Agricultural robot

Abstract

The invention provides an agricultural robot, and relates to the technical field of farming equipment, the agricultural robot comprises a farm tool device, a chassis, and an electric energy system and a walking device arranged on the chassis; the walking device comprises two crawler walking mechanisms and two walking motor assemblies, and each walking motor assembly is in driving connection with the corresponding crawler walking mechanism; the farm tool device comprises a PTO motor assembly and a hanging farm tool, and the PTO motor assembly is in driving connection with the hanging farm tool; the electric energy system comprises a range extender, a first battery and a second battery, the second battery is electrically connected with the range extender and used for providing electric energy for starting of the range extender, and the output end of the range extender is electrically connected with the first battery and the second battery and used for charging the first battery and the second battery; the first battery is electrically connected with the walking motor assembly and the PTO motor assembly and used for supplying power to the walking motor assembly and the PTO motor assembly. The endurance time of the agricultural robot can be prolonged.

Description

Technical Field

[0001] This invention relates to the field of agricultural equipment technology, and more specifically, to an agricultural robot. Background Technology

[0002] Agricultural robots, such as tractors, are self-propelled power machines used to traction and drive work machinery to complete various mobile tasks.

[0003] In related technologies, agricultural robots mainly consist of a power battery, a walking motor assembly, and a PTO (Power Take-Off) motor assembly. The power battery supplies power to the walking motor assembly and the PTO motor assembly, providing them with electrical energy to enable the agricultural robot to walk and perform farming operations. The PTO, or Power Take-Off, is a device on the agricultural robot used to output power, transmitting power from the robot's motor (e.g., engine power) to other agricultural implements to drive them.

[0004] However, because the power battery needs to supply power to the walking motor assembly and the PTO motor assembly, the power is consumed quickly, which affects the battery life of the agricultural robot. Summary of the Invention

[0005] The problem addressed by this invention is how to extend the battery life of agricultural robots.

[0006] To address the above problems, this invention provides an agricultural robot.

[0007] An agricultural robot includes an agricultural implement, a chassis, and an electrical system and a walking device mounted on the chassis; The walking device includes two tracked walking mechanisms and two walking motor assemblies, and each walking motor assembly is drivenly connected to the corresponding tracked walking mechanism. The agricultural implement device includes a PTO motor assembly and a mounted implement, wherein the PTO motor assembly is driven to the mounted implement; The power system includes a range extender, a first battery, and a second battery. The second battery is electrically connected to the range extender and is used to provide power for starting the range extender. The output terminal of the range extender is electrically connected to the first battery and the second battery and is used to charge the first battery and the second battery. The first battery is electrically connected to the walking motor assembly and the PTO motor assembly and is used to supply power to the walking motor and the PTO motor.

[0008] Optionally, the range extender includes a starter motor, an engine, and a generator. The starter motor is driven to the input shaft of the engine to drive the engine to rotate. The output shaft of the engine is driven to the generator to enable the generator to generate electrical energy. The second battery is electrically connected to the starter motor and is used to provide power for the operation of the starter motor.

[0009] Optionally, the agricultural robot further includes a first cooling device. The walking motor assembly includes a walking motor body and a first cooling chamber connected to the walking motor body. The PTO motor assembly includes a PTO motor body and a second cooling chamber connected to the PTO motor body. The first cooling device communicates with the first cooling chamber and the second cooling chamber and is used to output coolant to cool the walking motor body and the PTO motor body.

[0010] Optionally, the first cooling device includes a cooling component, a liquid cooling tank, and a first pump body. The cooling component includes a first cooling device and a liquid inlet chamber, a connecting chamber, and a liquid outlet chamber arranged around the first cooling device. The liquid inlet chamber is connected to the liquid outlet chamber through the connecting chamber. The liquid outlet of the liquid cooler is connected to the liquid inlet chamber through the first pump body. The liquid outlet chamber is connected to the first liquid outlet connector and the second liquid outlet connector respectively. The two first liquid outlet connectors are connected to the liquid return port of the liquid cooler through the first cooling chambers of the two walking motor assemblies respectively. The second liquid outlet connector is connected to the liquid return port of the liquid cooler through the second cooling chamber.

[0011] Optionally, the first cooling device includes three liquid cooling tanks and three first pump bodies, with each liquid cooling tank connected to the liquid inlet chamber via a corresponding first pump body.

[0012] Optionally, the liquid outlet chamber is connected to a liquid replenishment connector, which is used to connect to a liquid replenishment container.

[0013] Optionally, the cooling assembly further includes a cooling air duct, and the liquid inlet chamber, the connecting chamber and the liquid outlet chamber are respectively thermally connected to the cooling air duct.

[0014] Optionally, the PTO motor assembly further includes a first reduction gearbox, a hydraulic pump, a hydraulic transmission oil tank, a solenoid valve group, and a rear lifting cylinder. The PTO motor body is drivenly connected to the input shaft of the first reduction gearbox, which has a first output shaft that is drivenly connected to the hydraulic pump. The hydraulic transmission oil tank is connected to the rear lifting cylinder via the hydraulic pump and the solenoid valve group. The rear lifting cylinder is connected to the mounted implement and is used to drive the mounted implement to lift and lower.

[0015] Optionally, the agricultural robot also includes a second cooling device, which includes an oil outlet pipe, a cooling pipe, a second cooling device, and an oil return pipe. One end of the oil outlet pipe is connected to the solenoid valve group, and the other end of the oil outlet pipe is connected to the hydraulic transmission oil tank via the cooling pipe and the oil return pipe in sequence. The second cooling device is arranged opposite to the cooling pipe and is used to cool the cooling pipe.

[0016] Optionally, the second cooling device further includes a housing structure, the cooling pipe is located inside the housing structure, the air outlet of the second cooling device is connected to the housing structure, and the side wall of the housing structure away from the second cooling device is provided with an air outlet.

[0017] Optionally, the walking motor assembly further includes a main gear and a second reduction gearbox. The second reduction gearbox includes a first driven gear, a second driven gear, a first hydraulic cylinder, and a second hydraulic cylinder. The walking motor body is drivenly connected to the main gear to drive the main gear to rotate. The first hydraulic cylinder is arranged at a distance from the first driven gear, and the second hydraulic cylinder is arranged at a distance from the second driven gear; The solenoid valve assembly is connected to the first cylinder and the second cylinder respectively, and is used to control the first cylinder to push the first driven gear to mesh with the main gear, or to control the second cylinder to push the second driven gear to mesh with the main gear; The first driven gear and the second driven gear rotate at different speeds.

[0018] Optionally, the tracked traveling mechanism includes: track; A drive wheel assembly includes a drive wheel and a drive shaft. The walking motor assembly is driven to the end of the drive shaft. The drive wheel is sleeved on the end of the drive shaft away from the walking motor assembly, and the outer contour of the drive wheel is driven to the track. A bracket structure is fixedly connected to the chassis and arranged perpendicularly to the drive shaft to support the drive shaft. A support wheel assembly is mounted on the bracket structure and is rotatably connected to the inner side of the track.

