Profiling mobile platform suitable for running in hills and mountains

Abstract

The utility model relates to the field of mountain bikes, and discloses a profiling mobile platform suitable for running in hills and mountains, which comprises a frame and a plurality of wheel components mounted on the frame. The frame comprises connecting rods and a supporting plate frame, wheel assemblies are installed at the two ends of each connecting rod, the supporting plate frame is installed between the two connecting rods, and one end of the supporting plate frame is installed on the connecting rods through a profiling damping device. The profiling damping device comprises a first shaft seat, a second shaft seat and a connecting shaft, the first shaft seat and the second shaft seat are both installed on the connecting shaft and can rotate around the connecting shaft, the first shaft seat is fixedly connected with the connecting rod, and the second shaft seat is fixedly connected with the supporting plate frame. According to the profiling mobile platform, the profiling damping device is adopted, the lever principle is utilized to adapt to uneven terrains such as hills and mountains, the autonomous profiling function is achieved when the robot passes through a bumpy road section, and the operation safety is effectively improved. And the wheels can be well clung to the bottom surface, so that the profiling mobile platform is high in stability during running.

Description

Technical Field

[0001] This utility model relates to the field of mountain bikes, and more particularly to a contour-following mobile platform adapted for riding in hilly and mountainous terrain. Background Technology

[0002] Southern my country's hilly regions possess abundant agricultural resources, including oilseeds, fruits and vegetables, medicinal herbs, and tea, with enormous development potential. However, the rugged terrain, significant elevation changes, numerous steep slopes, and fragmented land parcels severely restrict the widespread adoption of agricultural mechanization in these areas, resulting in a significant lag in agricultural mechanization levels compared to the plains. The steering performance and ability to adapt to rough terrain are crucial indicators for evaluating agricultural machinery.

[0003] Most agricultural machinery in my country with contour-following capabilities uses front-wheel Ackermann steering or differential steering. When turning in areas with large terrain undulations and steep slopes, problems such as large turning radius and inflexible operation arise.

[0004] Patent No. CN113184070A discloses "a leveling chassis for agricultural machinery suitable for hilly and mountainous areas and agricultural machinery". This patent can keep the vehicle body in a level state on hilly and mountainous areas with varying heights and has a certain climbing and turning ability. However, the chassis adopts four-wheel differential steering, which results in poor running stability and difficulty in steering in environments with large terrain undulations and steep slopes.

[0005] Patent No. CN206841512U discloses "A four-wheel steering system for hilly and mountainous tractors". This patent uses a four-wheel steering system in tractors to make the tractors more flexible in steering and more stable in hilly and mountainous areas. However, it does not take into account the conformal ability of agricultural machinery when encountering rugged road sections. Utility Model Content

[0006] This invention addresses the shortcomings of existing technologies by providing a contour-following mobile platform adapted for driving in hilly and mountainous terrain.

[0007] To solve the above-mentioned technical problems, the present invention provides a solution through the following technical method:

[0008] A contour-following mobile platform adapted for driving in hilly and mountainous terrain includes a frame and a plurality of wheel assemblies mounted on the frame.

[0009] The frame includes connecting rods and a support plate frame. Wheel assemblies are mounted on both ends of the connecting rods. The support plate frame is installed between the two connecting rods, and one end of the support plate frame is mounted on the connecting rod via a contour-following shock absorber.

[0010] The contour-following damping device includes a first bearing, a second bearing, and a connecting shaft. Both the first bearing and the second bearing are mounted on the connecting shaft and can rotate around the connecting shaft. The first bearing is fixedly connected to the connecting rod, and the second bearing is fixedly connected to the support plate frame.

[0011] Preferably, the contour-following damping device also includes a third bearing mounted on the connecting shaft. The second bearing is located between the first bearing and the third bearing, and the third bearing is also fixedly connected to the support plate frame.

[0012] Preferably, bearings are installed in the first, second, and third bearing seats, and all bearings are connected to the connecting shaft.

[0013] Preferably, the support plate frame includes a square frame and a first connector fixed to the frame, the first connector being fixed to a second bearing.

[0014] Preferably, a second connector is installed on the side wall of the frame, and the second connector is fixed on the third bearing.

[0015] Preferably, the other end of the support frame is fixed to another connecting rod by a column.

[0016] Preferably, the wheel assembly includes a support, a servo motor, a wheel frame, and a hub motor. The servo motor is connected to the wheel frame and drives it to swing. The hub motor is mounted on the wheel frame, the servo motor is mounted on the support, and the support is fastened to the connecting rod.

[0017] Preferably, a servo disk is mounted on the output shaft of the servo, a rotating shaft is fixed to the top of the wheel frame, a connecting disk is fixed to the top of the rotating shaft, a coupling is mounted on the support, and the rotating shaft passes through the coupling and is fixedly connected to the servo disk.

