Omni-directional movement chassis capable of moving ridges

Abstract

The invention discloses an omni-directional movement chassis capable of moving ridges, which is characterized by comprising a frame and four groups of walking components, the walking assembly comprises an upper mounting plate and a lower mounting plate, the upper mounting plate and the lower mounting plate are fixedly connected with a lead screw and a guide rod respectively, and the upper mounting plate and the lower mounting plate are connected with a transmission shaft through bearings respectively; the lower mounting plate is fixedly connected with a bevel gear box, the lower end of the transmission shaft is fixedly connected with an input shaft of the bevel gear box, and an output shaft of the bevel gear box is fixedly connected with symmetrical wheels. The invention relates to the field of agricultural equipment, in particular to an omni-directional movement chassis capable of moving ridges. The technical problem to be solved by the invention is to provide the omni-directional moving chassis capable of moving ridges, so that ridge moving is conveniently realized, and green seedlings are prevented from being rolled.

Description

Technical Field

[0001] The invention relates to the field of agricultural equipment, in particular to an omnidirectional motion chassis for movable ridges. Background Art

[0002] Agricultural machinery, or agricultural machinery, is a general term for various mechanical equipment used in agricultural production. These mechanical equipment can significantly improve agricultural production efficiency and reduce the labor intensity of farmers, and are an important part of modern agriculture.

[0003] Most of the current agricultural machinery chassis do not have omnidirectional mobility, so they need a relatively open space when turning, otherwise they will crush the seedlings. Secondly, almost all existing agricultural machinery chassis do not have the ability to move ridges (cross ridges), which is very inconvenient when the agricultural machinery needs to move to another ridge after completing the operation on one ridge. If the seedlings are planted densely (the space between the fields is small), they will inevitably crush the seedlings. Therefore, it is urgent to design an omnidirectional mobile chassis that can move ridges. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an omnidirectional motion chassis capable of moving ridges, so as to facilitate the moving of ridges and avoid crushing young seedlings.

[0005] The present invention adopts the following technical solutions to achieve the invention objectives:

[0006] A movable omnidirectional motion chassis, characterized in that it comprises: a frame and four sets of walking components; the walking components comprise an upper mounting plate and a lower mounting plate, the upper mounting plate and the lower mounting plate are respectively fixedly connected to a lead screw and a guide rod, the upper mounting plate and the lower mounting plate are respectively bearing-connected to a transmission shaft; the lower mounting plate is fixedly connected to a bevel gear box, the lower end of the transmission shaft is fixedly connected to an input shaft of the bevel gear box, and the output shaft of the bevel gear box is fixedly connected to symmetrical wheels.

[0007] As a further limitation of the technical solution, it also includes four groups of lifting components, the lifting components include a lifting plate, the lifting plate is fixedly connected to a lead screw nut, the lifting plate bearing is connected to another lead screw nut, the lifting plate is fixedly connected to a lifting motor, the output shaft of the lifting motor passes through the lifting plate, the output shaft of the lifting motor is fixedly connected to a lifting driving gear, another lead screw nut is fixedly connected to a lifting driven gear, the lifting driving gear is connected to the lifting driven gear, the guide rod passes through one lead screw nut, and the lead screw thread is connected to another lead screw nut.

[0008] As a further limitation of the technical solution, it also includes four groups of swing components, the swing component includes a swing motor, the frame is fixedly connected to the swing motor, the output shaft of the swing motor passes through the frame and is fixedly connected to the friction wheel, the frame bearing is connected to the friction sector plate, the friction wheel contacts the friction sector plate, the friction sector plate is fixedly connected to the round seat, the round seat is fixedly connected to the frame, and the frame is fixedly connected to the symmetrical cross plate.

[0009] 1. According to the movable omnidirectional motion chassis of claim 1, it is characterized in that it also includes four sets of wheel drive assemblies, the wheel drive assembly includes a drive motor, the drive motor is fixedly connected to the corresponding transverse plate on the upper side, the output shaft of the drive motor passes through the corresponding transverse plate on the upper side, the output shaft of the drive motor is fixedly connected to the driving active gear, the driving active gear meshes with the driven gear, the driven gear is fixedly connected to the transmission shaft nut, the transmission shaft nut bearing is connected to the corresponding transverse plate on the upper side, the transmission shaft nut is provided with a guide hole matching the transmission shaft, and the transmission shaft is arranged in the guide hole.

