the cantilever is rotatably arranged on the chassis through the slewing bearing so that the cantilever can swing forward and backward relative to the chassis, the lower end of the cantilever is installed with the wheel, the transmission assembly comprises a transmission mechanism and an automatic tensioning mechanism, the transmission mechanism comprises a main transmission wheel, a slave transmission wheel and a transmission chain arranged in the cantilever, the transmission chain is installed on the main transmission wheel and the slave transmission wheel, the automatic tensioning mechanism comprises a tensioning member and two tensioning wheels, the two tensioning wheels are rotatably arranged on the sides of the transmission chain and are respectively pressed on the left and right outer sides of the transmission chain, the tensioning member is connected between the two tensioning wheels, and is used to enable the tensioning wheel to press the transmission chain toward the center direction of the main transmission wheel and the slave transmission wheel, one end of the shock absorbing assembly is connected to the chassis, and the other end is connected to the cantilever.

[0010] Furthermore, the slewing support member includes a first bearing seat, a slewing support bearing and a transmission member, the first bearing seat is arranged in the chassis, the outer ring of the slewing support bearing is fixed to the upper end of the cantilever, and the inner ring is fixed in the first bearing seat, and the transmission member is rotatably arranged in the first bearing seat and connected to the transmission mechanism.

[0011] Furthermore, the tensioning wheel includes a swing arm and a wheel body, one end of the swing arm is hinged in the cantilever, and the other end is rotatably connected to the wheel body, the wheel body is pressed on the outer side of the transmission chain, and the tensioning member includes a connecting frame and two tensioning springs, the connecting frame is fixed in the middle of both sides of the transmission chain, one end of the two tensioning springs is respectively connected to the connecting frame, and the other end is respectively connected to the swing arm, so that the wheel body presses the transmission chain.

[0012] Furthermore, the transmission mechanism adopts a sprocket chain mechanism, and the shock absorbing assembly includes an upper connecting seat, a lower connecting seat and a spring shock absorber. The upper connecting seat is fixed on the chassis, the lower connecting seat is fixed on the cantilever, and the two ends of the spring shock absorber are respectively hinged to the upper connecting seat and the lower connecting seat.

[0013] Furthermore, the cantilever includes an outer shell, a first inspection cover, a second inspection cover and a third inspection cover, the outer shell is a hollow structure, the outer shell is provided with a first opening on the opposite side of the slewing support, the first inspection cover is detachably fixed to the side wall of the outer shell and closes the first opening, the outer shell is provided with a second opening on the opposite side of the wheel mounting position, the second inspection cover is detachably fixed to the side wall of the outer shell and closes the second opening, the outer shell is provided with a third opening on the opposite side of the automatic tensioning mechanism, the third inspection cover is detachably fixed to the side wall of the outer shell and closes the third opening.

[0014] Furthermore, a mobile robot for agricultural use also includes a power system, which includes a motor and a brake releasing device. The motor is arranged in the chassis and is used to drive the transmission mechanism. The brake releasing device includes a brake, a brake bolt, a brake assembly and a manual operation assembly. The brake is arranged in the motor. The brake bolt is connected to the brake and is used to enable the brake to clamp the motor shaft or release the motor shaft. The brake assembly is connected to the brake bolt. The manual operation assembly includes an operating member and a brake line. One end of the brake line is connected to the operating member and the other end is connected to the brake assembly. The brake line can drive the brake assembly by bending the operating member, so that the brake assembly drives the brake bolt to release the motor shaft.

[0015] Furthermore, the brake assembly includes a first bracket, a rotating plate and a first reset member, the first bracket is installed on the motor, a mounting hole is provided at one end of the rotating plate, a nut is fixed to the side of the mounting hole of the rotating plate, the rotating plate is threadedly connected to the brake bolt through the nut, one end of the brake line is connected to the rotating plate, one end of the first reset member is connected to the rotating plate, and the other end is connected to the first bracket, so as to realize the reset of the brake line.

