Electro-hydraulic suspension lifting mechanism of agricultural robot

Abstract

The invention relates to the technical field of agriculture, in particular to an electro-hydraulic suspension lifting mechanism of an agricultural robot, which comprises a mounting frame, a swing arm, an operation module, an electro-hydraulic push rod assembly, an adjusting pull rod and a tension spring assembly.The lifting function of the module is realized by controlling the extension and retraction of the electro-hydraulic push rod assembly during use; the swing arm and the adjusting pull rod are pulled to swing upwards, lifting of the operation module is achieved, the lifting height can be controlled by controlling the extending stroke of the electric-hydraulic push rod assembly, and the tensioning spring assembly is reset in the process; when the electric-hydraulic push rod assembly is controlled to retract, the swing arm and the adjusting pull rod swing downwards to achieve descending of the operation module, the tensioning spring assembly is stretched in the process, and therefore when the operation module ascends, the tensioning spring assembly can provide large auxiliary force to assist the operation module in ascending.

Description

Technical Field

[0001] The invention relates to the technical field of agriculture, and in particular to an electro-hydraulic suspension lifting mechanism of an agricultural robot. Background Art

[0002] my country is a major agricultural country. my country's robotics field is combining automated machinery and equipment with traditional agriculture, developing towards a highly intelligent direction and realizing the intelligent operation of robots in various complex agricultural farming environments.

[0003] As new agricultural machinery, most agricultural robots do not have a reliable and stable agricultural machinery suspension and lifting system to adapt to the multi-module operation requirements. Most small and medium-sized agricultural robots are mainly based on a single operation function, or are trailer-type to achieve modularization. A stable and reliable robot suspension system is conducive to enabling robots to achieve modular operations like tractors.

[0004] The hydraulic suspension system of traditional tractors has a complex structure, low space utilization, and is relatively bulky, making it difficult to apply to robots. Summary of the invention

[0005] The purpose of the present invention is to provide an electro-hydraulic suspension lifting mechanism for an agricultural robot, which solves the problem that the hydraulic suspension system of a traditional tractor has a complex structure, low space utilization, is relatively bulky, and is difficult to apply to a robot.

[0006] To achieve the above-mentioned objectives, the present invention provides an electro-hydraulic suspension and lifting mechanism of an agricultural robot, comprising a mounting frame, a swing arm, an operating module, an electro-hydraulic push rod assembly, an adjusting rod and a tensioning spring assembly, wherein the swing arm is rotatably connected to the mounting frame via a first connecting pin, the operating module is rotatably connected to the swing arm via a second connecting pin, and is located on a side of the swing arm away from the mounting frame, the electro-hydraulic push rod assembly is rotatably connected to the mounting frame via a third connecting pin, the output end of the electro-hydraulic push rod assembly is connected to the swing arm, the two ends of the adjusting rod are rotatably connected to the mounting frame and the operating module, and the tensioning spring assembly is respectively connected to the mounting frame and the operating module.

[0007] Wherein, the swing arm includes two side plates, a supporting pipe and a pin sleeve, one end of the two side plates is rotatably connected to the mounting frame through the first connecting pin, and the other end of the two side plates is rotatably connected to the operating module through the second connecting pin; the supporting pipe is respectively fixedly connected to the two side plates and is located between the two side plates; the pin sleeve is respectively fixedly connected to the two side plates, and is rotatably connected to the first connecting pin, and is sleeved on the first connecting pin.

[0008] Among them, the electro-hydraulic suspension lifting mechanism of the agricultural robot also includes two anti-slip gaskets, and the two anti-slip gaskets are respectively installed at both ends of the second connecting pin shaft and respectively abut against the two side plates.

[0009] Among them, the tensioning spring assembly includes a first tensioning spring, a second tensioning spring and a tensioning screw, the first tensioning spring is connected to the mounting frame; the second tensioning spring is connected to the operation module; the two ends of the tensioning screw are respectively connected to the first tensioning spring and the second tensioning spring, and are located between the first tensioning spring and the second tensioning spring.

