Driving wheel leg assembly for intelligent walking robot for field operation

Abstract

The utility model discloses a driving wheel leg assembly for a field operation intelligent walking robot. The driving wheel leg assembly comprises a servo motor, a planetary reducer, a five-axis gear box body, an upper gear assembly, a middle upper gear assembly, a middle lower gear assembly, a lower gear assembly and a tire assembly. Wherein the servo motor and the planetary reducer are coupled and then fixed on the wheel leg box body, and the tire assembly is installed on a hub disc on the outer side of an output shaft of the lower gear assembly. Meanwhile, a connecting plate with an outer spigot positioning boss is further arranged on the wheel leg box body and used for being aligned with corresponding inner spigot positioning holes in the front axle and the rear axle, and then the front axle and the rear axle are fixed to the wheel leg box body through bolts. The wheel leg box body is made of Q355B rectangular seamless steel pipes sold in the market, all gears and shafts are connected through expansion sleeves, all bearings and the shafts are installed through adapter sleeves or taper holes, and therefore the whole wheel leg assembly has the advantages of being high in strength, accurate in transmission, high in reliability, convenient to maintain and the like, and is suitable for mass production.

Description

Technical Field

[0001] This application relates to the field of robot technology, and particularly to a drive wheel-leg assembly for an intelligent walking robot for field operations. Background Art

[0002] Due to relatively low manufacturing costs and selling prices, carbon dioxide glass tube lasers have been widely used in production and life fields such as laser marking and laser cutting of clothing fabrics. In particular, a large number of domestic and foreign practices in recent years have proved that the 10.6-micron laser wavelength of carbon dioxide lasers is more easily absorbed by the leaves and stems of field weeds and crops. Therefore, using a 150w high-power carbon dioxide laser beam, through machine vision technology and AI intelligent algorithms, accurately lock and irradiate the apical meristem of field weeds or crop seedlings that need to be topped or the roots of crops that need to be thinned, and accurately give it a certain irradiation time and irradiation intensity, and a prominent laser flame can be formed instantly, or the tops of weeds and the tops of crops that need to be topped and the roots of crops that need to be thinned can be burned to ashes, or the tops of the seedlings can be burned and withered. It can not only cause significant damage and inactivation effects on field weeds, but also efficiently complete the operations of crop thinning or topping. Therefore, using a high-power carbon dioxide laser for weeding, thinning or topping has high cost performance and working efficiency compared with manual and other mechanical operations. In the emerging field of mobile robot laser weeding or thinning and topping, high-power carbon dioxide lasers are thus quite popular and become the top choice.

[0003] However, existing laser weeding and thinning robots mostly use hydraulic drive, with complex structures, low precision, poor reliability, high maintenance costs, and short battery life. Therefore, a more suitable robot structure is urgently needed. Summary of the Invention

[0004] The purpose of this application is to provide a drive wheel-leg assembly for an intelligent walking robot for field operations to solve the problems raised in the above background art.

[0005] To solve the above technical problems, this application provides the following technical solutions:

[0006] A drive wheel-leg assembly for an intelligent walking robot for field operations includes a drive wheel-leg box body and a gear assembly;

[0007] The drive wheel-leg box body is provided with bearing mounting holes adapted to the gear assembly;

[0008] The gear assembly includes: a gear, a gear expansion sleeve, a gear shaft, a double-row self-aligning bearing, and a bearing bushing;

[0009] The bearing bushing is sleeved in the bearing mounting hole, the spherical roller bearing is sleeved in the bearing bushing, and the gear shaft penetrates through the inner ring of the spherical roller bearing;

[0010] The gear shaft has a positioning shoulder. The gear and the gear shaft are fixedly connected by a shrink disc for gears, and the gear and the shrink disc for gears are limited by the positioning shoulder;

[0011] The spherical roller bearing is any one of a spherical roller bearing with a locking collar or a spherical roller bearing with a tapered bore.

[0012] Preferably, a gear centering and spacing ring is provided between the positioning shoulder and the shrink disc for gears. The inner diameter of the gear centering and spacing ring is in clearance fit with the gear shaft. The outer periphery of the gear centering and spacing ring includes a first outer periphery part and a second outer periphery part. The first outer periphery part is in clearance fit with the inner hole of the gear, and the outer diameter of the second outer periphery part is larger than the inner hole diameter of the gear.

[0013] Preferably, detachable sealing covers are provided at the upper and lower ends of the driving wheel leg box body.

[0014] Preferably, a spacer ring is provided between the gear and the spherical roller bearing.

[0015] Preferably, the driving wheel leg assembly includes a planetary reducer and a servo motor. The gear assembly includes an upper gear assembly. The upper gear assembly includes an upper gear shaft. One end of the upper gear shaft is connected to the planetary reducer, and the planetary reducer is connected to the servo motor;

[0016] The upper gear shaft has a connecting mounting hole one and a connecting mounting hole two axially penetrating therethrough. The inner diameter of the connecting mounting hole two is smaller than that of the connecting mounting hole one. The planetary reducer has an output shaft with the same inner diameter as the connecting mounting hole two. The output shaft penetrates through the connecting mounting hole two and extends into the connecting mounting hole one, and is fixedly connected to the connecting mounting hole one by a shrink disc.