[0010] As a further limitation of the technical solution, it also includes four groups of yaw assemblies, wherein the yaw assemblies include a yaw motor, the yaw motor is fixedly connected to the corresponding transverse plate on the lower side, the output shaft of the yaw motor passes through the corresponding transverse plate on the lower side, the output shaft of the yaw motor is fixedly connected to the yaw driving gear, the corresponding transverse plate bearing on the lower side is connected to the central axis of the yaw driven gear, the yaw driving gear meshes with the yaw driven gear, the central axis of the yaw driven gear is fixedly connected to the corresponding lifting plate, and the transmission shaft passes through the central axis of the yaw driven gear.

[0011] As a further limitation of the present technical solution, the transmission shaft adopts a spline shaft.

[0012] As a further limitation of this technical solution, its usage mode is as follows:

[0013] S1: leg swing mode;

[0014] Control the swing motor to rotate, the swing motor drives the friction wheel to rotate, the friction wheel drives the friction sector plate to rotate, the friction sector plate drives the round seat, the frame, the cross plate, the wheel drive assembly, the yaw assembly, the lifting assembly and the walking assembly to swing, so as to realize leg swinging;

[0015] S2: mobile mode;

[0016] Control the driving motor to drive the driving gear to rotate, the driving gear drives the driven gear, the transmission shaft nut and the transmission shaft to rotate, the transmission shaft drives the bevel gear box to work, so as to realize the rotation of the wheels and the movement of the chassis;

[0017] S3: Turning mode;

[0018] Control the yaw motor to rotate, the yaw motor drives the yaw driving gear to rotate, the yaw driving gear drives the yaw driven gear to rotate, the yaw driven gear drives the lifting plate to swing, so as to realize the swing of the lifting assembly and the walking assembly and realize turning;

[0019] S4: lifting mode;

[0020] As a further limitation of the present technical solution, the lifting motor is controlled to rotate, the lifting motor drives the lifting active gear to rotate, the lifting active gear drives the lifting driven gear and the corresponding lead screw nut to rotate, and the lead screw nut drives the lead screw to move, so that the walking assembly moves relative to the frame, wherein the transmission shaft moves relatively along the transmission shaft nut, and the guide rod moves relatively along the corresponding lead screw nut, thereby changing the height difference between the wheel and the frame to avoid scratching of the seedlings in the frame when moving ridges.

[0021] As a further limitation of the present technical solution, the raising and lowering of the lead screw is achieved by driving the lead screw nut to rotate, which not only realizes the height adjustment of the frame relative to the wheel, but also realizes the raising and lowering of the entire traveling assembly, effectively reducing the total length of the traveling assembly, and can change the height of any one of the wheels from the ground, so that the chassis has a good obstacle crossing ability.

[0022] As a further limitation of the technical solution, the four walking components adopt a triangular gait, and one walking component is swung each time to achieve walking. At this time, ridges can be moved. If the seedlings are tall, the slender walking components can pass between the seedlings to avoid crushing the seedlings.

[0023] As a further limitation of the present technical solution, the chassis has omnidirectional movement capability, and can realize longitudinal, lateral and oblique movement, and can also rotate in situ.

[0024] Compared with the prior art, the advantages and positive effects of the present invention are:

[0025] 1. The chassis of this device has omnidirectional movement capability, and can realize longitudinal, transverse and oblique movement, and can also rotate in place. By using swing motors, yaw motors and lifting motors, during movement, the corresponding motors are controlled to rotate in coordination with each other to realize the swinging leg mode, moving mode, turning mode and lifting mode. One or several modes cooperate with each other to realize longitudinal, transverse and oblique movement, realize ridge moving, overcome obstacles, and avoid crushing young seedlings.