[0018] This utility model, by adopting the above technical solution, has significant technical effects:

[0019] This contour-following mobile platform eliminates the traditional spring shock absorber and adopts a new shock absorption mechanism. The contour-following shock absorption device uses the lever principle to adapt to uneven terrain such as hills and mountains, achieving autonomous contour-following function when traversing rugged road sections, effectively improving operational safety. The wheels can maintain a good grip on the bottom surface, resulting in high stability for the contour-following mobile platform during travel.

[0020] Each wheel assembly of the contour-following mobile platform is equipped with a servo motor and a hub motor, enabling the platform to move in various ways, such as turning on the spot, crabbing, and diagonal. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of this utility model.

[0022] Figure 2 This is a schematic diagram of the contour-following damping device.

[0023] Figure 3 This is a structural diagram of the support frame.

[0024] Figure 4 This is a structural diagram of the wheel assembly.

[0025] Figure 5 This is a schematic diagram of the structure of this utility model when turning in place.

[0026] Figure 6 This is a schematic diagram of the structure of this utility model when it is moving in a crab-like manner.

[0027] Figure 7 This is a schematic diagram of the structure of this utility model when traversing rugged roads.

[0028] The names of the body parts referred to by the numbers in the above attached diagrams are as follows:

[0029] 1—Frame, 11—Linkage, 12—Support plate frame, 13—Column, 121—Frame, 122—First connector, 123—Second connector

[0030] 2—Wheel assembly, 21—Support, 22—Servo motor, 23—Wheel frame, 24—Wheel hub motor, 25—Servo motor disc, 26—Shaft, 27—Connecting disc, 28—Coupling

[0031] 3—Contour-following damping device, 31—First bearing seat, 32—Second bearing seat, 33—Connecting shaft, 34—Third bearing seat Detailed Implementation

[0032] The following is in conjunction with the appendix Figure 1-7 The present invention will be further described in detail with reference to the embodiments.

[0033] Example 1

[0034] A contour-following mobile platform adapted to hilly terrain includes a frame 1 and a plurality of wheel assemblies 2. In this embodiment, there are four wheel assemblies 2, which are mounted on the frame 1 and are evenly distributed at the four corners of the frame 1.

[0035] The frame 1 includes two connecting rods 11 and a support plate frame 12. Each connecting rod 11 has a wheel assembly 2 mounted at both ends. The support plate frame 12 is installed between the two connecting rods 11 and is used to mount control and monitoring components. One end of the support plate frame 12 is mounted on the connecting rod 11 via a contour-following shock absorber 3. The contour-following shock absorber 3 primarily functions to reduce vibration, enabling this mobile platform to adapt to various mountainous terrain conditions.

[0036] The contour-following damping device 3 includes a first axle seat 31, a second axle seat 32, and a connecting shaft 33. Both the first axle seat 31 and the second axle seat 32 are mounted on the connecting shaft 33 and can rotate around the connecting shaft 33. The connecting shaft 33 passes through the first axle seat 31 and the second axle seat 32. The first axle seat 31 is fixedly connected to the connecting rod 11 by bolts, and the second axle seat 32 is fixedly connected to the support plate frame 12 by bolts. The contour-following damping device 3 eliminates the traditional spring damping structure and adopts the lever principle. When encountering uneven road surfaces, the connecting rod 11 will swing on the connecting shaft 33 through the first axle seat 31 to adapt to the road conditions.

[0037] The contour-following damping device 3 also includes a third bearing 34 mounted on the connecting shaft 33, which can rotate around the connecting shaft 33. A second bearing 32 is located between the first bearing 31 and the third bearing 34, and the third bearing 34 is also fixedly connected to the support plate frame 12 by bolts. The third bearing 34 and the second bearing 32 are symmetrically arranged on both sides of the first bearing 31, so that the connecting shaft 33 is subjected to uniform force and the eccentric wear of the parts is reduced.

[0038] Bearings are installed in the first bearing seat 31, the second bearing seat 32, and the third bearing seat 34. All bearings are connected to the connecting shaft 33. The first bearing seat 31, the second bearing seat 32, and the third bearing seat 34 rotate more smoothly on the connecting shaft 33, and the fit between them is more precise.

[0039] The support frame 12 includes a square frame 121 and a first connector 122 fixed to the frame 121. Both the frame 121 and the first connector 122 are square tubes. The first connector 122 is fixed to the second bearing 32 by bolts.

[0040] A second connector 123 is installed on the side wall of the frame 121. The second connector 123 is also a square tube. The second connector 123 is fastened to the frame 121 by bolts and fixed to the third bearing 34 by bolts.

[0041] The wheel assembly 2 includes a support 21, a servo motor 22, a wheel frame 23, and a hub motor 24. The servo motor 22 is connected to the wheel frame 23 and drives it to swing. The servo motor 22 is used to change the direction of travel of the wheel, enabling the moving platform to achieve different modes of travel. The hub motor 24 is mounted on the wheel frame 23, and one hub motor 24 is mounted on each wheel, providing the driving power to the wheel. The servo motor 22 is mounted on the support 21, which is bolted to the connecting rod 11.

