A mobile chassis and control system for oil-tea picking equipment

Abstract

The present invention provides a mobile chassis and control system that can be used for oil-tea picking equipment. The mobile chassis includes a frame, a slewing assembly respectively arranged at the bottom of the frame, a driving assembly arranged at the bottom of the slewing assembly, a wheel assembly arranged at the outside of the driving assembly, and a suspension assembly connecting the driving assembly and the wheel assembly. The suspension assembly includes a transmission component for connecting the driving assembly and the suspension component, two horn pieces symmetrically arranged at the center of the transmission component, and a connecting rod arranged at both sides of the horn piece for connecting the two horn pieces. The horn piece includes a circular ring body, a connecting part extending outward from both sides of the middle of the circular ring body, and the connecting part is rotatably connected with the connecting rod. The mobile chassis that can be used for oil-tea picking equipment solves the problem in the prior art that there is a lack of a mobile chassis for picking oil-tea trees with good obstacle crossing performance, high road adaptability, and maneuverability.

Description

Technical Field

[0001] The invention relates to the technical field of tea picking equipment, and in particular to a mobile chassis that can be used for oil tea picking equipment and a control system thereof. Background Art

[0002] Camellia oleifera can be used as medicine, and has the effects of clearing away heat and detoxifying, promoting blood circulation and removing blood stasis, relieving pain and itching. Its seeds are also a source of high-quality edible oil, which has a clear color, fragrant taste and rich nutrition. In addition, it can also be used as lubricating oil and anti-rust oil in industry. Tea cakes can be used as pesticides and fertilizers, which is beneficial to improve the water storage capacity of farmland and the function of preventing and controlling pests in rice fields. Camellia oleifera peel is also an important raw material for extracting tannin. Camellia oleifera has high use value and economic value in medicine, agriculture, industry and environment.

[0003] Tea trees are generally planted in hilly areas with a certain slope, complex environment, and potholes on the road. They are 1.5-1.8m high and 2-3m apart. To ensure the efficiency of picking, picking equipment is often used for picking. However, due to the limited space between tea trees, picking is difficult, and the picking equipment needs to have a certain obstacle crossing ability, flexibility and road adaptability. However, some agricultural picking equipment currently available on the market generally uses two-wheel steering. During the operation, when the agricultural equipment is operating at the end of the farmland, it needs to turn around, but the turning radius of the equipment using two-wheel steering is large, and it needs to move forward and backward repeatedly to complete the U-turn. Turning and U-turning is inconvenient. At the same time, the equipment with non-independent suspension has poor adaptability to uneven roads and cannot meet the requirements of tea tree picking.

[0004] Therefore, it is necessary to design a new mobile chassis that can be used for tea oil picking equipment, which should have excellent obstacle crossing performance, high road adaptability, and strong maneuverability and flexibility, so as to meet the needs of smoothly completing the tea oil picking work on complex roads and limited row spacing. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide a mobile chassis and a control system that can be used for tea oil picking equipment, aiming to solve the problem in the prior art of the lack of a mobile chassis for picking tea oil trees with good obstacle crossing performance, high road adaptability and maneuverability.

[0006] The present invention proposes a mobile chassis that can be used for oil-tea picking equipment, comprising a frame, a rotating assembly respectively arranged at the bottom of the frame, a driving assembly arranged at the bottom of the rotating assembly, a wheel assembly arranged on the outside of the driving assembly, and a suspension assembly connecting the driving assembly and the wheel assembly, the suspension assembly comprising a transmission component for connecting the driving assembly and the suspension component, two symmetrically arranged horn pieces arranged on the outside of the transmission component, and connecting rods arranged on both sides of the horn pieces for connecting the two horn pieces, the horn pieces comprising a circular ring main body and connecting parts extending outward from both sides of the middle of the circular ring main body, and the connecting parts are rotatably connected to the connecting rod.