[0016] Further, the operating member includes a second bracket, an operating handle and a second resetting member, the operating handle includes a first handle portion and a second handle portion, one end of the first handle portion is hinged to the second bracket, and the other end is connected to the brake line and the second resetting member, the second resetting member is used to achieve the resetting of the first handle portion, and a limiting portion is provided on the second bracket, the limiting portion is located below the first handle portion, and is used to limit the downward rotation of the first handle portion, and the first handle portion extends outward at its hinged end to form the second handle portion.

[0017] Furthermore, a mobile robot for agricultural use also includes a lifting platform, which includes a base, a guide mechanism, a driving member and a lifting platform, the guide mechanism includes a guide column and a guide frame, the guide column is fixed in the base and can be extended and retracted up and down relative to the base, the guide frame is arranged in the base and can be translated relative to the base, the guide frame is provided with an inclined wedge, the driving member is arranged in the base, and is used to drive the guide frame to translate, the lifting platform is connected to the guide column, and a guide wheel is arranged at the bottom of the lifting platform, and the guide wheel moves along the inclined wedge.

[0018] Furthermore, a group of guide rails are provided on the base, and a slider slidably matched therewith is provided on the guide rail, the guide frame is fixedly connected to the slider, the guide frame includes a support frame, and the support frame is provided with the inclined wedge, the inclined wedge is wedge-shaped, and is arranged along the moving direction of the guide frame, the guide column includes a guide sleeve and a lifting column, the guide sleeve is fixed in the base, the lifting column is movably inserted in the guide sleeve, and its top end is fixedly connected to the jacking platform.

[0019] After adopting the above technical solution, the present invention has the following advantages compared with the background technology:

[0020] 1. The cantilever of the present invention is rotatably arranged on the chassis through a slewing support, and a shock-absorbing assembly is arranged between the chassis and the cantilever, so that when the wheels are impacted during walking, the cantilever can swing back and forth relative to the chassis to adapt to uneven road conditions, thereby improving the seismic resistance of the agricultural robot. At the same time, two tensioning wheels are used to automatically tension both sides of the transmission chain, so that the transmission chain is not prone to transmission failure due to relaxation, thereby ensuring the normal use of the agricultural robot.

[0021] 2. The two tension wheels in the present invention can not only realize bidirectional tensioning of the transmission chain to ensure smooth forward and reverse rotation of the motor, but also the tensioning spring can realize automatic adjustment of the tightness of the transmission chain.

[0022] 3. When the battery fails to supply power, the present invention enables the brake line to drive the brake assembly by moving the operating member, and then the brake assembly drives the brake bolt to release the motor shaft, thereby realizing manual release of the motor brake and facilitating the movement of the agricultural robot.

[0023] 4. The present invention drives the guide frame to translate through a driving member, so that the guide wheel at the bottom of the jacking platform moves along the inclined wedge of the guide frame. At the same time, the translation of the jacking platform is limited by the guide column, so that the translation of the guide frame is converted into the up and down vertical movement of the guide wheel. In this way, the complexity of the entire mechanism is greatly reduced, and compared with the column lifting mechanism and the scissors-type lifting mechanism, the space occupied by the mechanism can be greatly reduced, so that the lifting platform of the agricultural robot meets the requirements of low cost and small size.

[0024] 5. The present invention is provided with a detachable first inspection cover, a second inspection cover and a third inspection cover on the sides of the housing. The arrangement of the inspection covers at various positions greatly facilitates the later inspection and maintenance of the suspension system. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a three-dimensional schematic diagram of the present invention;

[0026] Figure 2 It is a schematic diagram of the installation of the suspension system and wheels in the present invention;

[0027] Figure 3 The figure is a schematic diagram of the installation of the suspension system and the wheels in the present invention (disassembled state);

[0028] Figure 4 is a cross-sectional view of the bracket assembly of the present invention;

