Walking steering device for robot

Abstract

The utility model discloses a walking steering device for a robot, which comprises a steering part connected to the bottom of the robot, and the bottom of the steering part is connected with a walking part. A joint motor with high-precision control is selected, meanwhile, a spigot assembly structure in the transmission process is designed, mechanical errors are controlled to the maximum degree, and therefore position changes of the robot can be accurately controlled no matter walking or steering is conducted. On the field unmanned plant protection equipment, in cooperation with Beidou navigation and image recognition technologies, the precision of the whole equipment in field operation can be controlled to the maximum extent, the damage rate of crops caused by equipment position deviation is greatly reduced, and meanwhile the operation completion rate is increased. The joint motor is matched with the walking machine frame, the overall width of the walking mechanism can be controlled to be small, and therefore the walking mechanism has better adaptability to different crops with different plant spacing and can be widely used and popularized.

Description

Technical Field

[0001] The utility model relates to the field of agricultural robots, in particular to a walking and steering device for robots. Background Art

[0002] With the development of society and the advancement of science and technology, in the agricultural field, more and more manual operations are being replaced by mechanization. The demand for efficient and large-scale production has promoted the development of agricultural automation and intelligence.

[0003] Field plant protection robots are common agricultural machinery in the agricultural field. Among them, field weeding robots and field fixed-point spraying robots have very high requirements for the operating accuracy of the entire equipment. At present, satellite navigation combined with RTK technology and image recognition technology can achieve a positioning accuracy of 10mm. However, due to the low walking and steering control accuracy of the plant protection robot, the deviation caused by the walking and steering mechanism can reach 10mm-50mm, resulting in the weeding rate and spraying accuracy of the plant protection robot when working. The rate is not very high, especially for crops with small plant spacing during weeding. The seedling injury rate is greatly increased. Moreover, the existing field plant protection robots are generally powered by a combination of "battery + solar panel". The bulky body structure has a great impact on the battery life. In addition, the existing walking mechanism is large in size and cannot be widely used in crops with different plant spacing. Utility Model Content

[0004] The utility model provides a walking and steering device for a robot, aiming to improve the walking and steering accuracy of the robot, eliminate the deviation caused by mechanical walking, improve the operation accuracy, and reduce the damage rate to crops due to equipment position deviation.

[0005] To achieve its purpose, the utility model adopts the following technical solutions:

[0006] A walking and steering device for a robot comprises a steering part connected to the bottom of the robot, and a walking part is connected to the bottom of the steering part;

[0007] The steering part comprises a steering mounting seat, the lower end of which is connected to a steering bearing housing, a steering joint motor mounting seat is arranged in the steering bearing housing, a steering joint motor is arranged on the steering joint motor mounting seat, an output end of the steering joint motor is connected to the steering bearing housing through a steering connecting flange, and is supported by a steering bearing arranged in the steering bearing housing; a steering oil seal cover is connected to the lower end of the steering bearing housing, a steering oil seal is arranged in the steering oil seal cover; the lower end of the steering connecting flange is connected to one end of the intermediate steering shaft;

[0008] The walking part includes a walking frame, the upper end of the walking frame is connected to the other end of the intermediate steering shaft; a walking outer bearing housing is connected to the inner side of the lower side of the walking frame, and a walking joint motor is connected to the walking outer bearing housing close to the walking frame through a walking motor fixing flange, and a walking motor shield is provided on the outer side of the walking frame at the walking joint motor, and a walking oil seal cover is connected to the side of the walking outer bearing housing opposite to the walking joint motor; the output end of the walking joint motor is connected to a walking drive shaft, and the walking drive shaft is supported by a walking bearing provided in the walking outer bearing housing, and a walking oil seal is provided between the walking drive shaft and the walking oil seal cover; the end of the walking drive shaft is connected to a tire through a tire connecting flange.