[0007] The above-mentioned mobile chassis that can be used for oil tea picking equipment, by respectively arranging a slewing assembly and a driving assembly at the bottom of the frame, allows the four wheels of the mobile chassis to rotate independently, thereby greatly reducing the turning radius of the mobile chassis, so that the mobile chassis can turn on the spot or turn around, in addition, by arranging a suspension assembly, the driving assembly and the wheel assembly are connected, wherein the suspension assembly includes a horn piece arranged symmetrically at the center, and the horn pieces are connected to each other by a connecting rod, so that the rotation angle of each wheel relative to the mobile chassis is larger and more flexible, and then when the road is rugged, the angle between each wheel and the mobile chassis will be adaptively adjusted, although the heights of the wheels on both sides of the chassis are inconsistent, it can ensure that the middle part of the mobile chassis maintains a horizontal height, so that the wheels have a stronger direct grip on the ground, and avoid the situation where the middle part of the chassis is offset due to the different road surface heights on both sides of the mobile chassis, resulting in a shift in the center of gravity, causing the vehicle to roll over. In addition, the horn pieces arranged symmetrically at the center form an embracing structure through a connecting rod, which improves the overall structural rigidity, thereby avoiding the situation where the overall center of gravity of the mobile chassis is offset and rolls over due to low rigidity and local deformation. Therefore, the present invention solves the problem in the prior art of lacking a mobile chassis for picking tea oil trees with good obstacle crossing performance, high road adaptability and maneuverability.

[0008] In addition, the mobile chassis for tea oil picking equipment proposed in the present invention may also have the following additional technical features:

[0009] Preferably, the transmission component includes two first universal joint forks arranged back to back and two second universal joint forks arranged facing each other, one side of the two first universal joint forks are connected to each other through a spline shaft, and the other side is respectively connected to the two second universal joint forks through a cross shaft, one of the second universal joint forks is connected to the output shaft of the driving motor in the driving assembly, and the other second universal joint fork is connected to the wheel assembly through a transmission shaft.

[0010] Preferably, the suspension assembly also includes a hydraulic shock absorber, and cross bars extend outwardly from both ends of the top or bottom of the circular ring body. Two hydraulic shock absorbers are arranged at both ends of the horn pieces, and both ends of the hydraulic shock absorber are rotatably connected to the cross bars of the two horn pieces respectively.

[0011] Preferably, the wheel assembly includes a hub inner ring, spokes arranged on one side of the hub inner ring, a rim mounted on the outside of the hub inner ring, and a tire mounted on the outside of the rim. A transmission rod extends outward from the side of the hub inner ring away from the spokes, a key slot adapted to the transmission shaft is provided in the transmission rod, a hub outer ring is mounted on the outside of the transmission rod, and the hub outer ring is fixedly connected to the horn piece.

[0012] Preferably, the driving assembly comprises a motor box and the driving motor arranged in the motor box, and a shock-absorbing connecting flange fixedly connected to the horn piece is provided on a side of the motor box close to the horn piece.

[0013] Preferably, the rotating assembly includes a housing, a rotating motor arranged in the housing and having one end connected to the bottom of the frame, a rotating disc arranged at the bottom of the rotating motor, and a rotating flange arranged at the bottom of the rotating disc and connected to the driving assembly.

[0014] Preferably, the frame includes a main body portion formed by longitudinal beams and transverse beams connected to each other and a transmission portion arranged around the main body portion, the transmission portion is connected to the rotating assembly, and a battery pack assembly is arranged under the main body portion, and the battery pack assembly is used to provide energy to the rotating assembly and the driving assembly.

[0015] Preferably, the middle portion of the connecting rod is recessed in a direction away from the ground, so that the connecting rod is in a minor arc shape.

[0016] Preferably, a connecting portion is provided with a connecting hole, a fixing pin is provided in the connecting hole, a flange bearing is sleeved on the outer side of the fixing pin, a through hole matched with the connecting hole is provided on the connecting rod, so that the fixing pin is partially placed in the through hole, a cover plate is provided on the outer side of the connecting rod, and the cover plate, the fixing pin and the connecting rod are respectively provided with mounting holes matched with each other, so that the cover plate is respectively connected to the fixing pin and the connecting rod through fasteners.

