Steering device of agricultural picking robot

Abstract

The utility model relates to the technical field of agricultural equipment, and discloses an agricultural picking robot steering device which comprises a mounting frame, a first driving steering mechanism is arranged at the rear end of the inner wall of the mounting frame, a second driving steering mechanism is arranged at the front end of the inner wall of the mounting frame, and the first driving steering mechanism comprises a first servo motor. The front face of the first servo motor is fixedly connected with the front end of the inner wall of the mounting frame, the output end of the first servo motor movably penetrates through the back face of the mounting frame, a first belt wheel is fixedly mounted at the output end of the first servo motor, and the outer wall of the first belt wheel is movably engaged with a first driving belt; by arranging the first driving steering mechanism and the second driving steering mechanism, dual-driving steering of the steering device is achieved through the first driving steering mechanism and the second driving steering mechanism, so that the picking robot can conduct steering operation more flexibly, and the picking efficiency and the picking quality are improved.

Description

Technical Field

[0001] This utility model relates to the field of agricultural equipment technology, and in particular to a steering device for an agricultural harvesting robot. Background Technology

[0002] Agriculture refers to the industry that utilizes the growth and development patterns of plants and animals to obtain products through artificial cultivation. It belongs to the primary sector and is a fundamental industry supporting national economic construction and development. In a broad sense, agriculture includes crop farming, forestry, animal husbandry, fisheries, and related auxiliary activities; in a narrow sense, it refers specifically to crop farming. The objects of agricultural labor are living plants and animals, and the products are the plants and animals themselves. Agriculture has a vast distribution area. Almost the entire Earth's surface, except for the poles and deserts, can be used for agricultural production. Agricultural production is constrained by changes in the natural environment, distribution patterns, and the life cycles of organisms, determining its characteristics of being life-dependent, seasonal, cyclical, and regional. The basic trends and characteristics of contemporary global agricultural development are a high degree of commercialization, capitalization, large-scale production, specialization, regionalization, factory farming, knowledge-based production, socialization, and internationalization, all intertwined to improve land productivity, agricultural labor productivity, agricultural product commercialization, and international market competitiveness.

[0003] The steering mechanisms of existing agricultural harvesting robots can only perform simple left and right turns, and the overall steering process is relatively rigid, which reduces the harvesting efficiency and quality of agricultural harvesting robots and cannot meet the needs of large-scale agricultural harvesting.

[0004] Therefore, we propose a steering device for agricultural harvesting robots. Utility Model Content

[0005] The present invention aims to solve the technical problems existing in the prior art and provide a steering device for agricultural harvesting robots.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an agricultural harvesting robot steering device, comprising a mounting frame, a first driving steering mechanism disposed at the rear end of the inner wall of the mounting frame, and a second driving steering mechanism disposed at the front end of the inner wall of the mounting frame. The first driving steering mechanism includes a first servo motor, and the front of the first servo motor is fixedly connected to the front end of the inner wall of the mounting frame. The output end of the first servo motor movably penetrates the back end of the mounting frame. A first pulley is fixedly mounted on the output end of the first servo motor. A first driving belt is movably engaged on the outer wall of the first pulley, and the left side wall of the first driving belt movably penetrates the middle end of the inner wall of the mounting frame. A second pulley is movably engaged on the left side of the inner wall of the first driving belt. A first rotating shaft is fixedly mounted on the front of the second pulley, and the front of the first rotating shaft movably penetrates the front of the mounting frame. A first bevel gear is fixedly mounted on the middle end of the outer wall of the first rotating shaft. The second driving steering mechanism includes a second servo motor, and the back end of the second servo motor is fixedly connected to the rear end of the inner wall of the mounting frame.

[0007] Preferably, the output end of the second servo motor extends through the front of the mounting frame, and a third pulley is fixedly mounted on the output end of the second servo motor.

[0008] Preferably, the outer wall of the third pulley is movably engaged with the second drive belt, and the left side wall of the second drive belt movably passes through the middle of the inner wall of the mounting frame.

[0009] Preferably, a fourth pulley is movably engaged on the left side of the inner wall of the second drive belt.

[0010] Preferably, a connecting pipe is fixedly installed on the front end of the inner wall of the fourth pulley, and the front end of the outer wall of the connecting pipe is movably connected to the inner wall of the mounting frame, and the inner wall of the connecting pipe is movably connected to the front end of the outer wall of the first rotating shaft.

