On-ridge picking walking chassis

Abstract

The utility model relates to the field of robot picking, in particular to a ridge picking walking chassis which comprises a frame and driving wheels located below the frame, the frame is provided with an adjusting frame corresponding to the driving wheels in position, the adjusting frame is connected with the frame through a connecting piece capable of moving in the width direction of the frame, and the adjusting frame is connected with the frame through the connecting piece. The top of the driving wheel is rotationally connected with a wheel column, the wheel column is arranged in the adjusting frame in an upward penetrating mode, the inner side of the wheel column is provided with a rotation driving mechanism for driving the driving wheel to rotate in the axial direction of the wheel column, and the outer side of the wheel column is provided with a lifting driving mechanism for driving the adjusting frame to do lifting motion in the vertical direction. The device can adapt to a complex field ridge environment, and the mechanical collection efficiency of crops is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of robot picking, in particular to a walking chassis for picking on a ridge. Background Art

[0002] Chrysanthemum, safflower, marigold and other crops of the genus Chrysanthemum of the Asteraceae family are widely planted due to their herbal properties. Currently, they mostly rely on manual picking, which is labor-intensive and inefficient. In order to effectively reduce the labor intensity of crop picking, improve picking efficiency and thus meet large-scale planting needs, picking robots for genus Chrysanthemum crops have emerged. For example, CN113508685A discloses a marigold picking mobile robot, which includes a frame and a driving wheel installed at the bottom of the frame, a control box is arranged at the front end of the inner side of the frame, a storage bin is arranged at the rear end, a grabbing assembly is arranged between the control box and the storage bin, and a camera is arranged at the bottom of the control box as a detection system for the robot; the driving wheel drives the frame to move to the picking location, and the camera identifies the marigold and controls the grabbing assembly to pick it.

[0003] However, the above-mentioned crops are currently planted between ridges. The terrain of the field ridges is complex, and the width of the ridges in different regions and even different farmers is different. At the same time, the growth height of crops in each ridge or between ridges is also different. The existing picking walking base composed of a frame and a driving wheel has a single structure and cannot be adjusted. It cannot be effectively applied and popularized in the above-mentioned complex field ridge environment, which affects the picking efficiency of the robot. Utility Model Content

[0004] In order to solve the deficiencies of the above-mentioned prior art, the utility model provides a walking chassis for picking crops on a ridge, which adopts lifting wheel columns to adapt to the situation where crops grow at different heights in the same ridge or between adjacent ridges, and adapts to ridges of different widths by adjusting the distance between the wheel columns.

[0005] The technical solution of the utility model is: a walking chassis for picking on a ridge, comprising a frame and a driving wheel located below the frame, the frame is provided with an adjustment frame corresponding to the position of the driving wheel, and the adjustment frame is connected to the frame via a connector that can move along the width direction of the frame, the top of the driving wheel is rotatably connected with a wheel column, the wheel column is upwardly penetrated and arranged in the adjustment frame, the inner side of the wheel column is provided with a rotating driving mechanism that drives the driving wheel to rotate along the axial direction of the wheel column, and the outer side of the wheel column is provided with a lifting driving mechanism that drives the adjusting frame to move vertically. By arranging an adjustment frame that can move laterally in the width direction of the frame, the distance between the wheel columns in the connected adjustment frames in the width direction can be adjusted, so as to adapt to the ridges of different widths in the field, the lifting driving mechanism drives the adjustment frame to move up and down to adjust the height of the frame, so as to adapt to the different growth heights of crops in the same ridge or between adjacent ridges when the chassis crosses the ridges, and the rotating driving mechanism can control the driving wheels to turn independently, so as to meet the walking and ridge-changing operations in the complex terrain of the field.

[0006] The frame is fixed with an adjustment rod along the width direction, and the connecting member includes a plurality of split clamps, one side of the split clamp is fixed on the adjustment frame, and the other side of the split clamp is detachably connected to the adjustment rod.

[0007] The lifting drive mechanism includes a reduction motor fixedly mounted on the adjustment frame, a driving shaft horizontally mounted on the adjustment frame body, and a rack fixedly mounted on the outside of the wheel column, a first gear meshing with the rack is fixed in the middle of the driving shaft, and a second gear meshing with the driving gear at the output end of the reduction motor is fixed at the end of the driving shaft.

[0008] There are two sets of lifting drive mechanisms on each wheel column, which are symmetrically arranged on both sides of the adjustment frame. The symmetrical arrangement of the lifting drive mechanisms not only improves the lifting drive force, but also effectively ensures the balance of the adjustment frame during the lifting process.