[0009] Preferably, matching stoppers are provided on the connecting surfaces of the steering bearing housing, the steering joint motor mounting seat, the steering connecting flange, the intermediate steering shaft, the traveling outer bearing housing, the traveling motor fixing flange, the traveling drive shaft and the tire connecting flange.

[0010] Preferably, a plurality of connection holes are provided on the mounting surface at the top of the steering mounting seat.

[0011] Preferably, a plurality of heat dissipation holes are provided on the travel motor shield.

[0012] Preferably, the steering connection flange is connected to the intermediate steering shaft via a key and is limited by bolts and nuts.

[0013] Preferably, the steering joint motor is fixedly arranged directly above the steering joint motor mounting seat.

[0014] Preferably, the steering joint motor and the walking joint motor are connected to the whole machine control system via EtherCAT or CANopen communication for automatic control.

[0015] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0016] 1. The walking and steering device provided by the utility model uses a joint motor with very high precision control. At the same time, the stop assembly structure in the transmission process is designed to control the mechanical error to the maximum extent. Therefore, whether it is walking or turning, its position change can be accurately controlled. On the unmanned plant protection equipment in the field, in conjunction with Beidou navigation and image recognition technology, it can control the accuracy of the whole equipment in the field operation to the maximum extent, greatly reduce the damage rate to crops caused by equipment position deviation, and improve the operation completion rate.

[0017] 2. The walking steering device provided by the utility model, the joint motor cooperates with the walking frame, and the overall width of the walking mechanism can be controlled to a relatively small size. Therefore, it will have better adaptability to different crops with different plant spacings and can be widely promoted and used.

[0018] 3. The walking steering device provided by the utility model has holes on the steering mounting seat, walking frame, walking motor shield, and tire connection flange while ensuring the strength of the whole machine. It is made of aluminum alloy and has a light structure and a simplified weight-reducing design, so that the whole walking device has a smaller mass. When working in the field, the smaller mass can bring smaller walking resistance, thereby reducing the actual power consumption of the motor operation. For the equipment of the traditional "battery + solar panel" working mode, it increases the battery life, prolongs the effective working time, and reduces the time consumed by charging, thereby improving the overall machine operation efficiency.

[0019] 4. The walking and steering device provided by the utility model is suitable for a variety of intelligent unmanned plant protection machinery in the field, can be directly connected to the plant protection equipment control system, and can provide a walking and steering device for the plant protection equipment with strong passing ability, a wide range of crop adaptability, high control accuracy, and low power consumption.

[0020] 5. The walking and steering device provided by the utility model has an ingenious structural design, strong operability and low cost. It is not only suitable for field plant protection intelligent robot operations, but also suitable for other walking mechanisms that require high-precision control and has a wide range of usage scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a three-dimensional diagram of the travel steering device of the utility model;

[0022] Figure 2 This is a front view of the walking and steering device of the utility model;

[0023] Figure 3 It is a left view of the travel steering device of the utility model;

[0024] Figure 4 for Figure 3 A schematic diagram of the half-section structure of the mid-travel steering device;

[0025] In the figure: 1-steering mounting seat; 2-steering bearing housing; 3-steering joint motor mounting seat; 4-steering connecting flange; 5-steering bearing; 6-steering oil seal cover; 7-steering oil seal; 8-intermediate steering shaft; 9-steering joint motor; 10-travel frame; 11-travel motor cover; 12-travel joint motor; 13-tire connecting flange; 14-tire; 15-travel outer bearing housing; 16-travel motor fixing flange; 17-travel drive shaft; 18-travel bearing; 19-travel oil seal cover; 20-travel oil seal. DETAILED DESCRIPTION

[0026] The utility model is further described below in conjunction with the accompanying drawings:

[0027] like Figure 1-4As shown, the utility model is a walking and steering device for a robot, comprising a steering part connected to the bottom of the plant protection robot, and a walking part is connected to the bottom of the steering part;

