An agricultural robot

Abstract

The application provides an agricultural robot, and relates to the technical field of farming equipment.The agricultural robot comprises a farming 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, each walking motor assembly is drivingly connected with a corresponding crawler walking mechanism.The farming device comprises a PTO motor assembly and a mounted farming tool, the PTO motor assembly is drivingly connected with the mounted farming 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 is used for providing electric energy for starting the range extender, the output end of the range extender is electrically connected with the first battery and the second battery, and is used for charging the first battery and the second battery.The first battery is electrically connected with the walking motor assemblies and the PTO motor assembly, and is used for supplying power to the walking motor assemblies and the PTO motor assembly.The application can prolong the endurance time of the agricultural robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural equipment, in particular to an agricultural robot. BACKGROUND

[0002] The agricultural robot such as a tractor is a self-propelled power machine used for towing and driving work machines to complete various mobile operations.

[0003] In the related art, the agricultural robot mainly includes a power battery, a walking motor assembly and a PTO motor assembly, the power battery is powered with the walking motor assembly and the PTO motor assembly, and is used for providing electric energy for the walking motor assembly and the PTO motor assembly, so as to realize walking and agricultural work of the agricultural robot. Among them, the PTO of the agricultural robot is a power take-off, which is a device used for outputting power on the agricultural robot, and can transmit the power of the agricultural robot such as an engine to other agricultural implements to drive them to work.

[0004] However, since the power battery needs to power the walking motor assembly and the PTO motor assembly, the consumed electric energy is fast, thereby affecting the endurance time of the agricultural robot. SUMMARY

[0005] The problem solved by the present application is how to prolong the endurance time of the agricultural robot.

[0006] To solve the above problems, the present application provides an agricultural robot.

[0007] An agricultural robot, comprising an implement device, a chassis, and an electric energy system and a walking device arranged on the chassis;

[0008] The walking device comprises two track walking mechanisms and two walking motor assemblies, and each walking motor assembly is drivingly connected with a corresponding track walking mechanism.

[0009] The implement device comprises a PTO motor assembly and a mounted implement, and the PTO motor assembly is drivingly connected with the mounted implement.

[0010] 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 is used for providing electric energy for starting the range extender, an output end of the range extender is electrically connected with the first battery and the second battery, and is 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 is used for powering the walking motor and the PTO motor.

[0011] Optionally, the range extender comprises a starting motor, an engine and a generator, the starting motor is drivingly connected with an input shaft of the engine for driving the engine to rotate, an output shaft of the engine is drivingly connected with the generator for driving the generator to generate electric energy.

[0012] The second battery is electrically connected with the starting motor for providing electric energy for the operation of the starting motor.

[0013] Optionally, the agricultural robot further comprises a first cooling device, the walking motor assembly comprises a walking motor body and a first cooling cavity connected with the walking motor body, the PTO motor assembly comprises a PTO motor body and a second cooling cavity connected with the PTO motor body, the first cooling device is in communication with the first cooling cavity and the second cooling cavity for outputting cooling liquid to cool the walking motor body and the PTO motor body.

[0014] Optionally, the first cooling device comprises a cooling assembly, a liquid cooling tank and a first pump body, the cooling assembly comprises a first cooling device and a liquid inlet cavity, a communication cavity and a liquid outlet cavity arranged around the first cooling device, the liquid inlet cavity is in communication with the liquid outlet cavity through the communication cavity;

[0015] The liquid outlet of the liquid cooling tank is in communication with the liquid inlet cavity through the first pump body, the liquid outlet cavity is in communication with a first liquid outlet connector and a second liquid outlet connector respectively, the two first liquid outlet connectors are respectively in communication with the liquid return port of the liquid cooling tank through the first cooling cavities of the two walking motor assemblies, and the second liquid outlet connector is in communication with the liquid return port of the liquid cooling tank through the second cooling cavity.

[0016] Optionally, the first cooling device comprises three liquid cooling tanks and three first pump bodies, and each liquid cooling tank is in communication with the liquid inlet cavity through a corresponding first pump body.

[0017] Optionally, the liquid outlet cavity is in communication with a liquid supplement connector, and the liquid supplement connector is used for connecting a liquid supplement container.

[0018] Optionally, the cooling assembly further comprises a cooling air duct, and the liquid inlet cavity, the communication cavity and the liquid outlet cavity are respectively in thermal conduction connection with the cooling air duct.

[0019] Optionally, the PTO motor assembly further comprises a first reduction gear box, a hydraulic oil pump, a hydraulic transmission oil tank, a solenoid valve group and a rear-end lifting oil cylinder, the PTO motor body is drivingly connected with an input shaft of the first reduction gear box, the first reduction gear box has a first output shaft, the first output shaft is drivingly connected with the hydraulic oil pump; the hydraulic transmission oil tank is communicated with the rear-end lifting oil cylinder through the hydraulic oil pump and the solenoid valve group, the rear-end lifting oil cylinder is connected with the mounted agricultural implement, and is used for driving the mounted agricultural implement to lift.

[0020] Optionally, the agricultural robot further comprises a second cooling device, the second cooling device comprises an oil outlet pipe, a cooling pipe, a second cooling device and an oil return pipe, one end of the oil outlet pipe is communicated with the solenoid valve group, the other end of the oil outlet pipe is communicated with the hydraulic transmission oil tank in sequence through the cooling pipe and the oil return pipe, and the second cooling device is arranged opposite to the cooling pipe and used for cooling the cooling pipe.

[0021] Optionally, the second cooling device further comprises a box structure, the cooling pipe is in the box structure, an air outlet end of the second cooling device is communicated with the box structure, and a side wall of the box structure away from the second cooling device is provided with an air outlet.

[0022] Optionally, the walking motor assembly further comprises a main gear and a second reduction gear box, the second reduction gear box comprises a first slave gear, a second slave gear, a first oil cylinder and a second oil cylinder, the walking motor body is drivingly connected with the main gear and used for driving the main gear to rotate;

[0023] The first oil cylinder is arranged opposite to the first slave gear, and the second oil cylinder is arranged opposite to the second slave gear.

[0024] The solenoid valve group is respectively communicated with the first oil cylinder and the second oil cylinder, and is used for controlling the first oil cylinder to push the first slave gear to engage with the main gear or controlling the second oil cylinder to push the second slave gear to engage with the main gear.

[0025] The rotation speeds of the first slave gear and the second slave gear are different.

[0026] Optionally, the tracked walking mechanism comprises:

[0027] a track;

[0028] a driving wheel set comprising a driving wheel and a driving shaft, the walking motor assembly is drivingly connected with an end of the driving shaft, the driving wheel is sleeved on an end of the driving shaft away from the walking motor assembly, and an outer contour of the driving wheel is drivingly connected with the track.

[0029] A support structure is fixedly connected with the chassis and arranged perpendicularly to the driving shaft to support the driving shaft through the support structure.

[0030] A support wheel group is mounted on the support structure and rotationally connected with the inner side of the track.

