An omnidirectional motion chassis capable of moving ridges

Abstract

This invention discloses an omnidirectional moving chassis for shifting ridges, characterized by comprising: a frame and four sets of walking components; each walking component includes an upper mounting plate and a lower mounting plate, the upper and lower mounting plates being respectively fixedly connected to a lead screw and a guide rod, and the upper and lower mounting plates being respectively bearing-connected to a transmission shaft; the lower mounting plate is fixedly connected to a bevel gearbox, the lower end of the transmission shaft is fixedly connected to the input shaft of the bevel gearbox, and the output shaft of the bevel gearbox is fixedly connected to symmetrical wheels. This invention relates to the field of agricultural equipment, specifically to an omnidirectional moving chassis for shifting ridges. The technical problem to be solved by this invention is to provide an omnidirectional moving chassis for shifting ridges, facilitating ridge shifting and avoiding crushing of seedlings.

Description

Technical Field

[0001] This invention relates to the field of agricultural equipment, and more specifically, to an omnidirectional moving chassis capable of moving ridges. Background Technology

[0002] Agricultural machinery, also known as agricultural equipment, refers to all kinds of mechanical equipment used in agricultural production. These machines can significantly improve agricultural production efficiency and reduce the labor intensity of farmers, and are an important part of modern agriculture.

[0003] Most current agricultural machinery chassis lack omnidirectional mobility, requiring ample space for turning to avoid crushing seedlings. Secondly, almost all existing chassis lack the ability to move between ridges, making it inconvenient to transfer machinery from one ridge to another, especially if seedlings are densely planted (where space is limited). Therefore, there is an urgent need to design an omnidirectional chassis capable of moving between ridges. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an omnidirectional moving chassis that can move ridges, so as to facilitate ridge moving and avoid crushing seedlings.

[0005] The present invention achieves its objective by employing the following technical solution:

[0006] An omnidirectional moving chassis for movable ridges, characterized in that it comprises: a frame and four sets of walking components; each walking component includes an upper mounting plate and a lower mounting plate, the upper mounting plate and the lower mounting plate being respectively fixedly connected to a lead screw and a guide rod, the upper mounting plate and the lower mounting plate being respectively bearing-connected to a drive shaft; the lower mounting plate is fixedly connected to a bevel gearbox, the lower end of the drive shaft is fixedly connected to the input shaft of the bevel gearbox, and the output shaft of the bevel gearbox is fixedly connected to symmetrical wheels.

[0007] As a further limitation of this technical solution, it also includes four sets of lifting components. Each lifting component includes a lifting plate, a lead screw nut fixedly connected to the lifting plate, a bearing connecting the lifting plate to another lead screw nut, a lifting motor fixedly connected to the lifting plate, the output shaft of the lifting motor passing through the lifting plate, a lifting drive gear fixedly connected to the output shaft of the lifting motor, a driven gear fixedly connected to another lead screw nut, the driving gear connecting to the driven gear, a guide rod passing through one lead screw nut, and the lead screw threadedly connected to the other lead screw nut.

[0008] As a further limitation of this technical solution, it also includes four sets of swing components. Each 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 a friction wheel. The frame is bearing-connected to a friction sector plate. The friction wheel contacts the friction sector plate. The friction sector plate is fixedly connected to a circular seat. The circular seat is fixedly connected to a frame body. The frame body is fixedly connected to symmetrical horizontal plates.

[0009] 1. The omnidirectional motion chassis for movable ridges according to claim 1, characterized in that: it further includes four sets of wheel drive components, each wheel drive component including a drive motor, the drive motor being fixedly connected to the upper corresponding horizontal plate, the output shaft of the drive motor passing through the upper corresponding horizontal plate, the output shaft of the drive motor being fixedly connected to a drive gear, the drive gear meshing with a drive gear, the drive gear being fixedly connected to a transmission shaft nut, the transmission shaft nut being bearing-connected to the upper corresponding horizontal plate, the transmission shaft nut being provided with a guide hole matching the transmission shaft, and the transmission shaft being disposed within the guide hole.