[0019] Optionally, the chassis includes a chassis body and a first connecting rod and a second connecting rod fixed to the chassis body. The bracket structure includes a bracket plate, a connecting plate and a third connecting rod. The bracket plate is fixedly connected to the first connecting rod. The drive wheel set also includes a bushing assembly. The bushing assembly is sleeved on the end of the drive shaft away from the walking motor assembly. The top end of the bracket plate is connected to the bushing assembly. The connecting plate is fixedly connected to the second connecting rod, and the bracket plate is fixedly connected to the connecting plate through the third connecting rod; the support wheel assembly is mounted on the connecting plate.

[0020] The beneficial effects of the agricultural robot and its control method of the present invention are: Agricultural robots mainly include agricultural implements, a chassis, and an electrical system and a walking device mounted on the chassis. The chassis serves as the mounting base for the electrical system and the walking device.

[0021] Two tracked walking mechanisms can be installed on the left and right sides of the chassis. They are electrically connected to the two walking motor assemblies through the first battery, which provides power to the two walking motor assemblies. When the two walking motor assemblies are powered on, they can drive the corresponding tracked walking mechanisms to operate, thus realizing the walking action of the agricultural robot.

[0022] The PTO motor assembly can be mounted on the chassis and electrically connected to the PTO motor assembly via a first battery to provide power to the two walking motor assemblies. The PTO motor assembly is also connected to the mounted implement drive, enabling the PTO motor assembly to raise and lower the mounted implement and perform farming operations when powered on.

[0023] When the first battery is low on power, the second battery can provide power to start the range extender, enabling the range extender to start and generate electricity to charge the first and second batteries. This allows the first battery to continue supplying power to the walking motor assembly and the PTO motor assembly, thus extending the agricultural robot's runtime.

[0024] Since the electrical energy generated by the range extender charges the second battery, the fully charged second battery can provide power for the range extender to restart, thus improving the reliability of the range extender restart. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the agricultural robot in an embodiment of the present invention; Figure 2 This is one of the structural schematic diagrams of the agricultural robot in the embodiments of the present invention; Figure 3 This is the second structural schematic diagram of the agricultural robot in this embodiment of the invention; Figure 4 This is a schematic diagram showing the connection between the range extender and the first and second batteries in an embodiment of the present invention; Figure 5 This is one of the partial structural schematic diagrams of the PTO motor assembly in an embodiment of the present invention; Figure 6 This is one of the partial structural schematic diagrams of the agricultural robot in an embodiment of the present invention; Figure 7 This is a schematic diagram of the cooling component in an embodiment of the present invention; Figure 8 This is a second partial structural schematic diagram of the PTO motor assembly in an embodiment of the present invention; Figure 9 This is a schematic diagram of the connection structure between the PTO motor assembly and the second cooling device in an embodiment of the present invention; Figure 10 for Figure 9 Enlarged structural diagram at point A; Figure 11 This is a schematic diagram of the structure of the second cooling device in an embodiment of the present invention; Figure 12 This is a block diagram illustrating the transmission principle of the walking motor assembly in an embodiment of the present invention; Figure 13 This is a second partial structural schematic diagram of the agricultural robot in an embodiment of the present invention; Figure 14 This is the third partial structural schematic diagram of the agricultural robot in this embodiment of the invention; Figure 15 This is a partial structural diagram of the walking device in an embodiment of the present invention; Figure 16 This is a schematic diagram of the drive wheel assembly in an embodiment of the present invention.

[0026] Explanation of reference numerals in the attached figures: 100-Chassis; 110-Chassis body; 120-First connecting rod; 130-Second connecting rod; 200-Electric power system; 210-Range extender; 211-Starter motor; 212-Engine; 213-Generator; 220-First battery; 230-Second battery; 300-Crawler travel mechanism; 310-Crawler; 320-Drive wheel set; 321-Drive wheel; 322-Drive shaft; 323-Busset assembly; 324-Transition support; 325-Flange; 326-Sealing baffle; 330-Support structure; 331-Support plate; 332-Connecting plate; 333-Third connecting rod; 340-Support wheel set; 400-Walking motor assembly; 410-Walking motor body; 420-Main gear; 430-Second reduction gearbox; 431-First driven gear; 432-Second driven gear; 433-First hydraulic cylinder; 434-Second hydraulic cylinder; 435-First elastic element; 436-Second... Elastic component; 500-PTO motor assembly; 510-PTO motor body; 520-Second cooling chamber; 521-Second water inlet; 522-Second water outlet; 530-First reduction gearbox; 540-Hydraulic oil pump; 550-Hydraulic transmission oil tank; 560-Solenoid valve assembly; 570-Rear lifting cylinder; 580-PTO output shaft; 600-First cooling device; 610-Cooling component; 611-First cooling element; 612- 613-Inlet chamber; 614-Outlet chamber; 615-First outlet connector; 616-Second outlet connector; 617-Replenishment connector; 618-First inlet connector; 619-Second inlet connector; 620-Liquid cooling box; 630-First pump body; 700-Second cooling device; 710-Oil outlet pipe; 720-Oil return pipe; 730-Second cooling device; 740-Box structure; 741-Air outlet; 800-Hanging agricultural implements. Detailed Implementation

[0027] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0028] In the attached diagram, the X-axis represents left and right position, with the positive direction of the X-axis representing the right side and the negative direction representing the left side; the Y-axis represents front and back position, with the positive direction of the Y-axis representing the front and the negative direction representing the back; the Z-axis represents up and down position, with the positive direction of the Z-axis representing up and the negative direction representing down. It should be noted that the aforementioned representations of the X, Y, and Z axes are merely for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0029] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0030] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0031] In response to the problems existing in the aforementioned related technologies, such as Figures 1 to 3 As shown, an agricultural robot provided in this embodiment of the invention includes an agricultural implement, a chassis 100, an electrical system 200 and a walking device disposed on the chassis 100; The walking device includes two tracked walking mechanisms 300 and two walking motor assemblies 400, and each walking motor assembly 400 is drivenly connected to the corresponding tracked walking mechanism 300. The agricultural implement device includes a PTO motor assembly 500 and a mounted implement 800, wherein the PTO motor assembly 500 is drivenly connected to the mounted implement 800. The power system 200 includes a range extender 210, a first battery 220, and a second battery 230. The second battery 230 is electrically connected to the range extender 210 and is used to provide power for starting the range extender 210. The output terminal of the range extender 210 is electrically connected to the first battery 220 and the second battery 230 and is used to charge the first battery 220 and the second battery 230. The first battery 220 is electrically connected to the walking motor assembly 400 and the PTO motor assembly 500 and is used to supply power to the walking motor and the PTO motor.

[0032] Specifically, the two walking motor assemblies 400 can travel along Figure 2 The two tracked walking mechanisms 300 are arranged at intervals along the X-axis in the coordinate system on the chassis 100. Figure 2 The components are arranged at intervals along the X-axis in the coordinate system on the side of the chassis 100. The walking motor assembly 400 drives the tracked walking mechanism 300 to achieve walking motion.

[0033] The 800 agricultural implements can be mounted on the rear end of the chassis 100.

[0034] The first battery 220 can be a lithium battery, and the second battery 230 can be a lead-acid battery.