[0031] Optionally, the chassis comprises a chassis body and first and second connecting rods fixed to the chassis body, the support structure comprises a support plate, a connecting plate and a third connecting rod, the support plate is fixedly connected with the first connecting rod, the driving wheel group further comprises a shaft sleeve assembly arranged at the end of the driving shaft away from the walking motor assembly, and the top end of the support plate is connected with the shaft sleeve assembly.

[0032] The connecting plate is fixedly connected with the second connecting rod, and the support plate is fixedly connected with the connecting plate through the third connecting rod; and the support wheel group is mounted on the connecting plate.

[0033] The agricultural robot and the control method thereof have the following advantages:

[0034] The agricultural robot mainly comprises a farm tool device, a chassis and an electric energy system and a walking device arranged on the chassis, wherein the chassis can be used as a mounting base of the electric energy system and the walking device.

[0035] The two track walking mechanisms can be arranged on the left and right sides of the chassis, are electrically connected with the first battery and the two walking motor assemblies to provide electric energy for the two walking motor assemblies, and can drive the corresponding track walking mechanisms to run under the condition of being powered on through the two walking motor assemblies, so that the walking action of the agricultural robot can be realized.

[0036] The PTO motor assembly can be arranged on the chassis, is electrically connected with the first battery to provide electric energy for the two walking motor assemblies, and is drivingly connected with the mounted farm tool, so that the PTO motor assembly can realize the lifting of the mounted farm tool and the farming operation under the condition of being powered on.

[0037] When the electric quantity of the first battery is insufficient, the second battery can be used to provide power for the start of the range extender, so that the range extender can be started and generate electric energy to charge the first and second batteries through the range extender, so that the first battery can continue to provide electric energy for the walking motor assemblies and the PTO motor assembly, thereby prolonging the endurance time of the agricultural robot.

[0038] The electric energy generated by the operation of the range extender is used to charge the second battery, so that the second battery full of electric energy can be used to provide electric energy for the re-start of the range extender, thereby improving the reliability of the re-start of the range extender. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 A schematic diagram of the principle of an agricultural robot according to an embodiment of the present application;

[0040] Figure 2 A schematic diagram of the structure of an agricultural robot according to an embodiment of the present application;

[0041] Figure 3 A schematic diagram of the structure of an agricultural robot according to an embodiment of the present application;

[0042] Figure 4 A schematic diagram of the connection of a range extender with a first battery and a second battery according to an embodiment of the present application;

[0043] Figure 5 A schematic diagram of the partial structure of a PTO motor assembly according to an embodiment of the present application;

[0044] Figure 6 A schematic diagram of the partial structure of an agricultural robot according to an embodiment of the present application;

[0045] Figure 7 A schematic diagram of the structure of a cooling assembly according to an embodiment of the present application;

[0046] Figure 8 A schematic diagram of the partial structure of a PTO motor assembly according to an embodiment of the present application;

[0047] Figure 9 A schematic diagram of the connection structure of a PTO motor assembly with a second cooling device according to an embodiment of the present application;

[0048] Figure 10 A schematic diagram of the partial structure of an agricultural robot according to an embodiment of the present application; Figure 9 A schematic diagram of the enlarged structure at A in FIG. 11;

[0049] Figure 11 A schematic diagram of the structure of a second cooling device according to an embodiment of the present application;

[0050] Figure 12 A schematic diagram of the transmission principle of a walking motor assembly according to an embodiment of the present application;

[0051] Figure 13 A schematic diagram of the partial structure of an agricultural robot according to an embodiment of the present application;

[0052] Figure 14 A schematic diagram of the partial structure of an agricultural robot according to an embodiment of the present application;

[0053] Figure 15 A schematic diagram of the partial structure of a walking device according to an embodiment of the present application;

[0054] Figure 16 A schematic diagram of the structure of a drive wheel set according to an embodiment of the present application.

[0055] BRIEF DESCRIPTION OF DRAWINGS

[0056] 100 - chassis; 110 - chassis body; 120 - first connecting rod; 130 - second connecting rod; 200 - electric energy system; 210 - range extender; 211 - starting motor; 212 - engine; 213 - generator; 220 - first battery; 230 - second battery; 300 - track walking mechanism; 310 - track; 320 - drive wheel set; 321 - drive wheel; 322 - drive shaft; 323 - shaft sleeve assembly; 324 - transition support; 325 - flange plate; 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 gear box; 431 - first slave gear; 432 - second slave gear; 433 - first oil cylinder; 434 - second oil cylinder; 435 - first elastic member; 436 - second elastic member; 500 - PTO motor assembly; 510 - PTO motor body; 520 - second cooling cavity; 521 - second water inlet; 522 - second water outlet; 530 - first reduction gear box; 540 - hydraulic oil pump; 550 - hydraulic transmission oil tank; 560 - electromagnetic valve group; 570 - rear end lifting oil cylinder; 580 - PTO output shaft; 600 - first cooling device; 610 - cooling assembly; 611 - first cooling device; 612 - liquid inlet cavity; 613 - communication cavity; 614 - liquid outlet cavity; 615 - first liquid outlet connector; 616 - second liquid outlet connector; 617 - liquid supplement connector; 618 - first liquid inlet connector; 619 - second liquid inlet connector; 620 - liquid cooling tank; 630 - first pump body; 700 - second cooling device; 710 - oil outlet pipe; 720 - oil return pipe; 730 - second cooling device; 740 - tank structure; 741 - air outlet; 800 - mounted agricultural implement. DETAILED DESCRIPTION

[0057] In order to make the above-mentioned objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings. Although some embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms, and should not be interpreted as being limited to the embodiments described herein, on the contrary, these embodiments are provided to make the present application more thorough and complete. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes, and are not intended to limit the scope of protection of the present application.

[0058] The X axis in the drawings represents left and right positions, and the positive direction of the X axis represents the right side, and the negative direction of the X axis represents the left side; the Y axis in the drawings represents front and rear positions, and the positive direction of the Y axis represents the front side, and the negative direction of the Y axis represents the rear side; the Z axis in the drawings represents up and down positions, and the positive direction of the Z axis represents the upper side, and the negative direction of the Z axis represents the lower side. It should be noted that the meanings of the aforementioned X axis, Y axis and Z axis are only for the convenience of describing the present application and simplifying the description, and are not indicative or suggestive of the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application.

[0059] The term "comprising" and variations thereof as used herein are open-ended, that is "including, but not limited to"; the term "based on" is, at least based on part 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"; the term "optionally" means "optional embodiments". Related definitions are given throughout the description. It should be noted that the concepts "first", "second" and the like mentioned in the present application are only used to distinguish different devices, modules or units, and are not intended to limit the order or interdependence of the functions performed by these devices, modules or units.

[0060] It should be noted that the modification of "one" or "multiple" mentioned in the present application is illustrative and not restrictive, and those skilled in the art should understand that unless otherwise explicitly indicated in the context, it should be understood as "one or more".

[0061] In view of the problems in the prior art described above, such as Figures 1 to 3 As shown in the drawings, the agricultural robot provided by the embodiments of the present application comprises a farm tool device, a chassis 100, and an electric energy system 200 and a walking device arranged on the chassis 100;

[0062] The walking device comprises two crawler walking mechanisms 300 and two walking motor assemblies 400, and each walking motor assembly 400 is drivingly connected with the corresponding crawler walking mechanism 300;

[0063] The farm tool device comprises a PTO motor assembly 500 and a mounted farm tool 800, and the PTO motor assembly 500 is drivingly connected with the mounted farm tool 800;

[0064] 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.