[0026] 2. This device realizes the lifting and lowering of the screw by driving the screw nut to rotate, which not only realizes the height adjustment of the frame relative to the wheel, but also realizes the lifting and lowering of the entire walking assembly, effectively reducing the total length of the walking assembly, and can change the height of any wheel from the ground. The chassis has a good obstacle crossing ability. The four walking assemblies adopt a triangular gait, and one walking assembly is swung each time to achieve walking. At this time, ridges can be moved. If the seedlings are high, the slender walking assembly can pass between the seedlings to avoid crushing the seedlings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 The three-dimensional structure of the present invention is shown in FIG. Figure 1 .

[0028] Figure 2 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 1 .

[0029] Figure 3 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 2 .

[0030] Figure 4 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 3 .

[0031] Figure 5 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 4 .

[0032] Figure 6 The three-dimensional structure of the present invention is shown in FIG. Figure 2 .

[0033] In the figure:

[0034] 1. Framework;

[0035] 2. swing assembly, 21. swing motor, 22. friction wheel, 23. friction sector plate, 24. frame, 25. horizontal plate, 26. round seat;

[0036] 3. wheel drive assembly, 31. drive motor, 32. drive driving gear, 33. drive driven gear, 34. drive shaft nut;

[0037] 4. Yaw assembly, 41. Yaw driving gear, 42. Yaw motor, 43. Yaw driven gear;

[0038] 5. Traveling assembly, 51. Transmission shaft, 52. Bevel gear box, 53. Wheel, 54. Lower mounting plate, 55. Lead screw, 56. Guide rod, 57. Upper mounting plate;

[0039] 6. lifting assembly, 61. lifting motor, 62. lifting driving gear, 63. lifting driven gear, 64. lead screw nut, 65. lifting plate. DETAILED DESCRIPTION

[0040] A specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation.

[0041] The present invention comprises: a frame 1 and four groups of walking components 5; the walking components 5 comprise an upper mounting plate 57 and a lower mounting plate 54, the upper mounting plate 57 and the lower mounting plate 54 are respectively fixedly connected to a lead screw 55 and a guide rod 56, the upper mounting plate 57 and the lower mounting plate 54 are respectively bearing-connected to a transmission shaft 51; the lower mounting plate 54 is fixedly connected to a bevel gear box 52, the lower end of the transmission shaft 51 is fixedly connected to the input shaft of the bevel gear box 52, and the output shaft of the bevel gear box 52 is fixedly connected to symmetrical wheels 53.

[0042] The bevel gear box 52 includes a box body, the box body bearings are connected to the input shaft and the output shaft, the input shaft and the output shaft are vertically distributed, the input shaft is fixedly connected to the driving bevel gear, the output shaft is fixedly connected to the driven bevel gear, and the driving bevel gear meshes with the driven bevel gear. This is the prior art.

[0043] It also includes four groups of lifting components 6, which include a lifting plate 65, the lifting plate 65 is fixedly connected to a lead screw nut 64, the lifting plate 65 is bearing-connected to another lead screw nut 64, the lifting plate 65 is fixedly connected to a lifting motor 61, the output shaft of the lifting motor 61 passes through the lifting plate 65, the output shaft of the lifting motor 61 is fixedly connected to a lifting driving gear 62, another lead screw nut 64 is fixedly connected to a lifting driven gear 63, the lifting driving gear 62 is connected to the lifting driven gear 63, the guide rod 56 passes through one lead screw nut 64, and the lead screw 55 is threadedly connected to another lead screw nut 64.

[0044] It also includes four groups of swing components 2, the swing components 2 include a swing motor 21, the frame 1 is fixedly connected to the swing motor 21, the output shaft of the swing motor 21 passes through the frame 1 and is fixedly connected to a friction wheel 22, the frame 1 bearing is connected to a friction sector plate 23, the friction wheel 22 contacts the friction sector plate 23, the friction sector plate 23 is fixedly connected to a round seat 26, the round seat 26 is fixedly connected to a frame body 24, and the frame body 24 is fixedly connected to a symmetrical horizontal plate 25.