[0017] Preferably, the gear assembly includes a lower gear assembly. The lower gear assembly includes a lower gear shaft. One end of the lower gear shaft is fixedly connected with a tire assembly.

[0018] Preferably, the tire assembly includes a hub disc for tire mounting. The lower gear shaft passes through the center of the hub disc, and a shrink disc is provided between the lower gear shaft and the center of the hub disc.

[0019] Preferably, the gear assembly includes a middle gear assembly; the middle gear assembly is arranged between the upper gear assembly and the lower gear assembly.

[0020] Preferably, a coupling plate is provided on one side of the driving wheel leg box body connected to the vehicle body, and an outer stop positioning boss of the coupling plate is provided on the coupling plate.

[0021] Preferably, the output shaft is in clearance fit with the second connecting mounting hole.

[0022] Compared with the prior art, the beneficial effects achieved by the present application are as follows: A field laser intelligent weeding and thinning robot including a driving wheel leg assembly, on the one hand, adopts a modular high-power carbon dioxide laser module. The laser module includes a carbon dioxide laser tube, a digital galvanometer, a pseudo-coaxial camera, and a supporting micro wiper dust removal system, which solves the installation, maintenance, and replacement problems of the high-power carbon dioxide laser module required for mobile laser weeding and thinning robots. It has reliable long-term working positioning, good maintainability of laser strike accuracy, efficient and convenient replacement of the laser tube, and the laser digital galvanometer and the lenses of the pseudo-coaxial camera are equipped with a micro wiper dust removal system, which can eliminate the pollution and adverse effects of dust and haze on the galvanometer lens and the pseudo-coaxial camera lens, and is beneficial to the improvement of laser weeding efficiency. The wheel leg assembly has high strength, large rigidity, precise transmission, accurate walking and steering, and there is no risk of wheel leg fracture during field operations. The laser module also has the advantages of being easy to modularize, generalize, and standardize in the later stage, which is beneficial to mass production, saves and reduces production and manufacturing costs, and is suitable for large-scale promotion and use in the later stage. On the other hand, an electric telescopic assembly is used to adjust the wheelbase and the laser strike height, which can not only adapt to the changes in different operation ridge distances and ridge heights in relatively flat fields, but also, through the cooperation of the three-dimensional laser terrain scanning radar installed at the front end of the robot and a set of multiple two-axis inclination sensors and laser ranging sensors installed on the laser strike platform, can better adapt to field operations on various slopes. Description of the Drawings

[0023] The drawings are used to provide further understanding of the present application, and constitute a part of the specification. They are used together with the embodiments of the present application to explain the present application, and do not constitute a limitation to the present application. In the drawings:

[0024] Figure 1 -- Front view of the whole machine; Figure 2 -- Left view of the whole machine; Figure 3 -- Rear view of the whole machine; Figure 4 -- Top view of the whole machine; Figure 5 -- Three-dimensional view of the whole machine Figure 1 ; Figure 6 -- Bottom-up view of the whole machine; Figure 7 -- Right view of the whole machine; Figure 8 -- Three-dimensional view of the whole machine Figure 2 ; Figure 9 -- Lateral slope operation of the whole machine Figure 1; Figure 10 -- Whole machine horizontal slope operation Figure 2 ; Figure 11 -- Whole machine three-dimensional Figure 3 ; Figure 12 -- Whole machine explosion diagram; Figure 13 -- Right view of the whole machine Figure 2 ; Figure 14 -- Right view of the whole machine Figure 2 H-H sectional view of the right view of the whole machine; Figure 15 -- Right view of the whole machine Figure 2 J-J sectional view of the right view of the whole machine; Figure 16 -- Three-dimensional diagram of the laser strike platform assembly; Figure 17 -- Three-dimensional diagram of the frame assembly; Figure 18 -- Explosion diagram of the frame assembly; Figure 19 -- Explosion diagram of the laser strike platform assembly; Figure 20 -- Three-dimensional diagram of the vehicle bottom camera and lighting assembly; Figure 21 -- Three-dimensional of the base assembly Figure 1 ; Figure 22 -- Three-dimensional of the base assembly Figure 2 ; Figure 23 -- Base frame Figure 24 -- Explosion diagram of the base assembly; Figure 25 -- Front view of the front axle swing and telescopic assembly; Figure 26 -- Left view and H-H sectional view of the front view of the front axle swing and telescopic assembly; Figure 27 -- Top view and K-K sectional view of the top view of the front axle swing and telescopic assembly; Figure 28 -- Three-dimensional diagram of the front axle swing and telescopic assembly; Figure 29 --- Explosion diagram of the front axle swing and telescopic assembly; Figure 30 -- Three-dimensional of the front axle swing and telescopic assembly Figure 2 ; Figure 31 — Three-dimensional diagram of the rear axle telescopic assembly; Figure 32 -- Three-dimensional of the whole machine without equipment Figure 1 ; Figure 33 -- Three-dimensional of the whole machine without equipment Figure 2 ; Figure 34 -- Three-dimensional of the whole machine without equipment Figure 3 ; Figure 35 -- Explosion diagram of the whole machine without equipment; Figure 36 -- Three-dimensional diagram of the drive wheel leg assembly; Figure 37 -- Explosion diagram of the drive wheel leg assembly; Figure 38 -- Left view of the drive wheel leg assembly; Figure 39 -- A-A sectional view of the left view of the drive wheel leg assembly; Figure 40 -- Upper part of the broken line B-B of the A-A sectional view of the left view of the drive wheel leg assembly; Figure 41 -- Diagram between the broken lines B-B and C-C of the A-A sectional view of the left view of the drive wheel leg assembly;

