Wheel-foot connecting frame and unmanned vehicle

Abstract

The utility model provides a wheel foot connecting frame and an unmanned vehicle, the wheel foot connecting frame comprises a pivoting stand column body, a miniature electric air cylinder, a movable barrel body, a movable plate, a limiting rack, a sliding plate and a limiting clamping plate, the upper half part of the pivoting stand column body is rotatably connected with an upper swing arm, and the lower half part of the pivoting stand column body is rotatably connected with a lower swing arm; an electric push rod is hinged between the upper swing arm and the lower swing arm, an upper fixing plate is installed on the side face of the upper swing arm, a lower fixing plate is installed on the side face of the lower swing arm, an upper rotating column is rotationally connected into the upper fixing plate, a movable plate is fixed to the right side of the upper rotating column, and a limiting rack is fixed to the upper end face of the movable plate; according to the design, after the upper swing arm frame and the lower swing arm frame move relatively, a limiting structure is arranged, so that a part of force can be shared for the electric push rod when a heavy object is borne, and the service life of the electric push rod is prolonged.

Description

Technical Field

[0001] The utility model relates to a wheel-foot connecting frame and an unmanned vehicle, belonging to the technical field of robots. Background Technique

[0002] A plant protection unmanned vehicle is an unmanned vehicle running on the ground for agricultural and forestry plant protection operations, mainly including a vehicle frame, legs installed at the bottom of the vehicle frame, and a navigation control mechanism and an operation mechanism carried on the vehicle frame. It can realize plant protection operations through ground remote control, and can realize crop picking, fertilization, spraying agents, seeds, powders, etc. The wheel-foot connecting frame is used to connect the vehicle frame of the plant protection unmanned vehicle and the wheel-foot, and drive the wheel-foot to move relative to the vehicle frame, and is an important part of the plant protection unmanned vehicle.

[0003] After searching the Chinese patent publication number: CN209683864U, a wheel-foot connecting frame and a plant protection unmanned vehicle, this design scheme drives the upper swing arm frame and the lower swing arm frame to move relatively by setting an electric push rod, with a simple structure and cost savings in assembly and maintenance. In addition, in the utility model, one end of the electric push rod is connected to the upper swing arm frame and the other end is connected to the lower swing arm frame, so that the telescopic amount of the electric push rod is greatly converted into the relative movement of the upper swing arm frame and the lower swing arm frame, making the plant protection unmanned vehicle with the wheel-foot connecting frame of the utility model respond faster. However, there is no limiting structure set after the relative movement of the upper swing arm frame and the lower swing arm frame in this technical scheme, so that the electric push rod bears a large force when carrying heavy objects, reducing the service life of the electric push rod. Now there is an urgent need for a wheel-foot connecting frame and an unmanned vehicle to solve the above problems. Content of the Utility Model

[0004] Aiming at the deficiencies of the prior art, the purpose of the utility model is to provide a wheel-foot connecting frame and an unmanned vehicle to solve the problems put forward in the above background technique. The structure of the utility model is reasonable. In this design, a limiting structure is set after the relative movement of the upper swing arm frame and the lower swing arm frame, so that when carrying heavy objects, it can share a part of the force for the electric push rod and improve the service life of the electric push rod.

[0005] In order to achieve the above purpose, the utility model is realized through the following technical solutions: a wheel-foot connecting frame and an unmanned vehicle, including a pivot column body, a micro electric cylinder, a movable cylinder body, a movable plate, a limit rack, a sliding plate and a limit clamping plate. The upper half of the pivot column body is rotatably connected with an upper swing arm, the lower half of the pivot column body is rotatably connected with a lower swing arm, an electric push rod is hinged between the upper swing arm and the lower swing arm, a support column body is rotatably connected to the lower half of the upper swing arm and the lower swing arm, a wheel-foot connecting plate is fixed to the lower end face of the support column body, and connection holes are formed in the sides of the upper swing arm and the lower swing arm, and the connection holes can be rotatably connected with fixing bolts;

[0006] An upper fixing plate is installed on the side of the upper swing arm, a lower fixing plate is installed on the side of the lower swing arm, an upper rotating column is rotatably connected inside the upper fixing plate, a movable plate is fixed on the right side of the upper rotating column, a limiting rack is fixed on the upper end surface of the movable plate, a lower rotating column is rotatably connected inside the lower fixing plate, a movable cylinder body is fixed on the upper end surface of the lower rotating column, a micro electric cylinder is installed on the upper end surface of the movable cylinder body, a sliding plate is installed on the lower end surface of the micro electric cylinder, and a limiting clamping plate is fixed on the lower end surface of the sliding plate.

[0007] Further, a first rotating hole is formed inside the upper fixing plate. The inner diameter of the first rotating hole is equal to the outer diameter of the upper rotating column, and the two can be rotationally connected in a fitting manner. A second rotating hole is formed inside the lower fixing plate. The inner diameter of the second rotating hole is equal to the outer diameter of the lower rotating column, and the two can be rotationally connected in a fitting manner.