[0045] It also includes four groups of wheel drive components 3, the wheel drive components 3 include a drive motor 31, the drive motor 31 is fixedly connected to the corresponding transverse plate 25 on the upper side, the output shaft of the drive motor 31 passes through the corresponding transverse plate 25 on the upper side, the output shaft of the drive motor 31 is fixedly connected to a drive driving gear 32, the drive driving gear 32 is engaged with a drive driven gear 33, the drive driven gear 33 is fixedly connected to a transmission shaft nut 34, the transmission shaft nut 34 is bearing-connected to the corresponding transverse plate 25 on the upper side, the transmission shaft nut 34 is provided with a guide hole matching the transmission shaft 51, and the transmission shaft 51 is arranged in the guide hole.

[0046] It also includes four groups of yaw components 4, the yaw components 4 include a yaw motor 42, the yaw motor 42 is fixedly connected to the corresponding transverse plate 25 on the lower side, the output shaft of the yaw motor 42 passes through the corresponding transverse plate 25 on the lower side, the output shaft of the yaw motor 42 is fixedly connected to the yaw driving gear 41, the corresponding transverse plate 25 on the lower side is bearing-connected to the central axis of the yaw driven gear 43, the yaw driving gear 41 is meshed with the yaw driven gear 43, the central axis of the yaw driven gear 43 is fixedly connected to the corresponding lifting plate 65, and the transmission shaft 51 passes through the central axis of the yaw driven gear 43.

[0047] The transmission shaft 51 is a spline shaft.

[0048] Its usage pattern is as follows:

[0049] S1: leg swing mode;

[0050] Control the swing motor 21 to rotate, the swing motor 21 drives the friction wheel 22 to rotate, the friction wheel 22 drives the friction sector plate 23 to rotate, the friction sector plate 23 drives the round seat 26, the frame 24, the cross plate 25, the wheel drive assembly 3, the yaw assembly 4, the lifting assembly 6 and the walking assembly 5 to swing, so as to realize the leg swinging;

[0051] S2: mobile mode;

[0052] The driving motor 31 is controlled to drive the driving gear 32 to rotate, the driving gear 32 drives the driven gear 33, the transmission shaft nut 34 and the transmission shaft 51 to rotate, and the transmission shaft 51 drives the bevel gear box 52 to work, so as to realize the rotation of the wheel 53 and the movement of the chassis;

[0053] S3: Turning mode;

[0054] Control the yaw motor 42 to rotate, the yaw motor 42 drives the yaw driving gear 41 to rotate, the yaw driving gear 41 drives the yaw driven gear 43 to rotate, the yaw driven gear 43 drives the lifting plate 65 to swing, so as to realize the swing of the lifting assembly 6 and the walking assembly 5 and realize turning;

[0055] When the four sets of wheels 53 are yawed to a rhombus, they can rotate in situ;

[0056] S4: lifting mode;

[0057] The lifting motor 61 is controlled to rotate, and the lifting motor 61 drives the lifting active gear 62 to rotate, and the lifting active gear 62 drives the lifting driven gear 63 and the corresponding lead screw nut 64 to rotate, and the lead screw nut 64 drives the lead screw 55 to move, so that the walking assembly 5 moves relative to the frame 1, wherein the transmission shaft 51 moves relatively along the transmission shaft nut 34, and the guide rod 56 moves relatively along the corresponding lead screw nut 64, thereby changing the height difference between the wheel 53 and the frame 1, so as to avoid scratching the seedlings of the frame 1 when moving the ridges.

[0058] By driving the lead screw nut 64 to rotate, the lead screw 55 can be raised and lowered, which not only realizes the height adjustment of the frame 1 relative to the wheel 53, but also realizes the raising and lowering of the entire traveling assembly 5, effectively reducing the total length of the traveling assembly 5, and can change the height above the ground of any wheel 53, so that the chassis has a better obstacle-crossing ability.

[0059] The four walking components 5 adopt a triangular gait, and one walking component 5 is swung each time to achieve walking. At this time, ridges can be moved. If the seedlings are high, the slender walking component 5 can pass between the seedlings to avoid crushing the seedlings.