[0025] Figure 42 -- Broken line between D-D and E-E in the A-A sectional view of the left view of the drive wheel leg assembly; Figure 43 -- Front view and D-D sectional view of the upper gear assembly;

[0026] In the figure: base assembly 1, 3D laser terrain scanning radar 11, base frame 12, front axle swing telescopic assembly 13, telescopic inner tube 131, front axle swing arm 132, swing bearing seat 133, shock absorber spring assembly 134, left electric telescopic assembly 135, right electric telescopic assembly 136, guide rail plastic-coated wear-resistant sheet 137, rear axle telescopic assembly 14, electric telescopic assembly for height adjustment 15, axle inner stop positioning hole 16, laser striking platform assembly 2, laser obstacle avoidance radar 21, frame assembly 22, frame 221, laser module backing plate 222, guide key 223, key pressing screw 224, laser module 23, biaxial inclination sensor 24, laser ranging sensor 25, drive wheel leg assembly 3, drive wheel leg box body 31, upper gear assembly 32, upper gear 321, expansion sleeve for upper gear 322, upper bearing bushing 323, upper through cover 324, double-row self-aligning ball bearing with locking sleeve 325, upper gear shaft 326, expansion sleeve for reducer shaft 327, upper blind cover 328, upper adjusting ring 329, upper spacer ring 3210, upper gear centering and spacing ring 3211, O-ring 3212, planetary reducer 33, servo motor 34, middle and upper gear assembly 35, axle connection plate 36, outer stop positioning boss 361 of the axle connection plate, middle and lower gear assembly 37, lower gear assembly 38, tire assembly 39, cover plate 310, filter breather cap 311, hexagon plug 312, vehicle-mounted equipment 4, vehicle bottom camera and lighting assembly 5, flash lamp 51, front far-end rough prediction camera 52, flash light bar 53, near-field precise prediction camera 54, vehicle bottom camera and lighting frame 55, front and rear leg limit rod assembly 6. Detailed implementation manner

[0027] This embodiment provides a field laser intelligent weeding and thinning robot, as Figures 1 to 15 shown, including a basic vehicle body composed of a base assembly and 4 drive wheel leg assemblies. The drive wheel leg assemblies on the same side are fixedly connected by the front and rear leg limit rod assemblies. There is also a laser striking platform assembly suspended under the base through 4 electric telescopic assemblies for height adjustment and universal floating joints. There is also a vehicle bottom camera and lighting assembly installed under the laser striking platform assembly; there are also some vehicle-mounted equipment installed on the base assembly.

[0028] The vehicle-mounted equipment of the laser weeding and thinning robot in this application includes: 2 frequency-converting gasoline generators with one-key start. One generator is mainly used to supply power to the drive motors of 4 wheel-leg walking components, the front axle swing telescopic component, the rear axle telescopic component, and the electric telescopic component for height adjustment, as well as related sensors, radars, etc. The other is used to supply power to the laser tubes, the electronic control system of the laser strike platform component, and the supporting electrical facilities such as the chiller. In this way, using 2 frequency-converting gasoline generators to supply power separately is beneficial to the overall power load balance and coordination of the laser weeding and thinning robot, and can better meet the different power demands in different operation modes such as the vehicle walking drive system and the laser strike system working independently and collaboratively. This is not only beneficial to energy conservation and environmental protection, but also makes the power generation equipment work more stably and reasonably.

[0029] The vehicle-mounted equipment of the laser weeding and thinning robot also includes a high-power chiller for cooling each laser tube, several sets of laser power supplies adapted to the number of the laser modules, an electric control box for the electrical control of the whole system, a UPS and an industrial control computer. Among them, the UPS and the frequency-converting gasoline generator can achieve seamless power switching, ensuring the stable operation of the industrial control computer and ensuring that there is always power and data preservation without loss during the overall intelligent control of the industrial control computer.

