Two-wheeled agricultural robot chassis

Abstract

The present application refers to a two-wheel agricultural robot chassis, which is suitable for a greenhouse with limited movement range, has the advantages of compact structure, easy installation and simple control. The chassis includes a chassis frame, a drive module connecting plate, a front steering drive module and a rear steering drive module. The front steering drive module includes an integrated joint, a tire support, a hub motor, an auxiliary wheel assembly and a force sensor. The auxiliary wheel assembly includes a motor, a gear, a screw rod and other components, which are installed on the tire support. This chassis design also specially uses a ball screw and ball screw nut, a brushless DC motor and a multi-dimensional force sensor to provide efficient power and accurate force measurement. In addition to the installation of shock-absorbing rubber blocks between the force sensor and the tire support, the chassis is also equipped with a shock-absorbing assembly, including a guide rod, a spring and an extended linear bearing, which are connected through a sensor connecting plate, effectively improving the stability of the robot movement process.

Description

Technical Field

[0001] The present invention relates to the field of agricultural robots, and in particular to a two-wheeled agricultural robot chassis. Background Art

[0002] Most agricultural robots currently on the market are four-wheel drive or two-wheel drive, and most of them are used to perform agricultural work across ridges and furrows. They are not flexible in greenhouses, so two-wheeled robots have emerged. However, two-wheeled robots need to be self-balancing, their overall structure is complex, and their production costs are high.

[0003] Application number CN2023104290534 discloses an automated plant protection robot that adopts a horizontal two-wheel structure and needs to operate across ridges. It is not very suitable for greenhouses with limited range of motion.

[0004] Application number CN2018103050918 discloses a two-wheeled robot with multiple motion modes. A flywheel is used to ensure the self-balancing of the two-wheeled robot during movement. The flywheel is expensive, has high usage requirements, and the overall structure is complex.

[0005] Therefore, a two-wheeled agricultural robot chassis is needed to solve the above technical problems. Summary of the Invention

[0006] The purpose of the present invention is to provide a two-wheeled agricultural robot chassis, which integrates an auxiliary wheel assembly on the tire bracket. The assembly includes a lifting mechanism, a sensor and a shock absorbing mechanism to achieve an efficient, stable and safe vehicle body steering structure.

[0007] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions: a two-wheeled agricultural robot chassis, a chassis frame, a drive module connecting plate, a front steering drive module, and a rear steering drive module; the front steering drive module includes an integrated joint, a tire bracket, a hub motor, an auxiliary wheel assembly, a force sensor, and a shock absorber assembly; the drive module connecting plate is respectively fixed to the front and rear ends of the chassis frame; the front steering drive module is connected to the drive module connecting plate through an integrated joint; the integrated joint is fixed to the tire bracket; the hub motor is installed on the tire bracket; the auxiliary wheel assembly includes a motor, an auxiliary wheel connecting plate, a gear, a screw, a screw nut, a guide rail, a guide rail slider, a bearing seat, an auxiliary plate, an auxiliary Wheel, force sensor connecting plate armor; there are two groups of auxiliary wheel assemblies, which are symmetrically installed on the tire bracket; the motor is installed on the auxiliary wheel connecting plate; the gears are installed on the motor shaft and the screw rod respectively; the bearing seat is fixed on the auxiliary wheel connecting plate; the guide rail is fixed on the auxiliary wheel connecting plate; the guide rail slider is installed on the guide rail; the screw rod and the screw rod nut are installed on the auxiliary wheel connecting plate through the bearing seat; the auxiliary plate is connected to the auxiliary wheel connecting plate through the screw nut and the guide rail slider; the auxiliary wheel is installed on the auxiliary plate; the force sensor connecting plate armor is connected to the auxiliary wheel connecting plate; the force sensor connecting plate armor is connected to the force sensor; the force sensor is connected to the tire bracket; the parts required for the rear steering drive module are the same as those of the front steering drive module.

