A multi-degree-of-freedom wheel-leg mechanism

Abstract

A multi-degree-of-freedom wheel-leg mechanism relates to the technical field of agricultural machinery. The present invention solves the problems that the wheel-legs of existing agricultural robots are heavy, have low driving power, and cannot adjust the wheelbase to adapt to the complex and changeable field environment. The sliding shaft of the present invention is installed on the upper end surface of the traveling mechanism, the external sleeve is rotatably sleeved on the sliding shaft, the gear transmission pair is installed in one side of the connecting frame, the output shaft of the swing cylinder is connected to the driving gear, the upper part of the sliding shaft can slide axially through the driven gear, the sliding shaft drives the traveling mechanism to rotate under the drive of the gear transmission pair, one end of the wheelbase adjustment component is fixedly installed on the chassis of the agricultural robot, the other end of the wheelbase adjustment component extends into the connecting frame and is connected to the inner side wall of the connecting frame, the wheelbase adjustment component pulls the connecting frame to move in the horizontal direction, and the connecting frame drives the traveling mechanism, the sliding shaft and the external sleeve to move in the same direction to achieve the adjustment of the wheelbase. The present invention is used for field operations.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural robots, and in particular to a multi-freedom wheel-leg mechanism for an agricultural robot. Background Art

[0002] Agriculture is the foundation of the national economy. Modern agricultural robot equipment is an important guarantee for the development of high-quality agriculture. The agricultural robot chassis, as an assembly of the drive system and various components, plays an irreplaceable role in the field of agricultural robot equipment. Especially with the continuous advancement of science and technology, agricultural automation machinery is becoming more and more intelligent and can meet the changing working environment. For example: The utility model patent with the authorization announcement number: CN218594422U discloses an omnidirectional wheel-leg mechanism, which is equipped with a set of steering drive mechanisms to realize the steering of the wheels at any angle within a range of 180 degrees. The steering drive mechanism mainly drives the reducer to decelerate through the steering motor, and then transmits the rotating torque to the shaft, and the shaft drives the U-shaped bracket and the wheel to rotate.

[0003] Although the wheel can achieve steering within a large angle range, in the actual operation process of the agricultural robot, as the requirements for operating efficiency increase, the weight of the entire agricultural robot becomes larger and larger, resulting in an increasing driving force required for the agricultural robot to walk in the field, which undoubtedly increases the load of the wheel-leg drive. The existing wheel-leg mechanism uses a steering motor and a reducer to achieve steering, which increases the weight of the entire agricultural robot. Moreover, when the wheel is turning, the motor generally drives the wheel leg to turn. This driving method is slow due to the large load of the agricultural robot and the small driving power. In addition, when the agricultural robot is working outdoors, it is often necessary to adjust the wheelbase according to different scenarios. The chassis structure of the traditional agricultural robot is bulky and has a single function, which cannot adapt to the high terrain adaptability requirements when working in a large field environment with complex and changeable working conditions.

[0004] In summary, the wheel legs of existing agricultural robots have the problems of heavy weight, low driving power and inability to adjust the wheelbase to adapt to the complex and changeable field environment. Summary of the invention

[0005] The purpose of the present invention is to solve the problems of existing agricultural robots' wheel legs being heavy, having low driving power and being unable to adjust the wheelbase to adapt to complex and changeable field environments, and thus to provide a multi-degree-of-freedom wheel-leg mechanism.

[0006] The technical solution of the present invention is:

[0007] A multi-degree-of-freedom wheel-leg mechanism includes a traveling mechanism, a steering drive mechanism, a wheelbase adjustment component, a sliding shaft, and a connecting frame horizontally slidably installed on the front end surface and the rear end surface of the chassis of an agricultural robot. The steering drive mechanism is installed on the connecting frame, the upper part of the sliding shaft is inserted into the steering drive mechanism, the lower part of the sliding shaft is connected to the traveling mechanism, the steering drive mechanism drives the traveling mechanism to achieve steering by driving the rotation of the sliding shaft, one end of the wheelbase adjustment component is installed at the front end and the rear end of the chassis of the agricultural robot, and the other end of the wheelbase adjustment component is connected to the connecting frame and drives the connecting frame to move horizontally to achieve the distance adjustment between two adjacent wheel legs in the horizontal direction.