[0030] As Figures 16 to 20 shown, the laser strike platform component can be installed with more than 1 group of high-power carbon dioxide laser modules. In this embodiment, 4 groups are adopted, mainly based on the specific width of the vehicle body. Installing 4 groups of high-power carbon dioxide laser modules can just cover the specific ridge width for laser strike operation requirements. The height of the laser emission point of the laser module in this application from the laser strike working surface is about 80 cm. This height can give full play to and utilize the best energy strike effect of the carbon dioxide laser, especially the 10.6-micron laser wavelength of the carbon dioxide laser. Years of laser strike experiments and agricultural production practices at home and abroad have fully proved that it is more easily absorbed by the stems and leaves of field weeds and crops. Therefore, using a 150w high-power carbon dioxide laser beam, through machine vision technology and AI intelligent algorithms, accurately lock and irradiate the apical meristem of field weeds or crop seedlings that need to be topped or thinned, and accurately give it a certain irradiation time and irradiation intensity, and it can instantly form a prominent laser flame, or burn the top of the weeds to ashes, or scorch and wither the top of the seedlings. It can not only cause significant damage and inactivation effects on field weeds, but also efficiently complete the crop thinning or topping operation.

[0031] The laser strike platform adopts specialized modular laser modules. Each group of carbon dioxide laser modules consists of 5 large components: the front support component, the laser tube encapsulation component, the rear support component, the laser digital scanning galvanometer component, and the pseudo-coaxial camera component. Moreover, the galvanometer and the pseudo-coaxial camera lens are equipped with micro auxiliary wiper components, which is beneficial to improving the modularity and reliability of the equipment.

[0032] The components of the laser strike platform include a frame component for installing high-power carbon dioxide laser tubes. The frame component includes: a frame, and a laser obstacle avoidance radar is provided at the front end of the frame. The obstacle avoidance radar is mainly used for scanning and detecting obstacles in front of, behind, and around the vehicle, mainly to prevent the vehicle from hitting obstacles during forward and backward movement. Especially, cameras and lighting equipment are installed under the vehicle. The installation height of the obstacle avoidance radar is lower than the lowest working part under the vehicle, so that any obstacle higher than the working part can be scanned and detected by the obstacle avoidance radar, and then an alarm can be given in time to let the vehicle avoid it.

[0033] A laser module backing plate is arranged between the frame and the carbon dioxide laser tube. The laser module backing plate is provided with a guiding chute for cooperating with the bottom protrusion of the fixing ring for fixing the carbon dioxide laser module, which is convenient for the positioning and installation of the carbon dioxide laser module. A guiding flat key is arranged at the front end of the frame. The guiding flat key is fixed by a pressing key screw. The guiding flat key is adapted to the front support component for fixing the carbon dioxide laser head. A groove is arranged at the bottom of the front support component, which is exactly adapted to the guiding flat key, facilitating the front support component to slide back and forth along the guiding flat key, and facilitating the assembly, fixing, and disassembly of the carbon dioxide laser module.

[0034] Four groups of electric telescopic components with universal floating joints are used at the four corners of the laser strike platform and are suspended on the chassis. They can automatically adjust the laser strike height according to the ridge height and slope. Therefore, laser distance sensors are installed at the four corners of the frame to measure the ground clearance corresponding to each corner of the frame assembly in real time, so as to collect the frame ground clearance data and provide it to the intelligent control system of the laser weeding and thinning robot. At the same time, at the front and rear ends of the frame, 2 inclination sensors are installed respectively, specifically dual-axis inclination sensors. In addition, 1 inclination sensor, specifically a dual-axis inclination sensor, is also set at the center position of the bottom of the frame assembly. These 4 groups of laser distance sensors and 5 dual-axis inclination sensors are used for height measurement at the four corners and overall leveling of the frame respectively. The leveling process is that the 4 groups of laser distance sensors and 5 dual-axis inclination sensors transmit data to the intelligent control system of the laser weeding and thinning robot in real time. The intelligent control system, based on the real slope of the current working ground detected by the three-dimensional laser terrain scanning radar mounted at the front end of the vehicle body in real time, and the real-time data feedback of the 5 dual-axis inclination sensors mounted on the frame on the inclination of the current strike platform relative to the ground, issues a leveling command to the 4 groups of electric telescopic components for height adjustment after calculation by the intelligent control system of the laser weeding and thinning robot. The electric telescopic components for height adjustment perform leveling and height adjustment of the strike platform frame in real time according to the adjustment data given by the control system.

[0035] The vehicle bottom camera and lighting assembly include: a stroboscopic lamp, a front-end remote coarse prediction camera (specifically, it can be a front-end remote coarse prediction AI intelligent camera), a flash strip, a near-field precise prediction camera (specifically, it can be a near-field precise prediction AI intelligent camera), a vehicle bottom camera, and a lighting frame. The stroboscopic lamp is arranged at the front end of the bottom of the vehicle bottom camera and lighting frame. Two flash strips are arranged in the middle and at the rear end of the bottom of the vehicle bottom camera and lighting frame. Between the two flash strips, in front of the light output hole of each galvanometer and parallel to the direction of the laser tube, the same number of near-field precise prediction cameras as the number of galvanometers (4 in this example) are arranged. Between the stroboscopic lamp and the middle position of the bottom of the vehicle bottom camera and lighting frame, along the direction parallel to the laser tube, at an appropriate position in front of the midline between two adjacent near-field precise prediction cameras, half the number of front-end remote coarse prediction cameras as the number of near-field precise prediction cameras (2 in this example) are evenly arranged. In this application example, these 2 front-end remote coarse prediction cameras are used for rough prediction recognition and rough positioning of the strike target in the distance in the forward direction. The 4 near-field precise prediction cameras then perform a small-range screening and further precise recognition and positioning prediction on the strike target under the galvanometer of the adjacent laser according to the feedback data of the front-end remote coarse prediction AI intelligent camera, and then feedback the evaluated precise data to the laser strike control system. The control system automatically selects one of the pseudo-coaxial AI intelligent cameras on 2 adjacent laser modules to the target, and it guides the supporting galvanometer to perform precise laser strike on the target. Finally, the adjacent near-field precise prediction camera is responsible for the damage effect evaluation after the laser strike.