[0035] Figure 1 In the diagram, the electrical connections between the range extender 210, the first battery 220, the second battery 230, the walking motor assembly 400, and the PTO motor assembly 500 can be represented by thin solid lines; while the drive connections between the walking motor assembly 400 and the tracked walking mechanism 300, and between the PTO motor assembly 500 and the attached implement 800, can be represented by thick solid lines.

[0036] In this embodiment, the agricultural robot mainly includes agricultural implements, a chassis 100, and an electrical system 200 and a walking device mounted on the chassis 100. The chassis 100 can serve as the mounting base for the electrical system 200 and the walking device.

[0037] Two tracked walking mechanisms 300 can be set on the left and right sides of the chassis 100. They are electrically connected to two walking motor assemblies 400 through the first battery 220, which provides power to the two walking motor assemblies 400. When the two walking motor assemblies 400 are powered on, they can drive the corresponding tracked walking mechanism 300 to operate, thereby realizing the walking action of the agricultural robot.

[0038] The PTO motor assembly 500 can be mounted on the chassis 100 and electrically connected to the PTO motor assembly 500 via the first battery 220. The PTO motor assembly 500 is also connected to the mounted implement 800 for driving, enabling the PTO motor assembly 500 to raise and lower the mounted implement 800 and perform farming operations when powered on.

[0039] When the first battery 220 is low on power, the second battery 230 can provide power to start the range extender 210, enabling the range extender 210 to start and generate electricity to charge the first battery 220 and the second battery 230. This allows the first battery 220 to continue to provide power to the walking motor assembly 400 and the PTO motor assembly 500, thereby extending the endurance of the agricultural robot.

[0040] Since the electrical energy generated by the range extender 210 is used to charge the second battery 230, the fully charged second battery 230 can provide power for the restart of the range extender 210, thereby improving the reliability of the restart of the range extender 210.

[0041] Optionally, the range extender 210 may adopt the following structural configuration, for example, combined with Figure 4 As shown, the range extender 210 includes a starter motor 211, an engine 212, and a generator 213. The starter motor 211 is driven to the input shaft of the engine 212 to drive the engine 212 to rotate. The output shaft of the engine 212 is driven to the generator 213 to enable the generator 213 to work and generate electrical energy. The second battery 230 is electrically connected to the starter motor 211 and is used to provide power for the operation of the starter motor 211.

[0042] Specifically, engine 212 can be a diesel engine, methanol engine, gasoline engine, etc.

[0043] The second battery 230 can be electrically connected to the starter motor 211 assembly via the first switch, so that the second battery 230 can provide or disconnect power to the starter motor 211 by turning the first switch on or off. The generator 213 is electrically connected to the first battery 220 and the second battery 230, thereby charging the first battery 220 and the second battery 230.

[0044] The second battery 230 can be electrically connected to the lighting device of the agricultural robot through the second switch. The second battery 230 can provide or disconnect power to the lighting device by turning the second switch on or off.

[0045] Figure 4 In the diagram, the electrical connections between the generator 213, the first battery 220, the second battery 230, and the starter motor 211 are represented by thin solid lines, while the mechanical connections between the starter motor 211, the engine 212, and the generator 213 can be represented by thick solid lines.

[0046] In this optional embodiment, the range extender 210 may operate as follows: for example, the driver operates the start switch of the range extender 210, causing the second battery 230 to supply power to the starter motor 211 through the first switch, so that current flows from the second battery 230 to the starter motor 211 through the first control switch. The starter motor 211 is energized and reaches the starting speed, pulling the engine 212 to a fixed speed (usually above 100 rpm). Fuel injection and ignition (compression ignition) of the engine 212 occur, and the engine speed rapidly increases. When the engine speed exceeds the starter motor speed, the one-way clutch (or electromagnetic switch) on the starter motor 211 actuates, disengaging the starter gear from the flywheel. Generator 213 starts generating electricity, and engine 212 drives the rotor of generator 213 to rotate. Generator 213 starts to build up voltage and generate electricity. When generator 213 successfully builds up voltage and reaches a stable state, the output of generator 213 usually charges the first battery 220 and the second battery 230 through the voltage regulator. This replenishes the electrical energy consumed by the second battery 230 when the starter motor 211 is started, and also replenishes the electrical energy consumed by the first battery 220 when the agricultural robot is walking or farming, thereby extending the endurance of the agricultural robot.

[0047] Optionally, combined Figure 5 and Figure 6 As shown, the agricultural robot also includes a first cooling device 600. The walking motor assembly 400 includes a walking motor body 410 and a first cooling chamber connected to the walking motor body 410. The PTO motor assembly 500 includes a PTO motor body 510 and a second cooling chamber 520 connected to the PTO motor body 510. The first cooling device 600 is connected to the first cooling chamber and the second cooling chamber 520 and is used to output coolant to cool the walking motor body 410 and the PTO motor body 510.

[0048] Specifically, the first cooling chamber can be located outside or inside the housing of the walking motor body 410, and the walking motor body 410 and the first cooling chamber can be connected by heat conduction.

[0049] Similarly, the second cooling chamber 520 can be located outside or inside the housing of the PTO motor body 510, and the PTO motor body 510 and the second cooling chamber 520 can be connected by heat conduction.

[0050] The first cooling device 600 is connected to the first cooling chamber and the second cooling chamber 520, and forms a closed cooling circuit with the first cooling chamber and the second cooling chamber 520 to realize continuous cooling of the walking motor body 410 and the PTO motor body 510.

[0051] In this optional embodiment, since the first cooling device 600 is connected to the first cooling chamber of the walking motor assembly 400, coolant can be delivered to the first cooling chamber. The coolant can absorb the heat generated by the walking motor body 410 during normal operation through heat conduction, so that the walking motor body 410 can work continuously under suitable temperature conditions, and the agricultural robot can perform walking actions safely and reliably.

[0052] Similarly, the first cooling device 600 can deliver coolant to the second cooling chamber 520. The coolant can absorb the heat generated by the PTO motor body 510 during normal operation through heat conduction, so that the PTO motor body 510 can work continuously under suitable temperature conditions, and can achieve safe and reliable driving of the attached agricultural implement 800.

[0053] Optionally, combined Figure 7 As shown, the first cooling device 600 includes a cooling assembly 610, a liquid cooling tank 620, and a first pump body 630. The cooling assembly 610 includes a first cooling device 611 and a liquid inlet chamber 612, a connecting chamber 613, and a liquid outlet chamber 614 arranged around the first cooling device 611. The liquid inlet chamber 612 is connected to the liquid outlet chamber 614 through the connecting chamber 613. The liquid outlet of the liquid cooling tank 620 is connected to the liquid inlet chamber 612 through the first pump body 630. The liquid outlet chamber 614 is connected to the first liquid outlet connector 615 and the second liquid outlet connector 616 respectively. The two first liquid outlet connectors 615 are connected to the liquid return port of the liquid cooling tank 620 through the first cooling chambers of the two walking motor assemblies 400 respectively. The second liquid outlet connector 616 is connected to the liquid return port of the liquid cooling tank 620 through the second cooling chamber 520.

[0054] Specifically, the first cooling device 611 may adopt a fan structure.

[0055] The liquid inlet chamber 612, the connecting chamber 613, and the liquid outlet chamber 614 are respectively integrated with the first cooling device 611 to form an integral structure, which helps to install the cooling component 610 on the chassis 100.