[0008] Furthermore, the mechanism includes a wheel, a hydraulic motor and a motor connecting bracket, the motor connecting bracket is installed inverted on the wheel, the hydraulic motor is installed on the outer wall of one side of the motor connecting bracket, and the output shaft of the hydraulic motor is connected to the axle of the wheel; the upper end surface of the motor connecting bracket is a horizontal plane, and a hydraulic motor sensor is integrated on the hydraulic motor.

[0009] Furthermore, the steering drive mechanism includes a swing cylinder and a gear transmission pair, the gear transmission pair includes a driven gear and a driving gear; the swing cylinder is installed on a connecting frame, the gear transmission pair is installed in the connecting frame, the output shaft of the swing cylinder is connected to the driving gear of the gear transmission pair, and a swing cylinder sensor is integrated in the swing cylinder, the upper part of the sliding shaft slides through the driven gear of the gear transmission pair, and the driven gear is meshed with the driving gear.

[0010] Preferably, the longitudinal section of the connecting frame is in the shape of a Chinese character “U”, and a mounting hole is provided on the connecting frame.

[0011] Furthermore, the wheelbase adjustment assembly includes a telescopic cylinder and a pin shaft. A connecting hole is provided at the protruding end of the telescopic cylinder. The pin shaft is inserted into the mounting hole of the connecting frame and passes through the connecting hole at the end of the piston rod on the telescopic cylinder. The connecting frame is moved horizontally under the drive of the telescopic cylinder.

[0012] Furthermore, it also includes an external sleeve, which includes an upper outer sleeve, a lower outer sleeve and two sleeve-type bearing seats. The upper end of the upper outer sleeve is connected to the lower end surface of the connecting frame, the lower end of the upper outer sleeve is connected to the upper end of the lower outer sleeve, the two sleeve-type bearing seats are mirror-mounted on the lower part of the sliding shaft, the lower outer sleeve is mounted on the two sleeve-type bearing seats, and the lower end of the lower outer sleeve is connected to the bottom of the sleeve-type bearing seat.

[0013] Furthermore, it also includes an elastic member and a plurality of sliders, wherein the elastic member is sleeved on the lower part of the sliding shaft, the plurality of sliders are mounted on the outer side wall of the connecting frame, and the connecting frame is slidably connected to the front or rear of the chassis through the plurality of sliders.

[0014] Furthermore, it also includes a lifting drive component, which is installed on the upper end of the sliding shaft and connected to the sliding shaft.

[0015] Furthermore, the lifting drive assembly includes a fixed seat and a lifting cylinder, the fixed seat is vertically installed on the upper end surface of the connecting frame, the lifting cylinder is vertically installed on the fixed seat, and the telescopic end of the lifting cylinder is located in the fixed seat and connected to the upper end of the sliding shaft.

[0016] Furthermore, it also includes a position sensor, which is installed at the upper end of the lifting cylinder.

[0017] Compared with the prior art, the present invention has the following effects:

[0018] 1. In the travel mechanism of the present invention, a hydraulic motor 8 is used to directly drive the wheels 7 to rotate, which is particularly suitable for use in an environment where the entire agricultural robot is heavy, the farmland environment is complex, and a large driving force is required. The driving method is simpler, more direct and reliable.

[0019] 2. The wheel leg of the present invention can realize the steering function, which is to directly drive the gear transmission pair to rotate through the swing cylinder 16, and the gear transmission pair drives the sliding shaft 10 to rotate. Since the lower part of the sliding shaft 10 is connected to the traveling mechanism, the entire traveling mechanism can be rotated in any direction. In addition, the present invention uses a gear transmission pair to reduce the speed, which ensures the transmission accuracy of the steering. Moreover, the gear transmission pair is light in weight, the transmission is more stable, the weight of the entire agricultural robot is reduced, and the lightweight of the machine body is achieved.

[0020] 3. The present invention can adjust the wheelbase between the front and / or rear two wheel legs. The adjustment method is: the two front wheel legs and the two rear wheel legs are respectively installed at the front end and the rear end of the chassis. Now, the wheelbase adjustment method between the two front wheel legs is taken as an example; the connecting frame 14 is slidably connected to the front or rear of the chassis through a plurality of sliders 19. When the telescopic end of the telescopic cylinder 15 is extended and retracted, the connecting frame 14 is driven to slide horizontally through the pin shaft 13, thereby adjusting the distance between the two wheel legs. It can be applied to the operation requirements of different crop varieties and different field environments without replacing the wheel legs, thereby improving the operation efficiency of the agricultural robot and reducing the labor intensity of the staff.