[0017] In addition, the present invention also provides a mobile chassis control system that can be used for oil-tea picking equipment, which is used to control the above-mentioned mobile chassis that can be used for oil-tea picking equipment. The system includes:

[0018] An image acquisition module, used for acquiring an environmental image around the mobile chassis through a sensor device arranged on the mobile chassis;

[0019] A navigation module, used for providing a movement path for the mobile chassis according to the environment image;

[0020] A driving module, used for controlling and adjusting the action mode, direction and speed of the mobile chassis according to the environmental image and the action path, thereby driving the mobile chassis to move;

[0021] The picking module is used to drive a manipulator arranged on the mobile chassis to pick tea trees around the mobile chassis according to the environmental image. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of a mobile chassis that can be used for tea-oil picking equipment proposed in the first embodiment of the present invention;

[0023] Figure 2 for Figure 1 A schematic diagram of the structure from another perspective;

[0024] Figure 3 It is a structural schematic diagram of a suspension assembly proposed in a first embodiment of the present invention;

[0025] Figure 4 for Figure 3 The structural diagram after hiding the first universal fork shaft and the spline shaft;

[0026] Figure 5 An exploded view of the horn member and the connecting rod provided in the first embodiment of the present invention;

[0027] Figure 6 It is a structural schematic diagram of a wheel assembly proposed in the first embodiment of the present invention;

[0028] Figure 7 It is a schematic structural diagram of a driving assembly proposed in a first embodiment of the present invention;

[0029] Figure 8 It is a schematic structural diagram of a rotary assembly proposed in the first embodiment of the present invention;

[0030] Fig. 9 for Figure 8 Schematic diagram of the structure behind the hidden shell;

[0031] Fig.10 This is a schematic diagram of a mobile chassis with only front wheels steering proposed in the first embodiment of the present invention;

[0032] Fig.11 This is a schematic diagram of the same steering of the front and rear wheels of the mobile chassis proposed in the first embodiment of the present invention;

[0033] Fig.12 This is a schematic diagram of the front and rear wheels of the mobile chassis in opposite directions according to the first embodiment of the present invention;

[0034] Fig.13 It is a schematic diagram of the mobile chassis turning in situ proposed in the first embodiment of the present invention;

[0035] Fig.14 This is a schematic diagram of the mobile chassis moving horizontally according to the first embodiment of the present invention;

[0036] Fig.15 This is a schematic diagram of the mobile chassis traveling over a ditch and a ridge proposed in the first embodiment of the present invention;

[0037] Fig.16 This is a schematic diagram of the slope driving of the mobile chassis proposed in the first embodiment of the present invention.

[0038] Description of main component symbols:

[0039]

[0040] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0041] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0042] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0044] Embodiment 1

[0045] See also Figures 1 to 16, shown is a mobile chassis that can be used for oil-tea picking equipment in the first embodiment of the present invention, including a frame 10, a rotating assembly 20 respectively arranged at the bottom of the four sides of the frame 10, a driving assembly 30 arranged at the bottom of the rotating assembly 20, a wheel assembly 40 arranged on the outside of the driving assembly 30, and a suspension assembly 50 connecting the driving assembly 30 and the wheel assembly 40. The suspension assembly 50 includes a transmission component 51 for connecting the driving assembly 30 and the suspension component 50, two symmetrically arranged horn pieces 52 arranged on the outside of the transmission component 51, and a connecting rod 53 arranged on both sides of the horn piece 52 for connecting the two horn pieces 52. The horn piece 52 includes a circular ring body 521, and a connecting portion 522 extending outward from both sides of the middle of the circular ring body 521, and the connecting portion 522 is rotatably connected to the connecting rod 53.

