Agricultural all-terrain transportation robot with deformable wheels

Abstract

The invention relates to the technical field of robots, in particular to an agricultural all-terrain transportation robot which solves the problem that in the prior art, the wheel deformation direction of a robot is limited, the agricultural all-terrain transportation robot comprises a machine body, a wheel leg mechanism is movably connected to the machine body, and the lower end of the wheel leg mechanism is connected with a deformation wheel; the deformation wheel comprises a main rotating disc and an auxiliary rotating disc which are arranged in parallel, the main rotating disc is connected with the wheel leg mechanism, the auxiliary rotating disc is rotationally arranged on the main rotating disc, and a rotating executing mechanism and a plurality of rotating hub mechanisms are arranged between the main rotating disc and the auxiliary rotating disc. The multiple rotating hub mechanisms are arranged in a circumferential array mode with the rotating center of the auxiliary rotating disc as the circle center, and the rotating executing mechanism drives the auxiliary rotating disc to rotate bidirectionally relative to the main rotating disc. The rotating hub mechanism is rotationally connected with the edge part of the main rotating disc, and the rotating hub mechanism is movably connected with the auxiliary rotating disc. The robot has the beneficial effects that the rotation executing mechanism drives the auxiliary rotating disc to rotate bidirectionally, so that the deformation wheels can deform bidirectionally, and the flexibility of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to an agricultural all-terrain transport robot with deformable wheels. Background Art

[0002] With the rapid development of society, industry, artificial intelligence and even military intelligence, various types of robot products such as wheeled, tracked and legged robots have gradually emerged and are widely applied to various task scenarios. Although the introduction of robots has greatly improved the operation efficiency, many deficiencies have also been exposed. In the case of complex agricultural terrains and rough roads, when the robot is performing operations, the body posture will inevitably change (pitching, rolling and ground clearance), resulting in deteriorated driving stability and reduced operation accuracy. In severe cases, the body may roll over. Moreover, due to serious soil erosion in farmland, most of the farmland terrains are wet and slippery with large slip rates and uneven friction distributions. Agricultural robots should have sufficient self-rescue capabilities, and there is an urgent need to develop agricultural robots with good terrain adaptability and passability. The wheel-legged agricultural robot with active attitude control function and a new walking mechanism may be the key breakthrough to solve this problem. The wheel-legged robot has unique advantages in terrain adaptability and passability due to combining the advantages of wheeled and legged robots.

[0003] The patent with the publication number of CN116534157A discloses a reconfigurable bionic robot, including a body, deformable reconfigurable wheels and a transmission system; a number of deformable reconfigurable wheels are arranged on both sides of the body, a number of transmission systems are arranged inside the body, the transmission systems are axially connected to the deformable reconfigurable wheels, and the transmission systems can control the rotation and deformation of the deformable reconfigurable wheels.

[0004] The above-mentioned robot has two motion modes: wheeled and three-arc legged, and can adapt to various terrain environments and switch different motion modes according to the characteristics of the terrain; however, when it switches from the wheeled motion mode to the three-arc legged motion mode, the deformable reconfigurable wheels can only deform in one direction, and the flexibility of the three-arc legged wheels is limited, which will in turn affect the flexibility of the robot and limit the applicability of the robot to a certain extent. Summary of the Invention

[0005] The present invention provides an agricultural all-terrain transport robot with deformable wheels, which solves the problems of limited deformation direction of the robot wheels and low flexibility of the robot in the prior art.

[0006] The technical solution of the present invention is realized as follows: An agricultural all-terrain transport robot with deformable wheels, comprising a body. A wheel-leg mechanism is movably connected to the body. A steering transmission mechanism is provided on the body, and the steering transmission mechanism is connected to the upper end of the wheel-leg mechanism. A deformable wheel is connected to the lower end of the wheel-leg mechanism. The body, as the overall framework of the robot, provides support for the wheel-leg mechanism and the steering transmission mechanism. The steering transmission mechanism can drive the wheel-leg mechanism to rotate, and then drive the deformable wheel to deflect, realizing the adjustment of the moving direction of the transport robot and facilitating the steering of the transport robot.