[0010] Among them, the electro-hydraulic push rod assembly includes an electro-hydraulic push rod body, a connecting shaft, two sensor mounting brackets and a detection component, the two ends of the connecting shaft are respectively fixedly connected to the two side plates, and the connecting shaft is located between the two side plates; the electro-hydraulic push rod body is rotatably mounted on the mounting frame through the third connecting pin shaft, and the output end of the electro-hydraulic push rod is rotatably connected to the connecting shaft; the two sensor mounting brackets are mounted on the electro-hydraulic push rod body; and the detection component is arranged on the electro-hydraulic push rod body.

[0011] Wherein, the sensor mounting bracket includes a first bracket and a second bracket, the first bracket and the second bracket are mounted on the outside of the electro-hydraulic push rod body, and the first bracket and the second bracket are fixedly connected by bolts.

[0012] Wherein, the electro-hydraulic push rod assembly further includes a first limit plate and a second limit plate, wherein the first limit plate is fixedly connected to the two first brackets respectively; and the second limit plate is fixedly connected to the two second brackets respectively.

[0013] The electro-hydraulic suspension lifting mechanism of an agricultural robot of the present invention, when in use, realizes the lifting function of the module by controlling the extension and retraction of the electro-hydraulic push rod assembly. When the electro-hydraulic push rod assembly is extended, the swing arm and the adjusting rod are pulled to swing upward to realize the lifting of the operating module. The lifting height can be controlled by controlling the extension stroke of the electro-hydraulic push rod assembly. During this process, the tensioning spring assembly is reset; when the electro-hydraulic push rod assembly is controlled to retract, the swing arm and the adjusting rod are swung downward to realize the lowering of the operating module. During this process, the tensioning spring assembly is stretched, so that when the operating module rises, the tensioning spring assembly can provide a large auxiliary force to assist the operating module to rise. The electro-hydraulic suspension lifting mechanism of the agricultural robot provided by the present invention has the advantages of simple structure, strong load capacity, low cost, easy installation and easy replacement and maintenance, and can meet the application requirements of agricultural robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0015] Figure 1 It is a schematic diagram of the overall structure of the electro-hydraulic suspension lifting mechanism of the agricultural robot according to the first embodiment of the present invention.

[0016] Figure 2 It is a schematic diagram of the installation structure of the swing arm of the first embodiment of the present invention.

[0017] Figure 3 It is a schematic diagram of the installation structure of the tensioning screw according to the first embodiment of the present invention.

[0018] Figure 4 It is a schematic diagram of the installation structure of the side panel of the first embodiment of the present invention.

[0019] Figure 5 2 is a schematic structural diagram of a detection component according to a second embodiment of the present invention.

[0020] Figure 6 Schematic diagram of the installation structure of the guide rod according to the second embodiment of the present invention.

[0021] In the figure: 101-installation frame, 102-swing arm, 103-operating module, 104-electro-hydraulic push rod assembly, 105-adjusting rod, 106-tensioning spring assembly, 107-first connecting pin, 108-second connecting pin, 109-third connecting pin, 110-side plate, 111-support pipe, 112-pin sleeve, 113-anti-slip gasket, 114-first tensioning spring, 115-second tensioning spring, 116-tensioning screw, 201-electro-hydraulic push rod body, 202-connecting shaft, 203-sensor mounting bracket, 204-detection component, 205-first bracket, 206-second bracket, 207-first limit plate, 208-second limit plate, 209-Hall proximity switch, 210-magnet, 211-guide rod bracket, 212-guide rod. DETAILED DESCRIPTION

[0022] Embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0023] First embodiment:

[0024] See also Figures 1 to 4 ,in Figure 1 This is the overall structural diagram of the electro-hydraulic suspension lifting mechanism of the agricultural robot. Figure 2 This is a schematic diagram of the installation structure of the swing arm. Figure 3This is a schematic diagram of the installation structure of the tensioning screw. Figure 4 It is a schematic diagram of the installation structure of the side panel.

[0025] The present invention provides an electro-hydraulic suspension lifting mechanism of an agricultural robot, comprising an installation frame 101, a swing arm 102, an operation module 103, an electro-hydraulic push rod assembly 104, an adjusting rod 105, a tensioning spring assembly 106 and two anti-slip gaskets 113, wherein the swing arm 102 comprises two side plates 110, a supporting pipe 111 and a pin sleeve 112, and the tensioning spring assembly 106 comprises a first tensioning spring 114, a second tensioning spring 115 and a tensioning screw 116, and the swing arm 102 is driven to swing by extending and retracting the electro-hydraulic push rod assembly 104, thereby driving the operation module 103 to rise and fall, thereby achieving the purpose of simplifying the structure, reducing the cost, facilitating the installation and lifting the load. It can be understood that the above scheme can meet the application of the lifting mechanism on the agricultural robot, and can also be used to detect the stroke of the operation module 103.