[0060] The chassis has omnidirectional mobility, enabling longitudinal, lateral and diagonal movement, and can also rotate on the spot.

[0061] The chassis of the device has omnidirectional movement capability, and can realize longitudinal, transverse and oblique movement, and can also rotate in place. By using the swing motor 21, the yaw motor 42 and the lifting motor 61, when moving, the corresponding motors are controlled to rotate in coordination with each other to realize the swinging leg mode, the moving mode, the turning mode and the lifting mode. One or several modes cooperate with each other to realize longitudinal, transverse and oblique movement, realize ridge moving, overcome obstacles, and avoid crushing young seedlings.

[0062] The device realizes the lifting and lowering of the lead screw 55 by driving the lead screw nut 64 to rotate, which not only realizes the height adjustment of the frame 1 relative to the wheel 53, but also realizes the lifting and lowering of the entire walking assembly 5, effectively reducing the total length of the walking assembly 5, and can change the height of any wheel 53 from the ground, so that the chassis has a good obstacle crossing ability. The four walking assemblies 5 adopt a triangular gait, and one walking assembly 5 is swung each time to realize walking, and then the ridge can be moved. If the seedlings are high, the slender walking assembly 5 can pass between the seedlings to avoid crushing the seedlings.

[0063] The above disclosure is only a specific embodiment of the present invention, but the present invention is not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A movable omnidirectional motion chassis, characterized in that: include: A frame (1) and four sets of walking components (5); The walking assembly (5) comprises an upper mounting plate (57) and a lower mounting plate (54), wherein the upper mounting plate (57) and the lower mounting plate (54) are respectively fixedly connected to a lead screw (55) and a guide rod (56), and the upper mounting plate (57) and the lower mounting plate (54) are respectively bearing-connected to a transmission shaft (51); The lower mounting plate (54) is fixedly connected to a bevel gear box (52), the lower end of the transmission shaft (51) is fixedly connected to an input shaft of the bevel gear box (52), and the output shaft of the bevel gear box (52) is fixedly connected to a symmetrical wheel (53).

2. The omnidirectional movable chassis of the movable ridge according to claim 1, characterized in that: The invention also comprises four groups of lifting components (6), wherein the lifting components (6) comprise a lifting plate (65), the lifting plate (65) being fixedly connected to a lead screw nut (64), the lifting plate (65) being bearing-connected to another lead screw nut (64), the lifting plate (65) being fixedly connected to a lifting motor (61), the output shaft of the lifting motor (61) passing through the lifting plate (65), the output shaft of the lifting motor (61) being fixedly connected to a lifting driving gear (62), another lead screw nut (64) being fixedly connected to a lifting driven gear (63), the lifting driving gear (62) being connected to the lifting driven gear (63), the guide rod (56) passing through one lead screw nut (64), and the lead screw (55) being threadedly connected to another lead screw nut (64).

3. The omnidirectional motion chassis of the movable ridge according to claim 2, characterized in that: The invention also comprises four groups of swing assemblies (2), wherein the swing assemblies (2) comprise a swing motor (21), the frame (1) is fixedly connected to the swing motor (21), the output shaft of the swing motor (21) passes through the frame (1) and is fixedly connected to a friction wheel (22), the frame (1) is bearing-connected to a friction sector plate (23), the friction wheel (22) contacts the friction sector plate (23), the friction sector plate (23) is fixedly connected to a round seat (26), the round seat (26) is fixedly connected to a frame body (24), and the frame body (24) is fixedly connected to a symmetrical transverse plate (25).

4. The omnidirectional moving chassis of the movable ridge according to claim 3, characterized in that: The invention also comprises four groups of wheel drive assemblies (3), wherein the wheel drive assemblies (3) comprise a drive motor (31), the drive motor (31) being fixedly connected to the corresponding transverse plate (25) on the upper side, the output shaft of the drive motor (31) passing through the corresponding transverse plate (25) on the upper side, the output shaft of the drive motor (31) being fixedly connected to a drive driving gear (32), the drive driving gear (32) being meshed with a drive driven gear (33), the drive driven gear (33) being fixedly connected to a transmission shaft nut (34), the transmission shaft nut (34) being bearing-connected to the corresponding transverse plate (25) on the upper side, the transmission shaft nut (34) being provided with a guide hole matching the transmission shaft (51), and the transmission shaft (51) being arranged in the guide hole.