[0046] It can be understood that by respectively arranging the slewing assembly 20 and the driving assembly 30 at the bottom around the frame 10, the four wheels of the mobile chassis can rotate independently, thereby greatly reducing the turning radius of the mobile chassis, so that the mobile chassis can turn on the spot or turn around. In addition, by arranging the suspension assembly 50, the driving assembly 30 and the wheel assembly 40 are connected, wherein the suspension assembly 50 includes horn pieces 52 arranged symmetrically on the center, and the horn pieces 52 are interconnected by connecting rods 53, so that the rotation angle of each wheel relative to the mobile chassis is larger and more flexible, and then when the road is rugged, the angle between each wheel and the mobile chassis will be adaptively adjusted. Although the heights of the wheels on both sides of the chassis are inconsistent, the height of the middle part of the mobile chassis can be maintained at a horizontal level, so that the wheels have a stronger direct grip on the ground, and avoid the situation where the middle part of the chassis is offset due to the different road surface heights on both sides of the mobile chassis, resulting in a shift in the center of gravity and causing the vehicle to roll over. In addition, the horn pieces 52 are arranged symmetrically in the center, and the connecting rods 53 form a type of embracing structure, which improves the overall structural rigidity, thereby avoiding the situation where the overall center of gravity of the mobile chassis is shifted and overturned due to low rigidity and local deformation. Therefore, the present invention solves the problem in the prior art that there is a lack of a mobile chassis for picking tea trees with good obstacle crossing performance, high road adaptability, and maneuverability.

[0047] Specifically, the transmission component 51 includes two first cardan shaft forks 511 disposed opposite to each other and two second cardan shaft forks 512 disposed opposite to each other. One side of the two first cardan shaft forks 511 is connected to each other through a spline shaft 513, and the other side is respectively connected to the two second cardan shaft forks 512 through a cross shaft 514. One second cardan shaft fork 512 is connected to the output shaft 33 of the driving motor 32 in the driving assembly 30, and the other second cardan shaft fork 512 is connected to the wheel assembly 40 through a transmission shaft 515. In actual use, in order to ensure that the mobile chassis can adapt to different road conditions, it is necessary to enable the wheel to deflect at a certain angle relative to the frame 10, so as to achieve the wheel fitting the rough road surface, but without affecting the horizontal height of the main part of the frame 10, ensuring that the main parts of the frame 10 are in the same horizontal plane to avoid the center of gravity shift. Furthermore, in a specific implementation, the second universal joint fork 512 is respectively connected to the drive assembly 30 and the wheel assembly 40, and is connected to the first universal joint fork shaft 511 through the cross shaft 514, so that a large angular deflection can be achieved between the drive assembly 30 and the wheel assembly 40, that is, a large deflection between the frame 10 and the wheel assembly 40 is achieved. In addition, the second universal joint forks 512 on both sides are connected by the first universal joint fork shaft 511, so that the drive assembly 30 can drive the wheel forward or backward through the first universal joint fork shaft 511 and the second universal joint fork 512 without affecting the angular deflection between the drive assembly 30 and the wheel assembly 40.

[0048] In addition, the suspension assembly 50 further includes a hydraulic shock absorber 54. A crossbar 523 is extended outwardly from the top or bottom ends of the circular ring body 521. Two hydraulic shock absorbers 54 are arranged at the two ends of the horn piece 52. The two ends of the hydraulic shock absorber 54 are respectively rotatably connected to the crossbar 523 of the two horn pieces 52. By independently arranging a plurality of hydraulic shock absorbers 54, the connection between each wheel and the frame 10 can perform corresponding shock absorption according to its own conditions, so as to reduce the overall impact of the road condition on the mobile chassis, ensure the stability of the main part of the frame 10, and avoid the main part of the frame 10 from being offset. In addition, the top and bottom of the two symmetrically arranged ram members 52 are connected by the hydraulic shock absorber 54, so that the linkage ability between the two ram members 52 is stronger. The ram member 52 on one side can perform adaptive angle adjustment according to the road conditions following the wheel assembly 40, and the ram member 52 on the other side can adjust the angle of the ram member 52 through the forces in various directions transmitted by the connecting rod 53 and the hydraulic shock absorber 54, thereby driving the drive assembly 30 to quickly adapt to the angle adjustment to avoid the impact of untimely adjustment on the frame 10.