[0065] 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.

[0066] The 800 agricultural implements can be mounted on the rear end of the chassis 100.

[0067] The first battery 220 can be a lithium battery, and the second battery 230 can be a lead-acid battery.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] When the first battery 220 is insufficient, the second battery 230 can provide power for the start of the range extender 210, so that the range extender 210 can start and generate electricity to charge the first battery 220 and the second battery 230 through the range extender 210, so that the first battery 220 can continue to provide power for the walking motor assembly 400 and the PTO motor assembly 500, thereby prolonging the endurance time of the agricultural robot.

[0073] The electricity generated by the operation of the range extender 210 charges the second battery 230, so that the second battery 230 can provide power for the re-start of the range extender 210, and the reliability of the re-start of the range extender 210 can be improved.

[0074] Optionally, the range extender 210 can adopt the following structural mode, for example, in combination with Figure 4 As shown, the range extender 210 includes a starting motor 211, an engine 212 and a generator 213, the starting motor 211 is drivingly connected with an input shaft of the engine 212 for driving the engine 212 to rotate, and an output shaft of the engine 212 is drivingly connected with the generator 213 for making the generator 213 work to generate electricity.

[0075] The second battery 230 is electrically connected with the starting motor 211 for providing power for the operation of the starting motor 211.

[0076] Specifically, the engine 212 can adopt a diesel engine, a methanol engine, a gasoline engine, etc.

[0077] The second battery 230 can be electrically connected with the starting motor 211 through a first switch, so that the second battery 230 provides or disconnects power for the starting motor 211 through the conduction or shutdown of the first switch. The generator 213 is electrically connected with the first battery 220 and the second battery 230, so as to charge the first battery 220 and the second battery 230.

[0078] The second battery 230 can be electrically connected with the lighting device of the agricultural robot through a second switch, so that the second battery 230 provides or disconnects power for the lighting device through the conduction or shutdown of the second switch.

[0079] Figure 4 In the figure, the electrical connection between the generator 213, the first battery 220, the second battery 230 and the starting motor 211 is indicated by a thin solid line, and the mechanical connection between the starting motor 211, the engine 212 and the generator 213 can be indicated by a thick solid line.

[0080] In this optional embodiment, the range extender 210 can work in the following way. For example, the driver operates the start switch of the range extender 210, and the second battery 230 supplies power to the starter motor 211 through the first switch, so that the current flows from the second battery 230 to the starter motor 211 through the first control switch. The starter motor 211 is powered and works to reach the starting speed, and the starter motor 211 drags the engine 212 to a constant speed (usually higher than 100 rpm). The fuel injection and ignition (compression ignition) of the engine 212 are started, and the speed of the engine 212 rises rapidly. When the speed of the engine 212 exceeds the speed of the starter motor 211, the one-way clutch (or electromagnetic switch) on the starter motor 211 is actuated to disengage the starter gear from the flywheel. The generator 213 starts to generate electricity, and the rotor of the generator 213 is rotated by the engine 212. The generator 213 starts to establish voltage and generate electricity. When the generator 213 successfully establishes voltage and reaches a stable state, the output of the generator 213 is usually charged to the first battery 220 and the second battery 230 through a voltage regulator, to supplement the power consumed by the second battery 230 during the starting of the starter motor 211, and to supplement the power consumed by the first battery 220 during the walking or farming of the agricultural robot, thereby prolonging the endurance time of the agricultural robot.

[0081] Optionally, as shown in Figure 5 and Figure 6 The agricultural robot further comprises a first cooling device 600, the walking motor assembly 400 comprises a walking motor body 410 and a first cooling cavity connected to the walking motor body 410, the PTO motor assembly 500 comprises a PTO motor body 510 and a second cooling cavity 520 connected to the PTO motor body 510, and the first cooling device 600 is in communication with the first cooling cavity and the second cooling cavity 520, and is used to output cooling liquid to cool the walking motor body 410 and the PTO motor body 510.

[0082] Specifically, the first cooling cavity can be arranged outside or inside the shell of the walking motor body 410, and the walking motor body 410 and the first cooling cavity can be connected in a heat conduction manner.

[0083] Similarly, the second cooling cavity 520 can be arranged outside or inside the shell of the PTO motor body 510, and the PTO motor body 510 and the second cooling cavity 520 can be connected in a heat conduction manner.

[0084] The first cooling device 600 is in communication with the first cooling cavity and the second cooling cavity 520, and forms a closed cooling loop with the first cooling cavity and the second cooling cavity 520, to realize continuous cooling of the walking motor body 410 and the PTO motor body 510.

[0085] In the optional embodiment, the first cooling device 600 is in communication with the first cooling cavity of the walking motor assembly 400, so that the cooling liquid can be delivered into the first cooling cavity. The cooling liquid can absorb the heat generated by the walking motor body 410 during normal operation by heat conduction, so that the walking motor body 410 can continuously work under suitable temperature conditions, and the agricultural robot can safely and reliably walk.

[0086] Similarly, the first cooling device 600 can deliver cooling liquid into the second cooling cavity 520. The cooling liquid can absorb the heat generated by the PTO motor body 510 during normal operation by heat conduction, so that the PTO motor body 510 can continuously work under suitable temperature conditions, and the agricultural robot can safely and reliably drive the mounted agricultural implement 800.

[0087] Optionally, in combination with 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 cavity 612, a communication cavity 613, and a liquid outlet cavity 614 arranged around the first cooling device 611. The liquid inlet cavity 612 is in communication with the liquid outlet cavity 614 through the communication cavity 613.

[0088] The liquid outlet of the liquid cooling tank 620 is in communication with the liquid inlet cavity 612 through the first pump body 630. The liquid outlet cavity 614 is in communication with a first liquid outlet connector 615 and a second liquid outlet connector 616, respectively. The two first liquid outlet connectors 615 are in communication with the liquid return port of the liquid cooling tank 620 through the first cooling cavities of the two walking motor assemblies 400. The second liquid outlet connector 616 is in communication with the liquid return port of the liquid cooling tank 620 through the second cooling cavity 520.

[0089] Specifically, the first cooling device 611 can adopt a fan structure.

[0090] The liquid inlet cavity 612, the communication cavity 613, and the liquid outlet cavity 614 are integrally formed with the first cooling device 611, which facilitates the installation of the cooling assembly 610 on the chassis 100.

[0091] Since the liquid inlet cavity 612, the communication cavity 613, and the liquid outlet cavity 614 are arranged around the first cooling device 611, the air flow speed near the first cooling device 611 can be accelerated by the operation of the first cooling device 611, so that the air inside the liquid inlet cavity 612, the communication cavity 613, and the liquid outlet cavity 614 can be quickly exchanged with the outside air, and the cooling speed of the cooling liquid in the liquid inlet cavity 612, the communication cavity 613, and the liquid outlet cavity 614 can be improved.