[0029] Figure 5 This is one of the structural schematic diagrams of the support assembly and the shock absorbing assembly in the present invention;

[0030] Figure 6 It is an exploded schematic diagram of the support assembly and the shock absorbing assembly in the present invention;

[0031] Figure 7 This is the second structural schematic diagram of the support assembly and the shock absorbing assembly in the present invention;

[0032] Figure 8 It is a structural schematic diagram of the transmission mechanism in the present invention;

[0033] Fig. 9 It is one of the exploded schematic diagrams of the transmission mechanism in the present invention;

[0034] Fig.10 It is a structural schematic diagram of the transmission mechanism in the present invention (partial structure);

[0035] Fig.11 This is the second exploded schematic diagram of the transmission mechanism in the present invention;

[0036] Fig.12 It is a structural schematic diagram of the power system in the present invention;

[0037] Fig.13 It is a structural schematic diagram of the motor and the brake assembly in the present invention;

[0038] Fig.14 It is an exploded schematic diagram of the motor and brake assembly in the present invention;

[0039] Fig.15 It is a structural schematic diagram of the manual operation component in the present invention;

[0040] Fig.16 It is an exploded schematic diagram of the manual operation component in the present invention;

[0041] Fig.17 It is a structural schematic diagram of the lifting platform in the present invention;

[0042] Fig.18 It is an exploded schematic diagram of the lifting platform in the present invention;

[0043] Fig.19 It is a schematic diagram of the structure of the guide frame and the guide wheel in the present invention;

[0044] Fig. 20 It is a cross-sectional view of the lifting platform in the present invention;

[0045] Fig.21 It is a structural schematic diagram (cross-sectional view) of the guide column in the present invention.

[0046] Description of reference numerals:

[0047] Chassis 1; Suspension system 2; Wheel 3;

[0048] Support assembly 100, cantilever 110, housing 111, first inspection cover 112, second inspection cover 113, third inspection cover 114, slewing support 120, first bearing seat 121, slewing support bearing 122, outer ring 1221 of slewing support bearing, inner ring 1222 of slewing support bearing, first transmission bearing 123, first sleeve 124, second bearing seat 130, second sleeve 140, second transmission bearing 150;

[0049] Transmission mechanism 210, main transmission wheel 211, slave transmission wheel 212, transmission chain 213, tensioner 220, connecting frame 221, tension spring 222, tension wheel 230, swing arm 231, wheel axle 232, pin 233, wheel body 234;

[0050] Shock absorbing assembly 300, upper connecting seat 310, lower connecting seat 320, spring shock absorber 330;

[0051] Motor 400;

[0052] The brake bolt 510, the first bracket 521, the first connecting portion 5211, the second connecting portion 5212, the rotating plate 522, the third connecting portion 5221, the first reset member 523, the nut 524, the operating member 530, the second bracket 531, the limiting portion 5311, the fourth connecting portion 5312, the operating handle 532, the first handle portion 5321, the second handle portion 5322, the fifth connecting portion 5323, the rotating shaft 533, the second reset member 534, and the brake line 540;

[0053] Base 600, guide rail 610, slider 620;

[0054] Guide column 710, guide sleeve 711, lifting column 712, guide frame 720, base frame 721, support frame 722, inclined wedge 7221, fixing frame 723;

[0055] Driving member 800;

[0056] Lifting platform 900 , guide wheel 910 , wheel frame 911 , bottom wheel 912 , and electromagnet 920 . DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is 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 invention and are not intended to limit the present invention. In addition, it should be noted that:

[0058] The terms "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element of the present invention must have a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0059] When an element is referred to as being “fixed to” or “disposed on” or “provided on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0060] Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0061] Example

[0062] refer to Figure 1 As shown, the present invention discloses an agricultural mobile robot, including a chassis 1, a suspension system 2, wheels 3, a power system and a lifting platform.