[0021] 4. The present invention can adjust the height of the wheel legs. The wheel legs of the present invention are installed on the chassis. Under the action of the lifting drive assembly, the wheel legs can select a suitable height to perform operations according to the different types of crops in the actual field operations (especially the different heights of the crops). The operations can be spraying pesticides or laser weeding.

[0022] 5. The wheel legs of the present invention can also realize the shock absorption function. This is mainly realized by the elastic member arranged on the sliding shaft 10. Specifically, when the agricultural robot walks in the undulating field, in order to ensure the accuracy of the agricultural robot's operation, for example, the agricultural laser weeding robot needs to perform laser weeding during walking. When walking in an area with large terrain undulations, the elastic member is used to reduce and lower the vibration of the laser component. This improves the accuracy of the agricultural robot's operation and meets the operation requirements of modern agricultural robots.

[0023] 6. The wheel legs of the present invention simultaneously have the functions of shock absorption, driving (including forward, backward, braking and other driving states), steering, lifting, and adjusting wheelbase. They have many degrees of freedom, flexible movement, compact structure, and high power, which effectively improve the movement performance of the agricultural robot chassis and its terrain passability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is an axonometric view of the wheel leg with shock-absorbing function in state one;

[0025] Figure 2 It is an axonometric view of the wheel leg with shock-absorbing function in state 2;

[0026] Figure 3 It is a main cross-sectional view of a wheel leg with a shock-absorbing function;

[0027] Figure 4 is an axonometric view of a wheel leg with lifting function (wherein the right part of the motor connection bracket 6 is omitted);

[0028] Figure 5 yes Figure 4 A partial cross-sectional view of the motor connecting bracket 6 (wherein the right side portion is omitted).

[0029] in, Figures 1 to 5 All of them have the functions of driving, steering and adjusting wheelbase.

[0030] The markings in the figure are:

[0031] 1. Position sensor; 2. Lifting cylinder; 3. Fixed seat; 4. Upper outer sleeve; 5. Sleeve bearing seat; 6. Motor connecting bracket; 7. Wheel; 8. Hydraulic motor; 9. Bearing; 10. Sliding shaft 10; 11. Driven gear; 12. Driving gear; 13. Pin shaft; 14. Connecting frame; 15. Telescopic cylinder; 16. Swing cylinder; 17. Lower outer sleeve; 18. Elastic part; 19. Slider. DETAILED DESCRIPTION

[0032] Specific implementation method 1: Combination Figures 1 to 5The present embodiment is described. The present embodiment includes a traveling mechanism, which also includes a connecting frame 14, a swing cylinder 16, a gear transmission pair, a wheelbase adjustment component, a sliding shaft 10 and an external sleeve; the sliding shaft 10 is vertically and fixedly installed on the upper end surface of the traveling mechanism, the external sleeve is rotatably sleeved on the sliding shaft 10, and the upper part of the external sleeve is connected to the horizontally arranged connecting frame 14, the gear transmission pair is installed in one side of the connecting frame 14, the output shaft of the swing cylinder 16 is connected to the driving gear 12 of the gear transmission pair, and a swing cylinder sensor is integrated in the swing cylinder 16, and the sliding shaft 10 is fixedly mounted on the upper end surface of the traveling mechanism, and the external sleeve is rotatably sleeved on the sliding shaft 10, and the upper part of the external sleeve is connected to the horizontally arranged connecting frame 14, the gear transmission pair is installed in one side of the connecting frame 14, the output shaft of the swing cylinder 16 is connected to the driving gear 12 of the gear transmission pair, and the swing cylinder 16 is integrated with a swing cylinder sensor, and the sliding shaft 10 is fixedly mounted on the upper end surface of the traveling mechanism, and the external sleeve is rotatably sleeved on the sliding shaft 10, and the upper part of the external sleeve is connected to the horizontally arranged connecting frame 14, the gear transmission pair is installed in the ... The upper part of the driving shaft 10 can slide axially through the driven gear 11 of the gear transmission pair. The sliding shaft 10 drives the traveling mechanism to rotate under the drive of the gear transmission pair. One end of the wheelbase adjustment component is fixedly mounted on the chassis of the agricultural robot. The other end of the wheelbase adjustment component extends into the connecting frame 14 and is connected to the inner side wall of the connecting frame 14. The wheelbase adjustment component pulls the connecting frame 14 to move horizontally. The connecting frame 14 drives the traveling mechanism, the sliding shaft 10 and the external sleeve to move in the same direction, thereby realizing the distance adjustment between two adjacent wheel legs in the horizontal direction.