[0007] The deformable wheel includes a main rotating disk and a secondary rotating disk arranged in parallel. The main rotating disk is connected to the wheel-leg mechanism, and the secondary rotating disk is rotatably arranged on the main rotating disk. A rotation execution mechanism and a plurality of rotating hub mechanisms are provided between the main rotating disk and the secondary rotating disk. The plurality of rotating hub mechanisms are arranged in a circular array with the rotation center of the secondary rotating disk as the center of the circle. The rotation execution mechanism drives the secondary rotating disk to rotate bidirectionally relative to the main rotating disk. The rotating hub mechanism is rotationally connected to the edge part of the main rotating disk and movably connected to the secondary rotating disk. When the rotation execution mechanism drives the secondary rotating disk to rotate bidirectionally relative to the main rotating disk, it can drive the rotating hub mechanism to swing bidirectionally, thereby enabling the deformable wheel to deform counterclockwise or clockwise, improving the flexibility of wheel deformation. When the robot moves in a leg-like manner, there is no need to turn around 180°. By changing the deformation direction of the deformable wheel, the adjustment of the leg-like state direction of the wheel-leg mechanism can be realized.

[0008] A rotating hole is provided at the edge part of the main rotating disk. A rotating shaft is provided on the rotating hub mechanism, and the rotating hole is rotationally connected to the rotating shaft. The number of rotating holes is equal to the number of rotating hub mechanisms. The rotating holes are arranged at the edge part of the main rotating disk, and each rotating hole is arranged in a circular array with the center of the main rotating disk as the center of the circle. The rotating hub mechanism can swing bidirectionally around the rotating shaft, realizing the bidirectional deformation of the deformable wheel.

[0009] A sliding shaft is provided on the rotating hub mechanism, and a linear sliding groove arranged radially is provided on the secondary rotating disk. The sliding shaft is in sliding fit with the linear sliding groove. When the secondary rotating disk rotates relative to the main rotating disk, the linear sliding groove moves relative to the rotating hole. At this time, the linear sliding groove drives the sliding shaft to move, realizing the swing of the rotating hub mechanism. When the deformable wheel is in a wheel structure, the sliding shaft is located at one end of the linear sliding groove close to the center of the secondary rotating disk. When the deformable wheel is in a leg structure, the sliding shaft is located at one end of the linear sliding groove far from the center of the secondary rotating disk.

[0010] The rotating hub mechanism includes rotating spokes and a rotating rim. The head end of the rotating spoke is connected to the middle of the rotating rim. The rotating shaft is arranged in the middle of the rotating spoke, and the sliding shaft is arranged at the tail end of the rotating spoke. When the auxiliary rotating disk and the main rotating disk rotate relative to each other, they drive the rotating spokes to swing, and then drive the rotating rim on the rotating spokes to swing, realizing the deformation of the deformable wheel; the rotating shaft is located at a position slightly lower than the middle of the rotating spoke, enabling the head end of the rotating spoke to swing significantly with a relatively small movement distance at the tail end of the rotating spoke, ensuring that the rotating rim has a sufficient deflection angle; and the rotating spoke is connected to the middle of the rotating rim, enabling the outer side of the rotating rim to contact the ground during both counterclockwise and clockwise deformation of the deformable wheel, realizing the two-way deformation of the wheel.

[0011] The head end of the rotating spoke is movably connected to the middle of the rotating rim, and a shock absorber is movably arranged between the middle of the rotating spoke and the end of the rotating rim. The shock absorber can provide elastic support for the rotating rim. When the robot passes over uneven ground, the shock absorber can drive the rotating rim to deform moderately, absorb the recoil force of the ground protrusions, and improve the stability of the robot.

[0012] An arc-shaped chute is provided on the main rotating disk. The center of the arc-shaped chute coincides with the center of the rotating hole, and the sliding shaft is in sliding fit with the arc-shaped chute. The arc-shaped chute limits the swing angle of the rotating hub mechanism. When the sliding shaft is at the middle position of the arc-shaped chute, the deformable wheel is in the wheel state. When the sliding shaft is at one end of the arc-shaped chute, the deformable wheel is in the leg state of counterclockwise deformation. When the sliding shaft is at the other end of the arc-shaped chute, the deformable wheel is in the leg state of clockwise deformation; the arc angle of the arc-shaped chute is less than 180°.

[0013] The rotation execution mechanism includes a double-headed bolt. The two ends of the double-headed bolt are respectively threadedly connected with a first moving block and a second moving block. The first moving block is connected to the main rotating disk, and the second moving block is connected to the auxiliary rotating disk. Rotating the double-headed bolt can change the distance between the first moving block and the second moving block, adjust the relative angle between the auxiliary rotating disk and the main rotating disk, realize the relative rotation of the auxiliary rotating disk relative to the main rotating disk, and then realize the swing of the rotating hub mechanism, realizing the deformation switching between the wheel state and the leg state of the deformable wheel.