[0056] Since the inlet chamber 612, the connecting chamber 613, and the outlet chamber 614 are arranged around the first cooling device 611, the operation of the first cooling device 611 can accelerate the airflow speed near the first cooling device 611, so that the inlet chamber 612, the connecting chamber 613, and the outlet chamber 614 can exchange heat with the outside air more quickly, thereby improving the cooling rate of the coolant in the inlet chamber 612, the connecting chamber 613, and the outlet chamber 614.

[0057] The liquid cooling tank 620 contains coolant, and the first pump body 630 can be used to extract the coolant from the liquid cooling tank 620 and pump it into the liquid inlet chamber 612 of the cooling component 610.

[0058] The liquid outlet chamber 614 may be provided with two first liquid outlet connectors 615 and one second liquid outlet connector 616 connected thereto. The two first liquid outlet connectors 615 are connected to the first cooling chambers of the two walking motor assemblies 400 respectively, so that the walking motor body 410 connected thereto can be cooled down by the coolant flowing out from the two first liquid outlet connectors 615 respectively.

[0059] The second cooling chamber 520 is provided with a second inlet 521 and a second outlet 522 connected thereto. The second inlet 521 and the second outlet 522 are respectively connected to the second liquid outlet connector 616 and the liquid cooling box 620. For example, the cooling oil coming out of the liquid outlet chamber 614 can enter the second cooling chamber 520 through the second inlet 521 via the second liquid outlet connector 616, and then flow out into the liquid cooling box 620 from the second outlet 522.

[0060] The first battery 220 can be electrically connected to the first cooling device 611 and the first pump body 630, thereby providing working power to the first cooling device 611 and the first pump body 630.

[0061] In this optional embodiment, the walking motor body 410 and the PTO motor body 510 can be cooled in the following way: For example, the first pump body 630 operates to generate suction to draw coolant from the liquid cooling tank 620. After passing through the first pump body 630, the coolant flows sequentially through the inlet chamber 612, the connecting chamber 613, and the outlet chamber 614 before being split. A portion of the split coolant enters the first cooling chamber of the corresponding walking motor assembly 400 through the first outlet connector 615. At this time, the coolant entering the first cooling chamber absorbs the heat of the walking motor body 410 through heat exchange, thereby achieving cooling of the walking motor body 410. The coolant absorbed by the walking motor body 410 is returned to the liquid cooling tank 620. Similarly, another part of the coolant after being diverted enters the second cooling chamber 520 of the PTO motor assembly 500 through the second liquid outlet 616. At this time, the coolant entering the second cooling chamber 520 absorbs the heat of the PTO motor body 510 through heat exchange, so as to achieve liquid cooling of the PTO motor body 510. The coolant of the PTO motor body 510 is returned to the liquid cooling tank 620. This process is continuously circulated, so as to achieve continuous cooling of the walking motor body 410 and the PTO motor body 510.

[0062] The coolant flowing through the inlet chamber 612, the connecting chamber 613 and the outlet chamber 614 can exchange heat with the outside air under the rotation of the first cooling device 611, such as a fan, thereby effectively reducing the temperature of the coolant. The cooled coolant can then be used to cool the walking motor body 410 and the PTO motor body 510.

[0063] Optionally, combined Figure 6 As shown, the first cooling device 600 includes three liquid cooling tanks 620 and three first pump bodies 630, and each of the liquid cooling tanks 620 is connected to the liquid inlet chamber 612 through the corresponding first pump body 630.

[0064] Specifically, the three liquid cooling boxes 620 and the three first pump bodies 630 can be directly or indirectly mounted on the chassis 100 via other brackets.

[0065] The cooling assembly 610 includes three independent liquid inlet chambers 612, three independent connecting chambers 613, and three independent liquid outlet chambers 614. The three liquid inlet chambers 612 are connected to two first liquid inlet connectors 618 and one second liquid inlet connector 619 in a one-to-one correspondence. The three liquid outlet chambers 614 are connected to two first liquid outlet connectors 615 and one second liquid outlet connector 616 in a one-to-one correspondence. In other words, each liquid cooling box 620, each first pump body 630, the corresponding liquid inlet connector, the corresponding liquid inlet chamber 612, the corresponding connecting chamber 613, the corresponding liquid outlet chamber 614, the corresponding liquid outlet connector, and the corresponding cooling chamber are sequentially connected.

[0066] In this optional embodiment, liquid cooling of the walking motor body 410 is used as an example. Each first pump body 630 operates to extract the coolant from the corresponding liquid cooling tank 620. The coolant then flows back into the liquid cooling tank 620 after passing through the first pump body 630, the first inlet connector 618, the corresponding inlet cavity 612, the corresponding connecting cavity 613, the corresponding outlet cavity 614, the first outlet connector 615, and the first cooling chamber. When the coolant flows in the first cooling chamber, it can absorb the heat of the walking motor body 410 through heat exchange, thereby achieving liquid cooling of the walking motor body 410.

[0067] Taking the liquid cooling of the PTO motor body 510 as an example, each first pump 630 operates, drawing coolant from the corresponding liquid cooling tank 620. The coolant then flows back into the liquid cooling tank 620 after passing through the first pump 630, the second inlet connector 619, the corresponding inlet cavity 612, the corresponding connecting cavity 613, the corresponding outlet cavity 614, the second outlet connector 616, and the second cooling chamber 520. When the coolant flows in the second cooling chamber 520, it absorbs heat from the PTO motor body 510 through heat exchange, achieving liquid cooling of the PTO motor body 510. In short, because the circulation paths of the coolant for liquid cooling the travel motor body 410 and the PTO motor body 510 in the first cooling device 600 are different and independent, even if a fault occurs in the circuit of a single first pump 630 for liquid cooling the PTO motor body 510, it will not affect the liquid cooling operation of other travel motor bodies 410, thus reducing the scope of the fault.

[0068] Optionally, combined Figure 7 As shown, the liquid outlet chamber 614 is connected to the liquid replenishment connector 617, which is used to connect to the liquid replenishment container.

[0069] Specifically, the replenishment connector 617 can be spaced apart from the first outlet connector 615 and the second outlet connector 616, and is respectively connected to the outlet cavity 614. The replenishment container can be connected to the replenishment connector 617.

[0070] In this optional embodiment, when the capacity of the coolant in the liquid cooling tank 620 meets the liquid cooling requirements of the walking motor body 410 and the PTO motor body 510, the end of the liquid replenishment connector 617 can be sealed with a sealing plug to prevent coolant leakage from the liquid replenishment connector 617. After the agricultural robot has been running for a period of time, the coolant in the first cooling device 600 may be reduced due to leakage, evaporation, etc., which will affect the liquid cooling effect of the walking motor body 410 and the PTO motor body 510. Therefore, coolant can be replenished through the liquid replenishment container to the pipeline leading from the liquid outlet chamber 614 to the first cooling chamber and the second cooling chamber 520 through the liquid replenishment connector 617 to ensure the cooling effect of the walking motor body 410 and the PTO motor body 510.