[0033] The traveling mechanism of this embodiment is connected to the sliding shaft 10, and the traveling mechanism drives the sliding shaft 10 to realize forward, backward and braking, thereby realizing the normal travel of the agricultural robot chassis; the steering drive mechanism is composed of a swing cylinder 16 and a gear transmission pair, and is connected to the connecting frame 14. The steering drive mechanism is connected to the sliding shaft 10, and the swing generated by the swing cylinder 16 drives the sliding shaft 10 of the wheel leg to rotate relative to the connecting frame 14 through gear meshing, thereby realizing the steering movement of the agricultural robot chassis.

[0034] The gear transmission pair of this embodiment includes a driven gear 11 and a driving gear 12. The driven gear 11 and the driving gear 12 are rotatably mounted in a connecting frame 14, respectively, and the driven gear 11 and the driving gear 12 are meshed with each other.

[0035] The wheelbase adjustment mechanism of this embodiment is connected to the slide fixed on the chassis of the agricultural robot body, and forms a translational motion pair with the slide fixed on the body of the agricultural robot. Through the extension and retraction of the telescopic cylinder 15 in the wheelbase adjustment mechanism, the connecting frame 14 is driven to translate relative to the slide fixed on the body of the agricultural robot, thereby realizing the increase or decrease of the wheelbase of the agricultural robot chassis.

[0036] The sliding shaft 10 of this embodiment is a stepped sliding shaft, wherein the upper outer diameter of the sliding shaft 10 is smaller than the lower outer diameter. In actual use, the upper part of the sliding shaft 10 participates in the lifting action of the wheel leg, and the lower part of the sliding shaft 10 participates in the steering movement of the wheel leg.

[0037] Specific implementation method 2: Combination Figures 1 to 5This embodiment is described. The travel mechanism of this embodiment includes a wheel 7, a hydraulic motor 8 and a motor connecting bracket 6. The motor connecting bracket 6 is mounted on the wheel 7 in an inverted manner. The hydraulic motor 8 is mounted on the outer wall of one side of the motor connecting bracket 6, and the output shaft of the hydraulic motor 8 is connected to the axle of the wheel 7. In this way, the motor connecting bracket 6 is connected to the housing of the hydraulic motor 8, and the output shaft of the hydraulic motor 8 is connected to the axle of the wheel 7. The hydraulic motor 8 is light in weight and suitable for use in an environment with a large load. Other components and connection relationships are the same as those of the first specific embodiment.

[0038] The upper end surface of the motor connection bracket 6 of this embodiment is a horizontal plane, and a hydraulic motor sensor is integrated on the hydraulic motor 8. The horizontal plane can be easily connected to the lower end of the sliding shaft 10, so as to provide a large torque to the travel mechanism, thereby realizing field travel with large load drive.

[0039] Specific implementation method three: Combination Figures 1 to 5 This embodiment is described. The steering drive mechanism of this embodiment includes a swing cylinder 16 and a gear transmission pair. The gear transmission pair includes a driven gear 11 and a driving gear 12. The swing cylinder 16 is installed on the connecting frame 14, and the gear transmission pair is installed in the connecting frame 14. The output shaft of the swing cylinder 16 is connected to the driving gear 12 of the gear transmission pair, and a swing cylinder sensor is integrated in the swing cylinder 16. The upper part of the sliding shaft 10 slides through the driven gear 11 of the gear transmission pair, and the driven gear 11 is meshed with the driving gear 12. Such a configuration facilitates the rotation of the driven gear 11 and the driving gear 12 under the drive of the swing cylinder 16, thereby driving the sliding shaft 10 to rotate and realize steering. Other components and connection relationships are the same as those of the first or second specific embodiments.