[0014] The wheel-leg mechanism includes a telescopic frame. A telescopic driving member is provided on the telescopic frame. A vertically arranged steering column is provided at the upper end of the telescopic frame. The steering column is rotatably connected to the body. The steering column is connected to the steering output mechanism. A traveling motor is provided at the lower end of the telescopic frame. The output end of the traveling motor is connected to the main rotating disk. The telescopic driving member can drive the telescopic frame to expand and contract, thereby realizing the adjustment of the height of the body. And each wheel-leg mechanism expands and contracts independently, enabling the robot to pass through the farmland with complex terrain and improving the applicability of the robot.

[0015] The telescopic frame includes an upper telescopic rod and a lower telescopic sleeve, the upper telescopic rod and the lower telescopic sleeve are slidably matched, one end of the telescopic driving member is connected to the upper telescopic rod, and the other end of the telescopic driving member is connected to the lower telescopic sleeve. The telescopic driving member is one of an actuator, an electric push rod or a hydraulic telescopic rod, and the telescopic driving member telescopes to adjust the distance between the upper telescopic rod and the lower telescopic sleeve, thereby realizing the adjustment of the support height of the machine body by the wheel-leg mechanism.

[0016] The steering transmission mechanism includes a steering motor and a transmission rod, the transmission rod is rotatably arranged on the machine body, the steering motor is arranged on the machine body, the output end of the steering motor is connected to the transmission rod, and the transmission rod is connected to the steering column through a transmission mechanism. After the steering motor is started, it can drive the transmission rod to rotate, and then the transmission rod drives the steering column to rotate, thereby realizing the adjustment of the deflection direction of the deformable wheel relative to the machine body, and realizing the turning movement of the robot.

[0017] The beneficial effects of the present invention are: 1. When the rotary actuator drives the auxiliary rotating disk to rotate bidirectionally relative to the main rotating disk, it can drive the rotating wheel hub mechanism to swing bidirectionally, so that the deformable wheel can be deformed counterclockwise or clockwise, thereby improving the flexibility of wheel deformation; when the robot moves in a leg-like manner, there is no need to turn 180°, and the direction of the leg-like state of the wheel-leg mechanism can be adjusted by switching the deformation direction of the deformable wheel; in addition, the wheel-leg composite mechanism has the advantages of strong terrain adaptability and good escape ability, and has unique advantages in transportation in non-structured farmland terrain.

[0018] 2. A steering transmission mechanism is provided on the machine body, and a telescopic structure is provided on the wheel-leg mechanism, so that the wheel-leg mechanism has steering and telescopic functions, meeting the needs of the robot for obstacle crossing, steering, and posture control.

[0019] 3. The wheeled state and legged state of the wheel-leg mechanism can be switched between each other, which can take into account the respective advantages of leg-foot robots and wheeled robots, that is, it can ensure working efficiency and have good terrain adaptability.

[0020] 4. The rotating hub mechanism is equipped with a shock absorber, which can absorb ground impact through appropriate elastic deformation, reducing the impact on the connection pair, airborne equipment, and fragile agricultural products such as fruits and vegetables.

[0021] 5. Wheel rotation combined with posture control improves the robot's obstacle crossing performance and driving stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0024] Figure 1 Schematic diagram of the overall structure of an agricultural all-terrain transport robot with deformable wheels according to the present invention; Figure 2 Schematic diagram of the body structure; Figure 3 Schematic diagram of the steering transmission mechanism, wheel-leg mechanism and deformable wheel structure; Figure 4 Schematic diagram of the steering transmission mechanism structure; Figure 5 Schematic diagram of the wheel-leg mechanism; Figure 6 Schematic diagram of the mounting bracket structure; Figure 7 Schematic diagram of the deformable wheel structure; Figure 8 Schematic diagram of the rotating hub mechanism; Figure 9 Schematic diagram of the main rotating disk structure; Figure 10 Schematic diagram of the auxiliary rotating disk structure; Figure 11 Schematic diagram of the rotating actuator; Figure 12 Schematic diagram of the counterclockwise deformation of the deformable wheel; Figure 13 Schematic diagram of the clockwise deformation of the deformable wheel.

[0025] In the figure: 1. Body, 2. Steering motor, 3. Steering transmission mechanism, 4. Wheel-leg mechanism, 5. Flange, 6. Telescopic drive member, 7. Travel motor, 8. Deformable wheel, 11. Pod, 12. Skeleton, 31. Second driving bevel gear, 32. Transmission rod, 33. First driven bevel gear, 34. Bearing seat, 41. Second driven bevel gear, 42. Steering column, 45. Steering sleeve, 47. Lifting lug, 48. Upper telescopic rod, 49. Lower telescopic sleeve, 410. Mounting bracket, 411. Lower support shaft, 81. Rotating hub mechanism, 82. Main rotating disk, 83. Auxiliary rotating disk, 84. Rotating actuator; 811, Rotating rim, 812, Rotating shaft, 813, Sliding shaft, 814, Rotating spoke, 815, Shock absorber, 822, Boss flange, 826, Fixing bolt, 827, Arc-shaped chute, 828, First fixing hole, 829, Rotating hole, 831, Linear chute, 832, Rotating shaft hole, 833, Second fixing hole, 834, Notch, 841, First moving block, 842, Second moving block, 843, Gasket, 844, Stud bolt, 846, First fixing bolt, 847, Second fixing bolt, 848, Deformation motor. Detailed implementation mode

