Agricultural robot chassis

Abstract

The utility model discloses an agricultural robot chassis, and relates to the technical field of agricultural machinery. The chassis comprises a chassis frame, a plurality of suspension mechanisms and a wheel assembly, the suspension mechanism comprises a pair of supporting pieces, two pairs of connecting pieces, a driving motor and a pair of shock absorbers; the driving motor is in transmission fit with the wheel assembly; the supporting piece is fixed to the lower surface of the chassis frame, the connecting pieces have different lengths, one end of each connecting piece is hinged to one side face of the mounting piece, and the other end of each connecting piece can be hinged to different positions of the surface of the supporting piece. One end of the damper is hinged to one side face of the installation piece, and the other end is hinged to the lower surface of the chassis frame. According to the utility model, each wheel assembly adopts an independent suspension mechanism, so that the running stability and trafficability of the robot are enhanced; in addition, the length of the connecting piece is adjustable, the connecting pieces with different lengths can be used according to operation scenes and soil topographic conditions, the swing amplitude of the wheel assembly is adjusted, then the swing frequency of the wheel assembly is adjusted, and the applicability is high.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural machinery, in particular to an agricultural robot chassis. Background Art

[0002] In recent years, my country has made remarkable achievements in agricultural science and technology innovation and application. Large-scale machinery and equipment have been widely used in vast fields, greatly improving production efficiency. However, on small-scale land, such as greenhouses, traditional manual labor still dominates, and the existing equipment is mainly semi-automatic small machinery with a single functional module, which does not achieve the effect of one machine for multiple uses, such as weeders and seeders. This situation shows that although agricultural mechanization has made significant progress, further technological innovation and equipment updates are still needed in the field of small-scale land cultivation to meet the needs of agricultural production at different scales.

[0003] For example, the Chinese invention patent application with publication number CN113875730A discloses a multifunctional agricultural robot, including a frame with a walking device, a spraying device, and a medicine tank. The bottom surface of the frame is detachably fixed with a connecting device, and the connecting device is connected to a sowing device or a fertilizing device by bolts; the walking device includes two rear wheels and two front wheels, the two rear wheels are mounted on a rear crossbeam, the rear crossbeam is rotatably connected to the frame by a transverse pin shaft, and the two rear wheels and the two front wheels are respectively connected to walking servo motors.

[0004] However, the walking device in this solution can only realize the function of walking, and the ground where the agricultural machinery is walking is very undulating. The lack of shock absorption and buffering causes the agricultural machinery to shake greatly, especially after a certain amount of medicine is filled into the medicine tank, the liquid in the tank will further increase the shaking amplitude of the entire agricultural machinery. In addition, different soil qualities and different soil particle sizes will cause differences in the shaking amplitude of the agricultural machinery, which will have a certain impact on the stability and passability of the entire machine. Utility Model Content

[0005] The purpose of the utility model is to provide an agricultural robot chassis. By adopting an independent suspension system and independently driving each wheel assembly, not only the driving stability of the robot is enhanced, but also its passing performance is improved. In addition, the length of the connecting piece is adjustable. Connecting pieces of different lengths can be used according to the working scene and terrain to adjust the swing amplitude of the wheel assembly and then adjust the swing frequency, thereby solving the problems of large shaking and poor stability of agricultural robots in the prior art.

[0006] In order to solve the above technical problems, the utility model is realized by the following technical solutions:

[0007] The utility model relates to an agricultural robot chassis, which comprises a chassis frame, a plurality of suspension mechanisms arranged along the length direction of the chassis frame and symmetrically installed on both sides below the chassis frame, and a plurality of wheel assemblies rotatably installed on the suspension mechanisms;

[0008] The suspension mechanism comprises a pair of support members, two pairs of connecting members, a driving motor, a mounting member and a pair of shock absorbers; the driving motor is fixedly installed on one end face of the mounting member, the wheel assembly is rotatably installed on the other end face of the mounting member, and the driving motor is in transmission cooperation with the wheel assembly;

[0009] A pair of the support members are symmetrically arranged on both sides of the driving motor, and the upper ends of the support members are fixedly connected with the lower surface of the chassis frame;

[0010] Two pairs of the connecting members are respectively arranged on both sides of the mounting member, and a pair of the connecting members located on the same side of the mounting member are arranged in parallel;

[0011] The connecting members have different lengths, one end of the connecting member is hinged to one side surface of the mounting member, and the other end of the connecting member can be hinged to different positions on one surface of the support member to adapt to the assembly of connecting members with different lengths;

[0012] A pair of the shock absorbers are symmetrically arranged on both sides of the mounting member, one end of the shock absorber is hinged to one side surface of the mounting member, and the other end of the shock absorber is hinged to the lower surface of the chassis frame.