[0008] Preferably, the screw and the screw nut are a ball screw and a ball screw nut; the motor is a motor; and the force sensor is a one-dimensional force sensor, a two-dimensional force sensor, or a three-dimensional force sensor.

[0009] Preferably, a rubber block is further included, which is installed between the force sensor and the tire bracket to play a shock-absorbing role.

[0010] Preferably, a shock absorbing assembly is also included, which includes a guide rod fixing seat, a guide rod, a spring, an extended linear bearing, and a force sensor connecting plate B; there are four groups of shock absorbing assemblies, which are symmetrically installed on the left and right sides of the driving module body; the guide rod fixing seat is fixed on the tire bracket; the guide rod is fixed on the guide rod fixing seat; the spring is sleeved on the guide rod; and the extended linear bearing is sleeved on the guide rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The present invention will be further described below with reference to the accompanying drawings.

[0012] Figure 1 It is an axonometric effect diagram of Example 2 of the present invention.

[0013] Figure 2 This is a side view of the front steering drive module of Example 2 of the present invention.

[0014] Figure 3 1. It is an exploded view of the front steering drive module of Example 1 of the present invention.

[0015] Figure 4 1. It is an exploded view of the front steering drive module of Example 2 of the present invention.

[0016] Figures 1 to 4 1. Chassis frame, 2. Drive module connecting plate, 3. Front steering drive module, 4. Rear steering drive module, 31. Integrated joint, 32. Tire bracket, 33. Hub motor, 34. Auxiliary wheel assembly, 35. Force sensor, 36. Rubber block, 37. Shock absorber assembly, 341. Motor, 342. Auxiliary wheel connecting plate, 343. Gear, 344. Ball screw, 345. Ball screw nut, 346. Guide rail, 347. Guide rail slider, 348. Bearing seat, 349. Auxiliary plate, 350. Auxiliary wheel, 351. Force sensor connecting plate A, 371. Guide rod fixing seat, 372. Guide rod, 373. Spring, 374. Extended linear bearing, 375. Force sensor connecting plate B. DETAILED DESCRIPTION

[0017] In order to more clearly understand the technical content of the present invention, the following embodiments are given to explain in detail.

[0018] It should be noted that, when a component is referred to as being "fixed on" or "set on" or "installed on" another component, it may be directly or indirectly located on the other component; when a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component; the directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limiting the present technical solution; the terms "first" and "second" are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features; "multiple" means two or more, unless otherwise clearly and specifically defined.