[0026] According to this specific embodiment, the swing arm 102 is rotatably connected to the mounting frame 101 via a first connecting pin 107, the operating module 103 is rotatably connected to the swing arm 102 via a second connecting pin 108, and is located on a side of the swing arm 102 away from the mounting frame 101, the electro-hydraulic push rod assembly 104 is rotatably connected to the mounting frame 101 via a third connecting pin 109, the output end of the electro-hydraulic push rod assembly 104 is connected to the swing arm 102, and both ends of the adjusting rod 105 are rotatably connected to the mounting frame 101 and the operating module 103, respectively. The tension spring assembly 106 is connected to the mounting frame 101 and the operating module 103 respectively; the swing arm 102 is installed at the center of the mounting frame 101 and the operating module 103, two adjustment rods 105 are provided, and are respectively located on both sides of the swing arm 102, the mounting frame 101 is installed on the vehicle body by bolts, and a parallelogram mechanism is formed between the adjustment rod 105, the swing arm 102, the mounting frame 101 and the operating module 103 to improve the stability of the operating module 103 when it is lifted or lowered. The tension spring assembly 106 is used to Assisting the resetting of the operation module 103, the operation module 103 is used for agricultural operations, such as carrying electric mowing, rotary tillage, ditching and other operation modules 103 to realize operations with different functions; when in use, the lifting function of the operation module 103 is realized by controlling the extension and retraction of the electro-hydraulic push rod assembly 104. When the electro-hydraulic push rod assembly 104 is extended, the electro-hydraulic push rod assembly 104 pulls the swing arm 102 and the adjusting rod 105 to swing upward to realize the lifting of the operation module 103. The lifting height can be controlled by controlling the extension stroke of the electro-hydraulic push rod assembly 104. This process The tensioning spring assembly 106 is reset; when the electro-hydraulic push rod assembly 104 is controlled to retract, the swing arm 102 and the adjusting rod 105 swing downward to realize the lowering of the operating module 103. During this process, the tensioning spring assembly 106 is stretched, so that when the operating module 103 rises, the tensioning spring assembly 106 can provide a larger auxiliary force to assist the operating module 103 to rise. The electro-hydraulic suspension lifting mechanism of the agricultural robot provided by the present invention has the advantages of simple structure, strong load capacity, low cost, easy installation and easy replacement and maintenance, and can meet the application requirements of agricultural robots.

[0027] Among them, one end of the two side panels 110 is rotatably connected to the mounting frame 101 through the first connecting pin 107, and the other end of the two side panels 110 is rotatably connected to the operating module 103 through the second connecting pin 108; the supporting pipe 111 is fixedly connected to the two side panels 110 respectively and is located between the two side panels 110; the pin sleeve 112 is fixedly connected to the two side panels 110 respectively, and is rotatably connected to the first connecting pin 107, and is sleeved on the first connecting pin 107; through the first connecting pin 107 and the second connecting pin 108, the side panel 110 can be rotated relative to the operating module 103 and the mounting frame 101, and the overall strength of the swing arm 102 is improved through the supporting pipe 111.

[0028] Secondly, the two anti-slip gaskets 113 are respectively installed at the two ends of the second connecting pin shaft 108, and are respectively abutted against the two side plates 110; the two anti-slip gaskets 113 are installed at the two ends of the second connecting pin shaft 108 by means of threads, and the anti-slip gaskets 113 are used to prevent the side plates 110 from being detached from the second connecting pin shaft 108, thereby improving the stability of the device.

