Electric driving force module and agricultural robot operation platform

Abstract

The invention relates to the technical field of agricultural robots, and discloses an electric driving force module and an agricultural robot working platform, the electric driving force module comprises a rack, an opening and closing adjusting mechanism is arranged on the rack, the opening and closing adjusting mechanism is used for adjusting the opening and closing position of an opening and closing plate, the opening and closing plate is connected with a carrying mechanism, and the carrying mechanism is used for carrying the opening and closing plate. The carrying mechanism is used for carrying different operation devices, the opening and closing plate is connected with the obstacle crossing walking mechanism, the opening and closing degree of the opening and closing plate can be adjusted, multiple operation devices can be conveniently carried, operation is conducted at the same time, the operation efficiency is improved, and when opening and closing are conducted to the maximum degree, toppling prevention can be achieved in the movement process; the whole operation platform is protected; by means of the movement mechanism, obstacle crossing can be achieved in the movement process, ditch crossing and ridge crossing are achieved, the movement direction can be adjusted, movement in different directions is achieved, and movement stability is high.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural robots, and in particular relates to an electric driving force module and an agricultural robot operating platform. Background Art

[0002] Agricultural robots are the application of robots in agricultural production. They are a new generation of unmanned, autonomous machines that can be controlled by various software programs to adapt to various operations. They can sense and adapt to changes in crop types or the environment, and possess artificial intelligence capabilities such as detection (such as vision) and calculations. As a key component of modern agricultural technology, agricultural robots play a vital role in improving production efficiency, alleviating the pressure of a shrinking labor force, and achieving precision agriculture.

[0003] Current agricultural robot platforms have limited functionality. Their wheelbase and height cannot be adjusted, limiting them to a single, fixed cropping pattern. This results in poor compatibility with agricultural machinery and operational adaptability. Furthermore, due to their fixed installation, existing platforms lack flexibility and contour-based operation capabilities. When encountering ditches and slopes, their unstable center of gravity can easily tip over, resulting in poor operational effectiveness. Consequently, existing agricultural robot platforms lack the flexibility to adapt to specific crop scenarios, significantly limiting their operational effectiveness and widespread adoption. Summary of the Invention

[0004] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides an electric driving force module and an agricultural robot operation platform that effectively solve the problems mentioned in the above background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an electric driving force module and an agricultural robot working platform, comprising a frame, an opening and closing adjustment mechanism being provided on the frame, the opening and closing adjustment mechanism being used to adjust the opening and closing position of the opening and closing plate, a carrying mechanism being connected to the opening and closing plate, the carrying mechanism being used to carry different working equipment, an obstacle-crossing walking mechanism being connected to the opening and closing plate, the obstacle-crossing walking mechanism being used to drive the entire platform to walk and cross obstacles, a monitoring mechanism being provided on the frame, the monitoring mechanism being used to monitor the path of movement.

[0006] Preferably, the opening and closing adjustment mechanism is symmetrically arranged on both side walls of the frame, and the opening and closing adjustment mechanism includes front opening and closing ear plates symmetrically fixedly mounted on both sides of the frame, the upper and lower front opening and closing ear plates are rotatably connected to the front connecting rod shaft, and the lower front opening and closing ear plate is fixedly mounted on an opening and closing adjustment box, an opening and closing worm shaft is rotatably connected in the opening and closing adjustment box, the opening and closing worm shaft is connected to the power of an opening and closing adjustment motor fixedly mounted in the opening and closing adjustment box, an opening and closing worm is fixedly mounted on the outer surface of the opening and closing worm shaft, the opening and closing worm is meshed with the opening and closing worm gear, and the opening and closing worm gear is fixedly mounted on the lower end of the front connecting rod shaft, the front connecting shaft extends into the opening and closing adjustment box, and the outer surface of the front connecting shaft The rear end of the rear wheel is fixedly mounted on the wheelchair, and the other end of the rear wheel is connected to the rear wheelchair via a locking mechanism.

[0007] Preferably, the secondary opening and closing adjustment mechanism on the front connecting rod on the lower side comprises a fixing plate symmetrically fixedly installed on the front connecting rod on the lower side, a secondary opening and closing worm shaft is rotatably connected between the fixing plates, a secondary opening and closing worm is fixedly installed on the outer surface of the secondary opening and closing worm shaft, the secondary opening and closing worm is meshed with the secondary opening and closing worm wheel, the secondary opening and closing worm wheel is fixedly installed on the upper end of the secondary opening and closing worm wheel shaft, the secondary opening and closing worm wheel shaft is rotatably installed on the front connecting rod, the lower end of the secondary opening and closing worm wheel shaft is fixedly installed with a secondary opening and closing drive gear, the secondary opening and closing drive gear is meshed with the secondary opening and closing worm wheel shaft The transmission gear is engaged, and the secondary opening and closing transmission gear is rotatably installed on the outer surface of the secondary opening and closing fixed disk. The secondary opening and closing fixed disk is fixedly installed at the lower end of the push-open shaft. A plurality of secondary opening and closing cavities are provided on the secondary opening and closing fixed disk, and the secondary opening and closing cavity extends into the secondary opening and closing transmission gear. A secondary opening and closing plug is slidably connected in the secondary opening and closing cavity. The secondary opening and closing plug is slidably installed in the secondary opening and closing cavity and is pushed into the secondary opening and closing cavity on the secondary opening and closing transmission gear by a secondary opening and closing spring. The secondary opening and closing spring is connected between the secondary opening and closing plug and the bottom wall of the secondary opening and closing cavity.