[0049] Specifically, the wheel assembly 40 includes a hub inner ring 41, a spoke 42 arranged on one side of the hub inner ring 41, a rim 43 sleeved on the outer side of the hub inner ring 41, and a tire 44 sleeved on the outer side of the rim 43. A transmission rod 411 extends outward from the side of the hub inner ring 41 away from the spoke 42. A key slot 412 adapted to the transmission shaft 515 is arranged in the transmission rod 411. A hub outer ring 45 is sleeved on the outer side of the transmission rod 411. The hub outer ring 45 is fixedly connected to the horn 52. In addition, in specific use, the driving assembly 30 can drive the wheel to rotate through the cooperation of the transmission rod 411 and the transmission shaft 515, and then the hub outer ring 45 is fixed to the horn 52 to achieve the angle adjustment function of the wheel relative to the driving assembly 30, thereby improving the road adaptability of the mobile chassis.

[0050] In addition, the drive assembly 30 includes a motor box 31 and a drive motor 32 disposed in the motor box 31. A shock-absorbing connection flange 34 fixedly connected to the horn piece 52 is provided on one side of the motor box 31 near the horn piece 52. When in use, the drive motor 32 is disposed in the motor box 31, and the output shaft 33 of the drive motor 32 of the extended motor box 31 is connected to the second universal shaft fork 512 on one side to achieve power transmission of the drive motor 32. In addition, by providing a shock-absorbing connection flange 34 to connect with the horn piece 52, and then through the shock-absorbing hydraulic device, the shock-absorbing connection flange 34, and the transmission component 51, etc., the vibration generated by the wheels running on the rough road surface is attenuated multiple times, thereby avoiding the influence of the vibration of the wheels running on the frame 10, ensuring the stability of the center of gravity of the frame 10, and avoiding the mobile chassis from rolling over.

[0051] Specifically, the slewing assembly 20 includes a housing 21, a slewing motor 22 disposed in the housing 21 and connected to the bottom of the frame 10 at one end, a slewing disc 23 disposed at the bottom of the slewing motor 22, and a slewing flange 24 disposed at the bottom of the slewing disc 23 and connected to the driving assembly 30. Through multiple independently disposed slewing motors 22, the slewing disc 23 can be driven by the slewing motor 22 to rotate the driving assembly 30, and then the wheels are driven to rotate through the action of the transmission component 51, thereby realizing independent rotation control of each wheel. The mobile chassis can realize multiple action modes, such as turning on the spot, the frame 10 does not change its direction, and longitudinal movement or lateral movement is realized by controlling the direction of the wheels.

[0052] In addition, the frame 10 includes a main body 11 formed by connecting longitudinal beams and cross beams, and a transmission part 12 arranged around the main body 11. The transmission part 12 is connected to the rotating assembly 20. A battery pack assembly 60 is arranged below the main body 11. The battery pack assembly 60 is used to provide energy to the rotating assembly 20 and the driving assembly 30. Specifically, the longitudinal beams and cross beams can be cold-bent hollow steel with a square cross-section. While the bearing capacity is improved, the weight of the whole vehicle is also greatly reduced. The upper part of the frame 10 is mainly used to carry other functional equipment, and the lower part is used to install other structural devices and the battery pack assembly 60. The battery pack assembly 60 is connected to the rotating motor 22 and the driving motor 32 through wires to provide a power source for the whole vehicle.

[0053] It should be noted that, by way of example and not limitation, in some optional embodiments, the middle of the connecting rod 53 is recessed in a direction away from the ground, so that the connecting rod 53 is in a minor arc shape. By setting the connecting rod 53 in a minor arc shape, the middle parts of the horn pieces 52 on both sides are directly connected by the connecting rod 53, so that the vibration generated by the wheels traveling on a rough road surface will be directly transmitted to the frame 10 through the connecting rod 53. By setting the connecting rod 53 in a minor arc shape, when the vibration is transmitted on the connecting rod 53, the transmission direction will have a significant change, so that the vibration will be partially reflected, and the vibration will be greatly reduced, thereby preventing the vibration from affecting the frame 10.