[0029] At the same time, the first tensioning spring 114 is connected to the installation frame 101; the second tensioning spring 115 is connected to the operation module 103; the two ends of the tensioning screw 116 are respectively connected to the first tensioning spring 114 and the second tensioning spring 115, and are located between the first tensioning spring 114 and the second tensioning spring 115; the tensioning spring assembly 106 is provided with two, and the operation module 103 and the installation frame 101 are provided with hanging points, and the first tensioning spring 114 and the second tensioning spring 115 can be hung on the hanging points of the operation module 103 and the installation frame 101, The tensioning screw 116 consists of two threaded rods and a threaded sleeve. The two threaded rods are respectively connected to the first tensioning spring 114 and the second tensioning spring 115. The threaded sleeve is threadedly connected to the two threaded rods. The elasticity of the first tensioning spring 114 and the second tensioning spring 115 provides auxiliary force for the rise of the operation module 103. At the same time, the threaded sleeve in the middle is rotated to drive the two threaded rods to move closer to or away from each other. The elastic force of the first tensioning spring 114 and the second tensioning spring 115 can be adjusted, and then the auxiliary force provided when the operation module 103 rises can be adjusted to adapt to the operation modules 103 of different weights.

[0030] Second embodiment:

[0031] Based on the first embodiment, please refer to Figure 5 and Figure 6 , Figure 5 is a schematic structural diagram of a detection component of a second embodiment, Figure 6 It is a schematic diagram of the installation structure of the guide rod of the second embodiment. The electro-hydraulic push rod assembly 104 of this embodiment includes an electro-hydraulic push rod body 201, a connecting shaft 202, two sensor mounting brackets 203, a detection component 204, a first limit plate 207 and a second limit plate 208. The sensor mounting bracket 203 includes a first bracket 205 and a second bracket 206. The detection component 204 includes two Hall proximity switches 209, a magnet 210, a guide rod bracket 211 and a guide rod 212.

[0032] According to this specific embodiment, the two ends of the connecting shaft 202 are respectively fixedly connected to the two side plates 110, and the connecting shaft 202 is located between the two side plates 110; the electro-hydraulic push rod body 201 is rotatably mounted on the mounting frame 101 through the third connecting pin 109, and the output end of the electro-hydraulic push rod body 201 is rotatably connected to the connecting shaft 202; the two sensor mounting brackets 203 are mounted on the electro-hydraulic push rod body 201; the detection component 204 is arranged on the electro-hydraulic push rod body 201; the output end of the electro-hydraulic push rod body 201 is rotatably connected to the swing arm 102 through the connecting shaft 202, and the detection component 204 is used to detect the position of the output end of the electro-hydraulic push rod body 201.

[0033] The first bracket 205 and the second bracket are installed on the outside of the electro-hydraulic push rod body 201, and the first bracket 205 and the second bracket 206 are fixedly connected by bolts.

[0034] Secondly, the first limiting plate 207 is fixedly connected to the two first brackets 205 respectively; the second limiting plate 208 is fixedly connected to the two second brackets 206 respectively.

[0035] The first bracket 205 and the second bracket 206 are provided with arc-shaped grooves on the inner sides to cooperate with the electro-hydraulic push rod body 201, so that the first bracket 205 and the second bracket 206 can be installed on the electro-hydraulic push rod body 201; the first bracket 205 and the second bracket 206 are limited by the first limiting plate 207 and the second limiting plate 208, so as to further improve the stability of the first bracket 205 and the second bracket 206 and avoid their deviation, which affects the detection of the output end position of the electro-hydraulic push rod body 201.

[0036] At the same time, the two Hall proximity switches 209 are respectively mounted on the opposite surfaces of the two second brackets 206; the guide rod bracket 211 is fixedly mounted on the output end of the electro-hydraulic push rod; the guide rod 212 is fixedly connected to the guide rod bracket 211 and passes through the second bracket 206 close to the guide rod bracket 211; the magnet 210 is fixedly connected to the guide rod 212 and is located at the end of the guide rod 212 away from the guide rod bracket 211; when the output end of the electro-hydraulic push rod body 201 is extended and retracted, the guide rod bracket 211 is driven to move, so that the guide rod bracket 211 drives the guide rod 212 to move synchronously, and then drives the magnet 210 to move synchronously with the output end of the electro-hydraulic push rod body 201, when the magnet 210 approaches the Hall proximity switch 209, it will be detected, and the Hall proximity switch 209 outputs an electrical signal to indicate the current position of the output end of the electro-hydraulic push rod body 201, thereby achieving the purpose of detecting the position of the output end of the electro-hydraulic push rod body 201.