[0063] Cooperate Figures 1 to 7 As shown, the suspension system 2 includes a support assembly 100, a transmission assembly and a shock absorbing assembly 300. The support assembly 100 includes a cantilever 110 and a slewing support 120. The upper end of the cantilever 110 is rotatably disposed on the chassis 1 through the slewing support 120 so that the cantilever 110 can swing back and forth relative to the chassis 1. The lower end of the cantilever 110 is installed with a wheel 3.

[0064] The slewing support 120 includes a first bearing seat 121, a slewing bearing 122 and a transmission member. The first bearing seat 121 is arranged in the chassis 1. The outer ring 1221 of the slewing bearing is fixedly arranged at the upper end of the cantilever 110, and the inner ring 1222 is fixedly arranged in the first bearing seat 121. The outer ring and the inner ring of the slewing bearing 122 are preferably locked by screws. The transmission member is rotatably arranged in the first bearing seat 121 and connected to the transmission mechanism 210. In this embodiment, the transmission member includes a first transmission bearing 123 and a first sleeve 124. The outer ring of the first transmission bearing 123 is fixedly arranged in the first bearing seat 121. The first sleeve 124 is arranged in the inner ring of the first transmission bearing 123. The transmission mechanism 210 is installed in the first sleeve 124.

[0065] The bracket assembly 100 also includes a second bearing seat 130, a second sleeve 140 and a second transmission bearing 150. The second bearing seat 130 is fixed to the lower end of the cantilever 110, the outer ring of the second transmission bearing 150 is fixed in the second bearing seat 130, the second sleeve 140 is arranged in the inner ring of the second transmission bearing 150, the wheel 3 is installed in the second sleeve 140, and is driven by the transmission mechanism 210.

[0066] The cantilever 110 includes a housing 111, a first inspection cover 112, a second inspection cover 113 and a third inspection cover 114. The housing 111 is a hollow structure. The housing 111 is provided with a first opening on the opposite side of the slewing support 120. The first inspection cover 112 is detachably fixed to the side wall of the housing 111 and closes the first opening. The housing 111 is provided with a second opening on the opposite side of the wheel 3 installation position. The second inspection cover 113 is detachably fixed to the side wall of the housing 111 and closes the second opening. The housing 111 is provided with a third opening on the opposite side of the automatic tensioning mechanism. The third inspection cover 114 is detachably fixed to the side wall of the housing 111 and closes the third opening. In this embodiment, the detachable fixing method of the first inspection cover 112, the second inspection cover 113 and the third inspection cover 114 is preferably screwed. The provision of inspection covers at various positions greatly facilitates later inspection and maintenance.

[0067] Cooperate Figures 8 to 11 As shown, the transmission assembly includes a transmission mechanism 210 and an automatic tensioning mechanism. The transmission mechanism 210 includes a main transmission wheel 211, a slave transmission wheel 212 and a transmission chain 213 arranged in the cantilever 110. The transmission chain 213 is installed on the main transmission wheel 211 and the slave transmission wheel 212. The automatic tensioning mechanism includes a tensioning member 220 and two tensioning wheels 230. The two tensioning wheels 230 are rotatably arranged on the sides of the transmission chain 213 and are respectively pressed on the left and right outer sides of the transmission chain 213. The tensioning member 220 is connected between the two tensioning wheels 230, and is used to enable the tensioning wheel 230 to press the transmission chain 213 toward the center direction of the main transmission wheel 211 and the slave transmission wheel 212. One end of the shock absorbing assembly 300 is connected to the chassis 1, and the other end is connected to the cantilever 110.

[0068] The tensioning wheel 230 includes a swing arm 231, a wheel axle 232, a pin 233 and a wheel body 234. One end of the swing arm 231 is hinged in the cantilever 110, and the other end is rotatably mounted with the wheel body 234 through the wheel axle 232, and is restricted by the pin 233 connected to the wheel axle 232. In this embodiment, the tensioning wheel 230 is an H-type wheel, and the wheel body 234 is pressed on the outer side of the transmission chain 213 and is clamped in the transmission chain 213.