[0036] In addition, in individual cases, when the pseudo coaxial camera on the laser module fails to work properly for some reason, etc., these 4 near-field precise prediction cameras can be directly used as strike cameras to replace the faulty pseudo coaxial camera for emergency use after simple settings through the options preset in the system, thus enhancing the working performance of the robot.

[0037] As Figures 21 to 31 shown, the base assembly includes a base frame body and a three-dimensional laser terrain scanning radar installed at the front end of the base frame body, and also includes a front axle swing telescopic assembly, a rear axle telescopic assembly, and an electric telescopic assembly for height adjustment. The front axle swing telescopic assembly consists of a telescopic inner tube, a front axle swing arm, a swing bearing seat, a shock spring assembly, a left electric telescopic assembly, and a right electric telescopic assembly. A wear-resistant plastic film for guide rails is arranged inside the telescopic inner tube. On the one hand, it is used to reduce the movement gap between the inner and outer telescopic tubes, improve the movement rigidity of the drive wheel leg assembly, and reduce the loose swing amplitude of the drive wheel leg assembly at the moment of start and stop. On the other hand, it can reduce the friction force of the telescopic inner tube, improve the wear resistance of the telescopic inner tube, and reduce the energy consumption during the wheelbase telescopic adjustment.

[0038] The three-dimensional laser terrain scanning radar in front of the vehicle is used to scan the ground slope of the field where the robot is located, providing a measurement and control basis for subsequent adjustment of the parallelism or levelness between the strike platform and the ground. It can automatically scan and measure the slope of the working ground in front of the vehicle, then upload it to the industrial control computer, and then the industrial control computer transmits the slope information of the working ground in front of the vehicle to the four electric telescopic mechanisms to adjust the heights of the four corners of the strike platform, and real-time measurement and control and feedback adjustment results are carried out through 4 laser distance sensors. At the same time, the 5 biaxial inclination sensors at the four corners and in the middle of the strike platform are used for final verification to confirm whether the adjustment result is consistent with the detection result of the laser terrain scanning radar.

[0039] The swing bearing seat is divided into a front seat and a rear seat, and the front axle swing arm is fixedly installed in the middle. Through the bearing connection, the front axle swing arm can swing up and down with a certain amplitude. A shock spring assembly is arranged on each of the left and right sides of the front axle swing arm to buffer the impact force of the up and down swing and make the operation smoother.

[0040] The rear axle telescopic assembly also includes a telescopic inner tube, a left electric telescopic assembly, and a right electric telescopic assembly. However, unlike the front axle swing telescopic assembly, it cannot swing up and down. Instead, the rear axle cross beam nested with the telescopic inner tube is directly fixed on the base frame body, and therefore there is no need for a shock spring assembly.

[0041] The front axle swing structure uses the center of the front axle as the swing center and is hinged to the vehicle body through bearings. By releasing the rotational freedom of the entire axle, it can adapt to the unevenness of the ground. Due to the unevenness of the ground, the supporting forces of the two wheels on both sides of the swing axle are different according to the length of the lever arm from their positions to the swing center. The wheel with a longer lever arm has a smaller supporting force, and the wheel with a shorter lever arm has a larger supporting force. This floating structure enables the two wheels on the left and right wheel legs to adapt to the uneven road surface through swinging. In fact, it can also be regarded as evolving the two wheels on the front axle into a large wheel on the entire axle. As a result, the four-wheel layout of the entire vehicle is then evolved into a three-wheel layout. According to the theory that three points determine a plane, the three wheels must touch the ground simultaneously, thus ensuring that all four tires are always in contact with the ground and preventing a situation where a certain tire is suspended. Therefore, it overcomes the technical defect of a certain tire not touching the ground and can be applicable to more complex terrain scenarios.

[0042] The front and rear axles connected and fixed to the wheel leg assembly respectively have the function of telescoping and adjusting the wheelbase, that is, the ridge width. Among them, the front axle adopts a swing structure, the rear axle adopts a fixed telescopic structure, and an electric telescopic assembly is used for automatic adjustment.

[0043] Four groups of wheel leg assemblies can automatically adjust the wheelbase, that is, the ridge width for field operations, through the electric telescopic assemblies on the base assembly and the front and rear telescopic axles.