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0027] Embodiment 1, as Figure 1 , Figure 3 shown, an agricultural all-terrain transport robot with deformable wheels includes a body 1, a wheel leg mechanism 4 is movably connected to the body 1, a steering transmission mechanism 3 is provided on the body 1, the steering transmission mechanism 3 is connected to the upper end of the wheel leg mechanism 4, and a deformable wheel 8 is connected to the lower end of the wheel leg mechanism 4; specifically, as Figure 2 shown, the body 1 includes a framework 12, a pod 11 is provided on the framework 12, the pod 11 is connected to the framework 12 through angle codes, the pod 11 can be used for loading, and the power supply and controller of the robot can be installed in the pod 11; the wheel leg mechanism 4 and the steering transmission mechanism 3 are both installed on the framework 12, the framework 12 provides support for the wheel leg mechanism 4 and the steering transmission mechanism 3, the steering transmission mechanism 3 can drive the wheel leg mechanism 4 to rotate, and then drive the deformable wheel 8 to deflect, so as to adjust the moving direction of the transport robot and facilitate the steering of the transport robot.

[0028] Further, as Figure 7 , Figure 9 , Figure 10As shown in the figure, the deformable wheel 8 includes a main rotating disk 82 and a secondary rotating disk 83 arranged in parallel. The main rotating disk 82 is connected to the wheel leg mechanism 4. The secondary rotating disk 83 is rotatably arranged on the main rotating disk 82. A rotation execution mechanism 84 and a plurality of rotating hub mechanisms 81 are provided between the main rotating disk 82 and the secondary rotating disk 83. The plurality of rotating hub mechanisms 81 are arranged in a circumferential array with the rotation center of the secondary rotating disk 83 as the center. The rotation execution mechanism 84 drives the secondary rotating disk 83 to rotate bidirectionally relative to the main rotating disk 82. The rotating hub mechanism 81 is rotatably connected to the edge part of the main rotating disk 82 and is movably connected to the secondary rotating disk 83. In this embodiment, the number of the rotating hub mechanisms 81 is three. Both sides of the main rotating disk 82 are provided with boss flanges 822. The boss flanges 822 are installed on the main rotating disk 82 through fixing bolts 826. The boss flange 822 on one side of the main rotating disk 82 is connected to the wheel leg mechanism 4. The wheel leg mechanism 4 can drive the main rotating disk 82 to rotate, and then drive the rotation of the deformable wheel 8 to realize the movement of the robot. The boss flange 822 on the other side of the main rotating disk 82 is rotatably connected to the secondary rotating disk 83. The secondary rotating disk 83 is provided with a rotation shaft hole 832. The boss flange 822 is rotationally matched with the rotation shaft hole 832. The boss flange 822 is provided with a pin for axially limiting the secondary rotating disk 83. The secondary rotating disk 83 can rotate on the boss flange 822 to realize the relative rotation between the secondary rotating disk 83 and the main rotating disk 82. When the rotation execution mechanism 84 drives the secondary rotating disk 83 to rotate bidirectionally relative to the main rotating disk 82, it can drive the rotating hub mechanism 81 to swing clockwise or counterclockwise, so that the deformable wheel 8 can be deformed counterclockwise or clockwise, reducing the limitation of the deformation of the deformable wheel 8. When the robot returns in a legged movement mode, there is no need to turn the robot 180°. Only by changing the deformation direction of the deformable wheel 8 can the direction of the legged state of the wheel leg mechanism 4 be adjusted, effectively improving the flexibility of the robot.

[0029] Further, the edge part of the main rotating disk 82 is provided with a rotating hole 829, and the rotating hub mechanism 81 is provided with a rotating shaft 812. The rotating hole 829 is rotatably connected to the rotating shaft 812. The number of the rotating holes 829 is equal to the number of the rotating hub mechanisms 81. The rotating holes 829 are arranged in the edge part of the main rotating disk 82, and each rotating hole 829 is arranged in a circumferential array with the center of the main rotating disk 82 as the center. In this embodiment, the number of the rotating holes 829 is three. The rotating hub mechanism 81 can swing bidirectionally around the rotating shaft 812 to realize the bidirectional deformation of the deformable wheel 8.