[0069] The tensioning member 220 includes a connecting frame 221 and two tensioning springs 222. The connecting frame 221 is fixedly arranged in the middle of both sides of the transmission chain 213. One end of the two tensioning springs 222 is respectively connected to the connecting frame 221, and the other end is respectively connected to the swing arm 231, so that the wheel body 234 presses the transmission chain 213. In this embodiment, a plurality of openings are arranged on the connecting frame 221, and the two tensioning springs 222 are respectively installed in two of the openings of the connecting frame 221. The elastic force of the tensioning springs 222 stretches the tensioning wheel 230 toward the middle, thereby pressing the transmission chain 213. The two tensioning wheels 230 can realize bidirectional tensioning to ensure smooth forward and reverse rotation, and the tensioning springs 222 can realize automatic adjustment of the tightness of the transmission chain 213.

[0070] In this embodiment, the transmission mechanism 210 adopts a sprocket chain mechanism, which can transmit the power in the chassis 1 to the wheel 3, thereby realizing the driving of the wheel 3. The shock absorbing assembly 300 includes an upper connecting seat 310, a lower connecting seat 320 and a spring shock absorber 330, wherein the upper connecting seat 310 is fixed on the chassis 1, the lower connecting seat 320 is fixed on the cantilever 110, and the two ends of the spring shock absorber 330 are respectively hinged to the upper connecting seat 310 and the lower connecting seat 320.

[0071] Cooperate Figures 12 to 16 As shown, the power system includes a motor 400 and a brake releasing device. The motor 400 is arranged in the chassis 1 and is used to drive the transmission mechanism 210. The brake releasing device includes a brake (not shown in the figure), a brake bolt 510, a brake assembly and a manual operation assembly. The brake is arranged in the motor 400. The brake bolt 510 is connected to the brake and is used to make the brake clamp the motor 400 shaft or release the clamp on the motor 400 shaft. The brake assembly is connected to the brake bolt 510. The manual operation assembly includes an operating member 530 and a brake line 540. One end of the brake line 540 is connected to the operating member 530 and the other end is connected to the brake assembly. By bending the operating member 530, the brake line 540 can drive the brake assembly, so that the brake assembly drives the brake bolt 510 to release the clamp on the motor 400 shaft.

[0072] The brake assembly includes a first bracket 521, a rotating plate 522 and a first reset member 523. The first bracket 521 is installed on the motor 400. The rotating plate 522 is preferably a straight plate. A mounting hole is provided at one end of the rotating plate 522. A nut 524 is fixed to the side of the mounting hole of the rotating plate 522. The rotating plate 522 is screwed to the brake bolt 510 through the nut 524. One end of the brake line 540 is connected to the rotating plate 522. One end of the first reset member 523 is connected to the rotating plate 522 and the other end is connected to the first bracket 521, so as to realize the reset of the brake line 540. In this embodiment, the first bracket 521 is triangular in shape, wherein the two corners are respectively provided with a first connection portion 5211 and a second connection portion 5212, the brake line 540 is passed through the first connection portion 5211, and a third connection portion 5221 is provided at the end of the rotating plate 522. The first return member 523 is a tension spring, and its two ends are respectively provided on the second connection portion 5212 and the third connection portion 5221.

[0073] The operating member 530 includes a second bracket 531, an operating handle 532, a rotating shaft 533 and a second reset member 534. The operating handle 532 includes a first handle portion 5321 and a second handle portion 5322. One end of the first handle portion 5321 is hinged to the second bracket 531 through the rotating shaft 533, and the other end is connected to the brake line 540 and the second reset member 534. The second reset member 534 is used to achieve the reset of the first handle portion 5321. A limiting portion 5311 is provided on the second bracket 531. The limiting portion 5311 is located below the first handle portion 5321 and is used to limit the downward rotation of the first handle portion 5321. The first handle portion 5321 extends outward at its hinged end to form the second handle portion 5322. The first handle 5321 is in a locked position under the action of the second reset member 534. After the second handle 5322 is bent, the brake line 540 and the rotating plate 522 can be driven, so that the rotating plate 522 drives the brake bolt 510 to release the tight grip on the rotating shaft of the motor 400.