[0044] The laser strike platform assembly is suspended below the base assembly through four groups of electric telescopic assemblies and universal floating joints. It can not only adjust the overall laser strike height to adapt to different ridge heights on the field ground, but also, through the combined control of the telescopic heights of the four groups of electric telescopic assemblies, adapt to different slopes of the field ground during operation, including transverse slopes and longitudinal slopes, so that the laser strike platform is always dynamically parallel to the ridge surface where the weeds or crops are located, ultimately ensuring that the laser beam accurately strikes the top of the required weeds or the roots of the thinned crops.

[0045] A three-dimensional laser terrain scanning radar is provided at the front end of the base frame body, which is used to scan the slope of the field ground where the robot is located and feed back the measured and controlled slope to the robot control system to adjust the parallelism between the laser strike platform and the operation ground, ensuring that the laser beam accurately strikes, for example, the top of the required weeds or the roots of the thinned crops.

[0046] Therefore, in summary, the laser weeding and thinning robot of the present application, under the configuration of this embodiment, the laser weeding and thinning process in the field is as follows:

[0047] First, a three-dimensional laser terrain scanning radar installed in front of the vehicle scans the terrain slope in front of the vehicle and sends the measured current operation slope data to a control system such as an industrial control computer. Then, according to the task instruction data of the current operation and combining the current data fed back by 4 laser ranging sensors and 5 biaxial inclination sensors around the laser strike platform, the control system quickly gives the respective real-time telescopic amounts of 4 electric telescopic components around the strike platform through an internal algorithm and synchronously adjusts the working tilt angle of the laser strike platform;

[0048] Secondly, when the robot enters the working field, the lighting device installed under the laser strike platform is turned on simultaneously, and 2 front-end remote coarse prediction AI intelligent cameras are activated to conduct coarse prediction recognition and coarse positioning on the strike target slightly farther ahead in the advancing direction. According to the feedback data of the front-end remote coarse prediction AI intelligent cameras, 4 near-field precise prediction AI intelligent cameras conduct a small-range screening and further precise recognition and positioning prediction on the strike target under the laser galvanometer of the adjacent laser, and then feedback the evaluated precise data to the control system. According to the optimized result, the control system selects the pseudo-coaxial AI intelligent camera on a certain adjacent and most suitable laser module. The pseudo-coaxial AI intelligent camera locks the ideal part of the strike target in real time and guides the laser module to emit a laser beam with a specific intensity and duration, which is accurately irradiated on the meristem at the top of the weed or the root of the seedling that needs to be thinned out, in order to achieve the expected damage effect.

[0049] Finally, the adjacent near-field precise prediction AI intelligent camera evaluates the damage effect in real time and uploads it to the industrial control computer, so that the system can decide whether to end the current laser strike, whether to adjust the strike parameters in real time for additional strikes, or start such a cycle for the next strike target.

[0050] As Figures 32 to 35 shown, if the laser weeding and thinning robot of the present application does not carry the vehicle-mounted equipment and the laser strike platform components, it can separately become an intelligent walking robot for field operations. The intelligent walking robot can realize different functions based on different carried equipment. For example, if it carries multiple cameras, it can be transformed into a terrain map acquisition vehicle. If it carries a pesticide sprayer, it can be transformed into a precise quantitative pesticide spraying intelligent robot. It can also carry a rice transplanter to realize intelligent rice transplanting. The structure of the intelligent walking robot of the present application can be applied to many scenarios in industry, agriculture, and life.

[0051] As Figures 36 to 43As shown in the figure, the main structure of the drive wheel leg assembly is a five-axis drive wheel leg box body. Power is transmitted from top to bottom through an upper gear assembly, a middle-upper gear assembly, two middle-lower gear assemblies, and a lower gear assembly connected to the tire assembly at the bottom. The upper gear assembly is connected to a servo motor through a planetary reducer to transmit power. The housing of the planetary reducer is fixed to the drive wheel leg box body through an adapter plate interface and bolts. A vehicle bridge connecting plate is fixed to the outside of the middle-upper gear assembly near the vehicle body side. The vehicle bridge connecting plate is fixed to the drive wheel leg box body through bolts. The vehicle bridge connecting plate is provided with an outer stop mouth positioning boss of the vehicle bridge connecting plate that is adapted to the vehicle bridge inner stop mouth positioning hole of the telescopic inner tube of the front axle swing telescopic assembly or the rear axle telescopic assembly for positioning. After positioning, the telescopic inner tube is fixed to the drive wheel leg box body through bolts, thus completing the connection between the telescopic inner tube and the drive wheel leg box body. Such a design makes the disassembly and assembly of the drive wheel leg assembly and the base assembly not only more convenient, but also the structure is reasonably stressed and the positioning connection is firm and reliable.

[0052] The drive wheel leg box body uses a commercially available high-strength rectangular steel pipe as the box body welding body, and its two larger side surfaces are provided with bearing installation holes adapted to the bearings of the gear assemblies. At the same time, on the joint surface with the telescopic inner tubes of the front and rear axles, an outer stop mouth corresponding to the telescopic inner tube is provided; the installation of all gears in the box body can enter and exit through the openings at both ends of the rectangular steel pipe.