[0037] When the electro-hydraulic suspension and lifting mechanism of the agricultural robot of the present invention is used, the swing arm 102 is driven to swing by extending or retracting the output end of the electro-hydraulic push rod body 201, thereby driving the operation module 103 to rise and fall. When the operation module 103 descends, the first tensioning spring 114 and the second tensioning spring 115 are stretched. When the operation module 103 rises, the first tensioning spring 114 and the second tensioning spring 115 release elastic potential energy to assist the operation module 103 in resetting. At the same time, the position of the magnet 210 is detected by the Hall proximity switch 209, and then the position of the output end of the electro-hydraulic push rod body 201 is detected, so as to facilitate the control of the height of the operation module 103. The electro-hydraulic suspension and lifting mechanism of the agricultural robot of the present invention has the advantages of simple structure, strong impact resistance, strong load capacity, low cost, convenient installation, and easy replacement and maintenance, and meets the conditions for use on agricultural robots.

[0038] What is disclosed above is only one or more preferred embodiments of the present application, and cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiments and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. An electro-hydraulic suspension lifting mechanism for an agricultural robot, characterized in that: It includes an installation frame, a swing arm, an operation module, an electro-hydraulic push rod assembly, an adjusting rod and a tensioning spring assembly, the swing arm being rotatably connected to the installation frame via a first connecting pin, the operation module being rotatably connected to the swing arm via a second connecting pin and being located on a side of the swing arm away from the installation frame, the electro-hydraulic push rod assembly being rotatably connected to the installation frame via a third connecting pin, the output end of the electro-hydraulic push rod assembly being connected to the swing arm, the two ends of the adjusting rod being rotatably connected to the installation frame and the operation module respectively, and the tensioning spring assembly being connected to the installation frame and the operation module respectively.

2. The electro-hydraulic suspension lifting mechanism of the agricultural robot according to claim 1, characterized in that: The swing arm includes two side plates, a supporting pipe and a pin sleeve. One end of the two side plates is rotatably connected to the mounting frame via the first connecting pin, and the other end of the two side plates is rotatably connected to the operating module via the second connecting pin; the supporting pipe is fixedly connected to the two side plates respectively and is located between the two side plates; the pin sleeve is fixedly connected to the two side plates respectively, and is rotatably connected to the first connecting pin, and is sleeved on the first connecting pin.

3. The electro-hydraulic suspension lifting mechanism of the agricultural robot according to claim 2, characterized in that: The electro-hydraulic suspension lifting mechanism of the agricultural robot further comprises two anti-slip gaskets, which are respectively mounted at the two ends of the second connecting pin shaft and respectively abut against the two side plates.

4. The electro-hydraulic suspension lifting mechanism of the agricultural robot according to claim 1, characterized in that: The tensioning spring assembly includes a first tensioning spring, a second tensioning spring and a tensioning screw, the first tensioning spring is connected to the mounting frame; the second tensioning spring is connected to the operation module; the two ends of the tensioning screw are respectively connected to the first tensioning spring and the second tensioning spring, and are located between the first tensioning spring and the second tensioning spring.

5. The electro-hydraulic suspension lifting mechanism of the agricultural robot according to claim 2, characterized in that: The electro-hydraulic push rod assembly includes an electro-hydraulic push rod body, a connecting shaft, two sensor mounting brackets and a detection component, the two ends of the connecting shaft are respectively fixedly connected to the two side plates, and the connecting shaft is located between the two side plates; the electro-hydraulic push rod body is rotatably mounted on the mounting frame through the third connecting pin shaft, and the output end of the electro-hydraulic push rod is rotatably connected to the connecting shaft; the two sensor mounting brackets are mounted on the electro-hydraulic push rod body; and the detection component is arranged on the electro-hydraulic push rod body.

6. The electro-hydraulic suspension lifting mechanism of the agricultural robot according to claim 5, characterized in that: The sensor mounting bracket includes a first bracket and a second bracket. The first bracket and the second bracket are mounted on the outside of the electro-hydraulic push rod body. The first bracket and the second bracket are fixedly connected by bolts.

7. The electro-hydraulic suspension lifting mechanism of the agricultural robot according to claim 6, characterized in that: The electro-hydraulic push rod assembly further includes a first limit plate and a second limit plate, wherein the first limit plate is fixedly connected to the two first brackets respectively; and the second limit plate is fixedly connected to the two second brackets respectively.

Images