[0071] Optionally, the cooling component 610 further includes a cooling air duct, and the liquid inlet chamber 612, the connecting chamber 613 and the liquid outlet chamber 614 are respectively thermally connected to the cooling air duct.

[0072] Specifically, the liquid inlet chamber 612, the connecting chamber 613, and the liquid outlet chamber 614 can be arranged in a ring around the circumference of the cooling air duct. Therefore, the cooling air duct can be an inverted U-shaped structure.

[0073] The cooling air duct can be located on the side of the liquid inlet chamber 612, the connecting chamber 613 and the liquid outlet chamber 614 facing the first cooling device 611.

[0074] The heat conduction connection can be understood as the liquid inlet chamber 612, the connecting chamber 613 and the liquid outlet chamber 614 being in contact with or fitted to the cooling air duct.

[0075] In this optional embodiment, since the inlet cavity 612, the connecting cavity 613, and the outlet cavity 614 are respectively thermally connected to the cooling duct, and the first cooling device 611 is located inside the cooling duct, the heat of the coolant flowing inside the inlet cavity 612, the connecting cavity 613, and the outlet cavity 614 is transferred to the cooling duct through thermal conduction. The airflow generated by the rotation of the first cooling device 611 flows inside the cooling duct, so that the heat conducted to the inner wall of the cooling duct is carried away by the airflow, thereby improving the cooling efficiency of the coolant flowing inside the inlet cavity 612, the connecting cavity 613, and the outlet cavity 614.

[0076] Optionally, combined Figure 8 and Figure 9 As shown, the PTO motor assembly 500 also includes a first reduction gearbox 530, a hydraulic pump 540, a hydraulic transmission oil tank 550, a solenoid valve group 560, and a rear lifting cylinder 570. The PTO motor body 510 is drivenly connected to the input shaft of the first reduction gearbox 530. The first reduction gearbox 530 has a first output shaft, which is drivenly connected to the hydraulic pump 540. The hydraulic transmission oil tank 550 is connected to the rear lifting cylinder 570 through the hydraulic pump 540 and the solenoid valve group 560. The rear lifting cylinder 570 is connected to the attached implement 800 and is used to drive the attached implement 800 to lift and lower.

[0077] Specifically, the input shaft and the first output shaft of the first reduction gearbox 530 are respectively connected to the PTO motor body 510 and the hydraulic oil pump 540 for transmission, so as to reduce the speed of the PTO motor body 510 through the first reduction gearbox 530, thereby increasing the output torque to the hydraulic oil pump 540 and driving the hydraulic oil pump 540 to rotate.

[0078] The first reduction gearbox 530, hydraulic oil pump 540, and hydraulic transmission oil tank 550 can be installed on the chassis 100. The solenoid valve group 560 can be installed on the hydraulic transmission oil tank 550. The rear lifting cylinder 570 can be installed at the rear of the chassis 100 for drive connection with the attached agricultural implement 800 and for driving the attached agricultural implement 800 to perform lifting or lowering operations.

[0079] In this optional embodiment, when the attached agricultural implement 800 needs to be raised or lowered, the PTO motor body 510 can drive the first reduction gearbox 530 to rotate, so that the first output shaft of the first reduction gearbox 530 can drive the hydraulic oil pump 540 to rotate, so that the hydraulic oil pump 540 can send the hydraulic transmission oil from the hydraulic transmission oil tank 550 to the rear lifting cylinder 570 through the solenoid valve group 560. The solenoid valve group 560 can change the flow direction of the hydraulic oil to drive the piston rod of the rear lifting cylinder 570 to extend or retract, thereby realizing the raising or lowering action of the attached agricultural implement 800.

[0080] In addition, the first reduction gearbox 530 also has a second output shaft, which can be connected to the rotating parts of the attached implement 800, such as weeding parts and rotary tillage parts, via the PTO output shaft 580, so as to realize the rotary tillage operation of the rotating parts of the attached implement 800.

[0081] Optionally, combined Figure 10 As shown, the agricultural robot also includes a second cooling device 700, which includes an oil outlet pipe 710, a cooling pipe, a second cooling device 730, and an oil return pipe 720. One end of the oil outlet pipe 710 is connected to the solenoid valve group 560, and the other end of the oil outlet pipe 710 is connected to the hydraulic transmission oil tank 550 via the cooling pipe and the oil return pipe 720 in sequence. The second cooling device 730 is arranged opposite to the cooling pipe and is used to cool the cooling pipe.

[0082] Specifically, the second cooling device 700 is mainly used to cool the hydraulic oil flowing out of the solenoid valve group 560 in the hydraulic transmission oil tank 550.

[0083] The second cooling device 730 is positioned opposite and spaced apart from the cooling pipe. The second cooling device 730 can be a fan structure. When in operation, it can accelerate the airflow speed outside the cooling pipe to cool the hydraulic oil inside the cooling pipe.

[0084] The cooling pipes can adopt spiral or S-shaped structures to increase the contact area with the outside air and improve the heat dissipation effect on the hydraulic oil inside the cooling pipes.

[0085] In this optional embodiment, the hydraulic oil flowing out of the hydraulic transmission oil tank 550 can be cooled in the following way: for example, the hydraulic oil pump 540 pumps the hydraulic transmission oil out of the hydraulic transmission oil tank 550, flows out through the solenoid valve group 560, and enters the cooling pipe after passing through the oil outlet pipe 710. Then, the second cooling device 730 can accelerate the air flow on the surface of the cooling pipe to cool the hydraulic oil flowing in the cooling pipe. After cooling, the hydraulic oil can be transported back to the hydraulic transmission oil tank 550 along the return pipe, thus realizing the cooling operation of the hydraulic oil in the hydraulic transmission oil tank 550.

[0086] Optionally, combined Figure 11 As shown, the second cooling device 700 also includes a housing structure 740, the cooling pipe is located inside the housing structure 740, the air outlet of the second cooling device 730 is connected to the housing structure 740, and the side wall of the housing structure 740 away from the second cooling device 730 is provided with an air outlet 741.

[0087] Specifically, the housing structure 740 can be installed on the chassis 100 by bolt fasteners, the cooling pipe can be set inside the housing structure 740, and the ends of the oil outlet pipe 710 and the oil return pipe 720 can extend into the housing structure 740 and connect with the two ends of the cooling pipe.

[0088] If the first cooling device 611 is located at the top of the housing structure 740, in other words, the outer side of the first cooling device 611 is equivalent to an air inlet, then an air outlet 741 can be opened at the bottom of the housing structure 740.

[0089] In this optional embodiment, the second cooling device 730 can be activated to draw air from outside the second cooling device 730 into the interior of the housing structure 740, where it exchanges heat with the cooling pipe and is discharged from the air outlet 741. This allows the first cooling device 611 located in the housing structure 740 to form air convection with the air outlet 741, improving the cooling effect on the coolant in the cooling pipe inside the housing structure 740. Since the cooling pipe is located inside the housing structure 740, the housing structure 740 can limit the airflow range generated by the first cooling device 611, reducing the degree of airflow diffusion and further improving the air-cooling effect on the cooling pipe.