[0010] As a further limitation of this technical solution, it also includes four sets of yaw components. Each yaw component includes a yaw motor, which is fixedly connected to the corresponding lower horizontal plate. The output shaft of the yaw motor passes through the corresponding lower horizontal plate and is fixedly connected to a yaw drive gear. The bearing of the corresponding lower horizontal plate is connected to the central shaft of the yaw driven gear. The yaw drive gear meshes with the yaw driven gear. The central shaft of the yaw driven gear is fixedly connected to the corresponding lifting plate, and the transmission shaft passes through the central shaft of the yaw driven gear.

[0011] As a further limitation of this technical solution, the drive shaft is a splined shaft.

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

[0013] S1: Leg swing mode;

[0014] The swing motor is controlled to rotate, which drives the friction wheel to rotate, the friction wheel drives the friction sector plate to rotate, and the friction sector plate drives the circular seat, the frame, the horizontal plate, the wheel drive assembly, the yaw assembly, the lifting assembly and the walking assembly to swing, thereby realizing the leg swing;

[0015] S2: Mobile mode;

[0016] The drive motor is controlled to drive the drive gear to rotate, the drive gear to drive the driven gear, the transmission shaft nut and the transmission shaft to rotate, and the transmission shaft to drive 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] The yaw motor is controlled to rotate, which drives the yaw drive gear to rotate. The yaw drive gear drives the yaw driven gear to rotate, and the yaw driven gear drives the lifting plate to swing, thereby realizing the swinging of the lifting assembly and the traveling assembly to achieve turning.

[0019] S4: Lifting / lowering mode;

[0020] As a further limitation of this technical solution, the lifting motor is controlled to rotate, which drives the lifting drive gear to rotate. The lifting drive gear drives the lifting driven gear and the corresponding lead screw nut to rotate. The lead screw nut drives the lead screw to move, thereby realizing the movement of the walking component relative to the frame. The transmission shaft moves relative to the transmission shaft nut, and the guide rod moves relative to the corresponding lead screw nut, changing the height difference between the wheels and the frame so as to avoid the seedlings from rubbing against the frame when transplanting the seedbed.

[0021] As a further limitation of this technical solution, by driving the lead screw nut to rotate, the lead screw can be raised and lowered. This not only adjusts the height of the frame relative to the wheel, but also raises and lowers the entire walking assembly, effectively reducing the total length of the walking assembly. Furthermore, it can change the ground clearance of any wheel, giving the chassis a better obstacle-crossing ability.

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

[0023] As a further limitation of this technical solution, the chassis has omnidirectional movement capability, enabling longitudinal, lateral and diagonal movement, as well as rotation in place.

[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 mobility, enabling longitudinal, lateral, and diagonal movement, as well as rotation in place. By employing a swing motor, a yaw motor, and a lifting motor, the corresponding motors are controlled to rotate in coordination during movement, achieving leg swing mode, movement mode, turning mode, and lifting mode. One or more modes can be combined to achieve longitudinal, lateral, and diagonal movement, enabling the shifting of rows and overcoming of obstacles, while avoiding crushing seedlings.

[0026] 2. This device uses a drive screw nut to rotate, thereby raising and lowering the screw. This not only adjusts the height of the frame relative to the wheels but also raises and lowers the entire walking assembly, effectively reducing the overall length of the walking assembly. It also allows for changing the ground clearance of any wheel, and the chassis has good obstacle-crossing ability. The four walking components adopt a triangular gait, swinging one component at a time to achieve movement. This allows for ridging. If the seedlings are tall, the slender walking components can pass between seedlings, avoiding crushing them. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 .

[0028] Figure 2 This is a partial three-dimensional structural diagram of the present invention. Figure 1 .

[0029] Figure 3 This is a partial three-dimensional structural diagram of the present invention. Figure 2 .