[0013] As a preferred technical solution of the utility model, a plurality of pairs of mounting holes are arranged on the surface of the support member along the width direction of the chassis frame, and the end of the connecting member far away from the mounting member is in rotational cooperation with the mounting hole.

[0014] As a preferred technical solution of the utility model, the connecting members adopt connecting rods with different fixed lengths.

[0015] As a preferred technical solution of the utility model, the connecting members adopt connecting rods with adjustable lengths, the connecting members comprise connecting parts and telescopic parts, one end part of the connecting part is hinged to one side surface of the mounting member, the telescopic part is inserted into the other end part of the connecting part, and the end part of the telescopic part far away from the connecting part is in rotational cooperation with the mounting hole.

[0016] As a preferred technical solution of the utility model, the connecting part adopts a "C" - shaped structure.

[0017] As a preferred technical solution of the utility model, a connecting portion is arranged at the end of the connecting part far away from the mounting member, the periphery of the telescopic part has threads, and the periphery of the telescopic part is in threaded connection with the connecting portion.

[0018] As a preferred technical solution of the present invention, at least one locking nut is fixed to the circumferential side of the telescopic component, and the locking nut abuts against an end surface of the connecting portion.

[0019] As a preferred technical solution of the present utility model, a rotating hole for facilitating the rotation of the telescopic component is opened on the peripheral side of one end portion of the telescopic component close to the connecting component.

[0020] As a preferred technical solution of the present utility model, the shock absorber adopts a shock absorber with adjustable hardness and softness.

[0021] As a preferred technical solution of the utility model, the output shaft of the driving motor is connected to the transmission shaft of the wheel assembly through a plum blossom coupling. The plum blossom coupling has good damping and vibration reduction characteristics, can absorb oscillation energy, and further enhance system stability.

[0022] The utility model has the following beneficial effects:

[0023] 1. The utility model adopts an independent suspension mechanism and an independent drive for each wheel assembly, so that each wheel can adjust the height and angle according to the specific conditions of contact with the ground, which not only enhances the driving stability of the robot, reduces shaking, but also improves its passing performance; in addition, the length of the connecting piece in the suspension mechanism is adjustable, and connecting pieces of different lengths can be used according to the working scene and soil terrain conditions, so as to adjust the swing amplitude of the wheel assembly and then adjust its swing frequency, and the utility model has strong applicability.

[0024] 2. The utility model adopts a length-adjustable connecting rod by designing a connecting piece, which includes a connecting component and a telescopic component. The telescopic component is threadedly connected to one end of the connecting component. The length of the entire connecting piece can be adjusted by rotating the telescopic component, and the adjustment is convenient.

[0025] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 This is a structural schematic diagram of the agricultural robot chassis of the utility model in an upward viewing angle;

[0028] Figure 2 This is a schematic diagram of the structure of the chassis of the agricultural robot of the utility model in a top-down perspective;

[0029] Figure 3 It is a side view of the chassis of the agricultural robot of the utility model;

[0030] Figure 4 A structural schematic diagram of a suspension mechanism in one embodiment;

[0031] Figure 5 for Figure 4 A front view of

[0032] Figure 6 A side view of the agricultural robot chassis of the utility model in another embodiment;

[0033] Figure 7 Schematic diagram of the structure of a connecting member in another embodiment.

[0034] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0035] 100-chassis frame, 200-suspension mechanism, wheel assembly;

[0036] 1-supporting member, 101-mounting hole, 2-connecting member, 201-connecting member, 2011-connecting part, 202-telescopic member, 2021-rotation hole, 203-locking nut, 3-driving motor, 4-mounting member, 5-shock absorber. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0038] In the description of the present invention, it should be understood that terms such as "end", "upper", "lower", "side", "top", "bottom", "length", "inside", and "surface" indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limitations on the present invention.

[0039] At present, the ground on which existing agricultural machinery travels is mostly undulating, and the lack of shock absorption or poor shock absorption performance causes the entire agricultural machinery to shake greatly, especially after a certain amount of liquid is filled in the water tank, the shaking of the liquid in the water tank will further aggravate the shaking amplitude of the entire agricultural machinery. In addition, different soil qualities and different soil particle sizes will cause differences in the shaking amplitude of the agricultural machinery, which will have a certain impact on the stability and passability of the entire machine. Based on this, this embodiment provides an agricultural robot chassis.

[0040] See also Figure 1-Figure 2 As shown, the agricultural robot chassis includes a chassis frame 100 and two pairs of suspension mechanisms 200 symmetrically mounted on both sides of the chassis frame 100, and four wheel assemblies 300 rotatably mounted on the suspension mechanisms 200. The chassis frame 100 is spliced ​​by aluminum square tubes, carbon fiber plates, etc. The wheel assembly 300 adopts a honeycomb wheel.