[0008] The unlocking gear is meshed with the unlocking rack plate, and the unlocking rack plate is slidably connected to the dovetail slide rail, and the dovetail slide rail is fixedly mounted on the inner surface of the opening and closing plate, and the unlocking rack plate is fixedly connected with the unlocking active bevel gear meshing with the unlocking driven bevel gear, and the unlocking driven bevel gear is fixedly installed on one end of the unlocking worm shaft The rear opening and closing adjustment ear plate is provided with a limiting groove and extends to the opening and closing plate, and a spring rod is fixedly installed on the end wall of the limiting groove, and the end of the spring rod is fixedly installed with a groove baffle, and the groove baffle is slidably connected to the rear opening and closing adjustment ear plate, and the groove baffle closes the rear opening and closing adjustment ear plate, and the rear connecting rod pushes the groove baffle to move, and a driving pulley is fixedly installed on the front connecting rod shaft, and the driving pulley and the driven pulley are connected and transmitted by a transmission belt, and the driven pulley is rotatably installed on the unlocking fixed The outer surface of the fixed plate, the unlocking fixed plate is fixedly mounted on the outer surface of the rear connecting rod shaft, the unlocking fixed plate is provided with a plurality of sliding grooves, and the sliding grooves extend to the driven pulley, the sliding grooves are slidably connected with a sliding plug, and the sliding plug is pushed by a spring to be inserted into the sliding groove on the driven pulley, and the spring is connected between the sliding plug and the end wall of the sliding groove, the rear connecting rod is fixedly mounted with a limiting plate, and the rear ear plate on the lower side is fixedly mounted with a baffle for blocking the limiting plate.

[0009] Preferably, the lower end of the unlocking rack plate is connected to an anti-dumping mechanism, and the anti-dumping mechanism includes a horizontal frame fixedly installed at the lower end of the unlocking rack plate, and the lower surface of the horizontal frame is symmetrically connected to a support rod, and the lower end of the support rod is fixedly installed with a support roller frame, and the support roller is rotatably connected to the support roller frame, and the support roller is supported on the ground for movement.

[0010] Preferably, the obstacle-crossing walking mechanism includes a mounting block fixedly mounted on the outer surface of the opening and closing plate, the mounting block is hinged with one end of a direction-adjusting hydraulic rod, the other end of the direction-adjusting hydraulic rod is hinged to the direction-adjusting connecting block, the direction-adjusting connecting block is fixedly mounted on the connecting frame, the connecting frame is hinged on the connecting frame mounting ear plate, the connecting frame mounting ear plate is symmetrically mounted on the opening and closing plate, the connecting frame is hinged with one end of a lifting hydraulic rod, the other end of the lifting hydraulic rod is hinged to the lifting connecting block, the lifting connecting block is hinged on the connecting frame, and the lifting connecting block is hinged to the The upper lifting link is fixedly connected, one end of the upper lifting link is hinged to the connecting frame, and the other end of the upper lifting link is hinged to the moving frame. One end of the lower lifting link is hinged on the connecting frame at the lower side of the upper lifting link, and the other end of the lower lifting link is hinged to the moving frame. The moving frame is rotatably connected with a direction adjustment shaft, and the direction adjustment shaft is power-connected to the direction adjustment motor installed on the moving frame. A bogie is fixedly installed on the end of the direction adjustment shaft, and a hub motor is installed on the bogie, and a moving wheel is connected to the hub motor.

[0011] Preferably, the wheel hub motor is connected to a brake mechanism, and the brake mechanism includes a brake box fixedly mounted on the bogie, a brake shaft rotatably connected in the brake box, and the brake shaft extends into the wheel hub motor and is connected to the wheel hub motor power, the brake box is rotatably connected to a drive shaft, and the drive shaft is connected to the brake motor power fixedly mounted in the brake box, the end of the drive shaft is fixedly connected to a brake active gear, the brake active gear is meshed with an annular rack, the annular rack is rotatably mounted on the brake box, the annular rack is meshed with a number of brake driven gears, the brake driven gear is fixedly mounted on the outer surface of a brake screw, the brake screw is rotatably mounted on the brake box, the outer surface of the brake screw is threadedly connected to a brake threaded cylinder, the brake threaded cylinder is slidably connected to the brake box, the end of the brake threaded cylinder is fixedly mounted with a rotating tooth, the rotating tooth is inserted into the brake gear, and the brake gear is fixedly mounted on the end of the brake shaft.

[0012] Preferably, the carrying mechanism includes a groove frame symmetrically installed on the opening and closing plate, the groove frame is rotatably connected to the clamping screw, the clamping screw is threadedly connected to the deck, a collection frame is clamped between the decks, a handwheel is provided at the end of the clamping screw, an adjustment slide rail is fixedly installed on the inner side of the opening and closing plate, and a number of carrying frames are slidably connected to the adjustment slide rail.

[0013] Preferably, the monitoring mechanism includes a probe mounting plate fixedly mounted on the frame, a binocular probe fixedly mounted on the probe mounting plate, the binocular probe is signal-connected to a control processor, the control processor is mounted on the frame, the control processor is signal-connected to electrical components in the device, a battery for powering the device is mounted on the frame, and a hydraulic system is mounted on the frame.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention provides an electric drive module and an agricultural robot operating platform. The opening and closing degree of the opening and closing plate can be adjusted, facilitating the installation of multiple operating devices for simultaneous operation and improving operation efficiency. When opened and closed to the maximum extent, the module can prevent tipping during movement, thus protecting the entire operating platform.

[0015] 2. The present invention provides an electric drive force module and an agricultural robot operation platform, which have the advantages of compact structure, high integration and flexible adjustment. The platform can be adjusted with multiple degrees of freedom, the drive wheels can be opened and closed, swung, turned on the spot, and the bracket can be raised and lowered, which can ensure the adaptive leveling of the platform, and can achieve the crossing of obstacles during the movement, crossing ditches and ridges, and can realize the adjustment of the movement direction, realizing movement in different directions, and the movement stability is high.