[0040] Specific implementation method four: Combination Figures 1 to 5 To explain this embodiment, the longitudinal section of the connecting frame 14 of this embodiment is in the shape of a "U" character, and a mounting hole is provided on the connecting frame 14. This arrangement facilitates connection with the chassis of the agricultural robot, and also provides mounting space for the gear transmission pair and the wheelbase adjustment assembly. Other components and connection relationships are the same as those of the first, second or third embodiments.

[0041] In this embodiment, the connection between the connecting frame 14 and the chassis of the agricultural robot is achieved by a slider 19 installed on the outer end surface of the connecting frame.

[0042] Specific implementation method five: Combination Figures 1 to 5 To explain this embodiment, the wheelbase adjustment assembly of this embodiment includes a telescopic cylinder 15 and a pin 13. A connecting hole is provided at the protruding end of the telescopic cylinder 15. After the pin 13 is inserted into the mounting hole of the connecting frame 14, it passes through the connecting hole at the end of the piston rod on the telescopic cylinder 15, and the connecting frame 14 is moved to a horizontal position under the drive of the telescopic cylinder 15.

[0043] In this configuration, the cylinder body of the telescopic cylinder 15 is fixed on the chassis of the agricultural robot body, the telescopic end of the telescopic cylinder 15 is connected to the pin 13, the pin 13 fixes the piston rod of the telescopic cylinder on the connecting frame 14, and the connecting frame 14 slides in the connecting frame fixedly connected to the chassis of the agricultural robot body. Other components and connection relationships are the same as those of the specific embodiments one, two, three or four.

[0044] In actual use of this embodiment, a plurality of mounting holes can be opened in advance on the connecting frame 14 according to actual needs, and the mounting holes at appropriate positions can be selected according to actual use requirements.

[0045] Specific implementation method six: Combination Figures 1 to 5 To illustrate this embodiment, this embodiment also includes an external sleeve, which includes an upper outer sleeve 4, a lower outer sleeve 17 and two sleeve-type bearing seats 5. The upper end of the upper outer sleeve 4 is connected to the lower end surface of the connecting frame 14, and the lower end of the upper outer sleeve 4 is connected to the upper end of the lower outer sleeve 17. The two sleeve-type bearing seats 5 are mirror-mounted on the lower part of the sliding shaft 10, and the lower outer sleeve 17 is mounted on the two sleeve-type bearing seats 5. The lower end of the lower outer sleeve 17 is connected to the bottom of the sleeve-type bearing seats 5.

[0046] With such a configuration, the sleeve bearing seat 5 is embedded with the bearing 9, and the bearing 9 and the sliding shaft 10 are clearance-fitted, so that when the wheel leg is lifted or lowered, the telescopic end of the lifting cylinder 2 is connected to the sliding shaft 10, driving the sliding shaft 10 to slide up and down in the sleeve bearing seat 5. In addition, in order to ensure that the sliding shaft 10 and the driven gear 11 can achieve both up and down lifting and can transmit the torque of the driven gear 11, the sliding shaft 10 and the driven gear 11 are connected by splines. This ensures that the lifting function can be achieved while the wheel leg is turning, and the entire action process is an organic whole, and the action is more reliable. The other components and connection relationships are the same as any one of the specific implementation methods one to five.

[0047] The sleeve-type bearing seat 5 of this embodiment is fixed to the outer ring of the bearing 9, the sliding shaft 10 is fixed to the inner ring of the bearing 9, the outer shell of the swing cylinder 16 is fixed on the connecting frame 14, the output shaft of the swing cylinder 16 is connected to the driving gear 12, and the sliding shaft 10 is fixedly connected to the driven gear 11, and the driven gear 11 is meshed with the driving gear 12 for transmission.

[0048] Specific implementation method seven: Combination Figures 1 to 3This embodiment is described. This embodiment also includes an elastic member 18 and a plurality of sliders 19. The elastic member 18 is mounted on the lower part of the sliding shaft 10. The plurality of sliders 19 are mounted on the outer side wall of the connecting frame 14. The connecting frame 14 is slidably connected to the front or rear of the chassis through the plurality of sliders 19. With such a configuration, the slider 19 is easy to slide between the chassis of the agricultural robot. The material of the elastic member 18 is preferably a spring, which can reduce shock during the entire driving process of the agricultural robot. Other components and connection relationships are the same as any one of the specific embodiments one to six.