[0041] In this example, see Figure 3-Figure 5 As shown, the suspension mechanism 200 includes a pair of supports 1, two pairs of connectors 2, a drive motor 3, a mounting member 4 and a pair of shock absorbers 5. The mounting member 4 is a square box structure made of metal plates. The drive motor 3 is fixedly mounted on one end face of the mounting member 4, and the wheel assembly 300 is rotatably mounted on the other end face of the mounting member 4 through an axle seat. The output shaft of the drive motor 3 and the transmission shaft of the honeycomb wheel are connected through a plum blossom coupling to avoid the impact force acting directly on the motor shaft, thereby protecting and increasing the life of the motor shaft and improving the reliability and service life of the system. The support member 1 is made of aluminum profile, and a pair of support members 1 are symmetrically arranged on both sides of the drive motor 3. The upper end of the support member 1 is fixedly connected to the lower surface of the chassis frame 100 through an angle code.

[0042] Two pairs of connecting members 2 are respectively arranged on both sides of the mounting member 4, and a pair of connecting members 2 on the same side of the mounting member 4 are arranged in parallel to form a parallelogram shock absorbing structure. One end of the connecting member 2 is hinged to one side of the mounting member 4 through a pin, and the other end is hinged to the surface of the support member 1.

[0043] A pair of shock absorbers 5 are symmetrically arranged on both sides of the mounting member 4 , one end of the shock absorber 5 is hinged to a side surface of the mounting member 4 , and the other end of the shock absorber 5 is hinged to the lower surface of the chassis frame 100 .

[0044] In this embodiment, the connecting member 2 can be made of three groups of metal rods with different lengths, such as aluminum rods. The surface of the support member 1 is arranged with three pairs of mounting holes 101 along the width direction of the chassis frame 100 to accommodate the installation of connecting members 2 of different lengths. The end of the connecting member 2 away from the mounting member 4 is rotatably mounted with the mounting hole 101 through a pin. In addition, the shock absorber 5 also adopts a shock absorber 5 with adjustable hardness and softness to meet the shock absorption requirements of connecting members 2 of different lengths.

[0045] During adjustment, according to the working scenario and soil terrain conditions, connecting members 2 of different lengths can be used to adjust the swing amplitude of the wheel assembly, and further adjust its swing frequency. For example, for working scenarios with large soil clumps or large ground undulations, relatively long connecting members 2 are selected. After the relatively long connecting members 2 are installed, at this time, the swing amplitude of the suspension mechanism is relatively large and the swing frequency is relatively low. At the same time, the spring stroke of the shock absorber 5 is increased to adapt to walking on such terrains. For terrains with smaller undulations or smaller soil clumps, shorter connecting members 2 are used and the spring stroke of the shock absorber 5 is shortened. At this time, the swing amplitude of the suspension mechanism is small and the swing frequency is more active. It has strong applicability, enhances the driving stability of the robot, reduces shaking, and also improves its passing performance.

[0046] In summary, the length adjustment of the connecting member 2 also has the following advantages:

[0047] 1. Adapt to different terrains: The terrain of farmland is often variable, including uneven land, slopes, and different soil conditions. The adjustable cantilever can help agricultural machinery better adapt to these complex terrains. By adjusting the height and hardness of the suspension system, it ensures that the machine can maintain stability and efficient operation on various ground surfaces.

[0048] 2. Enhance stability and traction: By adjusting the cantilever length, the contact angle and pressure between the wheels and the ground can be changed, which helps to increase traction on slippery or soft ground, reduce slipping, and improve work efficiency.

[0049] 3. Protect machinery and crops: Appropriately adjusting the suspension system can reduce the bumps of the machinery on uneven ground, thereby reducing the wear of the machinery itself and potential damage to crops, especially during harvesting or sowing.

[0050] 4. Improve versatility: Agricultural machinery often needs to perform multiple operations, such as tillage, sowing, fertilizing, harvesting, etc. The adjustable suspension system can quickly adapt to the needs of different operations. For example, the cantilever length is increased during operations that require greater ground pressure to enhance the stability of the machinery.

[0051] In a preferred embodiment, please refer to Figure 6-Figure 7 As shown, the connecting member 2 adopts a link structure with adjustable length. The connecting member 2 includes a connecting part 201 and a telescopic part 202. The connecting part 201 adopts a "C"-shaped aluminum alloy structure, and the telescopic part 202 adopts a screw. One end of the connecting part 201 is hinged to one side surface of the mounting member 4, and the other end is provided with a connecting portion 2011. The circumferential side of the telescopic part 202 has threads, and the circumferential side of the telescopic part 202 is threadedly connected to the connecting portion 2011. One end of the telescopic part 202 away from the connecting part 201 is rotationally matched with the mounting hole 101 through a pin shaft.