[0016] 3. The present invention provides an electric drive power module and an agricultural robot operation platform that can meet various operation requirements such as automatic leveling, wheelbase adjustment, ditch crossing, ridge crossing, etc. It can be equipped with agricultural rotary tillage, ridging, fertilizing, sowing, plant protection, transportation and other operation tools, and can meet the operation requirements of different planting patterns of different crops. It has high versatility and strong adaptability, and has broad application prospects. It can also be used in operation scenarios in different industries such as forestry, fire fighting, and military. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0018] In the attached figure: Figure 1 This is a schematic diagram of the first structural direction of an electric driving force module and an agricultural robot operating platform in the present invention; Figure 2 This is a schematic diagram of the second structural direction of an electric driving force module and an agricultural robot operating platform in the present invention; Figure 3 This is a schematic diagram of the third-direction structure of an electric driving force module and an agricultural robot operating platform in the present invention; Figure 4This is a schematic structural diagram of an electric driving force module and an agricultural robot operating platform in the fourth direction of the present invention; Figure 5 This is a schematic diagram of the fifth structural direction of an electric driving force module and an agricultural robot operating platform in the present invention; Figure 6 This is a schematic diagram of a first partial structure of an electric driving force module and an agricultural robot operating platform in the present invention; Figure 7 This is a schematic diagram of a second partial structure of an electric driving force module and an agricultural robot operating platform in the present invention; Figure 8 This is a schematic diagram of a third partial structure of an electric driving force module and an agricultural robot operating platform in the present invention; Figure 9 This is a schematic diagram of a fourth partial structure of an electric driving force module and an agricultural robot operating platform in the present invention; Figure 10 for Figure 6 Schematic diagram of the enlarged structure at A in the middle; Figure 11 for Figure 8 Schematic diagram of the enlarged structure at B in the middle; Figure 12 for Figure 9 Schematic diagram of the enlarged structure at C in the middle; Figure 13 for Figure 9 Schematic diagram of the enlarged structure at D in the middle; Figure 14 Schematic diagram of the combined structure of the driven pulley and the unlocking fixed plate; Figure 15 It is a schematic diagram of the combined structure of the secondary opening and closing transmission gear and the secondary opening and closing fixed plate.

[0019] In the figure: 1-frame, 2-binocular probe, 3-probe mounting plate, 4-motion frame, 5-lifting upper side connecting rod, 6-opening and closing plate, 7-collection frame, 8-deck, 9-groove frame, 10-clamping screw, 11-lifting lower side connecting rod, 12-direction adjustment motor, 13-moving wheel, 14-connecting frame, 15-support rod, 16-support roller frame, 17-support roller, 18-connecting frame mounting ear plate, 19-lifting hydraulic rod, 20-bogie, 21-wheel hub motor, 22-brake box, 23-front opening and closing ear plate, 24-front side connecting rod, 25-front side connecting rod shaft, 26-push open front side ear plate, 27-push open rotating shaft, 28-transmission belt, 29-lifting connecting block, 30-direction adjustment connecting block, 31-direction adjustment hydraulic rod, 32-mounting block, 33-rear side ear plate, 34-rear side connecting rod shaft, 35-rear side connecting rod, 36-unlocking plug-in shaft, 37-unlocking rack plate, 38-cross frame, 39-unlocking gear, 40-carrying frame, 41-adjusting slide rail, 42-direction adjustment rotating shaft, 43-driving pulley, 44-opening and closing adjustment box, 45-opening and closing worm gear, 46-opening and closing worm, 47-opening and closing worm shaft, 48-dovetail slide, 49-baffle, 50-limiting plate, 51-fixing plate, 52-secondary opening and closing worm shaft, 53-secondary opening and closing worm, 54-secondary opening and closing worm wheel, 55-secondary opening and closing worm wheel shaft, 56-secondary opening and closing transmission gear, 57-transmission shaft, 58-unlocking worm shaft mounting block, 60-unlocking worm shaft, 61-unlocking driven bevel gear, 62-unlocking driving bevel gear, 63-secondary opening and closing drive gear, 64-driven pulley, 65-groove baffle, 66-spring rod, 67-limiting groove, 68-control Drive shaft, 69-brake gear, 70-rotating tooth, 71-drive shaft, 72-brake driving gear, 73-annular rack, 74-brake threaded cylinder, 75-brake screw, 76-brake driven gear, 77-unlocking gear shaft, 78-unlocking worm gear, 79-unlocking worm, 80-unlocking transmission gear, 81-unlocking fixed plate, 82-sliding groove, 83-spring, 84-sliding plug-in block, 85-secondary opening and closing fixed plate, 86-secondary opening and closing plug-in block, 87-secondary opening and closing spring, 88-secondary opening and closing cavity, 89-rear opening and closing adjustment ear plate. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0021] like Figure 1-15As shown, the present invention provides an electric driving force module and an agricultural robot working platform, including a frame 1, an opening and closing adjustment mechanism is provided on the frame 1, and the opening and closing adjustment mechanism is used to adjust the opening and closing position of the opening and closing plate 6, and the opening and closing plate 6 is connected to a carrying mechanism, and the carrying mechanism is used to carry different working equipment, and the opening and closing plate 6 is connected to an obstacle-crossing walking mechanism, and the obstacle-crossing walking mechanism is used to drive the entire platform to walk and cross obstacles, and the frame 1 is provided with a monitoring mechanism, and the monitoring mechanism is used to monitor the path of movement.