[0092] The liquid cooling tank 620 contains cooling liquid, and the first pump body 630 can be used to pump the cooling liquid in the liquid cooling tank 620 out of the liquid cooling tank 620 and into the liquid inlet cavity 612 of the cooling assembly 610.

[0093] The liquid outlet cavity 614 can be provided with two first liquid outlet connectors 615 and a second liquid outlet connector 616 in communication with the liquid outlet cavity 614, wherein the two first liquid outlet connectors 615 are in one-to-one correspondence with the first cooling cavities of the two traveling motor assemblies 400, so that the cooling liquid flowing out of the two first liquid outlet connectors 615 can cool the traveling motor bodies 410 in communication with the two first liquid outlet connectors 615, respectively.

[0094] The second cooling cavity 520 is provided with a second water inlet 521 and a second water outlet 522 in communication with the second cooling cavity 520, and the second water inlet 521 and the second water outlet 522 are in communication with the second liquid outlet connector 616 and the liquid cooling tank 620, respectively; for example, the cooling oil flowing out of the liquid outlet cavity 614 can flow into the second cooling cavity 520 through the second liquid outlet connector 616, the second water inlet 521, and then flow out of the second water outlet 522 into the liquid cooling tank 620.

[0095] The first battery 220 can be electrically connected to the first cooling device 611 and the first pump body 630, so as to provide working power for the first cooling device 611 and the first pump body 630.

[0096] In this optional embodiment, the traveling motor body 410 and the PTO motor body 510 can be cooled by the following method, for example, the first pump body 630 works to generate suction to extract the cooling liquid in the liquid cooling tank 620, and after passing through the first pump body 630, the cooling liquid flows through the liquid inlet cavity 612, the communication cavity 613, and the liquid outlet cavity 614 in sequence and is then divided into two parts, one part of the divided cooling liquid flows into the first cooling cavities of the corresponding traveling motor assemblies 400 through the first liquid outlet connectors 615, at this time, the cooling liquid flowing into the first cooling cavities absorbs the heat of the traveling motor bodies 410 by heat exchange to achieve liquid cooling of the traveling motor bodies 410, and the cooling liquid absorbing the heat of the traveling motor bodies 410 flows back to the liquid cooling tank 620; similarly, the other part of the divided cooling liquid flows into the second cooling cavity 520 of the PTO motor assembly 500 through the second liquid outlet connector 616, at this time, the cooling liquid flowing into the second cooling cavity 520 absorbs the heat of the PTO motor body 510 by heat exchange to achieve liquid cooling of the PTO motor body 510, and the cooling liquid absorbing the heat of the PTO motor body 510 flows back to the liquid cooling tank 620, and the process is continuously repeated to achieve continuous cooling of the traveling motor body 410 and the PTO motor body 510.

[0097] The cooling liquid flowing in the liquid inlet cavity 612, the communication cavity 613 and the liquid outlet cavity 614 can exchange heat with the air flowing outside under the rotation of the first cooling device 611, for example, a fan, so as to effectively reduce the temperature of the cooling liquid, thereby achieving the cooling operation of the traveling motor body 410 and the PTO motor body 510 by the cooling liquid.

[0098] Optionally, in combination with Figure 6 As shown, the first cooling device 600 includes three liquid cooling boxes 620 and three first pump bodies 630, and each liquid cooling box 620 is in communication with the liquid inlet cavity 612 through the corresponding first pump body 630.

[0099] Specifically, the three liquid cooling boxes 620 and the three first pump bodies 630 can be directly or indirectly installed on the chassis 100 through other supports.

[0100] The cooling assembly 610 includes three independent liquid inlet cavities 612, three independent communication cavities 613 and three independent liquid outlet cavities 614. The three liquid inlet cavities 612 are in one-to-one correspondence with two first liquid inlet joints 618 and one second liquid inlet joint 619. The three liquid outlet cavities 614 are in one-to-one correspondence with two first liquid outlet joints 615 and a second liquid outlet joint 616. In other words, each liquid cooling box 620, each first pump body 630, the corresponding liquid inlet joint, the corresponding liquid inlet cavity 612, the corresponding communication cavity 613, the corresponding liquid outlet cavity 614, the corresponding liquid outlet joint and the corresponding cooling cavity are sequentially communicated.

[0101] In this optional embodiment, the liquid cooling and cooling of the traveling motor body 410 are taken as an example for description. Each first pump body 630 works to draw the cooling liquid in the corresponding liquid cooling box 620, and the cooling liquid flows back to the liquid cooling box 620 through the first pump body 630, the first liquid inlet joint 618, the corresponding liquid inlet cavity 612, the corresponding communication cavity 613 and the corresponding liquid outlet cavity 614, the first liquid outlet joint 615 and the first cooling cavity. When the cooling liquid flows in the first cooling cavity, the heat of the traveling motor body 410 can be absorbed by heat exchange, thereby achieving the liquid cooling and cooling of the traveling motor body 410.

[0102] Taking the liquid cooling of the PTO motor body 510 as an example, each first pump body 630 works to pump out the cooling liquid in the corresponding liquid cooling tank 620, and the cooling liquid flows back into the liquid cooling tank 620 through the first pump body 630, the second liquid inlet joint 619, the corresponding liquid inlet cavity 612, the corresponding communication cavity 613, the corresponding liquid outlet cavity 614, the second liquid outlet joint 616, and the second cooling cavity 520. When the cooling liquid flows in the second cooling cavity 520, the heat of the PTO motor body 510 can be absorbed by heat exchange, thereby achieving the liquid cooling of the PTO motor body 510. In short, since the circulation paths of the cooling liquids for the liquid cooling of the traveling motor body 410 and the PTO motor body 510 in the first cooling device 600 are different and independent, even if a single first pump body 630 for the liquid cooling of the PTO motor body 510 fails, it will not affect the liquid cooling of the traveling motor body 410, thereby reducing the failure range.

[0103] Optionally, in combination with Figure 7 As shown, the liquid outlet cavity 614 is in communication with the liquid supplement joint 617, and the liquid supplement joint 617 is used to communicate with the liquid supplement container.

[0104] Specifically, the liquid supplement joint 617 can be spaced apart from the first liquid outlet joint 615 and the second liquid outlet joint 616 and in communication with the liquid outlet cavity 614, respectively. The liquid supplement container can be in communication with the liquid supplement joint 617.

[0105] In this optional embodiment, when the capacity of the cooling liquid in the liquid cooling tank 620 meets the liquid cooling demand of the traveling motor body 410 and the PTO motor body 510, the end of the liquid supplement joint 617 can be sealed by a sealing plug to avoid leakage of the cooling liquid from the liquid supplement joint 617. After the agricultural robot runs for a period of time, the cooling liquid in the first cooling device 600 can be reduced due to leakage, evaporation, and the like, thereby affecting the liquid cooling effect of the traveling motor body 410 and the PTO motor body 510. Therefore, the liquid supplement container can supplement the cooling oil into the pipeline from the liquid supplement joint 617 to the liquid outlet cavity 614 of the first cooling cavity and the second cooling cavity 520, so as to ensure the cooling effect of the traveling motor body 410 and the PTO motor body 510.