[0052] Based on the above design, two locking nuts 203 are fixed on the circumferential side of the telescopic component 202. The two locking nuts 203 can respectively abut against the two end surfaces of the connecting part 2011 to ensure the connection stability between the connecting component 201 and the telescopic component 202 and reduce suspension shaking.

[0053] Based on the above design, a rotating hole 2021 is opened around one end of the telescopic part 202 close to the connecting part 201 for facilitating the rotation of the telescopic part 202. A rod-shaped object is inserted into the rotating hole 2021 to easily drive the telescopic part 202 to rotate, thereby adjusting the length of the connecting part 2.

[0054] When making specific adjustments, first remove the end of the telescopic component 202 away from the connecting component 201 from the currently connected mounting hole 101, and loosen the locking nut 203. Then, rotate the telescopic component 202 to extend the telescopic component 202 to a suitable position along the connecting component 201, that is, adjust the connecting member 2 to a suitable length, and tighten the locking nut 203. Finally, the end of the telescopic component 202 away from the connecting component 201 can be installed with the other mounting hole 101 through the pin shaft, which is more convenient for adjustment.

[0055] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0056] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. An agricultural robot chassis, characterized in that: It includes a chassis frame (100), a number of suspension mechanisms (200) arranged along the length direction of the chassis frame (100) and symmetrically installed on both sides below the chassis frame (100), and a number of wheel assemblies (300) rotatably installed on the suspension mechanisms (200); The suspension mechanism (200) includes a pair of support members (1), two pairs of connecting members (2), a drive motor (3), a mounting member (4), and a pair of shock absorbers (5); the drive motor (3) is fixedly installed on one end face of the mounting member (4), the wheel assembly (300) is rotatably installed on the other end face of the mounting member (4), and the drive motor (3) is in transmission cooperation with the wheel assembly (300); A pair of the support members (1) are symmetrically arranged on both sides of the drive motor (3), and the upper ends of the support members (1) are fixedly connected to the lower surface of the chassis frame (100); Two pairs of the connecting members (2) are respectively arranged on both sides of the mounting member (4), and a pair of the connecting members (2) located on the same side of the mounting member (4) are arranged in parallel; The connecting members (2) have different lengths, one end of the connecting member (2) is hinged to one side surface of the mounting member (4), and the other end of the connecting member (2) can be hinged to different positions on one surface of the support member (1) to adapt to the assembly of connecting members (2) with different lengths; A pair of the shock absorbers (5) are symmetrically arranged on both sides of the mounting member (4), one end of the shock absorber (5) is hinged to one side surface of the mounting member (4), and the other end of the shock absorber (5) is hinged to the lower surface of the chassis frame (100).

2. The agricultural robot chassis according to claim 1, characterized in that: A number of pairs of mounting holes (101) are arranged on the surface of the support member (1) along the width direction of the chassis frame (100), and the end of the connecting member (2) away from the mounting member (4) is in rotational cooperation with the mounting hole (101).

3. The agricultural robot chassis according to claim 2, characterized in that: The connecting members (2) are connecting rods with different fixed lengths.

4. The agricultural robot chassis according to claim 2, characterized in that: The connecting members (2) are connecting rods with adjustable lengths, the connecting member (2) includes a connecting part (201) and a telescopic part (202), one end of the connecting part (201) is hinged to one side surface of the mounting member (4), the telescopic part (202) is inserted into the other end of the connecting part (201), and the end of the telescopic part (202) away from the connecting part (201) is in rotational cooperation with the mounting hole (101).

5. The agricultural robot chassis according to claim 4, characterized in that: The connecting part (201) adopts a "C" - shaped structure.

6. The agricultural robot chassis according to claim 5, characterized in that: A connecting portion (2011) is provided at the end of the connecting part (201) away from the mounting member (4), the circumferential side of the telescopic part (202) has threads, and the circumferential side of the telescopic part (202) is thread - connected to the connecting portion (2011).

7. The agricultural robot chassis according to claim 6, characterized in that: At least one locking nut (203) is fixed on the circumferential side of the telescopic part (202), and the locking nut (203) abuts against one end face of the connecting portion (2011).

8. The agricultural robot chassis according to claim 7, characterized in that: A rotation hole (2021) for facilitating the rotation of the telescopic part (202) is provided on the circumferential side of the end of the telescopic part (202) close to the connecting part (201).

9. The agricultural robot chassis according to claim 1, characterized in that: The shock absorber (5) is a shock absorber (5) with adjustable softness and hardness.

10. The agricultural robot chassis according to claim 1, characterized in that: The output shaft of the driving motor (3) is connected to the transmission shaft of the wheel assembly (300) via a plum blossom coupling.

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