[0090] Optionally, the walking motor assembly 400 may adopt the following structure, for example, combined with Figure 12 As shown, the walking motor assembly 400 also includes a main gear 420 and a second reduction gearbox 430. The second reduction gearbox 430 includes a first driven gear 431, a second driven gear 432, a first hydraulic cylinder 433, and a second hydraulic cylinder 434. The walking motor body 410 is drivenly connected to the main gear 420 and is used to drive the main gear 420 to rotate. The first hydraulic cylinder 433 is arranged at a distance from the first driven gear 431, and the second hydraulic cylinder 434 is arranged at a distance from the second driven gear 432. The solenoid valve assembly 560 is connected to the first cylinder 433 and the second cylinder 434 respectively, and is used to control the first cylinder 433 to push the first driven gear 431 to mesh with the main gear 420, or to control the second cylinder 434 to push the second driven gear 432 to mesh with the main gear 420; The first driven gear 431 and the second driven gear 432 rotate at different speeds.

[0091] Specifically, if the first driven gear 431 is a high-speed gear, then the second driven gear 432 can be a low-speed gear.

[0092] The first hydraulic cylinder 433 and the second hydraulic cylinder 434 can be horizontally arranged telescopic hydraulic cylinders.

[0093] The second reduction gearbox 430 also includes a first elastic element 435, a first thrust ball bearing assembly, a second thrust ball bearing assembly (not shown in the figure), and a second elastic element 436. The first elastic element 435 and the first hydraulic cylinder 433 are located on opposite sides of the first driven gear 431, and the second elastic element 436 and the second hydraulic cylinder 434 can be located on opposite sides of the second driven gear 432. Both the first elastic element 435 and the second elastic element 436 are compression spring structures. At least one first thrust ball bearing assembly is provided between the first elastic member 435 and the first driven gear 431, and between the first hydraulic cylinder 433 and the first driven gear 431, so that the first hydraulic cylinder 433 and the first elastic member 435 will not hinder the rotation of the first driven gear 431 during their respective contact with the first driven gear 431. Similarly, at least one second thrust ball bearing assembly is provided between the second elastic member 436 and the second driven gear 432, and between the second hydraulic cylinder 434 and the second driven gear 432, so that the second hydraulic cylinder 434 and the second elastic member 436 will not hinder the rotation of the second driven gear 432 during their respective contact with the second driven gear 432.

[0094] The first hydraulic cylinder 433 is used to push the first driven gear 431 toward the master gear 420 so as to mesh with the master gear 420; the second hydraulic cylinder 434 is used to push the second driven gear 432 toward the master gear 420 so as to mesh with the master gear 420, wherein one of the first driven gear 431 and the second driven gear 432 is used to mesh with the master gear 420, and the two do not mesh with the master gear 420 at the same time.

[0095] The solenoid valve assembly 560 may include a first solenoid valve and a second solenoid valve. The first cylinder 433 has a first oil chamber and a second oil chamber. The oil inlet of the first solenoid valve can be connected to the hydraulic oil pump 540, and the oil outlet of the first solenoid valve can be connected to the first oil chamber and the second oil chamber of the first cylinder 433. When hydraulic oil enters the first oil chamber, the piston rod of the first cylinder 433 can be in an extended state. When hydraulic oil enters the second oil chamber, the piston rod of the first cylinder 433 can be in a retracted state.

[0096] The second cylinder 434 has a third oil chamber and a fourth oil chamber. The oil inlet of the second solenoid valve can be connected to the hydraulic oil pump 540, and the oil outlet of the second solenoid valve can be connected to the third oil chamber and the fourth oil chamber of the second cylinder 434. When hydraulic oil enters the third oil chamber, the piston rod of the second cylinder 434 can be in the extended state. When hydraulic oil enters the fourth oil chamber, the piston rod of the second cylinder 434 can be in the retracted state.

[0097] In this optional embodiment, the walking motor assembly 400 can adopt the following shifting method. For example, when the agricultural robot needs to run at low speed, the walking motor body 410 can drive the main gear 420 to stop running. Then, the hydraulic oil of the hydraulic pump 540 can be controlled by the second solenoid valve in the solenoid valve group 560 to enter the third oil chamber of the second oil cylinder 434, so as to push the second driven gear 432 to move towards the main gear 420 until it meshes with the main gear 420. The second elastic element 436 is compressed, so that the walking motor body 410 can drive the second driven gear 432 to rotate through the main gear 420, thereby realizing the low-speed operation of the track walking mechanism 300.

[0098] When the agricultural robot needs to operate at high speed, the rotational speed of the main gear 420 driven by the walking motor 410 can be reduced to a stop. When hydraulic oil is supplied to the fourth oil chamber through the second solenoid valve, the piston rod of the second cylinder 434 can retract. After the compressed second elastic element 436 loses the thrust of the second cylinder 434, the second driven gear 432 can be pushed towards the second cylinder 434 by the elastic force of the second elastic element 436, so as to push the second driven gear 432 to separate from the main gear 420. Next, when the first solenoid valve delivers hydraulic oil to the first oil chamber, the piston rod of the first cylinder 433 extends to push the first driven gear 431 toward the main gear 420 until it meshes with the main gear 420. During this process, the first elastic element 435 is compressed, so that the main gear 420 can drive the first driven gear 431 to rotate at a high speed at a first speed, thereby realizing the shifting action of the agricultural robot from low-speed walking to high-speed walking. The shifting action of the agricultural robot from high-speed walking to low-speed walking is the reverse of the above process, and will not be described in detail here.

[0099] Optionally, combined Figure 13 and Figure 14 As shown, the tracked walking mechanism 300 includes: Track 310; The drive wheel assembly 320 includes a drive wheel 321 and a drive shaft 322. The walking motor assembly 400 is driven to the end of the drive shaft 322. The drive wheel 321 is sleeved on the end of the drive shaft 322 away from the walking motor assembly 400, and the outer contour of the drive wheel 321 is driven to the track 310. A bracket structure 330 is fixedly connected to the chassis 100 and arranged perpendicularly to the drive shaft 322, so as to support the drive shaft 322 through the bracket structure 330; The support wheel assembly 340 is mounted on the bracket structure 330 and is rotatably connected to the inner side of the track 310.

[0100] Specifically, the walking motor assembly 400 also includes an intermediate transmission gear, with a first driven gear 431 or a second driven gear 432 meshing with the intermediate transmission gear; the intermediate transmission gear of the walking motor assembly 400 can be sleeved on the end of the drive shaft 322, and the rotation of the intermediate transmission gear can drive the drive shaft 322 to rotate, while the drive wheel 321 is sleeved on the end of the drive shaft 322 away from the intermediate transmission gear, so the drive shaft 322 can drive the drive wheel 321 to rotate, and the outer contour of the drive wheel 321 is driven to connect with the track 310, so that the drive wheel 321 drives the track 310 to rotate, thereby realizing the walking action.

[0101] The support wheel assembly 340 may include a plurality of support wheels spaced apart. The plurality of support wheels may be installed on the bottom of the bracket structure 330. The outer contours of the support wheel assembly 340 and the drive wheel 321 may be connected to the inner contours of the track 310.