[0019] Example 1

[0020] For example 1, see Figures 1 to 3 As shown, Figures 1 to 3The figure shows a two-wheeled agricultural robot chassis, including a chassis frame 1, a drive module connecting plate 2, a front steering drive module 3, and a rear steering drive module 4; the front steering drive module 3 includes an integrated joint 31, a tire bracket 32, a hub motor 33, an auxiliary wheel assembly 34, a force sensor 35, and a shock absorber assembly 36; the drive module connecting plate 2 is fixed to the chassis frame 1, and the front steering drive module 3 is connected to the drive module connecting plate 2 through the integrated joint 31; the integrated joint 31 is fixed to the tire bracket 32, and the front steering drive module 3 realizes steering through the integrated joint 31; the hub motor 33 is installed on the tire bracket 32, and the hub motor 33 is controlled by The auxiliary wheel assembly 34 is directly driven to move the entire robot chassis, and the two sides of the tire bracket 32 ​​are surrounded by three-sided fences, which surround the auxiliary wheel assembly 34, increase the rigidity of the tire bracket 32, and also increase the overall aesthetics; the rubber block 36 is fixed on the tire bracket 32, and the force sensor 35 is fixed to the rubber block 36. When the auxiliary wheel assembly 34 encounters an obstacle or a depression, at the moment of contact, the rubber block 36 first plays a certain buffering role to ensure the stability of the chassis during movement; the auxiliary wheel assembly 34 includes a motor 341, an auxiliary wheel connecting plate 342, a gear 343, a ball screw 344, a ball screw nut 345, a guide rail 346, a guide rail slider 347, a bearing seat 348, an auxiliary wheel connecting plate 342, a gear 343, a ball screw 344, a ball screw nut 345, a guide rail 346, a guide rail slider 347, a bearing seat 348, an auxiliary wheel connecting plate 342, a gear 343, a ball screw 344, a ball screw nut 345, a guide rail Auxiliary plate 349, auxiliary wheel 350, force sensor connecting plate armor 351; there are two sets of auxiliary wheel assemblies 34, which are symmetrically mounted on the tire bracket 32; the motor 341 is mounted on the auxiliary wheel connecting plate 342, and the gear 343 is mounted on the motor shaft and the ball screw 344 respectively. The gear 343 on the motor 341 and the gear 343 mounted on the ball screw 344 are meshed with each other. The motor 341 drives the gear 343 to rotate to drive the ball screw nut 345 to move up and down; the bearing seat 348 is fixed on the auxiliary wheel connecting plate 342; the guide rail 346 is fixed on the auxiliary wheel connecting plate 342, and the guide rail slider 347 is mounted on the guide rail 346; the ball screw 344 The auxiliary plate 349 is connected to the auxiliary wheel connecting plate 342 through the ball screw nut 345 and the guide rail slider 347, and the auxiliary plate 349 moves on the guide rail 346 along with the ball screw nut 345; the auxiliary wheel 350 is installed on the auxiliary plate 349, and the auxiliary wheel assembly 34 assists the chassis to not tip over when it is stationary and to keep the chassis stable when moving; the force sensor connecting plate armor 351 is fixed on the auxiliary wheel connecting plate 342, and the auxiliary wheel assembly is connected to the force sensor phase 35 through the force sensor connecting plate armor 351; the parts required for the rear steering drive module 4 are the same as those of the front steering drive module 3.

[0021] When the chassis encounters an obstacle or a depression during movement, the rubber block 36 first acts as a shock absorber, and the force sensor 35 detects the change in force, controls the motor 341 to rotate to drive the ball screw 344. As the ball screw 344 rotates, the ball screw nut 345 installed on the ball screw 344 drives the auxiliary plate 349 to move up and down to ensure the stability of the chassis during movement.

[0022] Example 2

[0023] For example 2, please see Figure 4 As shown, Example 2 is a variation of Example 1, which is basically the same as Figures 1 to 3 The specific embodiments shown are the same, and the same parts are marked with the same reference numerals. Compared with Example 1, Example 2 includes a shock absorbing assembly 37, which includes a guide rod fixing seat 371, a guide rod 372, a spring 373, an extended linear bearing 374, and a force sensor connecting plate B 375; there are two groups of shock absorbing assemblies, which are symmetrically installed on the tire bracket 32, the guide fixing seat 371 is fixed on the tire bracket 32; the guide rod 372 is fixed on the guide rod fixing seat 371; the spring 373 is sleeved on the guide rod 372; and the extended linear bearing 374 is sleeved on the guide rod 372. When the chassis is moving and the auxiliary wheel 350 hits an obstacle, the auxiliary wheel assembly 34 will transfer force to the shock absorber assembly 37 at the moment of being subjected to force. The motor will respond during this process. At this time, the spring 373 is compressed on the guide rod 372 to buffer the auxiliary wheel assembly, preventing the auxiliary wheel from being subjected to excessive impact force. This optimizes the steering structure of the chassis, reduces the impact of road impact on the auxiliary wheel and the chassis as a whole, and further improves the stability and safety of the chassis.

[0024] The auxiliary wheel connecting plate 342, the mounting component of the guide rail 346, adopts a U-shaped structure, as does the auxiliary plate 349, the mounting component of the guide rail slider 347. When combined, they form a closed structure with great overall strength. This unique structural design not only improves the load-bearing capacity of the components themselves, but also enhances the stability of the entire auxiliary wheel assembly.