[0030] Furthermore, a sliding shaft 813 is provided on the rotating hub mechanism 81, and a linear chute 831 arranged radially is provided on the secondary rotating disk 83. The sliding shaft 813 is in sliding fit with the linear chute 831. In this embodiment, the sliding shaft 813 is a limit bolt, and the limit bolt passes through the linear chute 831 and is connected with a nut to ensure the stable connection between the rotating hub mechanism 81 and the secondary rotating disk 83. When the secondary rotating disk 83 rotates relative to the primary rotating disk 82, the linear chute 831 moves relative to the rotating hole 829. At this time, the linear chute 831 drives the sliding shaft 813 to rotate around the rotating hole 289, realizing the swing of the rotating hub mechanism 81. Specifically, when the deformable wheel 8 is in the wheel state structure, the sliding shaft 813 is located at one end of the linear chute 831 close to the center of the secondary rotating disk 83; when the deformable wheel 8 is in the leg state structure, the sliding shaft 813 is located at one end of the linear chute 831 far from the center of the secondary rotating disk 83.

[0031] Furthermore, as Figure 8 shown, the rotating hub mechanism 81 includes rotating spokes 814 and a rotating rim 811. The head end of the rotating spoke 814 is connected to the middle part of the rotating rim 811. A rotating shaft 812 is arranged in the middle of the rotating spoke 814, and a sliding shaft 813 is arranged at the tail end of the rotating spoke 814. The rotating rim 811 is an arc-shaped structure, and the central angle range of the arc-shaped structure is 110° to 120°. When the deformable wheel 8 is in the wheel state, it can avoid the situation that the gaps between the ends of the rotating rims 811 on two adjacent rotating hub mechanisms 81 are too large, ensuring the integrity of the outer circle of the deformable wheel 8 when the deformable wheel 8 is in the wheel state, and further ensuring the smoothness of the robot when moving in the wheel state. The rotating shaft 812 is located at a position slightly lower than the middle of the rotating spoke 814, enabling the head end of the rotating spoke 814 to swing significantly with a relatively small movement distance at the tail end of the rotating spoke 814, thereby ensuring that the rotating rim 811 has sufficient deflection angle. In addition, in this embodiment, the head end of the rotating spoke 814 is fixedly connected to the middle part of the rotating rim 811. When the secondary rotating disk 83 and the primary rotating disk 82 rotate relative to each other, they drive the rotating spoke 814 to swing, and then drive the rotating rim 811 on the rotating spoke 814 to swing, realizing the deformation of the deformable wheel 8. And the rotating spoke 814 is connected to the middle part of the rotating rim 811, enabling the outer side of the rotating rim 811 to contact the ground during both counterclockwise and clockwise deformation of the deformable wheel 8, realizing the two-way deformation of the deformable wheel 8.

[0032] Embodiment 2. On the basis of Embodiment 1, an agricultural all-terrain transport robot with deformable wheels, the head end of the rotating spoke 814 is movably connected to the middle of the rotating rim 811, and a shock absorber 815 is movably arranged between the middle of the rotating spoke 814 and the end of the rotating rim 811. In this embodiment, the head end of the rotating spoke 814 is hinged to the rotating rim 811, the rotating rim 811 can swing relative to the rotating spoke 814, the shock absorber 815 can provide elastic support for the rotating rim 811, and when the robot passes over uneven ground, the shock absorber 815 can drive the rotating rim 811 to deform moderately, absorb the recoil force of the ground protrusion, and improve the stability of the robot.

[0033] Further, as Figure 9 shown, an arc-shaped chute 827 is provided on the main rotating disk 82, the center of the arc-shaped chute 827 coincides with the center of the rotating hole 829, and the sliding shaft 813 is slidably matched with the arc-shaped chute 827. The sliding shaft 813 is a limit bolt, and one side of the limit bolt passes through the arc-shaped chute 827, the rotating spoke 814 and the linear chute 831; the arc-shaped chute 827 limits the swing angle of the rotating hub mechanism 81. When the sliding shaft 813 is located at the middle position of the arc-shaped chute 827, the rotating spoke 814 is arranged along the radial direction of the main rotating disk 82, and the deformable wheel 8 is in the wheel state; when the sliding shaft 813 is located at one end of the arc-shaped chute 827, the rotating spoke 814 swings reversely, and the deformable wheel 8 is in the leg state of counterclockwise deformation; when the sliding shaft 813 is located at the other end of the arc-shaped chute 827, the rotating spoke 814 swings forward, and the deformable wheel 8 is in the leg state of clockwise deformation; the central angle of the arc of the arc-shaped chute 827 is less than 180°. In this embodiment, the central angle of the arc of the arc-shaped chute 827 is 140°, and the forward swing angle and the reverse swing angle of the rotating spoke 814 are both 70°.