[0022] Advantageously, the opening and closing adjustment mechanism is symmetrically arranged on both side walls of the frame 1, and the opening and closing adjustment mechanism includes front opening and closing ear plates 23 symmetrically fixedly mounted on both sides of the frame 1, and the upper and lower front opening and closing ear plates 23 are rotatably connected with the front connecting rod shaft 25, and the lower front opening and closing ear plates 23 are fixedly mounted with an opening and closing adjustment box 44, and the opening and closing worm shaft 47 is rotatably connected in the opening and closing adjustment box 44, and the opening and closing worm shaft 47 is connected to the opening and closing adjustment motor fixedly mounted in the opening and closing adjustment box 44. An opening and closing worm 46 is fixedly mounted on the outer surface of the opening and closing worm shaft 47, and the opening and closing worm 46 is meshed with an opening and closing worm gear 45, and the opening and closing worm gear 45 is fixedly mounted on the lower end of the front connecting rod shaft 25, and the front connecting shaft 25 extends into the opening and closing adjustment box 44. The end of one side of the front side connecting rod 24 is symmetrically fixedly installed on the surface, and the other end of the front side connecting rod 24 is rotatably connected to the push-open shaft 27, and the push-open shaft 27 is fixedly installed on the front side ear plate 26 for pushing open, and the front side ear plate 26 for pushing open is symmetrically fixedly installed on the inner surface of the opening and closing plate 6, and the rear side ear plate 33 is symmetrically fixedly installed on the side wall of the frame 1 at the rear side of the front opening and closing ear plate 23. The rear side ear plate 33 is rotatably connected to the rear side connecting rod shaft 34, and the end of one side of the rear connecting rod 35 is symmetrically fixedly installed on the rear connecting rod shaft 34, and the other end of the rear connecting rod 35 is plugged into and rotatably abutted with the unlocking plug-in shaft 36, and the unlocking plug-in shaft 36 is plugged into and rotatably abutted with the rear opening and closing adjustment ear plate 89, and the rear opening and closing adjustment ear plate 89 is symmetrically installed on the inner surface of the opening and closing plate 6 at the rear side of the front side ear plate 26 for pushing open; During operation, the opening and closing adjustment motor is started, thereby driving the opening and closing worm shaft 47 to rotate, thereby driving the opening and closing worm 46 to rotate, and the opening and closing worm 46 is engaged with the opening and closing worm gear 45, thereby driving the front side connecting rod shaft 25 to rotate, thereby driving the front side connecting rod 24 to rotate, thereby driving the pushing shaft 27 to rotate, thereby pushing the pushing front side ear plate 26 to move, thereby pushing the opening and closing plate 6 to move, and the front side connecting rod shaft 25 rotates, thereby driving the driving pulley 43 to rotate, and the driving pulley 43 and the driven pulley 64 are connected and transmitted through the transmission belt 28, thereby driving the unlocking fixed plate 81 to rotate, thereby driving the rear side connecting rod shaft 34 to rotate, thereby driving the rear side connecting rod 35 to rotate, thereby pushing the unlocking plug-in shaft 36 to move, thereby pushing The movement of the opening and closing plate 6 causes the rear connecting rod 35 to rotate ninety degrees. After rotating to ninety degrees, the limiting plate 50 contacts the baffle 49, and the baffle 49 blocks the limiting plate 50, causing the rear connecting rod 35 to rotate to ninety degrees at most. The unlocking mechanism moves. After unlocking, the driven pulley 64 rotates on the surface of the unlocking fixed plate 81, thereby causing the sliding block 84 to slide back and forth in the sliding groove 82, so that the spring 83 is in a state of reciprocating compression and extension. When the push-open shaft 27 rotates, the secondary opening and closing transmission gear 56 cannot rotate, thereby causing the secondary opening and closing fixed plate 85 to rotate, thereby causing the secondary opening and closing block 86 to reciprocate in the secondary opening and closing cavity 88, so that the secondary opening and closing spring 87 is in a state of reciprocating compression and extension.

[0023] Advantageously, the secondary opening and closing adjustment mechanism is provided on the front connecting rod 24 on the lower side, and the secondary opening and closing adjustment mechanism is used to perform secondary opening and closing adjustment on the opening and closing plate 6, and adjust it to a position perpendicular to the frame 1. The secondary opening and closing adjustment mechanism includes a fixed plate 51 symmetrically fixedly installed on the front connecting rod 24 on the lower side, and a secondary opening and closing worm shaft 52 is rotatably connected between the fixed plates 51, and the secondary opening and closing worm shaft 52 is connected to the secondary opening and closing adjustment motor power fixedly installed on the fixed plate 51, and a secondary opening and closing worm 53 is fixedly installed on the outer surface of the secondary opening and closing worm shaft 52, and the secondary opening and closing worm 53 is meshed with a secondary opening and closing worm wheel 54, and the secondary opening and closing worm wheel 54 is fixedly installed on the upper end of the secondary opening and closing worm wheel shaft 55, and the secondary opening and closing worm wheel shaft 55 is rotatably installed on the front connecting rod 24. A secondary opening and closing drive gear 63 is fixedly mounted on the lower end thereof, the secondary opening and closing drive gear 63 being meshed with the secondary opening and closing transmission gear 56. The secondary opening and closing transmission gear 56 is rotatably mounted on the outer surface of a secondary opening and closing fixed disk 85, the secondary opening and closing fixed disk 85 being fixedly mounted on the lower end of the push-open rotating shaft 27. The secondary opening and closing fixed disk 85 is provided with a plurality of secondary opening and closing cavities 88, and the secondary opening and closing cavities 88 extend into the secondary opening and closing transmission gear 56. A secondary opening and closing plug 86 is slidably connected in the secondary opening and closing cavity 88. The secondary opening and closing plug 86 is slidably mounted in the secondary opening and closing cavity 88 and is pushed into the secondary opening and closing cavity 88 on the secondary opening and closing transmission gear 56 by a secondary opening and closing spring 87. The secondary opening and closing spring 87 is connected between the secondary opening and closing plug 86 and the bottom wall of the secondary opening and closing cavity 88. During operation, the secondary opening and closing adjustment motor is started, thereby driving the secondary opening and closing worm shaft 52 to rotate, thereby driving the secondary opening and closing worm 53 to rotate, the secondary opening and closing worm 53 is engaged with the secondary opening and closing worm wheel 54, thereby driving the secondary opening and closing worm wheel shaft 55 to rotate, thereby driving the secondary opening and closing drive gear 63 to rotate, the secondary opening and closing drive gear 63 is engaged with the secondary opening and closing transmission gear 56, thereby driving the secondary opening and closing fixed disk 85 to rotate, thereby driving the push-open shaft 27 to rotate. Before unlocking, the push-open shaft 27 cannot rotate, and the secondary opening and closing fixed plate 85 cannot rotate, so that the secondary opening and closing plug block 86 reciprocates in the secondary opening and closing cavity 88, so that the secondary opening and closing spring 87 is in a state of reciprocating compression and extension. After unlocking, the secondary opening and closing plug block 86 is stuck in the secondary opening and closing cavity 88 in the secondary opening and closing transmission gear 56, thereby driving the push-open shaft 27 to rotate, thereby driving the push-open front side ear plate 26 to rotate, thereby driving the opening and closing plate 6 to rotate, and the opening and closing plate 6 can rotate to a position perpendicular to the frame 1 at most.