[0028] The steering part includes a steering mounting seat 1, and six connecting holes are provided on the mounting surface at the top of the steering mounting seat 1. The walking steering device of the present application is connected to the whole machine by inserting bolts into the connecting holes. The lower end of the steering mounting seat 1 is connected to a steering bearing housing 2 by bolts, and a steering joint motor mounting seat 3 is connected to the steering bearing housing 2 by bolts. A stop structure is provided in the middle of the steering joint motor mounting seat 3. A steering joint motor 9 is connected to the steering joint motor mounting seat 3 directly above the steering joint motor mounting seat 3 by bolts and is limited to the middle stop of the steering joint motor mounting seat 3. The output end of the steering joint motor 9 is connected to the steering bearing housing 2 by a steering connecting flange 4, and is supported by a steering bearing 5 provided in the steering bearing housing 2; the lower end of the steering bearing housing 2 is connected to a steering oil seal cover 6 by bolts, and a steering oil seal 7 is provided in the steering oil seal cover 6; the lower end of the steering connecting flange 4 is connected to one end of the intermediate steering shaft 8 by a key, and is limited by bolts and nuts;

[0029] The walking part includes a walking frame 10, the upper end of which is connected to the other end of the intermediate steering shaft 8 by bolts; a walking outer bearing housing 15 is connected to the inner side of the lower side of the walking frame 10, and a walking joint motor 12 is connected to the walking outer bearing housing 15 near the walking frame 10 through a walking motor fixing flange 16, and a walking motor shield 11 is provided on the outer side of the walking frame 10 at the walking joint motor 12, and a plurality of heat dissipation holes are provided on the walking motor shield 11 to facilitate the heat dissipation of the walking joint motor 12; the walking outer bearing housing 15 opposite to the walking joint motor 12 is connected to the walking joint motor 12 through a walking motor fixing flange 16. A traveling oil seal cover 19 is connected to one side of the bearing housing 15; the output end of the traveling joint motor 12 is connected to the traveling drive shaft 17, and the traveling drive shaft 17 is supported by a traveling bearing 18 arranged in the traveling outer bearing housing 15, and a traveling oil seal 20 is arranged between the traveling drive shaft 17 and the traveling oil seal cover 19; the end of the traveling drive shaft 17 is connected to a tire connecting flange 13 with a stop structure by bolts, and a tire 14 is connected to the tire connecting flange 13, and the tire 14 and the traveling drive shaft 17 are both limited by the stop structure of the tire connecting flange 13.

[0030] Among them, the relatively matching stoppers arranged on the connecting surfaces of the steering bearing housing 2, the steering joint motor mounting seat 3, the steering connecting flange 4, the intermediate steering shaft 8, the traveling outer bearing housing 15, the traveling motor fixing flange 16, the traveling drive shaft 17 and the tire connecting flange 13 can minimize the mechanical matching error.

[0031] The steering joint motor 9 and the travel joint motor 12 are connected to the whole machine control system through EtherCAT communication to realize automatic control operation. In addition, the steering joint motor 9 and the travel joint motor 12 are equipped with encoders, which can realize 360° free rotation. The absolute control accuracy can reach ±25 arc seconds. Combined with the stop connection design on both sides of the bearing seat, the deviation can be controlled within 0.5mm, which can realize precise field operation.

[0032] While ensuring the strength of the whole machine, holes are opened on the steering mounting seat 1, the walking frame 10, the walking motor shield 11, and the tire connecting flange 13, and they are made of aluminum alloy. The structure is light and the weight reduction design is simplified, so that the whole device has a smaller mass, reduces the running resistance, and increases the battery life.

[0033] During installation, the four walking and steering devices provided by this application need to be installed under the working platform of the plant protection robot to provide walking and steering functions. When working, the walking joint motor 12 provides support through the walking bearing 18, directly drives the tire 14 to rotate, thereby providing the entire plant protection robot with forward or backward power. The walking frame 10 and the intermediate steering shaft 8 are fixed as a whole. The lower end of the walking frame 10 is connected to the walking drive component, which mainly plays a load-bearing role. The intermediate steering shaft 8 is connected to the steering connection flange 4. The steering joint motor 9 drives the entire walking frame 10 to rotate freely by driving the intermediate steering shaft 8, and finally realizes the walking and steering of the whole machine.