[0034] Further, as Figure 11As shown in the figure, the rotation actuator 84 includes a stud 844. The two end portions of the stud 844 are respectively threadedly connected with a first moving block 841 and a second moving block 842. The first moving block 841 is rotatably connected to the main rotating disk 82, and the second moving block 842 is rotatably connected to the auxiliary rotating disk 83. A first fixing bolt 846 is provided on the first moving block 841, and a first fixing hole 828 is provided on the main rotating disk 82. The first fixing bolt 846 passes through the first fixing hole 828 and is connected to a nut. A second fixing bolt 847 is provided on the second moving block 842, and a second fixing hole 833 is provided on the auxiliary rotating disk 83. The second fixing bolt 847 passes through the second fixing hole 833 and is connected to a nut. Gaskets 843 are sleeved on both the first fixing bolt 846 and the second fixing bolt 847, and the gaskets 843 are in contact with the main rotating disk 82 or the auxiliary rotating disk 83. In this embodiment, a notch 834 is provided on the auxiliary rotating disk 83, and the notch 834 corresponds to the position of the stud 844. It is convenient for the user to rotate the stud 844 at the position of the notch 834, thereby realizing the manual adjustment of the deformation of the deformation wheel 8. And after the stud 844 rotates, the stud 844 is locked through the self-locking property of the threaded connection between the stud 844 and the first moving block 841 or the second moving block 842. The rotation of the stud 844 can change the distance between the first moving block 841 and the second moving block 842, adjust the relative angle between the auxiliary rotating disk 83 and the main rotating disk 82, realize the rotation of the auxiliary rotating disk 83 relative to the main rotating disk 82, and further realize the swing of the rotating hub mechanism 81, so as to realize the deformation switching between the wheeled state and the legged state of the deformation wheel 8.

[0035] Furthermore, as Figure 5 , Figure 6 shown in the figure, the wheel-leg mechanism 4 includes a telescopic frame. A telescopic driving member 6 is provided on the telescopic frame. A vertically arranged steering column 42 is provided at the upper end of the telescopic frame. The steering column 42 is rotatably connected to the body 1. The steering column 42 is connected to the steering output mechanism 3. A traveling motor 7 is provided at the lower end of the telescopic frame. The output end of the traveling motor 7 is connected to the main rotating disk 82. The telescopic driving member 6 is one of an actuator, an electric push rod or a hydraulic telescopic rod. The telescopic driving member 6 can drive the telescopic frame to expand and contract, thereby realizing the adjustment of the height of the body 1. And each wheel-leg mechanism 4 expands and contracts independently, enabling the robot to pass through the farmland with complex terrains and improving the applicability of the robot.

[0036] In addition, a steering sleeve 45 is sleeved on the steering column 42. The steering column 42 is rotationally matched with the steering sleeve 45. A flange plate 5 is provided on the body 1, and the steering sleeve 45 is fixedly connected to the flange plate 5, enabling the steering column 42 to rotate vertically relative to the body 1, thereby realizing the deflection of the deformable wheel 8 and achieving the turning of the robot. Flange sleeves arranged oppositely are provided on the upper and lower sides of the steering sleeve 45. A plain bearing is provided on the outer side of the flange sleeve. A limit ring is sleeved on the steering column 42. The limit ring is located above the steering sleeve 45 and is connected to the steering column 42 through a pin shaft. The limit ring cooperates with the upper telescopic rod 48 to position the axial position of the steering sleeve 45 on the steering column 42, ensuring the accurate installation position of the steering sleeve 45 on the steering column 42.

[0037] Furthermore, the telescopic frame includes an upper telescopic rod 48 and a lower telescopic sleeve 49. The upper telescopic rod 48 is slidably matched with the lower telescopic sleeve 49. One end of the telescopic driving member 6 is connected to the upper telescopic rod 48, and the other end of the telescopic driving member 6 is connected to the lower telescopic sleeve 49. In this embodiment, both the upper telescopic rod 48 and the lower telescopic sleeve 49 are of U-shaped structures. The telescopic driving member 6 is an actuator with a telescopic function. A lifting lug 47 is provided on the upper telescopic rod 48, and a lower support shaft 411 is provided on the lower telescopic sleeve 49. The upper end of the actuator is connected to the lifting lug 47, and the lower end of the actuator is connected to the lower support shaft 411. The telescopic movement of the actuator can adjust the distance between the upper telescopic rod 48 and the lower telescopic sleeve 49, thereby adjusting the support height of the wheel leg mechanism 4 for the body 1. In addition, as Figure 5 、 Figure 6 shown, an installation bracket 410 is connected to the lower telescopic sleeve 49. The installation bracket 410 is of an L-shaped structure. The inner side of the L-shaped structure is welded to the lower telescopic sleeve 49, and a traveling motor 7 is connected to the outer side of the L-shaped structure. The output end of the traveling motor 7 is connected to the main rotating disk 82. The traveling motor 7 can drive the main rotating disk 82 to rotate, thereby realizing the rotation of the deformable wheel 8 and achieving the movement of the robot.