[0008] Further, a movable hole is formed inside the movable cylinder body. The inner diameter of the movable hole is equal to the outer diameter of the micro electric cylinder, and the two can be slidably connected in a fitting manner.

[0009] Further, a sliding groove is formed inside the movable cylinder body. The inner diameter of the sliding groove is equal to the outer diameter of the sliding plate, and the two can be slidably connected in a fitting manner.

[0010] Further, a rectangular groove is formed inside the movable cylinder body. The inner wall of the rectangular groove can be slidably connected in a fitting manner with the outer wall of the movable plate.

[0011] Further, the specification of the limiting clamping plate matches the specification of the limiting rack, and the two can be engaged and connected in a fitting manner.

[0012] The beneficial effects of the present utility model: For a wheel-foot connection frame and an unmanned vehicle of the present utility model, since the present utility model adds a micro electric cylinder, a movable cylinder body, a movable plate, a limiting rack, a sliding plate and a limiting clamping plate, a limiting structure is provided after the relative movement of the upper swing arm frame and the lower swing arm frame in this design, so that when carrying a heavier object, a part of the force can be shared for the electric push rod, improving the service life of the electric push rod, and solving the problem that there is no limiting structure after the relative movement of the upper swing arm frame and the lower swing arm frame in the original wheel-foot connection frame and the plant protection unmanned vehicle, so that the electric push rod bears a large force when carrying a heavier object, reducing the service life of the electric push rod. Description of the Drawings

[0013] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, purposes and advantages of the present utility model will become more obvious:

[0014] Figure 1 It is a structural diagram of a wheel-foot connection frame and an unmanned vehicle of the present utility model;

[0015] Figure 2 This is a partial structural diagram of a wheel-foot connecting frame and an unmanned vehicle of the present utility model;

[0016] Figure 3 This is a partial structural cross-sectional view of a wheel-foot connecting frame and an unmanned vehicle of the present utility model;

[0017] In the figure: 1 - pivot column body, 2 - fixing bolt, 3 - upper swing arm, 4 - lower swing arm, 5 - electric push rod, 6 - connection hole, 7 - wheel-foot connecting plate, 8 - support column body, 9 - upper fixing plate, 10 - upper rotating column, 11 - micro electric cylinder, 12 - movable cylinder, 13 - lower rotating column, 14 - lower fixing plate, 15 - movable plate, 16 - limit rack, 17 - sliding plate, 18 - limit clamping plate. Specific embodiments

[0018] In order to make the technical means, creative features, achieved purposes and effects of the present utility model easy to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0019] Please refer to Figures 1 - 3 , the present utility model provides a technical solution: a wheel-foot connecting frame and an unmanned vehicle, including a pivot column body 1, a micro electric cylinder 11, a movable cylinder 12, a movable plate 15, a limit rack 16, a sliding plate 17 and a limit clamping plate 18. The upper half of the pivot column body 1 is rotatably connected to an upper swing arm 3, and the lower half of the pivot column body 1 is rotatably connected to a lower swing arm 4. An electric push rod 5 is hinged between the upper swing arm 3 and the lower swing arm 4. The lower half of the upper swing arm 3 and the lower swing arm 4 are rotatably connected to a support column body 8. A wheel-foot connecting plate 7 is fixed to the lower end surface of the support column body 8. Connection holes 6 are provided on the sides of the upper swing arm 3 and the lower swing arm 4, and the connection holes 6 can be rotatably connected to the fixing bolt 2;

[0020] An upper fixing plate 9 is installed on the side of the upper swing arm 3, and a lower fixing plate 14 is installed on the side of the lower swing arm 4. An upper rotating column 10 is rotatably connected inside the upper fixing plate 9. A movable plate 15 is fixed to the right side of the upper rotating column 10. A limit rack 16 is fixed to the upper end surface of the movable plate 15. A lower rotating column 13 is rotatably connected inside the lower fixing plate 14. A movable cylinder 12 is fixed to the upper end surface of the lower rotating column 13. A micro electric cylinder 11 is installed on the upper end surface of the movable cylinder 12. A sliding plate 17 is installed on the lower end surface of the micro electric cylinder 11. A limit clamping plate 18 is fixed to the lower end surface of the sliding plate 17. In this design, a limiting structure is provided after the relative movement of the upper swing arm frame and the lower swing arm frame, so that when carrying a heavy object, a part of the force can be shared for the electric push rod 5, and the service life of the electric push rod 5 can be improved.

[0021] As the first embodiment of the present utility model: A rectangular groove is provided inside the movable cylinder body 12, and the inner wall of the rectangular groove can be in sliding fit connection with the outer wall of the movable plate 15. A first rotation hole is provided inside the upper fixing plate 9, and the inner diameter of the first rotation hole is equal to the outer diameter of the upper rotation column 10, and the two can be in rotational fit connection. A second rotation hole is provided inside the lower fixing plate 14, and the inner diameter of the second rotation hole is equal to the outer diameter of the lower rotation column 13, and the two can be in rotational fit connection. This design enables the upper rotation column 10 to be in rotational fit connection with the first rotation hole and the lower rotation column 13 to be in rotational fit connection with the second rotation hole after the electric push rod 5, the upper swing arm 3 and the lower swing arm 4 move relative to each other.