[0054] Further, the connecting portion 522 is provided with a connecting hole 524, a fixing pin 525 is provided in the connecting hole 524, a flange bearing 526 is sleeved on the outer side of the fixing pin 525, a through hole 527 adapted to the connecting hole 524 is provided on the connecting rod 53, so that the fixing pin 525 is partially placed in the through hole 527, a cover plate 528 is provided on the outer side of the connecting rod 53, and mounting holes 529 adapted to each other are respectively provided on the cover plate 528, the fixing pin 525 and the connecting rod 53, so that the cover plate 528 is respectively connected to the fixing pin 525 and the connecting rod 53 through fasteners. Specifically, through the fixed connection of the cover plate 528, the fixing pin 525 and the connecting rod 53, the connecting rod 53 can rotate relative to the flange bearing 526, that is, the connecting rod 53 can rotate relative to the horn piece 52, and in addition, the cover plate 528 and the connecting portion 522 also limit the flange bearing 526 through the flange of the flange bearing 526 to ensure the functionality of the flange bearing 526.

[0055] In summary, a mobile chassis that can be used for tea oil picking equipment among the above embodiments of the present invention, by respectively arranging a slewing assembly 20 and a driving assembly 30 at the bottom around the frame 10, allows the four wheels of the mobile chassis to rotate independently, thereby greatly reducing the turning radius of the mobile chassis, so that the mobile chassis can turn on the spot or turn around, and in addition, by arranging a suspension assembly 50, the driving assembly 30 and the wheel assembly 40 are connected, wherein the suspension assembly 50 includes a horn piece 52 arranged symmetrically with the center, and the horn pieces 52 are interconnected by a connecting rod 53, so that the rotation angle of each wheel relative to the mobile chassis is larger and more flexible, and then when the road is rugged, the angle between each wheel and the mobile chassis will be adaptively adjusted, although the heights of the wheels on both sides of the chassis are inconsistent, it can ensure that the middle part of the mobile chassis maintains a horizontal height, so that the wheels have a stronger direct grip on the ground, and avoid the situation where the middle part of the chassis is offset due to the different road surface heights on both sides of the mobile chassis, resulting in an offset of the center of gravity, causing the vehicle to roll over. In addition, the horn pieces 52 are arranged symmetrically in the center, and the connecting rods 53 form a type of embracing structure, which improves the overall structural rigidity, thereby avoiding the situation where the overall center of gravity of the mobile chassis is shifted and overturned due to low rigidity and local deformation. Therefore, the present invention solves the problem in the prior art that there is a lack of a mobile chassis for picking tea trees with good obstacle crossing performance, high road adaptability, and maneuverability.

[0056] Embodiment 2

[0057] A second embodiment of the present invention provides a mobile chassis control system that can be used for tea-tea picking equipment. The mobile chassis control system that can be used for tea-tea picking equipment includes: an image acquisition module, a navigation module, a driving module, and a picking module, wherein:

[0058] An image acquisition module is used to acquire an image of the environment around the mobile chassis through a sensor device arranged on the mobile chassis;

[0059] A navigation module, used to provide a movement path for the mobile chassis according to the environment image;

[0060] A driving module is used to control and adjust the action mode, direction and speed of the mobile chassis according to the environment image and the action path, thereby driving the mobile chassis to move;

[0061] The picking module is used to drive a manipulator arranged on the mobile chassis to pick tea trees around the mobile chassis according to the environmental image.

[0062] The functions or operation steps implemented when the above modules are executed are substantially the same as those in the above method embodiments, and will not be repeated here.