[0024] Advantageously, an unlocking mechanism is connected to the front-side push-open ear plate 26 on the lower side, and the unlocking mechanism is used to unlock the opening and closing plate 6 to facilitate secondary adjustment of opening and closing. The unlocking mechanism includes a transmission shaft 57 rotatably connected to the front-side push-open ear plate 26 on the lower side, and an unlocking transmission gear 80 engaged with the secondary opening and closing transmission gear 56 is fixedly mounted on the outer surface of the transmission shaft 57. The lower end of the transmission shaft 57 is fixedly connected to an unlocking active bevel gear 62, and the unlocking active bevel gear 62 is engaged with the unlocking driven bevel gear 61. The unlocking driven bevel gear 61 is fixedly mounted on one end of the unlocking worm shaft 60, and the unlocking worm shaft 60 is rotatably mounted on the fixed The unlocking worm shaft 70 is mounted on the unlocking worm shaft mounting block 58 on the inner side of the opening and closing plate 6. The unlocking worm 79 is fixedly mounted on the end of the unlocking worm shaft 60 on the other side. The unlocking worm 79 meshes with the unlocking worm wheel 78. The unlocking worm wheel 78 is fixedly mounted on the unlocking gear shaft 77. The unlocking gear shaft 77 is rotatably mounted on the inner surface of the opening and closing plate 6. The end of the unlocking gear shaft 77 is fixedly mounted with an unlocking gear 39. The unlocking gear 39 meshes with the unlocking rack plate 37. The unlocking rack plate 37 is slidably connected to the dovetail slide 48. The dovetail slide 48 is fixedly mounted on the inner surface of the opening and closing plate 6. The rear opening and closing adjustment ear plate 89 is fixedly connected, and a limiting groove 67 is provided on the lower side of the rear opening and closing adjustment ear plate 89 and extends to the opening and closing plate 6. A spring rod 66 is fixedly installed on the end wall of the limiting groove 67, and a groove baffle 65 is fixedly installed on the end of the spring rod 66. The groove baffle 65 is slidably connected to the rear opening and closing adjustment ear plate 89, and the groove baffle 65 closes the rear opening and closing adjustment ear plate 89, and the rear connecting rod 35 pushes the groove baffle 65 to move. The driving pulley 43 is fixedly installed on the front connecting rod shaft 25, and the driving pulley 43 and the driven pulley 64 are connected and transmitted by a transmission belt 28. The driven pulley 64 is rotatably mounted on the detent. The outer surface of the lock fixing plate 81, the unlocking fixing plate 81 is fixedly mounted on the outer surface of the rear connecting rod shaft 34, the unlocking fixing plate 81 is provided with a plurality of sliding grooves 82, and the sliding grooves 82 extend to the driven pulley 64, a sliding plug 84 is slidably connected in the sliding groove 82, and the sliding plug 84 is pushed by a spring 83 to be inserted into the sliding groove 82 on the driven pulley 64, and the spring 83 is connected between the sliding plug 84 and the end wall of the sliding groove 82, the rear connecting rod 35 is fixedly mounted with a limiting plate 50, and the lower rear ear plate 33 is fixedly mounted with a baffle 49 for the limiting plate 50 to block the limit position; During operation, the secondary opening and closing transmission gear 56 rotates, and the secondary opening and closing transmission gear 56 meshes with the unlocking transmission gear 80, thereby driving the transmission shaft 57 to rotate, thereby driving the unlocking active bevel gear 62 to rotate, and the unlocking active bevel gear 62 meshes with the unlocking driven bevel gear 61, thereby driving the unlocking worm shaft 60 to rotate, thereby driving the unlocking worm 79 to rotate, and the unlocking worm 79 meshes with the unlocking worm wheel 78, thereby driving the unlocking gear shaft 77 to rotate, thereby driving the unlocking gear 39 to rotate, and the unlocking gear 39 meshes with the unlocking rack plate 37, thereby driving the unlocking rack plate 37 to move downward, thereby driving the unlocking rack plate 37 to slide on the dovetail slide rail 48, thereby driving the unlocking plug shaft 36 to move downward, thereby driving the unlocking plug shaft 36 to slide downward and engage with the rear side connecting rod 3 The rear connecting rod 35 pushes the groove baffle 65 to move, thereby compressing the spring rod 66, so that the rear opening and closing adjustment ear plate 89 on the lower side is opened, and the unlocking plug-in shaft 36 moves upward to be inserted into the rear connecting rod 35 and the rear opening and closing adjustment ear plate 89 for locking.

[0025] Advantageously, the lower end of the unlocking rack plate 37 is connected to an anti-dumping mechanism, which includes a cross frame 38 fixedly mounted on the lower end of the unlocking rack plate 37, a support rod 15 symmetrically rotatably connected to the lower surface of the cross frame 38, a support roller frame 16 fixedly mounted on the lower end of the support rod 15, a support roller 17 rotatably connected to the support roller frame 16, and the support roller 17 is supported on the ground for movement; During operation, when the unlocking rack plate 37 moves to the lowest side, it drives the cross frame 38 to the extreme position of movement, thereby driving the support rod 15 to move downward, thereby driving the support roller frame 16 to move downward, thereby driving the support roller 17 to move downward and contact the ground, preventing it from tipping over during the movement.