[0030] Figure 4 This is a partial three-dimensional structural diagram of the present invention. Figure 3 .

[0031] Figure 5 This is a partial three-dimensional structural diagram of the present invention. Figure 4 .

[0032] Figure 6 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 .

[0033] In the picture:

[0034] 1. Framework;

[0035] 2. Swing assembly; 21. Swing motor; 22. Friction wheel; 23. Friction sector plate; 24. Frame; 25. Horizontal plate; 26. Round base;

[0036] 3. Wheel drive assembly; 31. Drive motor; 32. Drive drive gear; 33. Drive driven gear; 34. Drive shaft nut;

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

[0038] 5. Walking assembly; 51. Drive shaft; 52. Bevel gearbox; 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 drive gear; 63. Lifting driven gear; 64. Lead screw nut; 65. Lifting plate. Detailed Implementation

[0040] The following detailed description of a specific embodiment of the present invention is provided in conjunction with the accompanying drawings. However, it should be understood that the scope of protection of the present invention is not limited to the specific embodiment.

[0041] The present invention includes: a frame 1 and four sets of walking components 5; each walking component 5 includes 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 gearbox 52, the lower end of the transmission shaft 51 is fixedly connected to the input shaft of the bevel gearbox 52, and the output shaft of the bevel gearbox 52 is fixedly connected to symmetrical wheels 53.

[0042] The bevel gearbox 52 includes a housing, with the housing bearing connecting the input shaft and the output shaft. The input shaft and the output shaft are perpendicularly distributed. The input shaft is fixedly connected to the driving bevel gear, and the output shaft is fixedly connected to the driven bevel gear. The driving bevel gear meshes with the driven bevel gear, which is the prior art.

[0043] It also includes four sets of lifting components 6. Each lifting component 6 includes a lifting plate 65. The lifting plate 65 is fixedly connected to a lead screw nut 64. The lifting plate 65 is also connected to another lead screw nut 64 via a bearing. 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 and is fixedly connected to a lifting drive gear 62. The other lead screw nut 64 is fixedly connected to a lifting driven gear 63. The lifting drive 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 the other lead screw nut 64.

[0044] It also includes four sets of swing components 2, each swing component 2 including 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 circular seat 26. The circular seat 26 is fixedly connected to a frame 24. The frame 24 is fixedly connected to symmetrical horizontal plates 25.

[0045] It also includes four sets of wheel drive assemblies 3, each wheel drive assembly 3 including a drive motor 31. The drive motor 31 is fixedly connected to the upper corresponding horizontal plate 25. The output shaft of the drive motor 31 passes through the upper corresponding horizontal plate 25. The output shaft of the drive motor 31 is fixedly connected to a drive gear 32. The drive gear 32 meshes with a drive gear 33. The drive gear 33 is fixedly connected to a transmission shaft nut 34. The transmission shaft nut 34 is bearing-connected to the upper corresponding horizontal plate 25. The transmission shaft nut 34 is provided with a guide hole that matches the transmission shaft 51. The transmission shaft 51 is disposed in the guide hole.

[0046] It also includes four sets of yaw components 4, each yaw component 4 including a yaw motor 42, the yaw motor 42 being fixedly connected to the corresponding lower horizontal plate 25, the output shaft of the yaw motor 42 passing through the corresponding lower horizontal plate 25, the output shaft of the yaw motor 42 being fixedly connected to a yaw drive gear 41, the corresponding lower horizontal plate 25 being bearing connected to the central shaft of a yaw driven gear 43, the yaw drive gear 41 meshing with the yaw driven gear 43, the central shaft of the yaw driven gear 43 being fixedly connected to the corresponding lifting plate 65, and the transmission shaft 51 passing through the central shaft of the yaw driven gear 43.

[0047] The drive shaft 51 is a splined shaft.