[0034] Taking the weeding operation of a field weeding robot as an example, during normal operation, satellite navigation and image recognition technology are used to control the walking path of the equipment in the field. Since the error of the walking steering device during movement can be controlled within 0.5mm, when the robot equipped with the walking steering device is working in the field, the error from mechanical movement can be ignored, and the control system only needs to consider the navigation deviation, thereby maximizing the accuracy of the entire machine during operation, with lower operating errors, higher weed removal rates, and lower damage to crops; coupled with the lightweight structure design, it can reduce more friction resistance during operation and improve the endurance of the equipment.

Claims

1. A walking and steering device for a robot, characterized in that: The walking and steering device comprises a steering part connected to the bottom of the robot, and the bottom of the steering part is connected to a walking part; The steering part comprises a steering mounting seat (1), the lower end of the steering mounting seat (1) is connected to a steering bearing housing (2), a steering joint motor mounting seat (3) is provided in the steering bearing housing (2), a steering joint motor (9) is provided on the steering joint motor mounting seat (3), an output end of the steering joint motor (9) is connected to the steering bearing housing (2) via a steering connecting flange (4), and is supported by a steering bearing (5) provided in the steering bearing housing (2); the lower end of the steering bearing housing (2) is connected to a steering oil seal cover (6), and a steering oil seal (7) is provided in the steering oil seal cover (6); the lower end of the steering connecting flange (4) is connected to one end of an intermediate steering shaft (8); The walking part comprises a walking frame (10), the upper end of the walking frame (10) being connected to the other end of the intermediate steering shaft (8); a walking outer bearing housing (15) being connected to the inner side of the lower side of the walking frame (10); a walking joint motor (12) being connected to the walking outer bearing housing (15) on the side close to the walking frame (10) via a walking motor fixing flange (16); a walking motor shield (11) being provided on the outer side of the walking frame (10) at the walking joint motor (12); a walking oil seal cover (19) being connected to the side of the walking outer bearing housing (15) opposite to the walking joint motor (12); an output end of the walking joint motor (12) being connected to a walking drive shaft (17); the walking drive shaft (17) being supported by a walking bearing (18) provided in the walking outer bearing housing (15); a walking oil seal (20) being provided between the walking drive shaft (17) and the walking oil seal cover (19); and a tire (14) being connected to the end of the walking drive shaft (17) via a tire connecting flange (13).

2. A walking and steering device for a robot as claimed in claim 1, characterized in that: Matching stoppers are provided on the connection surfaces of the steering bearing housing (2), the steering joint motor mounting seat (3), the steering connection flange (4), the intermediate steering shaft (8), the travel outer bearing housing (15), the travel motor fixing flange (16), the travel drive shaft (17) and the tire connection flange (13).

3. A walking and steering device for a robot as claimed in claim 2, characterized in that: A plurality of connection holes are provided on the mounting surface at the top of the steering mounting seat (1).

4. A walking and steering device for a robot as claimed in claim 3, characterized in that: The travel motor shield (11) is provided with a plurality of heat dissipation holes.

5. A walking and steering device for a robot as claimed in claim 4, characterized in that: The steering connection flange (4) is connected to the intermediate steering shaft (8) via a key and is limited in position via bolts and nuts.

6. A walking and steering device for a robot as claimed in claim 5, characterized in that: The steering joint motor (9) is fixedly arranged directly above the steering joint motor mounting seat (3).

7. A walking and steering device for a robot according to any one of claims 1 to 6, characterized in that: The steering joint motor (9) and the walking joint motor (12) are connected to the whole machine control system via EtherCAT or CANopen communication for automatic control.

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