[0074] A fourth connection portion 5312 is provided at the lower portion of the second bracket 531, a fifth connection portion 5323 is provided at the side of the first handle portion 5321, the brake line 540 is passed through the fifth connection portion 5323, and the second reset member 534 is a tension spring, and its two ends are respectively provided on the fourth connection portion 5312 and the fifth connection portion 5323.

[0075] When the battery is powered normally, the rotating plate 522 is in the initial position under the action of the first reset member 523. At this time, the brake is in a state of not holding the rotating shaft of the motor 400, and the brake line 540 is not pulled. The first handle 5321 is pressed against the limiting portion 5311 under the action of the second reset member 534. Without bending the second handle 5322, the first handle 5321 will not pull the brake line 540. In this way, the rotating plate 522 will not drive the nut 524 to lock the brake bolt 510, and will not affect the normal operation of the motor 400.

[0076] When the battery fails to supply power (such as a fault or no power), the motor 400, under its own fault protection structure, will cause the brake to hold the motor 400 shaft tightly, so that the motor 400 shaft is locked and cannot rotate. At this time, by bending the second handle 5322, the first handle 5321 pulls the brake line 540, and the pulled brake line 540 drives the rotating plate 522 to rotate the brake bolt 510 (such as rotating 90 degrees). The rotation of the brake bolt 510 drives the brake to release the lock on the motor 400 shaft, thereby facilitating the movement of the mobile robot when the battery fails to supply power. After the battery resumes power supply, the second handle 5322 is bent back, and the rotating plate 522 is reset under the action of the first reset member 523, and the first handle 5321 is reset under the action of the second reset member 534.

[0077] Cooperate Figure 1 , Figures 17 to 21 As shown, the lifting platform includes a base 600, a guide mechanism, a driving member 800 and a lifting platform 900. The guide mechanism includes a guide column 710 and a guide frame 720. The guide column 710 is fixed in the base 600 and can be extended and retracted up and down relative to the base 600. The guide frame 720 is arranged in the base 600 and can be translated relative to the base 600. An inclined wedge 7221 is arranged on the guide frame 720. A group of guide rails 610 are arranged on the base 600. A slider 620 that slides with the guide rails is arranged on the guide rails 610, and the guide frame 720 is fixedly connected to the slider 620.

[0078] The guide frame 720 includes a base frame 721 and a support frame 722. The base frame 721 is fixed in the base 600, and the support frame 722 is fixed in the base frame 721. An inclined wedge 7221 is arranged on the support frame 722. The inclined wedge 7221 is wedge-shaped and is arranged along the moving direction of the guide frame 720. In this embodiment, the upper and lower ends of the inclined wedge 7221 are horizontal section openings and the middle is an inclined section opening.

[0079] The guide frame 720 also includes a fixing frame 723. Two support frames 722 are arranged in parallel on the bottom frame 721. The two support frames 722 are fixed by the fixing frame 723. There are two groups of guide frames 720, which are arranged side by side in the base 600. Two groups of guide wheels 910 corresponding to the guide frames 720 are arranged at the bottom of the jacking platform 900. When the jacking platform 900 descends to the lowest position or rises to the highest position, the guide wheels 910 are located in the horizontal section opening at the lower end of the inclined wedge 7221 or in the horizontal section opening at the upper end of the inclined wedge 7221, and the jacking platform 900 can remain stable. When the guide wheels 910 are located in the middle section opening of the inclined wedge 7221, the jacking platform 900 can be lifted and lowered along the inclined wedge 7221.