[0048] Its usage pattern is as follows:

[0049] S1: Leg swing mode;

[0050] The swing motor 21 is controlled to rotate, which drives the friction wheel 22 to rotate. The friction wheel 22 drives the friction fan plate 23 to rotate. The friction fan plate 23 drives the round seat 26, the frame 24, the horizontal plate 25, the wheel drive assembly 3, the yaw assembly 4, the lifting assembly 6, and the walking assembly 5 to swing, thereby realizing leg swinging.

[0051] S2: Mobile mode;

[0052] The drive motor 31 is controlled to drive the drive gear 32 to rotate, the drive gear 32 drives the drive 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] The yaw motor 42 is controlled to rotate, which drives the yaw drive gear 41 to rotate. The yaw drive gear 41 drives the yaw driven gear 43 to rotate, and the yaw driven gear 43 drives the lifting plate 65 to swing, thereby realizing the swing of the lifting assembly 6 and the traveling assembly 5 and achieving turning.

[0055] When the four sets of wheels 53 yaw to a diamond shape, they can rotate in place.

[0056] S4: Lifting / lowering mode;

[0057] The lifting motor 61 is controlled to rotate, which drives the lifting drive gear 62 to rotate. The lifting drive 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, thereby realizing the movement of the walking component 5 relative to the frame 1. The transmission shaft 51 moves relative to the transmission shaft nut 34, and the guide rod 56 moves relative to the corresponding lead screw nut 64, changing the height difference between the wheel 53 and the frame 1 so as to avoid the seedlings on the frame 1 from being scratched when moving the seedbed.

[0058] By driving the lead screw nut 64 to rotate, the lead screw 55 can be raised and lowered. This not only allows for the adjustment of the height of the frame 1 relative to the wheel 53, but also enables the raising and lowering of the entire walking assembly 5. This effectively reduces the total length of the walking assembly 5 and allows for the adjustment of the ground clearance of any wheel 53. The chassis has good obstacle-crossing ability.

[0059] The four walking components 5 adopt a triangular gait, swinging one walking component 5 at a time to achieve walking, at which time the ridges can be moved. If the seedlings are tall, the slender walking components 5 can pass between the seedlings to avoid crushing them.

[0060] The chassis has omnidirectional movement capability, enabling longitudinal, lateral, and diagonal movement, as well as rotation in place.

[0061] The chassis of this device has omnidirectional mobility, enabling longitudinal, lateral, and diagonal movement, as well as rotation in place. By employing a swing motor 21, a yaw motor 42, and a lifting motor 61, the corresponding motors are controlled to rotate in coordination during movement, realizing leg swing mode, movement mode, turning mode, and lifting mode. One or more modes can be combined to achieve longitudinal, lateral, and diagonal movement, enabling the shifting of rows and overcoming of obstacles, while avoiding crushing seedlings.

[0062] This device uses the rotation of the drive screw nut 64 to raise and lower the screw 55, achieving not only height adjustment of the frame 1 relative to the wheels 53, but also raising and lowering the entire walking assembly 5. This effectively reduces the overall length of the walking assembly 5 and allows for changing the ground clearance of any wheel 53, giving the chassis good obstacle-crossing ability. The four walking assemblies 5 adopt a triangular gait, swinging one walking assembly 5 at a time to achieve movement, allowing for ridging. If the seedlings are tall, the slender walking assemblies 5 can pass between seedlings, avoiding crushing them.