[0009] A plurality of rollers are arranged in the adjustment frame at a position away from the lifting drive mechanism, each of which is rotatably connected to the adjustment frame body and symmetrically arranged in groups on both sides of the wheel column, and the outer side of each roller has a curved surface structure that matches the outer surface of the wheel column. The rollers slide in cooperation with the outer side of the wheel column and provide a supporting force in the front-rear direction to the wheel column, thereby ensuring the stability of the wheel column in the adjustment frame during the entire chassis walking process.

[0010] A guide assembly is provided at a position of the adjustment frame near the lifting drive mechanism, and the guide assembly includes two guide plates fixed side by side on the adjustment frame and a guide gear located between the guide plates and rotatably connected to the guide plates, and the outer side of the guide gear has a tooth surface meshing with the rack. The setting of the guide assembly provides support force in the left and right directions to the wheel column, thereby improving the stability of the wheel column in the adjustment frame during the walking process of the entire chassis. At the same time, the guide gear provides auxiliary meshing force to the rack to ensure that the rack and the first gear always have meshing continuity.

[0011] There are two groups of guide components at the same lifting drive mechanism position, which are symmetrically arranged at two ends of the adjustment frame.

[0012] The rotary drive mechanism includes a rotary steering gear, a steering gear bracket and a thrust bearing. The steering gear bracket is fixed at the bottom of the wheel column. The rotary steering gear is located inside the wheel column and fixedly connected to the top of the steering gear bracket. The output shaft of the rotary steering gear is connected to the wheel frame shaft of the driving wheel that penetrates into the steering gear bracket via a coupling. The wheel frame shaft is rotatably connected to the steering gear bracket via a thrust bearing.

[0013] The beneficial effects of the utility model are as follows: the scheme can adjust the distance between the wheel columns in the connected adjustment frames in the width direction by setting a transversely movable adjustment frame in the width direction of the frame, so as to adapt to the different widths of the ridges in the field; the lifting drive mechanism drives the adjustment frame to move up and down to adjust the height of the frame to adapt to the different growth heights of crops in the same ridge or between adjacent ridges during cross-ridge operations; the rotating drive mechanism can control the independent steering of the driving wheels, so as to meet the walking and ridge-changing operations in complex field terrains. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the utility model;

[0015] Figure 2 It is a structural schematic diagram of the frame of the utility model;

[0016] Figure 3 It is a connection diagram of the driving wheel, wheel column, lifting driving mechanism and adjustment frame in the utility model;

[0017] Figure 4 yes Figure 4 A partial enlarged view of middle A;

[0018] Figure 5 It is a partial cross-sectional view of the connection between the driving wheel and the wheel column;

[0019] Figure 6 It is a disassembled schematic diagram of the connection between the drive wheel and the rotary drive mechanism.

[0020] 1. The camshaft of the driving wheel is provided with a toothed wheel, and a toothed wheel is provided with a toothed wheel. The camshaft of the driving wheel is provided with a toothed wheel, and a toothed wheel is provided with a toothed wheel. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the technical solution in the utility model, the technical solution in the utility model is clearly and completely described below in conjunction with the accompanying drawings. Other embodiments obtained by those skilled in the art without making any creative work should all fall within the protection scope of the utility model.

[0022] like Figure 1 As shown, the utility model provides a walking chassis for picking on a ridge, including a frame 1 and a driving wheel 2 located below the frame 1. Similar to the prior art, a chassis structure for installing a control box, a camera, a storage bin and a grabbing assembly is formed on the inner side of the frame 1. There are four driving wheels 2 located at the four feet of the frame 1 to form a four-wheel drive structure. Each driving wheel 2 in this embodiment adopts a separate driving mode to ensure that the chassis has sufficient walking power. Specifically, Figure 5 As shown, the drive motor 6 is transversely fixed to the outside of the wheel frame 201 of the drive wheel 2 via a motor bracket, and the output shaft of the drive unit is connected to the wheel axle 203 of the drive wheel 2. The drive motor 6 drives the wheel axle 203 to rotate, thereby causing the drive wheel 2 to rotate, thereby realizing the walking function of the drive wheel 2.