[0053] The upper gear assembly is specifically composed of an upper gear, a shrink disc for the upper gear, an upper bearing bushing, an upper gland, a double-row self-aligning ball bearing with a locking collar, an upper gear shaft, a shrink disc for the reducer shaft, an upper blind cover, an upper adjusting ring, an upper spacer ring, an upper gear centering and spacing ring, and an O-ring. The installation process is as follows:

[0054] The following installation process takes Figure 37 and Figure 43 as an example for display. Figures 39 to 42 The installation process of

[0055] ① Install the upper gear into the inner cavity of the drive wheel leg box body from the upper opening of the drive wheel leg box body, and translate it to be coaxial with the upper bearing hole;

[0056] ② Snap the upper gear centering and spacing ring into the right side of the upper gear hole from the bearing hole of the box body on the right side of the figure;

[0057] ③ Insert the upper gear shaft into the upper gear centering and spacing ring and the gear hole respectively from the bearing hole of the box body on the right side of the figure, and at the same time penetrate the drive wheel leg box body; through the gear centering and spacing ring, the gear can be conveniently and preliminarily coaxially installed with the gear shaft, so that the subsequent installation of the shrink disc for the gear will be very labor-saving and convenient;

[0058] ④ Slip the right upper spacer ring onto the upper gear shaft from the bearing hole of the box body on the right side of the figure;

[0059] ⑤Insert the right upper bearing bushing into the right through hole of the driving wheel leg box;

[0060] ⑥Insert the double-row self-aligning ball bearing with a tightening sleeve on the right side into the upper bearing bushing, and also put it on the upper gear shaft, and simply fix it with the double-row self-aligning ball bearing with an tightening sleeve fixing nut;

[0061] ⑦ Put the upper gear on the upper gear shaft with a tightening sleeve through the left through hole of the driving wheel leg box, and fix the gear with the tightening screw of the tightening sleeve according to the required torque;

[0062] ⑧ Insert the left upper spacer ring onto the upper gear shaft;

[0063] ⑨Insert the left upper bearing bushing and the double-row self-aligning ball bearing with a tightening sleeve; simply fix it first with the double-row self-aligning ball bearing with an tightening sleeve fixing nut;

[0064] ⑩Fix the double-row self-aligning ball bearings with adapter sleeves on both sides at the same time by testing and adjusting the meshing of the upper gear and the previously installed middle upper gear;

[0065] Finally, insert the upper adjustment ring and O-ring on the left and right sides respectively, install the upper cover on the left side, and install the upper cover on the right side, and the upper gear assembly is preliminarily assembled. The installation method of the other middle upper gear assemblies, the two middle lower gear assemblies, and the lower gear assembly connected to the tire assembly at the bottom is similar, so I will not repeat it here.

[0066] Because the upper gear assembly is connected to the planetary reducer, the upper gear shaft is hollow in design, while the gear shafts of the other middle upper gear assemblies, the two middle lower gear assemblies and the lower gear assembly at the bottom connected to the tire assembly are all solid in design.

[0067] The installation process of the upper gear shaft and the planetary reducer is as follows: because the planetary reducer shaft is connected to the upper gear shaft at one end with a reducer shaft expansion sleeve, after the double-row self-aligning ball bearing with a tightening sleeve is finally fixed at the same time in step ⑩, it is necessary to insert the reducer shaft expansion sleeve from the right side of the upper gear shaft, and then fix the expansion sleeve to fix the rotating shaft of the planetary reducer to the upper gear shaft, and then connect the rotating shaft of the servo motor to the input end of the planetary reducer, and finally press the above step 10. Install the remaining parts.

[0068] Because the lower gear assembly has to withstand the axial force that may be generated when the wheels are moving or turning, the bearing used on the lower gear shaft is changed to a double-row spherical roller bearing with a tapered hole that can withstand larger axial forces. Other than this, the rest of the structure is similar to the upper gear assembly.

[0069] The connection method between the lower gear assembly and the tire assembly is as follows: Through the above similar operations, first fixedly install the lower gear assembly in the driving wheel leg box body. The left side of the lower gear shaft protrudes outside the driving wheel leg box body. The hub disc of the tire assembly is sleeved on the lower gear shaft, and the two are fixedly connected through a shrink fit sleeve, which is convenient for disassembly and assembly.

[0070] Cover plates with rubber sealing pads are provided at the upper and lower ends of the driving wheel leg box body for convenient installation and maintenance. After installation, the upper and lower cover plates need to be fixed on the driving wheel leg box body with the provided rubber sealing pads. A filter vent cap is provided above the driving wheel leg box body where the upper gear assembly is fixed to balance the air pressure inside and outside the box body. Hexagon socket plugs are provided on the side wall of the box body between different fixed gear assemblies of the driving wheel leg box body, which is convenient for subsequent replenishment of gear grease and maintenance.