[0063] The above-disclosed embodiments are merely specific examples of the present invention. However, the present invention is not limited thereto, and any variations 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: Frame (1) and four sets of walking components (5); The walking assembly (5) includes 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 connected to a transmission shaft (51) by bearings. The lower mounting plate (54) is fixedly connected to the bevel gearbox (52), the lower end of the drive shaft (51) is fixedly connected to the input shaft of the bevel gearbox (52), and the output shaft of the bevel gearbox (52) is fixedly connected to symmetrical wheels (53). It also includes four sets of lifting components (6), each lifting component (6) including 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 drive gear (62), the other lead screw nut (64) being fixedly connected to a lifting driven gear (63), the lifting drive 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 the other lead screw nut (64); It also includes four sets of swing components (2), each swing component (2) including 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 (24), and the frame (24) is fixedly connected to symmetrical horizontal plates (25); It also includes four sets of wheel drive assemblies (3), each wheel drive assembly (3) including a drive motor (31), the drive motor (31) being fixedly connected to the upper corresponding horizontal plate (25), the output shaft of the drive motor (31) passing through the upper corresponding horizontal plate (25), the output shaft of the drive motor (31) being fixedly connected to a drive active gear (32), the drive active gear (32) meshing 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 upper corresponding horizontal plate (25), the transmission shaft nut (34) being provided with a guide hole matching the transmission shaft (51), and the transmission shaft (51) being disposed in the guide hole; It also includes four sets of yaw components (4), each yaw component (4) including a yaw motor (42), the yaw motor (42) being fixedly connected to the corresponding lower horizontal plate (25), the output shaft of the yaw motor (42) passing through the corresponding lower horizontal plate (25), the output shaft of the yaw motor (42) being fixedly connected to the yaw drive gear (41), the bearing of the corresponding lower horizontal plate (25) being connected to the central shaft of the yaw driven gear (43), the yaw drive gear (41) meshing with the yaw driven gear (43), the central shaft of the yaw driven gear (43) being fixedly connected to the corresponding lifting plate (65), and the transmission shaft (51) passing through the central shaft of the yaw driven gear (43).

2. The omnidirectional motion chassis for movable ridges according to claim 1, characterized in that: The drive shaft (51) is a spline shaft.

3. The omnidirectional motion chassis for movable ridges 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, which drives the friction wheel (22) to rotate. The friction wheel (22) drives the friction fan plate (23) to rotate. The friction fan plate (23) drives the round seat (26), the frame (24), the horizontal plate (25), the wheel drive assembly (3), the yaw assembly (4), the lifting assembly (6), and the walking assembly (5) to swing, thereby realizing leg swinging. S2: Mobile mode; The drive motor (31) is controlled to drive the drive gear (32) to rotate. The drive 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 that the wheel (53) rotates and the chassis moves. S3: Turning mode; Control the rotation of the yaw motor (42), the yaw motor (42) drives the yaw drive gear (41) to rotate, the yaw drive 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 component (6) and the walking component (5) to achieve turning; S4: Lifting / lowering mode; The lifting motor (61) is controlled to rotate, which drives the lifting drive gear (62) to rotate. The lifting drive 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, thereby realizing the movement of the walking component (5) relative to the frame (1). The transmission shaft (51) moves relative to the transmission shaft nut (34), and the guide rod (56) moves relative to the corresponding lead screw nut (64), changing the height difference between the wheel (53) and the frame (1) so as to avoid the seedlings on the frame (1) from being scratched when transplanting the seedbed.

4. The omnidirectional motion chassis for movable ridges according to claim 3, characterized in that: By driving the lead screw nut (64) to rotate, the lead screw (55) can be raised and lowered. This not only allows for the adjustment of the height of the frame (1) relative to the wheel (53), but also allows for the raising and lowering of the entire walking assembly (5). This effectively reduces the total length of the walking assembly (5) and allows for the change of the ground clearance of any wheel (53). The chassis has good obstacle crossing ability.

5. The omnidirectional motion chassis for movable ridges according to claim 3, characterized in that: The four walking components (5) adopt a triangular gait, swinging one of the walking components (5) each time to achieve walking, and at this time the ridge can be moved. If the seedlings are tall, the slender walking components (5) can pass between the seedlings to avoid crushing the seedlings.

6. The omnidirectional motion chassis for movable ridges according to claim 3, characterized in that: The chassis has omnidirectional movement capability, enabling longitudinal, lateral, and diagonal movement, as well as rotation in place.

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