[0026] Advantageously, the obstacle-crossing walking mechanism includes a mounting block 32 fixedly mounted on the outer surface of the opening and closing plate 6, the mounting block 32 is hinged with one end of a direction-adjusting hydraulic rod 31, the other end of the direction-adjusting hydraulic rod 31 is hinged to a direction-adjusting connecting block 30, the direction-adjusting connecting block 30 is fixedly mounted on the connecting frame 14, the connecting frame 14 is hinged on the connecting frame mounting ear plate 18, the connecting frame mounting ear plate 18 is symmetrically mounted on the opening and closing plate 6, the connecting frame 14 is hinged with one end of a lifting hydraulic rod 19, the other end of the lifting hydraulic rod 19 is hinged to a lifting connecting block 29, the lifting connecting block 29 is hinged on the connecting frame 14, and the lifting connecting block 29 It is fixedly connected to the upper lifting link 5, one end of the upper lifting link 5 is hinged to the connecting frame 14, and the other end of the upper lifting link 5 is hinged to the moving frame 4. The connecting frame 14 on the lower side of the upper lifting link 5 is hinged with one end of the lower lifting link 11, and the other end of the lower lifting link 11 is hinged to the moving frame 4. The moving frame 4 is rotatably connected with a direction adjustment shaft 42, and the direction adjustment shaft 42 is power-connected to the direction adjustment motor 12 installed on the moving frame 4. The end of the direction adjustment shaft 42 is fixedly mounted with a bogie 20, and a hub motor 21 is installed on the bogie 20, and the hub motor 21 is connected to the moving wheel 13; During operation, hydraulic oil is introduced into the direction-adjusting hydraulic rod 31, thereby driving the direction-adjusting hydraulic rod 31 to move, thereby driving the direction-adjusting connecting block 30 to move, thereby driving the connecting frame 14 to rotate, thereby driving the moving frame 4 to rotate, and realizing adjustment of the position of the moving frame 4, which is convenient for movement in different directions, and can realize simultaneous forward movement of the moving wheel 13, which is convenient for carrying multiple working equipment to move at the same time. When it is necessary to walk across obstacles, hydraulic oil is introduced into the lifting hydraulic rod 19, so that the lifting hydraulic rod 19 reciprocates, thereby driving the lifting connecting block 29 to move, thereby driving the lifting upper side connecting rod 5 to move upward. The moving frame 4 reciprocates up and down, thereby driving the moving frame 4 to reciprocate up and down, thereby realizing reciprocating walking across, thereby realizing crossing obstacles, and the height of the frame 1 and the opening and closing plate 6 can be adjusted by the movement of the lifting hydraulic rod 19, so as to adapt to different ground clearances, start the direction adjustment motor 12, thereby driving the dovetail slide rail 48 to rotate, thereby driving the bogie 20 to rotate, thereby driving the hub motor 21 to rotate, thereby driving the moving wheel 13 to rotate, thereby realizing direction adjustment, starting the hub motor 21, thereby driving the moving wheel 13 to rotate, thereby driving the entire equipment to move.

[0027] Advantageously, the wheel hub motor 21 is connected to a braking mechanism, which is used to brake the moving wheel 13 to prevent it from moving around. The braking mechanism includes a brake box 22 fixedly mounted on the bogie 20, a brake shaft 68 is rotatably connected to the brake box 22, and the brake shaft 68 extends into the wheel hub motor 21 and is connected to the wheel hub motor 21 power. The brake box 22 is rotatably connected to a drive shaft 71, and the drive shaft 71 is connected to the brake motor fixedly mounted in the brake box 22 power. The end of the drive shaft 71 is fixedly connected to a brake driving gear 72, and the brake driving gear 72 is connected to the wheel hub motor 21. An annular rack 73 is engaged, and the annular rack 73 is rotatably mounted on the brake box 22. The annular rack 73 is engaged with a plurality of brake driven gears 76, and the brake driven gears 76 are fixedly mounted on the outer surface of a brake screw 75, and the brake screw 75 is rotatably mounted on the brake box 22. The outer surface of the brake screw 75 is threadedly connected to a brake threaded cylinder 74, and the brake threaded cylinder 74 is slidably connected to the brake box 22. The end of the brake threaded cylinder 74 is fixedly mounted with a rotating tooth 70, and the rotating tooth 70 is inserted into the brake gear 69, and the brake gear 69 is fixedly mounted on the end of the brake shaft 68; During operation, after moving to the corresponding position, the brake motor is started, thereby driving the drive shaft 71 to rotate, thereby driving the brake active gear 72 to rotate, the brake active gear 72 is engaged with the annular rack 73, thereby driving the annular rack 73 to rotate, the annular rack 73 is engaged with the brake driven gear 76, thereby driving the brake screw 75 to rotate, the brake screw 75 is threadedly connected to the brake threaded cylinder 74, thereby driving the brake threaded cylinder 74 to move, thereby pushing the rotating tooth 70 to move, thereby driving the rotating tooth 70 to move and insert into the brake gear 69, thereby achieving braking of the brake shaft 68, thereby achieving braking of the moving wheel 13.

[0028] Advantageously, the loading mechanism includes a groove frame 9 symmetrically mounted on the opening and closing plate 6, a clamping screw 10 is rotatably connected to the groove frame 9, a deck 8 is threadedly connected to the clamping screw 10, a collection frame 7 is clamped between the decks 8, a hand wheel is provided at the end of the clamping screw 10, an adjustment slide rail 41 is fixedly mounted on the inner side of the opening and closing plate 6, and a plurality of loading frames 40 are slidably connected to the adjustment slide rail 41; During operation, the hand wheel is manually rotated to drive the clamping screw 10 to rotate, thereby pushing the deck 8 to move, thereby clamping the collection frame 7 and mounting it on the opening and closing plate 6. When the opening and closing plate 6 is fully unfolded, the position of the mounting frame 40 is adjusted to facilitate the mounting of different operating equipment for operation, and multiple different operating equipment can be mounted at the same time to perform different operations.

[0029] Advantageously, the monitoring mechanism includes a probe mounting plate 3 fixedly mounted on the frame 1, a binocular probe 2 fixedly mounted on the probe mounting plate 3, the binocular probe 2 monitors the path of movement, the binocular probe 2 is signal-connected to a control processor, the control processor is provided with a corresponding control processing program, the control processor controls the movement process of the entire device, the control processor is mounted on the frame 1, the control processor is signal-connected to electrical components in the device, a battery for powering the device is mounted on the frame 1, a hydraulic system is mounted on the frame 1, and the hydraulic system is used to control the hydraulic elements in the device.

[0030] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0031] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An electric drive module and an agricultural robot operating platform, characterized by: The invention comprises a frame (1), the frame (1) is provided with an opening and closing adjustment mechanism, the opening and closing adjustment mechanism is used to adjust the opening and closing position of the opening and closing plate (6), the opening and closing plate (6) is connected with a carrying mechanism, the carrying mechanism is used to carry different operating equipment, the opening and closing plate (6) is connected with an obstacle-crossing walking mechanism, the obstacle-crossing walking mechanism is used to drive the entire platform to walk and cross obstacles, and the frame (1) is provided with a monitoring mechanism, the monitoring mechanism is used to monitor the movement path.