[0080] In this embodiment, there are four groups of guide columns 710, which are respectively arranged at the four corners of the jacking platform 900. The guide columns 710 include a guide sleeve 711 and a lifting column 712. The guide sleeve 711 is a hollow structure and is fixed in the base 600. The lifting column 712 is movably inserted in the guide sleeve 711, and its top end is fixedly connected to the jacking platform 900. The guide sleeve 711 and the lifting column 712 are both locked by screws.

[0081] The driving member 800 is disposed in the base 600 and is used to drive the guide frame 720 to translate. In the present embodiment, the driving member 800 is an electric push rod, and the end of the push rod is fixedly connected to the guide frame 720.

[0082] The lifting platform 900 is connected to the guide column 710. A guide wheel 910 is provided at the bottom of the lifting platform 900. The guide wheel 910 moves along the inclined wedge 7221. The guide wheel 910 includes a wheel frame 911 and a bottom wheel 912. The wheel frame 911 is fixed to the bottom of the lifting platform 900. The bottom wheel 912 is hinged to the wheel frame 911 and can move along the inclined wedge 7221.

[0083] A plurality of electromagnets 920 are provided on the lifting platform 900. When the electromagnets 920 are energized, they can adsorb the wheel frame 911 to limit the movement of the guide wheel 910, thereby preventing the lifting platform 900 from rising and falling when the robot moves, thereby ensuring the stability of the goods during transportation.

[0084] The wedge-shaped inclined wedge 7221 set on the support frame 722 is used to convert the horizontal jacking force into the vertical lifting force of the jacking platform 900, and the driving member 800 is used to drive the guide frame 720 to translate, so that the guide wheel 910 at the bottom of the jacking platform 900 moves along the inclined wedge 7221 of the guide frame 720, and the guide columns 710 at the four corners of the jacking platform 900 can ensure that the jacking platform 900 has only two degrees of freedom of up and down movement, so that the translation of the guide frame 720 can be converted into the up and down vertical movement of the guide wheel 910.

[0085] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A mobile robot for agricultural use, characterized in that: The invention comprises a chassis, a suspension system, wheels, a power system and a lifting platform, wherein the suspension system comprises a support assembly, a transmission assembly and a shock absorbing assembly, wherein the support assembly comprises a cantilever and a slewing bearing, wherein the upper end of the cantilever is rotatably arranged on the chassis through the slewing bearing so that the cantilever can swing forward and backward relative to the chassis, wherein the lower end of the cantilever is provided with the wheels, wherein the transmission assembly comprises a transmission mechanism and an automatic tensioning mechanism, wherein the transmission mechanism comprises a main transmission wheel, a slave transmission wheel and a transmission chain arranged in the cantilever, wherein the transmission chain is installed on the cantilever. The automatic tensioning mechanism comprises a tensioning member and two tensioning wheels on the main transmission wheel and the slave transmission wheel. The two tensioning wheels are rotatably arranged on the sides of the transmission chain and press on the left and right outer sides of the transmission chain respectively. The tensioning member is connected between the two tensioning wheels and is used to enable the tensioning wheels to press the transmission chain toward the center direction of the main transmission wheel and the slave transmission wheel. One end of the shock absorbing assembly is connected to the chassis, and the other end is connected to the cantilever. The power system comprises a motor and a brake release device. The motor is arranged in the chassis to drive the The transmission mechanism, the brake release device includes a brake, a brake bolt, a brake assembly and a manual operation assembly, the brake is arranged in the motor, the brake bolt is connected to the brake so that the brake holds the motor shaft or releases the motor shaft, the brake assembly is connected to the brake bolt, and the manual operation assembly includes an operating member and a brake line, one end of the brake line is connected to the operating member, and the other end is connected to the brake assembly, and the brake line can drive the brake assembly by bending the operating member, so that the brake assembly drives the brake bolt to release the motor shaft. The lifting platform comprises a base, a guide mechanism, a driving member and a lifting platform. The guide mechanism comprises a guide column and a guide frame. The guide column is fixed in the base and can be extended and retracted up and down relative to the base. The guide frame is arranged in the base and can be translated relative to the base. An inclined wedge is arranged on the guide frame. The driving member is arranged in the base to drive the guide frame to translate. The lifting platform is connected to the guide column. A guide wheel is arranged at the bottom of the lifting platform, and the guide wheel moves along the inclined wedge.