[0038] Furthermore, as Figure 4As shown in the figure, the steering transmission mechanism 3 includes a steering motor 2 and a transmission rod 32. The transmission rod 32 is rotatably arranged on the body 1. The steering motor 2 is arranged on the body 1. The output end of the steering motor 2 is connected to the transmission rod 32, and the transmission rod 32 is connected to the steering column 42 through a transmission mechanism. The transmission mechanism is a bevel gear transmission mechanism. Specifically, the transmission rod 32 is rotatably arranged on the body 1 through a bearing seat 34. A first driven bevel gear 33 is provided in the middle of the transmission rod 32, and second driving bevel gears 31 are provided at both ends of the transmission rod 32. A first driving bevel gear is connected to the output end of the steering motor 2. A horizontally arranged second driven bevel gear 41 is provided at the upper end of the steering column 42. The first driving bevel gear meshes with the first driven bevel gear 33, and the second driving bevel gear 31 meshes with the second driven bevel gear 41. When the steering motor 2 is started, it can drive the steering column 42 to rotate through the transmission rod 32, realizing the deflection of the deformable wheel 8, and further realizing the steering of the robot.

[0039] As Figure 12 shown in the figure, the counterclockwise deformation process of the deformable wheel 8 is as follows: Rotate the double-headed bolt 844 in the positive direction to reduce the distance between the first moving block 841 and the second moving block 842. The second moving block 842 drives the secondary rotating disk 83 to rotate clockwise relative to the main rotating disk 82. Through the cooperation of the linear chute 831 and the sliding shaft 813, the rotating spoke 814 is driven to deflect counterclockwise, and then the rotating rim 811 deflects counterclockwise, realizing the counterclockwise deformation of the deformable wheel 8.

[0040] As Figure 13 shown in the figure, the clockwise deformation process of the deformable wheel 8 is as follows: Rotate the double-headed bolt 844 in the reverse direction to increase the distance between the first moving block 841 and the second moving block 842. The second moving block 842 drives the secondary rotating disk 83 to rotate counterclockwise relative to the main rotating disk 82. Through the cooperation of the linear chute 831 and the sliding shaft 813, the rotating spoke 814 is driven to deflect clockwise, and then the rotating rim 811 deflects clockwise, realizing the clockwise deformation of the deformable wheel 8.

[0041] Embodiment 3 is different from Embodiment 2 in that for an agricultural all-terrain transport robot with deformable wheels, a deformation motor 848 is further provided between the main rotating disk 82 and the secondary rotating disk 83. The output end of the deformation motor 848 is connected to the double-headed bolt 844. The deformation motor 848 can drive the double-headed bolt 844 to rotate, thereby realizing the relative rotation of the main rotating disk 82 and the secondary rotating disk 83, and realizing the deformation switching between the wheel state and the leg state of the deformable wheel 8.

[0042] The sides of the main rotating disk 82 and the secondary rotating disk 83 are in contact with the deformation motor 848 for limiting, and at the same time, there is no connection relationship between the deformation motor 848 and the main rotating disk 82 or between the deformation motor 848 and the secondary rotating disk 83.

[0043] Embodiment 4 is different from Embodiment 2 in that an agricultural all-terrain transport robot with deformable wheels is provided. The rotation actuator 84 includes a threaded rod. One end of the threaded rod is rotatably connected to a first moving block 841, and a second moving block 842 is threadedly connected to the threaded rod. The first moving block 841 is rotatably connected to the main rotating disk 82, and the second moving block 842 is rotatably connected to the auxiliary rotating disk 83. Rotating the threaded rod can adjust the position of the second moving block 842 on the threaded rod, thereby realizing the adjustment of the relative positions of the first moving block 841 and the second moving block 842, adjusting the relative angle between the auxiliary rotating disk 83 and the main rotating disk 82, realizing the rotation of the auxiliary rotating disk 83 relative to the main rotating disk 82, and further realizing the swing of the rotating hub mechanism 81, and realizing the deformation switching between the wheel state and the leg state of the deformable wheel 8.