2. The electric driving force module and agricultural robot operation platform according to claim 1, characterized in that: The opening and closing adjustment mechanism is symmetrically arranged on both side walls of the frame (1), and the opening and closing adjustment mechanism includes front opening and closing ear plates (23) symmetrically fixedly mounted on both sides of the frame (1), front connecting rod shafts (25) being rotatably connected to the upper and lower front opening and closing ear plates (23), an opening and closing adjustment box (44) being fixedly mounted on the lower front opening and closing ear plate (23), an opening and closing worm shaft (47) being rotatably connected in the opening and closing adjustment box (44), and the opening and closing worm shaft (47) being rotatably connected in the opening and closing worm shaft. The shaft (47) is connected to the opening and closing adjustment motor fixedly installed in the opening and closing adjustment box (44). The outer surface of the opening and closing worm shaft (47) is fixedly installed with an opening and closing worm (46). The opening and closing worm (46) is engaged with the opening and closing worm wheel (45). The opening and closing worm wheel (45) is fixedly installed at the lower end of the front connecting rod shaft (25). The front connecting rod shaft (25) extends into the opening and closing adjustment box (44). The outer surface of the front connecting rod shaft (25) is symmetrical. The end of one side of the front connecting rod (24) is fixedly installed, and the other end of the front connecting rod (24) is rotatably connected to the push-open shaft (27). The push-open shaft (27) is fixedly installed on the push-open front side ear plate (26). The push-open front side ear plate (26) is symmetrically fixedly installed on the inner surface of the opening and closing plate (6). The rear side ear plate (33) is symmetrically fixedly installed on the side wall of the frame (1) behind the front side opening and closing ear plate (23). A rear connecting rod shaft (34) is rotatably connected, and one end of a rear connecting rod (35) is symmetrically fixedly mounted on the rear connecting rod shaft (34). The other end of the rear connecting rod (35) is plugged into and rotatably abutted against an unlocking plug-in shaft (36). The unlocking plug-in shaft (36) is plugged into and rotatably abutted against a rear opening and closing adjustment ear plate (89). The rear opening and closing adjustment ear plate (89) is symmetrically mounted on the inner surface of the opening and closing plate (6) on the rear side of the pushed-open front ear plate (26).

3. The electric driving force module and agricultural robot operation platform according to claim 2, characterized in that: The secondary opening and closing adjustment mechanism is provided on the front connecting rod (24) on the lower side. The secondary opening and closing adjustment mechanism comprises a fixed plate (51) symmetrically fixedly installed on the front connecting rod (24) on the lower side. A secondary opening and closing worm shaft (52) is rotatably connected between the fixed plates (51). A secondary opening and closing worm (53) is fixedly installed on the outer surface of the secondary opening and closing worm shaft (52). The secondary opening and closing worm (53) is meshed with a secondary opening and closing worm wheel (54). The secondary opening and closing worm wheel (54) is fixedly installed on the upper end of the secondary opening and closing worm wheel shaft (55). The secondary opening and closing worm wheel shaft (55) is rotatably installed on the front connecting rod (24). A secondary opening and closing drive gear (63) is fixedly installed on the lower end of the secondary opening and closing worm wheel shaft (55). The secondary opening and closing drive gear (63) is connected to the secondary opening and closing transmission gear (56). The secondary opening and closing transmission gear (56) is rotatably mounted on the outer surface of the secondary opening and closing fixed disk (85), and the secondary opening and closing fixed disk (85) is fixedly mounted on the lower end of the push-open rotating shaft (27). The secondary opening and closing fixed disk (85) is provided with a plurality of secondary opening and closing cavities (88), and the secondary opening and closing cavities (88) extend into the secondary opening and closing transmission gear (56). A secondary opening and closing plug-in block (86) is slidably connected in the secondary opening and closing cavity (88), and the secondary opening and closing plug-in block (86) is slidably mounted in the secondary opening and closing cavity (88) and is pushed and inserted into the secondary opening and closing cavity (88) on the secondary opening and closing transmission gear (56) by a secondary opening and closing spring (87). The secondary opening and closing spring (87) is connected between the secondary opening and closing plug-in block (86) and the bottom wall of the secondary opening and closing cavity (88).

4. The electric driving force module and agricultural robot operation platform according to claim 3, characterized in that: The lower side of the push-open front side ear plate (26) is connected to an unlocking mechanism, and the unlocking mechanism includes a transmission shaft (57) rotatably connected to the lower side of the push-open front side ear plate (26), and an unlocking transmission gear (80) meshing with the secondary opening and closing transmission gear (56) is fixedly installed on the outer surface of the transmission shaft (57). The lower end of the transmission shaft (57) is fixedly connected to an unlocking active bevel gear (62), and the unlocking active bevel gear (62) is meshed with the unlocking driven bevel gear (61). The unlocking driven bevel gear (61) is fixedly installed at one end of the unlocking worm shaft (60). The unlocking worm shaft (60) is rotatably installed on the unlocking worm shaft mounting block (58) fixedly installed on the inner side of the opening and closing plate (6). The unlocking worm shaft (6 0) An unlocking worm (79) is fixedly installed at the other end, and the unlocking worm (79) is meshed with the unlocking worm wheel (78). The unlocking worm wheel (78) is fixedly installed on the unlocking gear shaft (77). The unlocking gear shaft (77) is rotatably installed on the inner surface of the opening and closing plate (6). An unlocking gear (39) is fixedly installed at the end of the unlocking gear shaft (77). The unlocking gear (39) is meshed with the unlocking rack plate (37). The unlocking rack plate (37) is slidably connected to the dovetail slide rail (48). The dovetail slide rail (48) is fixedly installed on the inner surface of the opening and closing plate (6). The unlocking rack plate (37) is fixedly connected to the unlocking plug-in shaft (36). The rear opening and closing adjustment ear plate (89) on the lower side is provided with The limiting groove (67) extends to the opening and closing plate (6), a spring rod (66) is fixedly installed on the end wall of the limiting groove (67), and a groove baffle (65) is fixedly installed on the end of the spring rod (66), and the groove baffle (65) is slidably connected to the rear opening and closing adjustment ear plate (89), and the groove baffle (65) closes the rear opening and closing adjustment ear plate (89), and the rear connecting rod (35) pushes the groove baffle (65) to move, and a driving pulley (43) is fixedly installed on the front connecting rod shaft (25), and the driving pulley (43) and the driven pulley (64) are connected and transmitted by a transmission belt (28), and the driven pulley (64) is rotatably installed on the outer surface of the unlocking fixed disk (81), and the unlocking fixed disk (81) is fixedly installed on the front connecting rod shaft (25). The locking plate (81) is fixedly mounted on the outer surface of the rear connecting rod shaft (34); the unlocking plate (81) is provided with a plurality of sliding grooves (82), and the sliding grooves (82) extend to the driven pulley (64); a sliding block (84) is slidably connected in the sliding groove (82), and the sliding block (84) is pushed by a spring (83) to be inserted into the sliding groove (82) on the driven pulley (64); the spring (83) is connected between the sliding block (84) and the end wall of the sliding groove (82); the rear connecting rod (35) is fixedly mounted with a limiting plate (50); and a baffle (49) for blocking the limiting plate (50) is fixedly mounted on the lower rear ear plate (33).