[0102] In related technologies, most tracked walking mechanisms have tracks mounted on the drive wheels and load-bearing wheels. The drive wheels are mounted on the drive shaft of the walking mechanism, and the load-bearing wheels are connected to the chassis via connecting plates. Although this walking mechanism increases its support surface on the ground, it still has some shortcomings. For example, during operation, most of the weight of the entire equipment acts directly on the connecting plates and load-bearing wheels, but some force is still transmitted to the drive wheels. This causes severe wear on the main shaft running through the drive wheels, reducing the force transmission effect of the drive wheel assembly and thus affecting the walking stability of the agricultural robot.

[0103] In this optional embodiment, the support structure 330 fixed to the chassis 100 is arranged perpendicularly to the drive shaft 322, and the support wheel assembly 340 is mounted on the support structure 330. This allows the weight of the agricultural robot to be transferred to the support wheel assembly 340 through the support structure 330, and the load is distributed by the contact between the support wheel assembly 340 and the inner side of the track 310. Since the support structure 330 is arranged perpendicularly to the drive shaft 322, it supports the drive shaft 322. Furthermore, the support structure 330 is fixedly connected to the chassis 100, thus forming a stable support structure. The drive shaft 322 only bears the torque output by the walking motor assembly 400. The radial load of the drive shaft 322 is transmitted to the chassis 100 through the support structure 330. When the walking motor assembly 400 drives the drive shaft 322 to rotate, the drive wheel 321 drives the track 310 to move. At this time, the gravity of the agricultural robot is transmitted through the support structure 330, the support wheel set 340 and the chassis 100, which is completely separated from the rotational power transmission of the drive shaft 322. This eliminates the risk of wear caused by the radial load on the drive shaft 322 that passes through the drive wheel 321, and extends the service life of the drive shaft 322.

[0104] Optionally, the chassis 100 and the support structure 330 can be connected in the following manner, for example, by combining Figures 13 to 15 As shown, the chassis 100 includes a chassis body 110 and a first connecting rod 120 and a second connecting rod 130 fixed on the chassis body 110. The support structure 330 includes a support plate 331, a connecting plate 332 and a third connecting rod 333. The support plate 331 is fixedly connected to the first connecting rod 120. The drive wheel set 320 also includes a bushing assembly 323. The bushing assembly 323 is sleeved on the end of the drive shaft 322 away from the walking motor assembly 400. The top end of the support plate 331 is connected to the bushing assembly 323. The connecting plate 332 is fixedly connected to the second connecting rod 130, and the bracket plate 331 is fixedly connected to the connecting plate 332 through the third connecting rod 333; the support wheel assembly 340 is mounted on the connecting plate 332.

[0105] Specifically, the extension directions of the first connecting rod 120, the second connecting rod 130, and the third connecting rod 333 are parallel to the extension direction of the drive shaft 322.

[0106] The number of first connecting rods 120 is at least two. When at least two first connecting rods 120 penetrate the bracket plate 331, the connection stability between the bracket plate 331 and the chassis 100 can be increased by increasing the number of connection points between the bracket plate 331 and the chassis 100.

[0107] The bushing assembly 323 can be sleeved on the end of the drive shaft 322. The top end of the bracket plate 331 is connected to the bushing assembly 323, so that the bushing assembly 323 can serve as a connection between the top end of the bracket plate 331 and the drive shaft 322, and can also reduce the friction between the top end of the bracket plate 331 and the drive shaft 322.

[0108] The number of second connecting rods 130 is at least two. When at least two second connecting rods 130 penetrate the connecting plate 332, the connection stability between the connecting plate 332 and the chassis 100 can be increased by increasing the number of connection points between the connecting plate 332 and the chassis 100.

[0109] The number of third connecting rods 333 is at least three. The support plate 331 and the connecting plate 332 can be connected by at least two third connecting rods 333 that are spaced apart, which can improve the connection stability between the support plate 331 and the connecting plate 332.

[0110] The support wheel assembly 340 can be installed on the bottom of the connecting plate 332 by means of a pin.

[0111] In this optional embodiment, since the top of the support plate 331 is connected to the end of the drive shaft 322 through the bushing assembly 323, and the middle region of the support plate 331 is fixedly connected to the chassis body 110 through the first connecting rod 120, the radial load of the drive shaft 322 can be transmitted to the chassis body 110 through the support plate 331 and the first connecting rod 120. By using the support plate 331 and the bushing assembly 323 to constrain the drive shaft 322 to only perform rotational motion, the influence of the gravity of the agricultural robot on the drive shaft 322 is effectively isolated, the wear risk of the drive shaft 322 caused by bearing radial load is eliminated, and its service life is extended.

[0112] Furthermore, since the bottom of the support plate 331 can be connected to the connecting plate 332 via the third connecting rod 333, and the connecting plate 332 can be fixedly connected to the chassis body 110 via the second connecting rod 130, the support plate 331, the connecting plate 332 and the chassis body 110 can form a stable integrated structure, thereby improving the overall stability of the tracked walking mechanism 300.

[0113] The support wheel assembly 340 is installed on the connecting plate 332, so that the gravity of the agricultural robot located on the upper part of the chassis 100 is transmitted to the support wheel assembly 340 through the connecting plate 332, and the load is distributed by the contact between the support wheel assembly 340 and the inner side of the track 310.

[0114] The bushing assembly 323 may include a bushing and a bearing. The bearing is embedded in the bushing, and the drive shaft 322 passes through the bearing. The bushing and the top of the support plate 331 can be connected by a sleeve, thereby improving the support stability of the support plate 331 for the bushing assembly 323.

[0115] Combination Figure 16 As shown, the drive wheel assembly 320 also includes a transition support 324, a flange 325, and a sealing baffle 326. The transition support 324 and the bearing of the bushing assembly 323 can be sleeved around the drive shaft 322 along its axial direction. The transition support 324 and the bushing assembly 323 can be located on opposite sides of the drive wheel 321. The drive wheel 321 and the flange 325 can be arranged axially along the drive shaft 322 and fixedly connected by bolts. The flange 325 can be provided on at least one side of the drive wheel 321.

[0116] The transition support 324 can be directly or indirectly fixedly connected to the drive wheel 321 via the flange 325, thereby enabling synchronous rotation of the transition support 324, flange 325, and drive wheel 321. The end of the bushing assembly 323 furthest from the drive wheel 321 can be fixedly connected to the sealing baffle 326 via bolts, so that the end of the drive shaft 322 is sealed and encapsulated within the bushing by the sealing baffle 326, thereby preventing external dust and other impurities from entering between the drive shaft 322 and the bearing from the end of the bushing, which would affect the smoothness of the rotation of the drive shaft 322.

[0117] Optionally, at least one of the first battery 220 and the second battery 230 is used for electrical connection to an external power source.

[0118] Specifically, the external power supply can be a DC power supply device or a DC power supply cabinet.

[0119] In this optional embodiment, if the range extender 210 malfunctions, the first battery 220 and the second battery 230 can be charged by an external power source, thereby increasing the reliability of charging the first battery 220 and the second battery 230, reducing the power outage stop time of the agricultural robot, and ensuring that the agricultural robot can quickly enter walking or farming operations.