[0106] Optionally, the cooling assembly 610 further comprises a cooling air duct, and the liquid inlet cavity 612, the communication cavity 613, and the liquid outlet cavity 614 are in thermal conduction connection with the cooling air duct, respectively.

[0107] Specifically, the liquid inlet cavity 612, the communication cavity 613, and the liquid outlet cavity 614 can be annularly arranged around the circumference of the cooling air duct, and therefore, the cooling air duct can be in an inverted U-shaped structure.

[0108] The cooling air duct can be located on the side of the liquid inlet cavity 612, the communication cavity 613 and the liquid outlet cavity 614 towards the first cooling device 611.

[0109] The heat conduction connection can be understood as that the liquid inlet cavity 612, the communication cavity 613 and the liquid outlet cavity 614 are respectively connected in contact or in fit with the cooling air duct.

[0110] In this optional embodiment, since the liquid inlet cavity 612, the communication cavity 613 and the liquid outlet cavity 614 are respectively connected in heat conduction with the cooling air duct, and the first cooling device 611 is located on the inner side of the cooling air duct, the heat of the cooling liquid flowing in the liquid inlet cavity 612, the communication cavity 613 and the liquid outlet cavity 614 is transferred to the cooling air duct in a heat conduction manner, so that the airflow generated by the rotation of the first cooling device 611 flows on the inner side of the cooling air duct, and the heat conducted on the inner wall of the cooling air duct is taken away under the action of the airflow, so as to improve the cooling efficiency of the cooling liquid flowing in the liquid inlet cavity 612, the communication cavity 613 and the liquid outlet cavity 614.

[0111] Optionally, in combination with Figure 8 and Figure 9 As shown in the figure, the PTO motor assembly 500 further comprises a first reduction gear box 530, a hydraulic oil pump 540, a hydraulic transmission oil tank 550, an electromagnetic valve group 560 and a rear end lifting oil cylinder 570, the PTO motor body 510 is drivingly connected with an input shaft of the first reduction gear box 530, the first reduction gear box 530 has a first output shaft, the first output shaft is drivingly connected with the hydraulic oil pump 540; the hydraulic transmission oil tank 550 is communicated with the rear end lifting oil cylinder 570 through the hydraulic oil pump 540, the electromagnetic valve group 560 and the rear end lifting oil cylinder 570, the rear end lifting oil cylinder 570 is connected with the mounted agricultural implement 800, and is used to drive the mounted agricultural implement 800 to lift.

[0112] Specifically, the input shaft and the first output shaft of the first reduction gear box 530 are respectively drivingly connected with the PTO motor body 510 and the hydraulic oil pump 540, so that the rotation speed of the PTO motor body 510 is reduced through the first reduction gear box 530, and the output torque of the hydraulic oil pump 540 is increased, so as to drive the hydraulic oil pump 540 to rotate.

[0113] The first reduction gear box 530, the hydraulic oil pump 540 and the hydraulic transmission oil tank 550 can be installed on the chassis 100, the electromagnetic valve group 560 can be installed on the hydraulic transmission oil tank 550, and the rear end lifting oil cylinder 570 can be installed on the rear end of the chassis 100, and is used to be drivingly connected with the mounted agricultural implement 800, so as to drive the mounted agricultural implement 800 to perform lifting or lowering operation.

[0114] In this optional embodiment, when the mounted agricultural tool 800 needs to be lifted, the PTO motor body 510 can be used to drive the first reduction gear box 530 to rotate, so as to drive the hydraulic oil pump 540 to rotate through the first output shaft of the first reduction gear box 530, and then the hydraulic oil in the hydraulic transmission oil tank 550 is pumped out by the hydraulic oil pump 540, and then the hydraulic oil is sent to the rear end lifting oil cylinder 570 through the electromagnetic valve group 560. The electromagnetic valve group 560 can change the flow direction of the hydraulic oil to drive the piston rod of the rear end lifting oil cylinder 570 to extend or retract, so as to realize the lifting or lowering of the mounted agricultural tool 800.

[0115] In addition, the first reduction gear box 530 also has a second output shaft, and the second output shaft can be connected with the rotating parts of the mounted agricultural tool 800, such as the weeding parts and the rotary tillage parts, so as to realize the rotary farming work of the rotating parts of the mounted agricultural tool 800.

[0116] Optionally, in combination with Figure 10 As shown, the agricultural robot also comprises a second cooling device 700, which comprises 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 in communication with the electromagnetic valve group 560, and the other end of the oil outlet pipe 710 is in communication with the hydraulic transmission oil tank 550 through 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 for cooling the cooling pipe.

[0117] Specifically, the second cooling device 700 is mainly used for cooling the hydraulic oil flowing out of the electromagnetic valve group 560 in the hydraulic transmission oil tank 550.

[0118] The second cooling device 730 is arranged opposite to and spaced from the cooling pipe, and the second cooling device 730 can adopt a fan structure. In operation, the air flow speed outside the cooling pipe can be accelerated to air-cool the hydraulic oil in the cooling pipe.

[0119] The cooling pipe can adopt a spiral structure or an S-shaped structure, so as to increase the contact area with the external air and improve the heat dissipation effect of the hydraulic oil in the cooling pipe.

[0120] 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 is pumped out of the hydraulic transmission oil tank 550 by the hydraulic oil pump 540, flows out through the electromagnetic valve group 560, enters the cooling pipe through the oil outlet pipe 710, and then the second cooling device 730 can accelerate the air flow on the surface of the cooling pipe to air-cool the hydraulic oil flowing in the cooling pipe. Subsequently, the cooled hydraulic oil can be transported into the hydraulic transmission oil tank 550 through the return pipe, so as to realize the cooling of the hydraulic oil in the hydraulic transmission oil tank 550.

[0121] Optionally, in combination with Figure 11 As shown, the second cooling device 700 further comprises a box structure 740, the cooling pipe is arranged in the box structure 740, and an air outlet end of the second cooling device 730 is in communication with the box structure 740. A side wall of the box structure 740 away from the second cooling device 730 is provided with an air outlet 741.

[0122] Specifically, the box structure 740 can be mounted on the chassis 100 by means of bolt fasteners. The cooling pipe can be arranged in the box structure 740. The end portions of the oil outlet pipe 710 and the oil return pipe 720 can extend into the box structure 740 and be in communication with both ends of the cooling pipe.

[0123] If the first cooling device 611 is arranged at the top of the box structure 740, in other words, the outer side of the first cooling device 611 corresponds to the air inlet, the air outlet 741 can be arranged at the bottom of the box structure 740.

[0124] In this optional embodiment, the second cooling device 730 can work to extract air outside the second cooling device 730 into the interior of the box structure 740, exchange heat with the cooling pipe, and discharge from the air outlet 741. Thus, the first cooling device 611 arranged in the box structure 740 and the air outlet 741 can form air convection, improving the cooling effect of the cooling liquid on the cooling pipe arranged in the box structure 740. Since the cooling pipe is arranged in the box structure 740, the airflow range generated by the first cooling device 611 can be limited by the box structure 740, reducing the degree of airflow diffusion and further improving the air cooling effect on the cooling pipe.