2. An agricultural mobile robot as claimed in claim 1, characterized in that: The slewing support member includes a first bearing seat, a slewing support bearing and a transmission member. The first bearing seat is arranged in the chassis. The outer ring of the slewing support bearing is fixed to the upper end of the cantilever, and the inner ring is fixed in the first bearing seat. The transmission member is rotatably arranged in the first bearing seat and connected to the transmission mechanism.

3. The agricultural mobile robot according to claim 1, characterized in that: The tensioning wheel includes a swing arm and a wheel body, one end of the swing arm is hinged in the cantilever, and the other end is rotatably connected to the wheel body, and the wheel body is pressed on the outer side of the transmission chain. The tensioning member includes a connecting frame and two tensioning springs, and the connecting frame is fixed in the middle of both sides of the transmission chain. One end of the two tensioning springs is respectively connected to the connecting frame, and the other end is respectively connected to the swing arm, so that the wheel body presses the transmission chain.

4. The agricultural mobile robot according to claim 1, characterized in that: The transmission mechanism adopts a sprocket chain mechanism, and the shock absorbing assembly includes an upper connecting seat, a lower connecting seat and a spring shock absorber. The upper connecting seat is fixed on the chassis, the lower connecting seat is fixed on the cantilever, and the two ends of the spring shock absorber are respectively hinged to the upper connecting seat and the lower connecting seat.

5. The agricultural mobile robot according to claim 1, characterized in that: The cantilever includes an outer shell, a first inspection cover, a second inspection cover and a third inspection cover. The outer shell is a hollow structure. The outer shell is provided with a first opening on the opposite side of the slewing support. The first inspection cover is detachably fixed to the side wall of the outer shell and closes the first opening. The outer shell is provided with a second opening on the opposite side of the wheel installation position. The second inspection cover is detachably fixed to the side wall of the outer shell and closes the second opening. The outer shell is provided with a third opening on the opposite side of the automatic tensioning mechanism. The third inspection cover is detachably fixed to the side wall of the outer shell and closes the third opening.

6. The agricultural mobile robot according to claim 1, characterized in that: The brake assembly includes a first bracket, a rotating plate and a first reset member, the first bracket is installed on the motor, a mounting hole is provided at one end of the rotating plate, a nut is fixed to the rotating plate on the side of the mounting hole, the rotating plate is threadedly connected to the brake bolt through the nut, one end of the brake line is connected to the rotating plate, one end of the first reset member is connected to the rotating plate, and the other end is connected to the first bracket, so as to realize the reset of the brake line.

7. An agricultural mobile robot as claimed in claim 6, characterized in that: The operating member includes a second bracket, an operating handle and a second resetting member. The operating handle includes a first handle portion and a second handle portion. One end of the first handle portion is hinged to the second bracket, and the other end is connected to the brake line and the second resetting member. The second resetting member is used to achieve the resetting of the first handle portion. A limiting portion is provided on the second bracket. The limiting portion is located below the first handle portion and is used to limit the downward rotation of the first handle portion. The first handle portion extends outward at its hinged end to form the second handle portion.

8. The agricultural mobile robot according to claim 1, characterized in that: The base is provided with a group of guide rails, the guide rails are provided with sliders which are slidably matched therewith, the guide frame is fixedly connected to the sliders, the guide frame includes a support frame, the support frame is provided with the inclined wedge, the inclined wedge is wedge-shaped, and is arranged along the moving direction of the guide frame, the guide column includes a guide sleeve and a lifting column, the guide sleeve is fixed in the base, the lifting column is movably inserted in the guide sleeve, and the top end thereof is fixedly connected to the jacking platform.

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