[0120] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. An agricultural robot, characterized in that, It includes an agricultural implement, a chassis (100), and an electrical system (200) and a walking device mounted on the chassis (100); The walking device includes two tracked walking mechanisms (300) and two walking motor assemblies (400), each of the walking motor assemblies (400) being driven connected to the corresponding tracked walking mechanism (300); The agricultural implement device includes a PTO motor assembly (500) and a mounted implement (800), wherein the PTO motor assembly (500) is drivenly connected to the mounted implement (800); The power system (200) includes a range extender (210), a first battery (220), and a second battery (230). The second battery (230) is electrically connected to the range extender (210) and is used to provide power for starting the range extender (210). The output terminal of the range extender (210) is electrically connected to the first battery (220) and the second battery (230) and is used to charge the first battery (220) and the second battery (230). The first battery (220) is electrically connected to the walking motor assembly (400) and the PTO motor assembly (500) and is used to supply power to the walking motor assembly (400) and the PTO motor assembly (500).

2. The agricultural robot according to claim 1, characterized in that, The range extender (210) includes a starter motor (211), an engine (212), and a generator (213). The starter motor (211) is driven to the input shaft of the engine (212) to drive the engine (212) to rotate. The output shaft of the engine (212) is driven to the generator (213) to enable the generator (213) to work and generate electrical energy. The second battery (230) is electrically connected to the starter motor (211) and is used to provide power for the operation of the starter motor (211).

3. The agricultural robot according to claim 1, characterized in that, It also includes a first cooling device (600), the walking motor assembly (400) includes a walking motor body (410) and a first cooling chamber connected to the walking motor body (410), the PTO motor assembly (500) includes a PTO motor body (510) and a second cooling chamber (520) connected to the PTO motor body (510), the first cooling device (600) is connected to the first cooling chamber and the second cooling chamber (520) and is used to output coolant to cool the walking motor body (410) and the PTO motor body (510).

4. The agricultural robot according to claim 3, characterized in that, The first cooling device (600) includes a cooling assembly (610), a liquid cooling box (620), and a first pump body (630). The cooling assembly (610) includes a first cooling device (611) and a liquid inlet chamber (612), a connecting chamber (613), and a liquid outlet chamber (614) arranged around the first cooling device (611). The liquid inlet chamber (612) is connected to the liquid outlet chamber (614) through the connecting chamber (613). The liquid outlet of the liquid cooler (620) is connected to the liquid inlet chamber (612) through the first pump body (630). The liquid outlet chamber (614) is connected to the first liquid outlet connector (615) and the second liquid outlet connector (616) respectively. The two first liquid outlet connectors (615) are connected to the liquid return port of the liquid cooler (620) through the first cooling chambers of the two walking motor assemblies (400) respectively. The second liquid outlet connector (616) is connected to the liquid return port of the liquid cooler (620) through the second cooling chamber (520).

5. The agricultural robot according to claim 4, characterized in that, The first cooling device (600) includes three liquid cooling boxes (620) and three first pump bodies (630), and each of the liquid cooling boxes (620) is connected to the liquid inlet chamber (612) through the corresponding first pump body (630).

6. The agricultural robot according to claim 4, characterized in that, The liquid outlet chamber (614) is connected to the liquid replenishment connector (617), which is used to connect to the liquid replenishment container.

7. The agricultural robot according to claim 4, characterized in that, The cooling component (610) further includes a cooling air duct, and the liquid inlet chamber (612), the connecting chamber (613) and the liquid outlet chamber (614) are respectively thermally connected to the cooling air duct.

8. The agricultural robot according to claim 3, characterized in that, The PTO motor assembly (500) further includes a first reduction gearbox (530), a hydraulic pump (540), a hydraulic transmission oil tank (550), a solenoid valve group (560), and a rear lifting cylinder (570). The PTO motor body (510) is drivenly connected to the input shaft of the first reduction gearbox (530). The first reduction gearbox (530) has a first output shaft, which is drivenly connected to the hydraulic pump (540). The hydraulic transmission oil tank (550) is connected to the rear lifting cylinder (570) via the hydraulic pump (540) and the solenoid valve group (560). The rear lifting cylinder (570) is connected to the attached implement (800) and is used to drive the attached implement (800) to lift up and down.

9. The agricultural robot according to claim 8, characterized in that, It also includes a second cooling device (700), which includes an oil outlet pipe (710), a cooling pipe, a second cooling device (730), and a return oil pipe (720). One end of the oil outlet pipe (710) is connected to the solenoid valve group (560), and the other end of the oil outlet pipe (710) is connected to the hydraulic transmission oil tank (550) in sequence via the cooling pipe and the return oil pipe (720). The second cooling device (730) is arranged opposite to the cooling pipe and is used to cool the cooling pipe.

10. The agricultural robot according to claim 9, characterized in that, The second cooling device (700) also includes a housing structure (740), the cooling pipe is located inside the housing structure (740), the air outlet of the second cooling device (730) is connected to the housing structure (740), and the side wall of the housing structure (740) away from the second cooling device (730) is provided with an air outlet (741).

11. The agricultural robot according to claim 8, characterized in that, The walking motor assembly (400) also includes a main gear (420) and a second reduction gearbox (430). The second reduction gearbox (430) includes a first driven gear (431), a second driven gear (432), a first hydraulic cylinder (433), and a second hydraulic cylinder (434). The walking motor body (410) is drivenly connected to the main gear (420) to drive the main gear (420) to rotate. The first hydraulic cylinder (433) is arranged at a distance from the first driven gear (431), and the second hydraulic cylinder (434) is arranged at a distance from the second driven gear (432). The solenoid valve assembly (560) is connected to the first cylinder (433) and the second cylinder (434) respectively, and is used to control the first cylinder (433) to push the first driven gear (431) to mesh with the main gear (420), or to control the second cylinder (434) to push the second driven gear (432) to mesh with the main gear (420); The first driven gear (431) and the second driven gear (432) rotate at different speeds.

12. The agricultural robot according to claim 1, characterized in that, The tracked walking mechanism (300) includes: Tracks (310); A drive wheel assembly (320) includes a drive wheel (321) and a drive shaft (322). The walking motor assembly (400) is driven to the end of the drive shaft (322). The drive wheel (321) is sleeved on the end of the drive shaft (322) away from the walking motor assembly (400), and the outer contour of the drive wheel (321) is driven to the track (310). A bracket structure (330) is fixedly connected to the chassis (100) and arranged perpendicularly to the drive shaft (322) to support the drive shaft (322). A support wheel assembly (340) is mounted on the bracket structure (330) and is rotatably connected to the inside of the track (310).

13. The agricultural robot according to claim 12, characterized in that, The chassis (100) includes a chassis body (110) and a first connecting rod (120) and a second connecting rod (130) fixed on the chassis body (110). The bracket structure (330) includes a bracket plate (331), a connecting plate (332) and a third connecting rod (333). The bracket plate (331) is fixedly connected to the first connecting rod (120). The drive wheel assembly (320) also includes a bushing assembly (323). The bushing assembly (323) is sleeved on the end of the drive shaft (322) away from the walking motor assembly (400). The top end of the bracket plate (331) is connected to the bushing assembly (323). The connecting plate (332) is fixedly connected to the second connecting rod (130), and the bracket plate (331) is fixedly connected to the connecting plate (332) through the third connecting rod (333); the support wheel assembly (340) is installed on the connecting plate (332).

Images