[0125] Optionally, the walking motor assembly 400 can adopt the following structure, for example, in combination with Figure 12 As shown, the walking motor assembly 400 further comprises a main gear 420 and a second reduction gear box 430. The second reduction gear box 430 comprises a first slave gear 431, a second slave gear 432, a first oil cylinder 433, and a second oil cylinder 434. The walking motor body 410 is drivingly connected with the main gear 420 for driving the main gear 420 to rotate.

[0126] The first oil cylinder 433 is arranged in opposite spacing with the first slave gear 431. The second oil cylinder 434 is arranged in opposite spacing with the second slave gear 432.

[0127] The electromagnetic valve group 560 is in communication with the first oil cylinder 433 and the second oil cylinder 434 respectively, for controlling the first oil cylinder 433 to push the first slave gear 431 to engage with the main gear 420, or for controlling the second oil cylinder 434 to push the second slave gear 432 to engage with the main gear 420.

[0128] The first slave gear 431 and the second slave gear 432 have different rotation speeds.

[0129] Specifically, if the first slave gear 431 is a high-speed gear, the second slave gear 432 can be a low-speed gear.

[0130] The first oil cylinder 433 and the second oil cylinder 434 can be horizontally arranged telescopic oil cylinders.

[0131] The second speed reduction gear box 430 further comprises a first elastic member 435, a first thrust ball bearing assembly, a second thrust ball bearing assembly (not shown in the figure) and a second elastic member 436, wherein the first elastic member 435 is located on the opposite sides of the first slave gear 431 with the first oil cylinder 433, and the second elastic member 436 and the second oil cylinder 434 can be located on the opposite sides of the second slave gear 432. The first elastic member 435 and the second elastic member 436 are both compression spring structures. At least one first thrust ball bearing assembly is arranged between the first elastic member 435 and the first slave gear 431 and between the first oil cylinder 433 and the first slave gear 431, respectively, so that the first oil cylinder 433 and the first elastic member 435 will not hinder the rotation of the first slave gear 431 during the abutting process with the first slave gear 431, respectively. Similarly, at least one second thrust ball bearing assembly is arranged between the second elastic member 436 and the second slave gear 432 and between the second oil cylinder 434 and the second slave gear 432, respectively, so that the second oil cylinder 434 and the second elastic member 436 will not hinder the rotation of the second slave gear 432 during the abutting process with the second slave gear 432, respectively.

[0132] The first oil cylinder 433 is used to push the first slave gear 431 towards the direction of the main gear 420 to engage with the main gear 420; the second oil cylinder 434 is used to push the second slave gear 432 towards the direction of the main gear 420 to engage with the main gear 420, wherein one of the first slave gear 431 and the second slave gear 432 is used to engage with the main gear 420, and both of them do not engage with the main gear 420 at the same time.

[0133] The electromagnetic valve group 560 can comprise a first electromagnetic valve and a second electromagnetic valve, the first oil cylinder 433 has a first oil cavity and a second oil cavity, the inlet end of the first electromagnetic valve can be in communication with the hydraulic oil pump 540, the outlet end of the first electromagnetic valve can be in communication with the first oil cavity and the second oil cavity of the first oil cylinder 433, when the hydraulic oil is introduced into the first oil cavity, the piston rod of the first oil cylinder 433 can be in the extended state, when the hydraulic oil is introduced into the second oil cavity, the piston rod of the first oil cylinder 433 can be in the retracted state.

[0134] The second oil cylinder 434 has a third oil cavity and a fourth oil cavity, the inlet of the second electromagnetic valve can be communicated with the hydraulic oil pump 540, the outlet of the second electromagnetic valve can be communicated with the third oil cavity and the fourth oil cavity of the second oil cylinder 434, when the third oil cavity is filled with hydraulic oil, the piston rod of the second oil cylinder 434 can be in an extended state, and when the fourth oil cavity is filled with hydraulic oil, the piston rod of the second oil cylinder 434 can be in a retracted state.

[0135] In the optional embodiment, the walking motor assembly 400 can adopt the following gear shifting mode, for example, when the agricultural robot needs to run at low speed, the main gear 420 can be stopped by the walking motor body 410, and then the hydraulic oil in the hydraulic oil pump 540 can be controlled by the second electromagnetic valve in the electromagnetic valve group 560 to enter the third oil cavity of the second oil cylinder 434, so as to drive the second gear 432 to move towards the main gear 420 until the second gear 432 is engaged with the main gear 420, and the second elastic member 436 is compressed, so that the walking motor body 410 can drive the second gear 432 to rotate through the main gear 420, and the track walking mechanism 300 can run at low speed.

[0136] When the agricultural robot needs to run at high speed, the rotation speed of the main gear 420 can be reduced to zero by controlling the walking motor body 410, and the hydraulic oil in the fourth oil cavity can be delivered by the second electromagnetic valve, so that the piston rod of the second oil cylinder 434 is retracted, the second elastic member 436 loses the thrust of the second oil cylinder 434, and the second gear 432 is separated from the main gear 420 under the elastic force of the second elastic member 436; then, when the first electromagnetic valve delivers the hydraulic oil to the first oil cavity, the piston rod of the first oil cylinder 433 is extended to drive the first gear 431 to move towards the main gear 420 until the first gear 431 is engaged with the main gear 420, and in this process, the first elastic member 435 is compressed, so that the main gear 420 can drive the first gear 431 to rotate at a first speed, thereby realizing the gear shifting action of the agricultural robot from low speed to high speed; and the gear shifting action of the agricultural robot from high speed to low speed is opposite to the above process, which will not be described here.

[0137] Optionally, in combination with the embodiments shown in Figure 13 and Figure 14 The track walking mechanism 300 comprises:

[0138] a track 310;

[0139] A driving wheel set 320, which comprises a driving wheel 321 and a driving shaft 322, the walking motor assembly 400 is drivingly connected to the end of the driving shaft 322, the driving wheel 321 is sleeved on the end of the driving shaft 322 away from the walking motor assembly 400, and the outer contour of the driving wheel 321 is drivingly connected with the track 310;

[0140] A support structure 330, which is fixedly connected with the chassis 100 and is arranged perpendicularly to the driving shaft 322 to support the driving shaft 322 through the support structure 330;

[0141] A support wheel set 340, which is mounted on the support structure 330 and is rotatably connected with the inner side of the track 310.

[0142] Specifically, the walking motor assembly 400 further comprises an intermediate transmission gear, the first driven gear 431 or the second driven gear 432 is meshingly connected with the intermediate transmission gear; the intermediate transmission gear of the walking motor assembly 400 can be sleeved on the end of the driving shaft 322, and the rotation of the intermediate transmission gear can drive the driving shaft 322 to rotate, and the driving wheel 321 is sleeved on the end of the driving shaft 322 away from the intermediate transmission gear, so that the driving shaft 322 can drive the driving wheel 321 to rotate, and the outer contour of the driving wheel 321 is drivingly connected with the track 310 to drive the track 310 to rotate through the driving wheel 321, thereby realizing the walking action.