[0023] The frame 1 is provided with an adjustment frame 3 corresponding to the position of the driving wheel 2, and the adjustment frame 3 is connected to the frame 1 via a connector that can move along the width direction of the frame 1. The top of the driving wheel 2 is rotatably connected with a wheel column 4, and the wheel column 4 is arranged in the adjustment frame 3 upwardly. A rotating driving mechanism that drives the driving wheel 2 to rotate along the axial direction of the wheel column 4 is arranged inside the wheel column 4, and a lifting driving mechanism 5 that drives the adjustment frame 3 to move vertically is arranged outside the wheel column 4. By arranging the adjustment frame 3 that can move laterally in the width direction of the frame 1, the distance between the wheel columns 4 in the connected adjustment frames 3 in the width direction is adjusted to adapt to the different widths of the ridges in the field. The lifting driving mechanism 5 drives the adjustment frame 3 to move up and down to adjust the height of the frame 1 to adapt to the different growth heights of crops in the same ridge or between different ridges during cross-ridge operations. The rotating driving mechanism can control the independent steering of the driving wheel 2, thereby meeting the walking and ridge-changing operations in the complex terrain of the field.

[0024] like Figure 2 As shown, the frame 1 is fixed with an adjusting rod 101 along the width direction, and the connecting piece includes a plurality of split clamps 8, one side of the split clamp 8 is fixed on the adjusting frame 3, and the other side of the split clamp 8 is detachably connected to the adjusting rod 101; further preferably, three adjusting rods 101 distributed at right angles are arranged on the reverse extension line of the cross bar 103 and the vertical bar 102 of the frame 1, and the number of split clamps 8 on each adjusting rod 101 is two, the adjusting rod 101 on the vertical bar 102 is fixed through and through the vertical bar 102, the adjusting rod 101 on the reverse extension line of the cross bar 103 is connected to the lower end of the vertical bar 102 via the auxiliary rod 104, and the auxiliary rod 104 is connected to the upper end of the vertical bar 102 through the reinforcing rod 105 to form a triangular structure, thereby ensuring the stability of the adjusting frame 3 installed on the adjusting rod 101.

[0025] like Figure 3 and Figure 4As shown, the lifting drive mechanism 5 includes a reduction motor 502 fixedly mounted on the adjusting frame 3, a driving shaft 503 horizontally mounted on the frame body of the adjusting frame 3 and a rack 501 fixedly mounted on the outer side of the wheel column 4, a first gear 5031 meshing with the rack 501 is fixed to the middle of the driving shaft 503, and a second gear 5031 meshing with the driving gear 5021 at the output end of the reduction motor 502 is fixed to the end of the driving shaft 503; in order to ensure the balance of the lifting and lowering of the adjusting frame 3 in the wheel column 4 and improve the driving force for lifting, the lifting drive mechanisms 5 on each of the wheel columns 4 are divided into two groups, which are symmetrically arranged on both sides of the adjusting frame 3; a lifting encoder 505 is installed at the end of the driving shaft 503 of any lifting drive mechanism 5 away from the second gear 5031, and the lifting encoder 505 is electrically connected to the controller to feedback the lifting distance of the adjusting frame 3 in the wheel column 4.

[0026] In order to ensure that the wheel column 4 has good stability in the front and rear directions of the adjustment frame 3 during the walking of the chassis, a plurality of rollers 504 are provided in the adjustment frame 3 at a position away from the lifting drive mechanism 5. Each of the rollers 504 is rotatably connected to the frame body of the adjustment frame 3 and is symmetrically arranged in groups on both sides of the wheel column 4. The outer side of each roller 504 has a curved surface structure that matches the outer surface of the wheel column 4, so that the roller 504 slides in cooperation with the outer side of the wheel column 4 and provides support force for the wheel column 4 in the front and rear directions.

[0027] In order to ensure that the wheel column 4 has good stability in the left and right directions of the adjustment frame 3 during the walking of the chassis, a guide assembly 7 is provided at a position of the adjustment frame 3 close to the lifting drive mechanism 5, and the guide assembly 7 includes two guide plates 701 fixed side by side on the adjustment frame 3 and a guide gear 702 located between the guide plates 701 and rotatably connected to the guide plates 701, and the outer side of the guide gear 702 has a tooth surface meshing with the rack 501, so as to provide support force in the left and right directions to the wheel column 4 by meshing, and at the same time, the guide gear 702 provides auxiliary meshing force to the rack 501, so as to ensure that the rack 501 and the first gear 5031 always have meshing continuity. Further preferably, the guide assembly 7 at the same lifting drive mechanism 5 position is two groups, which are symmetrically arranged at both ends of the adjustment frame 3.