[0044] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An agricultural all-terrain transport robot with deformable wheels, comprising a body (1) to which a wheel-leg mechanism (4) is movably connected, characterized in that: A steering transmission mechanism (3) is provided on the machine body (1), the steering transmission mechanism (3) is connected to the upper end of the wheel-leg mechanism (4), and the lower end of the wheel-leg mechanism (4) is connected to a deformable wheel (8); The deformation wheel (8) comprises a main rotating disk (82) and a secondary rotating disk (83) arranged in parallel, the main rotating disk (82) being connected to the wheel leg mechanism (4), the secondary rotating disk (83) being rotatably arranged on the main rotating disk (82), a rotating actuator (84) and a plurality of rotating hub mechanisms (81) being arranged between the main rotating disk (82) and the secondary rotating disk (83), the plurality of rotating hub mechanisms (81) being arranged in a circular array with the rotation center of the secondary rotating disk (83) as the center of the circle, the rotating actuator (84) driving the secondary rotating disk (83) to perform bidirectional rotation relative to the main rotating disk (82); the rotating hub mechanism (81) being rotatably connected to the edge of the main rotating disk (82), and the rotating hub mechanism (81) being movably connected to the secondary rotating disk (83).

2. The agricultural all-terrain transport robot with deformable wheels according to claim 1, characterized in that: A rotating hole (829) is provided at the edge of the main rotating disk (82), a rotating shaft (812) is provided on the rotating hub mechanism (81), and the rotating hole (829) is rotatably connected to the rotating shaft (812).

3. The agricultural all-terrain transport robot with deformable wheels according to claim 1 or 2, characterized in that: The rotating hub mechanism (81) is provided with a sliding shaft (813), the auxiliary rotating disk (83) is provided with a linear sliding groove (831) arranged in a radial direction, and the sliding shaft (813) and the linear sliding groove (831) are slidably matched.

4. The agricultural all-terrain transport robot with deformable wheels according to claim 3, characterized in that: The rotating hub mechanism (81) comprises rotating spokes (814) and a rotating rim (811), the head end of the rotating spoke (814) is connected to the middle of the rotating rim (811), the rotating shaft (812) is arranged in the middle of the rotating spoke (814), and the sliding shaft (813) is arranged at the tail end of the rotating spoke (814).

5. The agricultural all-terrain transport robot with deformable wheels according to claim 4, characterized in that: The head end of the rotating spoke (814) is movably connected to the middle part of the rotating rim (811), and a shock absorber (815) is movably provided between the middle part of the rotating spoke (814) and the end of the rotating rim (811).

6. The agricultural all-terrain transport robot with deformable wheels according to any one of claims 2, 4 and 5, characterized in that: An arc-shaped slide groove (827) is provided on the main rotating disk (82), the center of the arc-shaped slide groove (827) coincides with the center of the rotating hole (829), and the sliding shaft (813) is slidably matched with the arc-shaped slide groove (827).

7. The agricultural all-terrain transport robot with deformable wheels according to claim 6, characterized in that: The rotary actuator (84) comprises a stud bolt (844), the two ends of which are respectively threadedly connected to a first moving block (841) and a second moving block (842), the first moving block (841) being connected to the main rotary disk (82), and the second moving block (842) being connected to the auxiliary rotary disk (83).

8. The agricultural all-terrain transport robot with deformable wheels according to claim 1 or 7, characterized in that: The wheel-leg mechanism (4) comprises a telescopic frame, a telescopic driving member (6) is provided on the telescopic frame, a vertically arranged steering column (42) is provided at the upper end of the telescopic frame, the steering column (42) is rotatably connected to the machine body (1), the steering column (42) is connected to the steering output mechanism (3), a travel motor (7) is provided at the lower end of the telescopic frame, and the output end of the travel motor (7) is connected to the main rotating disk (82).

9. The agricultural all-terrain transport robot with deformable wheels according to claim 8, characterized in that: The telescopic frame comprises an upper telescopic rod (48) and a lower telescopic sleeve (49), the upper telescopic rod (48) and the lower telescopic sleeve (49) are slidably matched, one end of the telescopic drive member (6) is connected to the upper telescopic rod (48), and the other end of the telescopic drive member (6) is connected to the lower telescopic sleeve (49).

10. The agricultural all-terrain transport robot with deformable wheels according to claim 9, characterized in that: The steering transmission mechanism (3) comprises a steering motor (2) and a transmission rod (32); the transmission rod (32) is rotatably arranged on the machine body (1); the steering motor (2) is arranged on the machine body (1); the output end of the steering motor (2) is connected to the transmission rod (32); and the transmission rod (32) is connected to a steering column (42) via a transmission mechanism.

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