[0143] The support wheel set 340 can comprise a plurality of support wheels arranged at intervals, which can be mounted on the bottom of the support structure 330, and the outer contours of the support wheel set 340 and the driving wheel 321 can be connected with the inner contour of the track 310.

[0144] In the related art, the track of most track-type walking mechanisms is sleeved outside the driving wheel and the load wheel, the driving wheel is sleeved on the driving shaft of the walking mechanism, and the load wheel is connected with the chassis through the connecting plate. Although this walking mechanism increases the supporting surface on the ground, it still has some deficiencies, for example, when working, most of the gravity of the entire device will directly act on the connecting plate and the load wheel, but part of the force will be transmitted to the driving wheel, causing the main shaft penetrating the driving wheel to be severely worn, resulting in a decrease in the transmission effect of the driving wheel set, thereby affecting the walking stability of the agricultural robot.

[0145] In the optional embodiment, the support structure 330 fixed to the chassis 100 is arranged perpendicularly to the drive shaft 322, and the support wheel set 340 is installed on the support structure 330, so that the gravity of the agricultural robot is transmitted to the support wheel set 340 through the support structure 330, and the load dispersion is completed by the contact between the support wheel set 340 and the inner side of the track 310; since the support structure 330 is arranged perpendicularly to the drive shaft 322, the drive shaft 322 is supported, and the support structure 330 is fixedly connected with the chassis 100, so that the support structure 330 and the chassis 100 are fixed to form a stable support structure, and the drive shaft 322 only bears the torque output by the walking motor assembly 400, and 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, and is completely separated from the transmission of the rotating power of the drive shaft 322, thereby eliminating the wear risk of the drive shaft 322 passing through the drive wheel 321 due to bearing radial load, and prolonging the service life of the drive shaft 322.

[0146] Optionally, the chassis 100 and the support structure 330 can be connected in the following manner, for example, in combination with Figures 13 to 15 As shown, the chassis 100 includes a chassis body 110, a first connecting rod 120 and a second connecting rod 130 fixed to 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 with the first connecting rod 120, the drive wheel set 320 further includes a shaft sleeve assembly 323, the shaft sleeve assembly 323 is sleeved on the end of the drive shaft 322 away from the walking motor assembly 400, and the top end of the support plate 331 is connected with the shaft sleeve assembly 323.

[0147] The connecting plate 332 is fixedly connected with the second connecting rod 130, and the support plate 331 is fixedly connected with the connecting plate 332 through the third connecting rod 333; and the support wheel set 340 is installed on the connecting plate 332.

[0148] 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.

[0149] The number of the first connecting rod 120 is at least two, when at least two first connecting rods 120 penetrate the support plate 331, the connection stability of the support plate 331 and the chassis 100 can be increased by increasing the number of connection points of the support plate 331 and the chassis 100.

[0150] The shaft sleeve assembly 323 can be sleeved on the end of the drive shaft 322, and the top end of the support plate 331 is connected with the shaft sleeve assembly 323, so that the shaft sleeve assembly 323 can play a connecting role between the top of the support plate 331 and the drive shaft 322, and the friction between the top of the support plate 331 and the drive shaft 322 can be reduced.

[0151] The number of the second connecting rods 130 is at least two, and when the at least two second connecting rods 130 penetrate the connecting plate 332, the number of the connecting points between the connecting plate 332 and the chassis 100 can be increased, and the connecting stability between the connecting plate 332 and the chassis 100 can be increased.

[0152] The number of the third connecting rods 333 is at least three, and the support plate 331 and the connecting plate 332 can be connected through the at least two third connecting rods 333 arranged at intervals, so that the connecting stability of the support plate 331 and the connecting plate 332 can be improved.

[0153] The support wheel set 340 can be installed on the bottom of the connecting plate 332 in the form of a pin shaft.

[0154] In the optional embodiment, since the top of the support plate 331 is connected with the end of the drive shaft 322 through the shaft sleeve assembly 323, the middle region of the support plate 331 can be fixedly connected with the chassis body 110 through the first connecting rod 120, so that 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, the drive shaft 322 is constrained by the support plate 331 and the shaft sleeve assembly 323 to perform only the rotating 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 due to bearing the radial load is eliminated, and the service life of the drive shaft 322 is prolonged.

[0155] In addition, since the bottom of the support plate 331 can be connected with the connecting plate 332 through the third connecting rod 333, and the connecting plate 332 can be fixedly connected with the chassis body 110 through the second connecting rod 130, the support plate 331, the connecting plate 332 and the chassis body 110 can form a stable integrated structure, and the overall stability of the track walking mechanism 300 can be improved.

[0156] The support wheel set 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 set 340 through the connecting plate 332, and the load dispersion is completed by the contact between the support wheel set 340 and the inner side of the track 310.

[0157] The shaft sleeve assembly 323 can include a shaft sleeve and a bearing, the bearing is embedded in the shaft sleeve, the drive shaft 322 penetrates the bearing, and the top end of the support plate 331 can be connected with the shaft sleeve in the form of sleeving, so that the support stability of the support plate 331 to the shaft sleeve assembly 323 can be improved.

[0158] Combining Figure 16 As shown in the figure, the driving wheel set 320 further comprises a transition support 324, a flange plate 325 and a sealing baffle 326, wherein the transition support 324 and the bearing of the shaft sleeve assembly 323 can be sleeved on the driving shaft 322 in the axial direction of the driving shaft 322, and the transition support 324 and the shaft sleeve assembly 323 can be arranged on opposite sides of the driving wheel 321. The driving wheel 321 and the flange plate 325 can be arranged in the axial direction of the driving shaft 322 and fixedly connected through bolt fasteners; wherein the flange plate 325 can be arranged on at least one side of the driving wheel 321.

[0159] The transition support 324 can be fixedly connected with the driving wheel 321 directly or indirectly through the flange plate 325, so that synchronous rotation of the transition support 324, the flange plate 325 and the driving wheel 321 can be realized. The end of the shaft sleeve assembly 323 away from the driving wheel 321 can be fixedly connected with the sealing baffle 326 through bolt fasteners, so as to seal and encapsulate the end of the driving shaft 322 in the shaft sleeve through the sealing baffle 326, thereby avoiding that foreign matters such as dust from the outside enter between the driving shaft 322 and the bearing from the end of the shaft sleeve, affecting the rotation smoothness of the driving shaft 322.

[0160] Optionally, at least one of the first battery 220 and the second battery 230 is used for electrical connection with an external power source.

[0161] Specifically, the external power source can adopt a direct current power supply device or a direct current power supply cabinet.

[0162] In this optional embodiment, if the range extender 210 fails, the first battery 220 and the second battery 230 can be charged through the external power source, thereby increasing the reliability of charging the first battery 220 and the second battery 230, reducing the power-off stop time of the agricultural robot, and ensuring that the agricultural robot can quickly enter walking or farming operation.

[0163] Although the present application is disclosed as above, the protection scope of the present application is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, and these changes and modifications will fall within the protection scope of the present application.