[0049] In actual use, the sliders of this embodiment are installed on the upper end surface and the front end surface of the connecting frame 14, and at least three sliders 19 are installed on each of the upper end surface and the front end surface of the connecting frame 14.

[0050] Specific implementation method eight: Combination Figures 4 to 5 This embodiment is described, and this embodiment also includes a lifting drive assembly, which is mounted on the upper end of the sliding shaft 10 and connected to the sliding shaft 10. In this way, the lifting mechanism is mounted on the connecting frame 14, and the lifting mechanism is connected to the sliding shaft 10. Through the extension and retraction of the lifting cylinder, the sliding shaft 10 is driven to move relative to the connecting frame 14, thereby realizing the lifting and lowering of the gap between the chassis of the agricultural robot and the ground; the other components and connection relationships are the same as any one of the specific embodiments 1 to 7.

[0051] Specific implementation method nine: Combination Figures 4 to 5 This embodiment is described. The lifting drive assembly of this embodiment includes a fixed seat 3 and a lifting cylinder 2. The fixed seat 3 is vertically mounted on the upper end surface of the connecting frame 14. The lifting cylinder 2 is vertically mounted on the fixed seat 3, and the telescopic end of the lifting cylinder 2 is located in the fixed seat 3 and connected to the upper end of the sliding shaft 10. This arrangement facilitates the lifting of the sliding shaft 10 and the walking mechanism relative to the connecting frame 14 by the lifting cylinder 2. Other components and connection relationships are the same as any one of the specific embodiments 1 to 8.

[0052] Specific implementation method ten: Combination Figures 4 to 5 This embodiment further includes a position sensor 1, which is mounted on the upper end of the lifting cylinder 2. This arrangement facilitates accurate measurement of the height of the entire wheel leg, providing an effective reference for the lifting range. Other components and connection relationships are the same as any one of the specific embodiments 1 to 9.

[0053] Combination Figures 1 to 5 The working principle of the present invention is described:

[0054] like Figures 1 to 3 As shown, the present invention provides a wheel leg capable of realizing the functions of walking, steering and adjusting the wheelbase.

[0055] In actual operation, the four groups of wheel legs are first installed on both sides of the front end and both ends of the rear end of the chassis of the agricultural robot, wherein the four groups of wheel legs and the chassis are slidably connected to the connecting frame through the slider 19. When the agricultural robot performs ordinary operations, it mainly uses the walking mechanism of the wheel legs. When it is necessary to turn, the swing cylinder 16 is started to drive the gear transmission pair to rotate, and the gear transmission pair drives the sliding shaft 10 and the walking mechanism to turn. When encountering undulating terrain, shock absorption is performed by the elastic member sleeved on the sliding shaft 10. In addition, when it is necessary to adjust the number of field furrows to be operated, the telescopic cylinder 15 is started, and the telescopic cylinder 15 drives the connecting frame 14 to slide horizontally until the appropriate wheelbase is reached. During the entire operation process, it is only necessary to operate according to actual needs, which avoids the existing agricultural robots being equipped with a large number of structural accessories in order to adapt to different use environments, and the staff are required to disassemble and assemble on site, which wastes time, manpower and financial resources. The present invention does not require a large number of accessories and on-site disassembly and assembly, and has high operating efficiency.

[0056] like Figures 4 to 5 As shown, the present invention also provides a wheel leg that can realize walking, steering, adjusting wheelbase, and lifting functions. It can adapt to complex and changeable field operation environments.

[0057] During use, this wheel leg is compared with the previous wheel leg (specifically Figures 1 to 3 The wheel-leg structure disclosed in the invention can adapt to the operation in the undulating terrain, and there is no need to disassemble and replace the equipment components, and the lifting cylinder can be directly operated. It should be noted that if the agricultural robot needs to walk for a long time in a state that makes the body of the agricultural robot tilt, the height of the wheel legs on both sides can be adjusted to ensure the safe, effective and stable operation of the entire agricultural robot.