5. The electric driving force module and agricultural robot operation platform according to claim 4, characterized in that: The lower end of the unlocking rack plate (37) is connected to an anti-dumping mechanism, and the anti-dumping mechanism includes a cross frame (38) fixedly mounted on the lower end of the unlocking rack plate (37); the lower surface of the cross frame (38) is symmetrically rotatably connected to a support rod (15); the lower end of the support rod (15) is fixedly mounted to a support roller frame (16); the support roller frame (16) is rotatably connected to a support roller (17); and the support roller (17) is supported on the ground for movement.

6. The electric driving force module and agricultural robot operating platform according to claim 5, characterized in that: The obstacle-crossing walking mechanism includes a mounting block (32) fixedly mounted on the outer surface of the opening and closing plate (6), the mounting block (32) is hinged with one end of a direction-adjusting hydraulic rod (31), the other end of the direction-adjusting hydraulic rod (31) is hinged with a direction-adjusting connecting block (30), the direction-adjusting connecting block (30) is fixedly mounted on a connecting frame (14), the connecting frame (14) is hinged with the connecting frame mounting lug (18), the connecting frame mounting lug (18) is symmetrically mounted on the opening and closing plate (6), the connecting frame (14) is hinged with one end of a lifting hydraulic rod (19), the other end of the lifting hydraulic rod (19) is hinged with a lifting connecting block (29), the lifting connecting block (29) is hinged with the connecting frame (14), and the lifting connecting block (29) is hinged with the lifting upper The side connecting rod (5) is fixedly connected, one end of the upper lifting connecting rod (5) is hinged to the connecting frame (14), and the other end of the upper lifting connecting rod (5) is hinged to the moving frame (4). One end of the lower lifting connecting rod (11) is hinged to the connecting frame (14) below the upper lifting connecting rod (5), and the other end of the lower lifting connecting rod (11) is hinged to the moving frame (4). The moving frame (4) is rotatably connected to a direction adjustment shaft (42), and the direction adjustment shaft (42) is power-connected to the direction adjustment motor (12) installed on the moving frame (4). A bogie (20) is fixedly installed at the end of the direction adjustment shaft (42), and a hub motor (21) is installed on the bogie (20), and a moving wheel (13) is connected to the hub motor (21).

7. The electric driving force module and agricultural robot operating platform according to claim 6, characterized in that: The wheel hub motor (21) is connected to a brake mechanism, and the brake mechanism includes a brake box (22) fixedly mounted on the bogie (20), a brake shaft (68) is rotatably connected in the brake box (22), and the brake shaft (68) extends into the wheel hub motor (21) and is connected to the wheel hub motor (21) in a power connection, the brake box (22) is rotatably connected to a drive shaft (71), the drive shaft (71) is connected to the brake motor fixedly mounted in the brake box (22) in a power connection, and a brake driving gear (72) is fixedly connected to the end of the drive shaft (71), the brake driving gear (72) is meshed with an annular rack (73), and the annular rack (73) is connected to the wheel hub motor (21). ) is rotatably mounted on the brake box (22), the annular rack (73) is meshed with a plurality of brake driven gears (76), the brake driven gears (76) are fixedly mounted on the outer surface of the brake screw (75), the brake screw (75) is rotatably mounted on the brake box (22), the outer surface of the brake screw (75) is threadedly connected to a brake thread cylinder (74), the brake thread cylinder (74) is slidably connected to the brake box (22), the end of the brake thread cylinder (74) is fixedly mounted with a rotating tooth (70), the rotating tooth (70) is inserted into the brake gear (69), and the brake gear (69) is fixedly mounted on the end of the brake shaft (68).

8. The electric driving force module and agricultural robot operation platform according to claim 7, characterized in that: The carrying mechanism comprises a groove frame (9) symmetrically mounted on the opening and closing plate (6), a clamping screw rod (10) being rotatably connected to the groove frame (9), a deck (8) being threadedly connected to the clamping screw rod (10), a collecting frame (7) being clamped between the decks (8), a hand wheel being provided at the end of the clamping screw rod (10), an adjusting slide rail (41) being fixedly mounted on the inner side of the opening and closing plate (6), and a plurality of carrying frames (40) being slidably connected to the adjusting slide rail (41).

9. The electric driving force module and agricultural robot operation platform according to claim 8, characterized in that: The monitoring mechanism comprises a probe mounting plate (3) fixedly mounted on the frame (1), a binocular probe (2) fixedly mounted on the probe mounting plate (3), the binocular probe (2) being connected to a control processor signal, the control processor being mounted on the frame (1), the control processor being connected to an electrical component in the device signal, a battery for powering the device being mounted on the frame (1), and a hydraulic system being mounted on the frame (1).

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