Claims

1. An agricultural robot, characterized in that, The utility model provides an agricultural implement device, a chassis (100) and an electric energy system (200), a first cooling device (600) and a walking device arranged on the chassis (100); The walking device comprises two crawler walking mechanisms (300) and two walking motor assemblies (400), and each walking motor assembly (400) is drivingly connected with the corresponding crawler walking mechanism (300); The agricultural implement device comprises a PTO motor assembly (500) and a mounted agricultural implement (800), and the PTO motor assembly (500) is drivingly connected with the mounted agricultural implement (800); The electric energy system (200) comprises a range extender (210), a first battery (220) and a second battery (230), the second battery (230) is electrically connected with the range extender (210) and is used for providing electric energy for starting the range extender (210), the output end of the range extender (210) is electrically connected with the first battery (220) and the second battery (230) and is used for charging the first battery (220) and the second battery (230), and the first battery (220) is electrically connected with the walking motor assembly (400) and the PTO motor assembly (500) and is used for supplying power to the walking motor assembly (400) and the PTO motor assembly (500); The walking motor assembly (400) comprises a walking motor body (410) and a first cooling cavity connected with the walking motor body (410), the PTO motor assembly (500) comprises a PTO motor body (510) and a second cooling cavity (520) connected with the PTO motor body (510), the first cooling device (600) is in communication with the first cooling cavity and the second cooling cavity (520) and is used for outputting cooling liquid to cool the walking motor body (410) and the PTO motor body (510), the first cooling device (600) comprises a cooling assembly (610), a liquid cooling tank (620) and a first pump body (630), the cooling assembly (610) comprises a first cooling device (611) and a liquid inlet cavity (612), a communication cavity (613) and a liquid outlet cavity (614) arranged around the first cooling device (611), and the liquid inlet cavity (612) is in communication with the liquid outlet cavity (614) through the communication cavity (613); The liquid outlet of the liquid cooling tank (620) is in communication with the liquid inlet cavity (612) through the first pump body (630), the liquid outlet cavity (614) is in communication with a first liquid outlet connector (615) and a second liquid outlet connector (616), respectively, two first liquid outlet connectors (615) are in communication with the liquid return port of the liquid cooling tank (620) through the first cooling cavities of two walking motor assemblies (400), respectively, and the second liquid outlet connector (616) is in communication with the liquid return port of the liquid cooling tank (620) through the second cooling cavity (520).

2. The agricultural robot of claim 1, wherein, The range extender (210) comprises a starting motor (211), an engine (212) and a generator (213), the starting motor (211) is in driving connection with an input shaft of the engine (212) for driving the engine (212) to rotate, and an output shaft of the engine (212) is in transmission connection with the generator (213) for enabling the generator (213) to work to generate electric energy; The second battery (230) is in electrical connection with the starting motor (211) for providing electric energy for the working of the starting motor (211).

3. The agricultural robot of claim 1, wherein, The first cooling device (600) comprises three liquid cooling boxes (620) and three first pump bodies (630), and each liquid cooling box (620) is in communication with the liquid inlet cavity (612) through a corresponding first pump body (630).

4. The agricultural robot of claim 1, wherein, The liquid outlet cavity (614) is in communication with a liquid supplement connector (617), and the liquid supplement connector (617) is used for connecting a liquid supplement container.

5. The agricultural robot of claim 1, wherein, The cooling assembly (610) further comprises a cooling air duct, and the liquid inlet cavity (612), the communication cavity (613) and the liquid outlet cavity (614) are in thermal conduction connection with the cooling air duct, respectively.

6. The agricultural robot of claim 1, wherein, The PTO motor assembly (500) further comprises a first speed reduction gear box (530), a hydraulic oil pump (540), a hydraulic transmission oil tank (550), an electromagnetic valve group (560) and a rear-end lifting oil cylinder (570), the PTO motor body (510) is in driving connection with an input shaft of the first speed reduction gear box (530), the first speed reduction gear box (530) has a first output shaft, and the first output shaft is in transmission connection with the hydraulic oil pump (540); the hydraulic transmission oil tank (550) is in communication with the rear-end lifting oil cylinder (570) through the hydraulic oil pump (540) and the electromagnetic valve group (560), the rear-end lifting oil cylinder (570) is connected with the mounted agricultural implement (800) for driving the mounted agricultural implement (800) to lift.

7. The agricultural robot of claim 6, wherein, The second cooling device (700) further comprises a box structure (740), the cooling pipe is located in the box structure (740), an air outlet end of the second cooling device (730) is in communication with the box structure (740), and a side wall of the box structure (740) away from the second cooling device (730) is provided with an air outlet (741).

8. The agricultural robot of claim 7, wherein, The second cooling device (700) further comprises a box structure (740), the cooling pipe is located in the box structure (740), an air outlet end of the second cooling device (730) is in communication with the box structure (740), and a side wall of the box structure (740) away from the second cooling device (730) is provided with an air outlet (741).

9. The agricultural robot of claim 6, wherein, The walking motor assembly (400) further comprises a main gear (420) and a second reduction gear box (430), the second reduction gear box (430) comprising a first slave gear (431), a second slave gear (432), a first oil cylinder (433) and a second oil cylinder (434), the walking motor body (410) being drivingly connected with the main gear (420) for driving the main gear (420) to rotate; The first oil cylinder (433) is oppositely spaced apart from the first slave gear (431), and the second oil cylinder (434) is oppositely spaced apart from the second slave gear (432); The electromagnetic valve group (560) is respectively communicated with the first oil cylinder (433) and the second oil cylinder (434) for controlling the first oil cylinder (433) to push the first slave gear (431) to engage with the main gear (420), or for controlling the second oil cylinder (434) to push the second slave gear (432) to engage with the main gear (420); The rotation speeds of the first slave gear (431) and the second slave gear (432) are different.

10. The agricultural robot of claim 1, wherein, The crawler walking mechanism (300) comprises: a crawler belt (310); a driving wheel set (320) comprising a driving wheel (321) and a driving shaft (322), the walking motor assembly (400) being drivingly connected with an end of the driving shaft (322), the driving wheel (321) being sleeved on an end of the driving shaft (322) away from the walking motor assembly (400), and an outer contour of the driving wheel (321) being drivingly connected with the crawler belt (310); a support structure (330) fixedly connected with the chassis (100) and arranged perpendicularly to the driving shaft (322) to support the driving shaft (322) through the support structure (330); a support wheel set (340) mounted on the support structure (330) and rotationally connected with an inner side of the crawler belt (310).

11. The agricultural robot of claim 10, wherein, The chassis (100) comprises a chassis body (110) and a first connecting rod (120) and a second connecting rod (130) fixed to the chassis body (110), the support structure (330) comprises a support plate (331), a connecting plate (332) and a third connecting rod (333), the support plate (331) being fixedly connected with the first connecting rod (120), the driving wheel set (320) further comprising a shaft sleeve assembly (323) sleeved on an end of the driving shaft (322) away from the walking motor assembly (400), a top end of the support plate (331) being connected with the shaft sleeve assembly (323); The connecting plate (332) is fixedly connected with the second connecting rod (130), and the support plate (331) is fixedly connected with the connecting plate (332) through the third connecting rod (333); and the support wheel set (340) is mounted on the connecting plate (332).

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