[0058] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-degree-of-freedom wheel-leg mechanism, comprising a traveling mechanism, characterized in that: The robot also includes a steering drive mechanism, a wheelbase adjustment component, a sliding shaft (10), an external sleeve, an elastic member (18), a plurality of sliders (19), a lifting drive component, and a connecting frame (14) horizontally slidably mounted on the front and rear surfaces of the chassis of the agricultural robot. The steering drive mechanism is mounted on the connecting frame (14), the upper portion of the sliding shaft (10) is inserted into the steering drive mechanism, the lower portion of the sliding shaft (10) is connected to the traveling mechanism, the steering drive mechanism drives the traveling mechanism to achieve steering by driving the sliding shaft (10) to rotate, one end of the wheelbase adjustment component is mounted on the front and rear ends of the chassis of the agricultural robot, the other end of the wheelbase adjustment component is connected to the connecting frame (14) and drives the connecting frame (14) to move horizontally, thereby achieving adjustment of the distance between two adjacent wheel legs in the horizontal direction; The wheelbase adjustment assembly comprises a telescopic cylinder (15) and a pin shaft (13); a connecting hole is provided at the protruding end of the telescopic cylinder (15); the pin shaft (13) is inserted into the mounting hole of the connecting frame (14) and then passes through the connecting hole at the end of the piston rod on the telescopic cylinder (15); and the connecting frame (14) is moved to a horizontal position under the drive of the telescopic cylinder (15); The outer sleeve comprises an upper outer sleeve (4), a lower outer sleeve (17) and two sleeve-type bearing seats (5); the upper end of the upper outer sleeve (4) is connected to the lower end surface of the connecting frame (14); the lower end of the upper outer sleeve (4) is connected to the upper end of the lower outer sleeve (17); the two sleeve-type bearing seats (5) are mirror-mounted on the lower part of the sliding shaft (10); the lower outer sleeve (17) is mounted on the two sleeve-type bearing seats (5); and the lower end of the lower outer sleeve (17) is connected to the bottom of the sleeve-type bearing seats (5); The steering drive mechanism comprises a swing cylinder (16) and a gear transmission pair, wherein the gear transmission pair comprises a driven gear (11) and a driving gear (12); the swing cylinder (16) is mounted on a connecting frame (14), the gear transmission pair is mounted in the connecting frame (14), the output shaft of the swing cylinder (16) is connected to the driving gear (12) of the gear transmission pair, and a swing cylinder sensor is integrated in the swing cylinder (16); the upper portion of the sliding shaft (10) slides through the driven gear (11) of the gear transmission pair, and the driven gear (11) meshes with the driving gear (12); the sliding shaft (10) and the driven gear (11) are connected by a spline; The elastic member (18) is sleeved on the lower part of the sliding shaft (10), a plurality of sliding blocks (19) are mounted on the outer side wall of the connecting frame (14), and the connecting frame (14) is slidably connected to the front or rear of the chassis via the plurality of sliding blocks (19); The lifting drive assembly is mounted on the upper end of the sliding shaft (10) and connected to the sliding shaft (10), and comprises a fixed seat (3) and a lifting cylinder (2), wherein the fixed seat (3) is vertically mounted on the upper end surface of the connecting frame (14), the lifting cylinder (2) is vertically mounted on the fixed seat (3), and the telescopic end of the lifting cylinder (2) is located in the fixed seat (3) and connected to the upper end of the sliding shaft (10).

2. A multi-degree-of-freedom wheel-leg mechanism according to claim 1, characterized in that: The travel mechanism comprises a wheel (7), a hydraulic motor (8) and a motor connecting bracket (6); the motor connecting bracket (6) is mounted on the wheel (7) in an inverted manner; the hydraulic motor (8) is mounted on an outer wall of one side of the motor connecting bracket (6); and the output shaft of the hydraulic motor (8) is connected to the wheel axle of the wheel (7); the upper end surface of the motor connecting bracket (6) is a horizontal plane; and a hydraulic motor sensor is integrated on the hydraulic motor (8).

3. A multi-degree-of-freedom wheel-leg mechanism according to claim 1 or 2, characterized in that: The longitudinal cross-section of the connecting frame (14) is in the shape of a Chinese character “U”, and a mounting hole is provided on the connecting frame (14).

4. A multi-degree-of-freedom wheel-leg mechanism according to claim 3, characterized in that: It also includes a position sensor (1), which is mounted on the upper end of the lifting cylinder (2).

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