[0025] The auxiliary wheel assemblies of the present invention are spatially located on either side of the wheel hub motor, creating a compact space. The height of the auxiliary wheel assemblies does not exceed that of the tire brackets. During tire steering, the auxiliary wheel assembly's lifting mechanism does not contact the chassis frame, preventing the auxiliary wheel mechanism from increasing the chassis frame's height or width. This design, through rational layout and optimized connection between components, integrates the shock-absorbing assembly with the auxiliary wheel assembly, enabling these components to operate collaboratively within a limited space. This effectively cushions the auxiliary wheels, optimizes the chassis' steering structure, reduces the impact of road impacts on the auxiliary wheels and the chassis as a whole, and further enhances chassis stability and safety. Furthermore, this integrated design makes the chassis structure more compact, lowers its center of gravity, improves its handling performance, and enhances its adaptability to varying road conditions.

[0026] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A two-wheeled agricultural robot chassis, characterized by: Includes chassis frame, drive module connecting plate, front steering drive module, and rear steering drive module; The front steering drive module includes an integrated joint, a tire bracket, a hub motor, an auxiliary wheel assembly, a force sensor, and a shock absorber assembly; the structural volume and motion range of the front and rear steering drive modules do not exceed the height of the tire bracket; the drive module connecting plates are respectively fixed to the front and rear ends of the chassis frame; the front steering drive module is connected to the drive module connecting plate through an integrated joint; the integrated joint is fixed on the tire bracket; the hub motor is installed on the tire bracket; the two sides of the tire bracket are three-sided enclosures, which surround the auxiliary wheel assembly; the auxiliary wheel assembly includes a motor, an auxiliary wheel connecting plate, two gears, a screw, a screw nut, a guide rail, a guide rail slider, a bearing seat, an auxiliary plate, an auxiliary wheel, and a force sensor connecting plate armor; there are two groups of auxiliary wheel assemblies, which are centrally symmetrically installed on the tire bracket; the motor is installed on the back of the auxiliary wheel connecting plate; the gears are respectively installed on the motor shaft and the screw; the bearing seat is fixed on the auxiliary wheel connecting plate ;The guide rail is fixed to the auxiliary wheel connecting plate; the guide rail slider is installed on the guide rail; the screw rod and the screw rod nut are installed on the auxiliary wheel connecting plate through the bearing seat; the auxiliary plate is connected to the auxiliary wheel connecting plate through the screw nut and the guide rail slider; the auxiliary wheel is installed on the auxiliary plate; the force sensor connecting plate A is connected to the auxiliary wheel connecting plate; the force sensor connecting plate A is connected to the force sensor; the force sensor is connected to the tire bracket; the shock absorber assembly includes a guide rod fixing seat, a guide rod, a spring, an extended linear bearing, and a sensor connecting plate B; the shock absorber assembly has two groups, which are symmetrically installed on the left and right sides of the drive module body; the guide rod fixing seat is fixed to the tire bracket; the guide rod is fixed to the guide rod fixing seat; the spring is sleeved on the guide rod; the extended linear bearing is sleeved on the guide rod; the shock absorber assembly is connected to form a group through the sensor connecting plate B; the parts required for the rear steering drive module are the same as those of the front steering drive module; The screw and screw nut are ball screw and ball screw nut; the motor is a brushless DC motor; the force sensor is a one-dimensional force sensor, a two-dimensional force sensor, or a three-dimensional force sensor; It also includes a rubber block; the rubber block is installed between the force sensor and the tire bracket to play a shock-absorbing role.

2. A two-wheeled agricultural robot chassis according to claim 1, characterized in that: The auxiliary wheel assembly and the shock absorber assembly are spatially juxtaposed; the main body of the auxiliary wheel assembly is composed of two "U"-shaped parts, the auxiliary wheel connecting plate and the auxiliary plate; the guide rail slider is installed on the side of the auxiliary plate; the ball screw and the ball screw nut are installed in the cavity formed by the auxiliary wheel connecting plate and the auxiliary plate; the spring is installed above the shock absorber assembly; the force sensor is installed below the shock absorber assembly; the motor is installed on the back of the auxiliary wheel connecting plate and placed between the two springs of the shock absorber assembly.

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