[0028] like Figure 5 and Figure 6As shown, the rotary drive mechanism includes a rotary servo 9, a servo bracket 10 and a thrust bearing 11, the servo bracket 10 is fixed at the bottom of the wheel column 4, the rotary servo 9 is located in the wheel column 4 and fixedly connected to the top of the servo bracket 10, the output shaft of the rotary servo 9 is connected to the wheel frame shaft 202 of the driving wheel 2 that penetrates into the servo bracket 10 through a coupling 12, and the wheel frame shaft 202 is rotatably connected to the servo bracket 10 through the thrust bearing 11; the rotary servo 9 drives the wheel frame 201 to rotate, thereby realizing the steering of the driving wheel 2, and a rotary encoder 13 is installed on the wheel frame 201 of the driving wheel 2, the rotating shaft portion of the rotary encoder 13 is meshed and transmitted with the rotary gear ring 1001 fixed at the bottom of the servo bracket 10 through the encoder gear ring 1301, and the rotary encoder 13 is electrically connected to the controller to feedback the rotation angle of the driving wheel 2.

[0029] When implementing this technical solution, a control box, a camera, a storage bin and a grabbing assembly are installed on the top of the frame 1. Taking the picking of marigolds as an example, according to the ridge that needs to be passed during picking, the split clamp 8 is loosened and the distance between the adjacent adjustment frames 3 in the width direction is adjusted. After the corresponding ridge width is met, the split clamp 8 is locked, and the driving wheel 2 is controlled to move. The camera identifies the marigolds in the ridge and controls the grabbing assembly to perform the picking operation. When marigolds with large differences in growth height are identified, the reduction motor 502 is controlled to operate to drive the frame 1 to move to the corresponding height to avoid interference and collision between the taller marigolds and the frame 1; when encountering a bend in the field or changing the ridge, the rotary servos 9 on the front and rear driving wheels 2 are controlled in turn to operate to drive the driving wheels 2 to rotate and complete the change of direction of the frame 1. This chassis can adapt to the complex field ridge environment and ensure the mechanical collection efficiency of marigolds.

[0030] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A walking chassis for picking on a ridge, comprising a frame and a driving wheel located below the frame, characterized in that: The frame is provided with an adjustment frame corresponding to the position of the driving wheel, and the adjustment frame is connected to the frame via a connecting piece that can move along the width direction of the frame. The top of the driving wheel is rotatably connected with a wheel column, and the wheel column is upwardly penetrated and arranged in the adjustment frame. A rotating driving mechanism for driving the driving wheel to rotate along the axial direction of the wheel column is provided on the inner side of the wheel column, and a lifting driving mechanism for driving the adjusting frame to move vertically up and down is provided on the outer side of the wheel column.

2. The walking chassis for picking on the ridge according to claim 1 is characterized in that: The frame is fixed with an adjustment rod along the width direction, and the connecting member includes a plurality of split clamps, one side of the split clamp is fixed on the adjustment frame, and the other side of the split clamp is detachably connected to the adjustment rod.

3. The walking chassis for picking on the ridge according to claim 1 is characterized in that: The lifting drive mechanism includes a reduction motor fixedly mounted on the adjustment frame, a driving shaft horizontally mounted on the adjustment frame body, and a rack fixedly mounted on the outside of the wheel column, a first gear meshing with the rack is fixed in the middle of the driving shaft, and a second gear meshing with the driving gear at the output end of the reduction motor is fixed at the end of the driving shaft.

4. The walking chassis for picking on the ridge according to any one of claims 1 to 3, characterized in that: There are two groups of lifting drive mechanisms on each wheel column, which are symmetrically arranged on both sides of the adjustment frame.

5. The walking chassis for picking on the ridge according to claim 4 is characterized in that: A plurality of rollers are arranged in the adjustment frame at a position away from the lifting drive mechanism. Each of the rollers is rotatably connected to the adjustment frame body and is symmetrically arranged in groups on both sides of the wheel column. The outer side of each roller has a curved surface structure that matches the outer surface of the wheel column.

6. The walking chassis for picking on the ridge according to claim 3 is characterized in that: A guide assembly is provided at a position of the adjustment frame near the lifting drive mechanism, and the guide assembly includes two guide plates fixed side by side on the adjustment frame and a guide gear located between the guide plates and rotatably connected to the guide plates, and the outer side of the guide gear has a tooth surface meshing with the rack.

7. The walking chassis for picking on the ridge according to claim 6 is characterized in that: There are two groups of guide components at the same lifting drive mechanism position, which are symmetrically arranged at two ends of the adjustment frame.

8. The walking chassis for picking on ridges according to any one of claims 1 to 3, characterized in that: The rotary drive mechanism includes a rotary steering gear, a steering gear bracket and a thrust bearing. The steering gear bracket is fixed at the bottom of the wheel column. The rotary steering gear is located inside the wheel column and fixedly connected to the top of the steering gear bracket. The output shaft of the rotary steering gear is connected to the wheel frame shaft of the driving wheel that penetrates into the steering gear bracket via a coupling. The wheel frame shaft is rotatably connected to the steering gear bracket via a thrust bearing.

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