[0042] The contour-following mobile platform can achieve multiple driving modes. Different driving modes can be achieved by adjusting the wheel angle with the servo motor 22 and changing the wheel direction with the hub motor 24.

[0043] Turning in place mode: Adjust the wheel angle by servo 22 so that the center line of each wheel passes through the center point of the platform. At this time, the left front wheel and left rear wheel move forward, and the right front wheel and right rear wheel move backward. The platform can turn clockwise in place. Conversely, it can turn counterclockwise in place.

[0044] Inclined mode: By adjusting the wheel angles via servo motor 22, ensuring that the angle between all four wheels and the vehicle body is δ, and maintaining consistent wheel speeds, the platform can travel in a straight line along a direction with an angle δ to the vehicle body. When δ is 180°, the platform can achieve a crab-like movement mode. Figure 6 As shown.

[0045] When facing rough terrain, the contour-following mobile platform can utilize its contour-following shock absorption device 3 to make the platform operate more stably and ensure the stability of the working platform. For example... Figure 7 As shown, when encountering rocks, the contour-following shock absorption device 3 can ensure that the working platform remains level and will not become unstable due to the rugged terrain of hilly areas.

[0046] The contour-following mobile platform is driven by a fully linearly controlled distributed motor, aligning with the principles of green development. This structure features a short transmission chain, high transmission efficiency, and a compact design, eliminating transmission components such as half-shafts, universal joints, differentials, and gearboxes. It is suitable for driving in hilly areas and offers improved off-road capability.

[0047] Example 2

[0048] Example 2 is basically the same as Example 1, except that the other end of the support plate frame 12 is fixed to another connecting rod 11 by a column 13, and both ends of the column 13 are fastened to the support plate frame 12 and the connecting rod 11 by bolts respectively.

[0049] Example 3

[0050] Servo disk 25 is mounted on the output shaft of servo 22. A rotating shaft 26 is fixed to the top of wheel frame 23. A connecting disk 27 is fixed to the top of rotating shaft 26. A coupling 28 is mounted on support 21. Rotating shaft 26 passes through coupling 28 and is bolted to servo disk 25.

Claims

1. A contour-following mobile platform adapted for driving in hilly and mountainous terrain, comprising a frame (1) and a plurality of wheel assemblies (2), the wheel assemblies (2) being mounted on the frame (1); characterized in that: The frame (1) includes a connecting rod (11) and a support plate frame (12). Wheel assemblies (2) are installed at both ends of the connecting rod (11). The support plate frame (12) is installed between the two connecting rods (11). One end of the support plate frame (12) is installed on the connecting rod (11) through a contour-following shock absorber (3). The contour damping device (3) includes a first bearing (31), a second bearing (32) and a connecting shaft (33). The first bearing (31) and the second bearing (32) are both mounted on the connecting shaft (33) and can rotate around the connecting shaft (33). The first bearing (31) is fixedly connected to the connecting rod (11), and the second bearing (32) is fixedly connected to the support plate frame (12).

2. The contour-following mobile platform adapted to hilly and mountainous terrain according to claim 1, characterized in that: The contour damping device (3) also includes a third bearing (34) mounted on the connecting shaft (33). The second bearing (32) is located between the first bearing (31) and the third bearing (34). The third bearing (34) is also fixedly connected to the support plate frame (12).

3. The contour-following mobile platform adapted to hilly and mountainous terrain according to claim 2, characterized in that: Bearings are installed in the first bearing seat (31), the second bearing seat (32) and the third bearing seat (34), and all bearings are connected to the connecting shaft (33).

4. The contour-following mobile platform adapted to hilly and mountainous terrain according to claim 1, characterized in that: The support plate frame (12) includes a square frame (121) and a first connector (122) fixed to the frame (121), the first connector (122) being fixed to a second bearing (32).

5. The contour-following mobile platform adapted to hilly and mountainous terrain according to claim 4, characterized in that: A second connector (123) is installed on the side wall of the frame (121), and the second connector (123) is fixed on the third bearing (34).

6. The contour-following mobile platform adapted to hilly and mountainous terrain according to claim 1, characterized in that: The other end of the support plate frame (12) is fixed to another connecting rod (11) by a column (13).

7. A contour-following mobile platform adapted for driving in hilly and mountainous terrain according to any one of claims 1-6, characterized in that: The wheel assembly (2) includes a support (21), a servo motor (22), a wheel frame (23), and a hub motor (24). The servo motor (22) is connected to the wheel frame (23) and drives it to swing. The hub motor (24) is mounted on the wheel frame (23). The servo motor (22) is mounted on the support (21). The support (21) is fastened to the connecting rod (11).

8. The contour-following mobile platform adapted to hilly and mountainous terrain according to claim 7, characterized in that: A servo disk (25) is mounted on the output shaft of the servo motor (22), a rotating shaft (26) is fixed at the top of the wheel frame (23), a connecting disk (27) is fixed at the top of the rotating shaft (26), a coupling (28) is mounted on the support (21), and the rotating shaft (26) passes through the coupling (28) and is fixedly connected to the servo disk (25).

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