[0063] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0064] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A mobile chassis that can be used for oil-tea picking equipment, characterized in that: The invention comprises a frame, a slewing assembly respectively arranged at the bottom of the four sides of the frame, a driving assembly arranged at the bottom of the slewing assembly, a wheel assembly arranged at the outside of the driving assembly, and a suspension assembly connecting the driving assembly and the wheel assembly, wherein the suspension assembly comprises a transmission component for connecting the driving assembly and the suspension assembly, two clevis pieces arranged symmetrically at the center and sleeved at the outside of the transmission component, and a connecting rod arranged at both sides of the clevis piece for connecting the two clevis pieces, wherein the clevis piece comprises a circular ring body and connecting parts extending outward from both sides of the middle of the circular ring body, and the connecting parts are rotatably connected with the connecting rod; The transmission component includes two first universal shaft forks arranged in opposite directions and two second universal shaft forks arranged in opposite directions, one side of the two first universal shaft forks is connected to each other through a spline shaft, and the other side is connected to the two second universal shaft forks respectively through a cross shaft, one of the second universal shaft forks is connected to the output shaft of the driving motor in the driving assembly, and the other second universal shaft fork is connected to the wheel assembly through a transmission shaft; The suspension assembly further includes a hydraulic shock absorber, and a crossbar portion extends outwardly from the top or bottom ends of the circular ring body, and two hydraulic shock absorbers are arranged at two ends of the horn piece, and the two ends of the hydraulic shock absorber are respectively rotatably connected to the crossbar portions of the two horn pieces; The middle part of the connecting rod is concave in a direction away from the ground, so that the connecting rod is in a minor arc shape.

2. The mobile chassis that can be used for oil-tea picking equipment according to claim 1 is characterized in that: The wheel assembly includes a hub inner ring, spokes arranged on one side of the hub inner ring, a rim sleeved on the outside of the hub inner ring, and a tire sleeved on the outside of the rim. A transmission rod extends outward from the side of the hub inner ring away from the spokes, a key slot adapted to the transmission shaft is provided in the transmission rod, a hub outer ring is sleeved on the outside of the transmission rod, and the hub outer ring is fixedly connected to the horn piece.

3. The mobile chassis for tea-oil picking equipment according to claim 1, characterized in that: The driving assembly includes a motor box and the driving motor arranged in the motor box. The motor box is provided with a shock-absorbing connecting flange fixedly connected to the horn piece on one side close to the horn piece.

4. The mobile chassis for tea oil picking equipment according to claim 1, characterized in that: The rotary assembly includes a housing, a rotary motor disposed in the housing and having one end connected to the bottom of the frame, a rotary disc disposed at the bottom of the rotary motor, and a rotary flange disposed at the bottom of the rotary disc and connected to the drive assembly.

5. The mobile chassis that can be used for oil-tea picking equipment according to claim 1 is characterized in that: The frame includes a main body portion formed by interconnected longitudinal beams and transverse beams and a transmission portion arranged around the main body portion, the transmission portion is connected to the rotating assembly, and a battery pack assembly is arranged under the main body portion, and the battery pack assembly is used to provide energy to the rotating assembly and the driving assembly.

6. The mobile chassis for tea-oil picking equipment according to claim 1, characterized in that: A connecting hole is provided on the connecting portion, a fixing pin is provided in the connecting hole, a flange bearing is sleeved on the outer side of the fixing pin, a through hole matched with the connecting hole is provided on the connecting rod, so that the fixing pin part is placed in the through hole, a cover plate is provided on the outer side of the connecting rod, and mounting holes matched with each other are respectively provided on the cover plate, the fixing pin and the connecting rod, so that the cover plate is connected to the fixing pin and the connecting rod respectively through fasteners.

7. A mobile chassis control system that can be used for tea-oil picking equipment, characterized in that: Used to control a mobile chassis that can be used for oil-tea picking equipment according to any one of claims 1 to 6, the system comprises: An image acquisition module, used for acquiring an environmental image around the mobile chassis through a sensor device arranged on the mobile chassis; A navigation module, used for providing a movement path for the mobile chassis according to the environment image; A driving module, used for controlling and adjusting the action mode, direction and speed of the mobile chassis according to the environmental image and the action path, thereby driving the mobile chassis to move; The picking module is used to drive a manipulator arranged on the mobile chassis to pick tea trees around the mobile chassis according to the environmental image.

Images