[0022] A movable hole is provided inside the movable cylinder body 12, and the inner diameter of the movable hole is equal to the outer diameter of the micro electric cylinder 11, and the two can be in sliding fit connection. This design enables the micro electric cylinder 11 to drive the sliding plate 17 to move up and down after extending into the movable cylinder body 12. A sliding groove is provided inside the movable cylinder body 12, and the inner diameter of the sliding groove is equal to the outer diameter of the sliding plate 17, and the two can be in sliding fit connection. This design makes the up and down movement of the sliding plate 17 more stable through the sliding fit connection between the sliding plate 17 and the sliding groove. The specification of the limit clamping plate 18 matches the specification of the limit rack 16, and the two can be in meshing connection. This design enables the sliding plate 17 to drive the limit clamping plate 18 to move downward and be in meshing connection with the limit rack 16, so that the relative movement between the upper swing arm 3 and the lower swing arm 4 is limited, thereby being able to share a part of the bearing force for the electric push rod 5 and thus improving the service life of the electric push rod 5.

[0023] As the second embodiment of the present utility model: The staff first electrically connect the electric push rod 5 and the micro electric cylinder 11 to an external power source and an external controller through wires. After adjusting the position between the upper swing arm 3 and the lower swing arm 4 through the electric push rod 5, the micro electric cylinder 11 is started, so that the micro electric cylinder 11 can drive the sliding plate 17 to move downward after extending into the movable cylinder body 12. The sliding plate 17 can drive the limit clamping plate 18 to move downward and be in meshing connection with the limit rack 16, so that the relative movement between the upper swing arm 3 and the lower swing arm 4 is limited, thereby being able to share a part of the bearing force for the electric push rod 5 and thus improving the service life of the electric push rod 5.

[0024] The foregoing has shown and described the basic principles, main features and advantages of the present utility model. For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above-mentioned exemplary embodiments, and without departing from the spirit or basic features of the present utility model, the present utility model can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present utility model. Any reference signs in the claims should not be construed as limiting the claims concerned.

[0025] In addition, it should be understood that although this specification is described in terms of embodiments, not every embodiment only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A wheel-foot connecting frame and an unmanned vehicle, comprising a pivoting column body, a micro electric cylinder, a movable cylinder, a movable plate, a limit rack, a sliding plate and a limit clamping plate, characterized in that: The upper half of the pivot column body is rotatably connected to an upper swing arm, the lower half of the pivot column body is rotatably connected to a lower swing arm, an electric push rod is hingedly connected between the upper swing arm and the lower swing arm, the upper swing arm and the lower half of the lower swing arm are rotatably connected to a support column body, a wheel foot connecting plate is fixed to the lower end surface of the support column body, and connecting holes are opened on the sides of the upper swing arm and the lower swing arm, and the connecting holes can be rotatably connected with fixing bolts; An upper fixed plate is installed on the side of the upper swing arm, and a lower fixed plate is installed on the side of the lower swing arm. An upper rotating column is rotatably connected inside the upper fixed plate, a movable plate is fixed on the right side of the upper rotating column, a limiting rack is fixed on the upper end surface of the movable plate, a lower rotating column is rotatably connected inside the lower fixed plate, a movable cylinder is fixed on the upper end surface of the lower rotating column, a micro electric cylinder is installed on the upper end surface of the movable cylinder, a sliding plate is installed on the lower end surface of the micro electric cylinder, and a limiting clamping plate is fixed on the lower end surface of the sliding plate.

2. A wheel-foot connecting frame and an unmanned vehicle according to claim 1, characterized in that: A first rotating hole is provided inside the upper fixed plate, and the inner diameter of the first rotating hole is equal to the outer diameter of the upper rotating column, and the two can be rotatably connected in a fit. A second rotating hole is provided inside the lower fixed plate, and the inner diameter of the second rotating hole is equal to the outer diameter of the lower rotating column, and the two can be rotatably connected in a fit.

3. The wheel-foot connecting frame and the unmanned vehicle according to claim 1, characterized in that: A movable hole is provided inside the movable cylinder, the inner diameter of the movable hole is equal to the outer diameter of the micro electric cylinder, and the two can be fitted and slidably connected.

4. The wheel-foot connecting frame and the unmanned vehicle according to claim 1, characterized in that: A sliding groove is provided inside the movable cylinder, the inner diameter of the sliding groove is equal to the outer diameter of the sliding plate, and the two can fit and slide in connection.

5. The wheel-foot connecting frame and the unmanned vehicle according to claim 1, characterized in that: A rectangular groove is provided inside the movable cylinder, and the inner wall of the rectangular groove can be fitted and slidably connected with the outer wall of the movable plate.

6. The wheel-foot connecting frame and the unmanned vehicle according to claim 1, characterized in that: The specification of the position-limiting clamping plate matches that of the position-limiting rack, and the two can be fitted and meshed with each other.

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