5. The omnidirectional movable chassis of the movable ridge according to claim 4, characterized in that: It also includes four groups of yaw components (4), wherein the yaw components (4) include a yaw motor (42), the yaw motor (42) is fixedly connected to the corresponding transverse plate (25) on the lower side, the output shaft of the yaw motor (42) passes through the corresponding transverse plate (25) on the lower side, the output shaft of the yaw motor (42) is fixedly connected to a yaw driving gear (41), the corresponding transverse plate (25) on the lower side is bearing-connected to the central axis of a yaw driven gear (43), the yaw driving gear (41) meshes with the yaw driven gear (43), the central axis of the yaw driven gear (43) is fixedly connected to the corresponding lifting plate (65), and the transmission shaft (51) passes through the central axis of the yaw driven gear (43).

6. The omnidirectional motion chassis of movable ridge according to claim 1, characterized in that: The transmission shaft (51) is a spline shaft.

7. The omnidirectional motion chassis of movable ridge according to claim 1, characterized in that: Its usage pattern is as follows: S1: leg swing mode; The swing motor (21) is controlled to rotate, the swing motor (21) drives the friction wheel (22) to rotate, the friction wheel (22) drives the friction sector plate (23) to rotate, and the friction sector plate (23) drives the round seat (26), the frame (24), the transverse plate (25), the wheel drive assembly (3), the yaw assembly (4), the lifting assembly (6) and the walking assembly (5) to swing, thereby achieving leg swinging; S2: mobile mode; The driving motor (31) is controlled to drive the driving gear (32) to rotate, the driving gear (32) drives the driven gear (33), the transmission shaft nut (34) and the transmission shaft (51) to rotate, the transmission shaft (51) drives the bevel gear box (52) to work, so as to realize the rotation of the wheel (53) and the movement of the chassis; S3: Turning mode; The yaw motor (42) is controlled to rotate, the yaw motor (42) drives the yaw driving gear (41) to rotate, the yaw driving gear (41) drives the yaw driven gear (43) to rotate, and the yaw driven gear (43) drives the lifting plate (65) to swing, thereby achieving the swing of the lifting assembly (6) and the walking assembly (5) and realizing turning; S4: lifting mode; The lifting motor (61) is controlled to rotate, the lifting motor (61) drives the lifting active gear (62) to rotate, the lifting active gear (62) drives the lifting driven gear (63) and the corresponding lead screw nut (64) to rotate, the lead screw nut (64) drives the lead screw (55) to move, so that the walking assembly (5) moves relative to the frame (1), wherein the transmission shaft (51) moves relatively along the transmission shaft nut (34), and the guide rod (56) moves relatively along the corresponding lead screw nut (64), thereby changing the height difference between the wheel (53) and the frame (1), so as to avoid scratching the seedlings of the frame (1) when moving the ridges.

8. The omnidirectional movable chassis of the movable ridge according to claim 7, characterized in that: By driving the lead screw nut (64) to rotate, the lead screw (55) can be raised and lowered, which not only achieves the height adjustment of the frame (1) relative to the wheel (53), but also achieves the raising and lowering of the entire walking assembly (5), effectively reducing the total length of the walking assembly (5), and can change the height of any one of the wheels (53) above the ground, so that the chassis has a good obstacle-crossing capability.

9. The omnidirectional motion chassis of the movable ridge according to claim 7, characterized in that: The four walking components (5) adopt a triangular gait, and one walking component (5) is swung each time to achieve walking, and then ridge shifting can be carried out. If the seedlings are high, the slender walking components (5) can pass between the seedlings to avoid crushing the seedlings.

10. The omnidirectional moving chassis of movable ridge according to claim 7, characterized in that: The chassis has omnidirectional mobility, enabling longitudinal, lateral and diagonal movement, and can also rotate on the spot.

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