[0071] The vehicle body of this application uses a five-axis gearbox driven by 4 servo motors as the driving wheel legs, forming a 4-wheel 4-wheel drive differential structure, which can flexibly turn or steer precisely in place and move precisely.

[0072] The 4 driving wheel legs use a five-axis gearbox. The gearbox body is composed of closed rectangular steel pipes with large cross-sections. The gears therein are connected to the shafts through shrink fit sleeves, and the bearings use double-row self-aligning ball bearings with locking collars. The purpose is to facilitate installation and later maintenance. At the same time, it reduces the requirements for the parallelism and coaxiality accuracy of the machining of the bearing holes of the gearbox and the machining cost, and also eliminates the additional conditions of supporting process equipment required for processes such as hot fitting or cold fitting of gears.

[0073] The wheel leg assembly and the front and rear axles are respectively matched through the positioning convex platform of the outer stop of the axle connection plate on the wheel leg and the positioning hole of the inner stop of the axle of the telescopic inner tube of the front and rear axles. The assembly is more convenient. For the traditional structure where the gear and the shaft are connected by a key, a large press is required for press fitting, or induction heating for hot fitting, or liquid nitrogen freezing of the gear shaft for cold fitting, which requires dedicated process equipment and is not conducive to disassembly, assembly and maintenance by users or in the field and farmland.

Claims

1. A driving wheel-leg assembly for an intelligent walking robot for field operations, characterized in that: Including, driving wheel leg box and gear assembly; The driving wheel leg box is provided with a bearing mounting hole adapted to the gear assembly; The gear assembly comprises: a gear, a gear expansion sleeve, a gear shaft, a double-row self-aligning bearing and a bearing bushing; The bearing bushing is sleeved in the bearing mounting hole, the double-row self-aligning bearing is sleeved in the bearing bushing, and the gear shaft passes through the inner ring of the double-row self-aligning bearing; The gear shaft has a positioning shoulder, the gear and the gear shaft are fixedly connected via the gear expansion sleeve, and the gear and the gear expansion sleeve are limited by the positioning shoulder; The double-row self-aligning bearing is any one of a double-row self-aligning ball bearing with a tightening sleeve or a double-row self-aligning roller bearing with a tapered hole.

2. The driving wheel-leg assembly for a field operation intelligent walking robot according to claim 1, characterized in that: A gear centering and spacing ring is provided between the positioning shoulder and the gear expansion sleeve, the inner diameter of the gear centering and spacing ring is clearance matched with the gear shaft, the outer periphery of the gear centering and spacing ring includes an outer periphery part and an outer periphery part, the outer periphery part is clearance matched with the inner hole of the gear, and the outer diameter of the outer periphery part is larger than the inner hole diameter of the gear.

3. The driving wheel-leg assembly for a field operation intelligent walking robot according to claim 1, characterized in that: The upper and lower ends of the driving wheel leg box are provided with detachable sealing cover plates.

4. The driving wheel-leg assembly for a field operation intelligent walking robot according to claim 1, characterized in that: A spacer ring is arranged between the gear and the double-row self-aligning bearing.

5. The driving wheel-leg assembly for a field operation intelligent walking robot according to claim 1, characterized in that: The driving wheel leg assembly includes a planetary reducer and a servo motor, the gear assembly includes an upper gear assembly, the upper gear assembly includes an upper gear shaft, one end of the upper gear shaft is connected to the planetary reducer, and the planetary reducer is connected to the servo motor; The upper gear shaft has a connecting and mounting hole 1 and a connecting and mounting hole 2 which penetrate in the axial direction, the inner diameter of the connecting and mounting hole 2 is smaller than the inner diameter of the connecting and mounting hole 1, the planetary reducer has an output shaft with the same inner diameter as the connecting and mounting hole 2, the output shaft penetrates the connecting and mounting hole 2 and extends into the connecting and mounting hole 1, and is fixedly connected to the connecting and mounting hole 1 through a tightening sleeve.

6. The driving wheel-leg assembly for a field operation intelligent walking robot according to claim 5, characterized in that: The gear assembly comprises a lower gear assembly, and the lower gear assembly comprises a lower gear shaft, and one end of the lower gear shaft is fixedly connected with a tire assembly.

7. The driving wheel-leg assembly for a field operation intelligent walking robot according to claim 6, characterized in that: The tire assembly comprises a hub disc for installing the tire, the lower gear shaft passes through the center of the hub disc, and a tightening sleeve is arranged between the lower gear shaft and the center of the hub disc.

8. The driving wheel-leg assembly for a field operation intelligent walking robot according to claim 7, characterized in that: The gear assembly comprises a middle gear assembly; the middle gear assembly is arranged between the upper gear assembly and the lower gear assembly.

9. The driving wheel-leg assembly for a field operation intelligent walking robot according to claim 1, characterized in that: A connecting plate is provided on one side of the driving wheel leg box body connected to the vehicle body, and the connecting plate is provided with a connecting plate outer stopper positioning boss.

10. The driving wheel-leg assembly for a field operation intelligent walking robot according to claim 5, characterized in that: The output shaft is clearance-matched with the second connecting and mounting hole.

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