[0011] Preferably, a first connecting sleeve is fixedly installed on the rear end of the inner wall of the fourth pulley, and the inner wall of the first connecting sleeve is movably connected to the outer wall of the first rotating shaft.

[0012] Preferably, a connecting rod is fixedly installed on the rear end of the left side wall of the first connecting sleeve, a second connecting sleeve is fixedly installed on the back of the connecting rod, and a second rotating shaft is movably installed on the inner wall of the second connecting sleeve.

[0013] Preferably, a second bevel gear is fixedly installed on the right side wall of the second rotating shaft, and the outer wall of the second bevel gear is movably engaged with the outer wall of the first bevel gear.

[0014] Preferably, an end effector mounting bracket is fixedly installed on the left side wall of the second rotating shaft.

[0015] This utility model provides a steering device for an agricultural harvesting robot. It has the following beneficial effects:

[0016] 1. The agricultural harvesting robot steering device is provided with a first drive steering mechanism and a second drive steering mechanism. The first drive steering mechanism and the second drive steering mechanism realize the dual drive steering of the steering device, which enables the harvesting robot to perform steering operations more flexibly, thereby improving harvesting efficiency and harvesting quality.

[0017] 2. The agricultural harvesting robot steering device, by setting a first connecting sleeve, a connecting rod and a second connecting sleeve, enables the second rotating shaft to rotate more stably, avoids the phenomenon of the second rotating shaft deviating during rotation, and further improves the stability of the device.

[0018] 3. This agricultural harvesting robot steering device, by setting up an end effector mounting bracket, makes it easier to install and disassemble the end effector of the harvesting robot, thereby achieving the effect of convenient replacement of the end effector and increasing the flexibility of the device. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall front structure of this utility model;

[0020] Figure 2 This is a front view of the first drive steering mechanism of this utility model;

[0021] Figure 3 This is a front view of the second drive steering mechanism of this utility model.

[0022] Legend: 10. Mounting frame; 11. First drive steering mechanism; 12. Second drive steering mechanism; 13. First servo motor; 14. First pulley; 15. First drive belt; 16. Second pulley; 17. First rotating shaft; 18. First bevel gear; 19. Second servo motor; 20. Third pulley; 21. Second drive belt; 22. Fourth pulley; 23. Connecting pipe; 24. First connecting sleeve; 25. Connecting rod; 26. Second connecting sleeve; 27. Second rotating shaft; 28. Second bevel gear; 29. ​​End effector mounting bracket. Detailed Implementation

[0023] To more clearly illustrate the embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0024] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the implementation conditions of this utility model. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0025] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0026] In the description of the embodiments of this utility model, it should be noted that the terms "center," "upper," "lower," "inner," "outer," and "side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] In the description of the embodiments of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model based on the specific circumstances.

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] Example 1: A steering device for an agricultural harvesting robot, such as Figures 1-2As shown, the system includes a mounting frame 10. A first drive steering mechanism 11 is provided at the rear end of the inner wall of the mounting frame 10, and a second drive steering mechanism 12 is provided at the front end of the inner wall of the mounting frame 10. The first drive steering mechanism 11 includes a first servo motor 13, and the front of the first servo motor 13 is fixedly connected to the front end of the inner wall of the mounting frame 10. The output end of the first servo motor 13 movably passes through the back of the mounting frame 10. A first pulley 14 is fixedly mounted on the output end of the first servo motor 13. A first drive belt 15 is movably engaged with the outer wall of the first pulley 14, and the left side wall of the first drive belt 15 movably passes through the mounting frame. At the middle of the inner wall of the mounting frame 10, a second pulley 16 is movably engaged with the left side of the inner wall of the first drive belt 15. A first rotating shaft 17 is fixedly installed on the front of the second pulley 16, and the front of the first rotating shaft 17 moves through the front of the mounting frame 10. A first bevel gear 18 is fixedly installed at the middle of the outer wall of the first rotating shaft 17. By setting a first drive steering mechanism 11 and a second drive steering mechanism 12, the dual drive steering of the steering device is realized through the first drive steering mechanism 11 and the second drive steering mechanism 12, which enables the picking robot to perform steering operations more flexibly, thereby improving the picking efficiency and picking quality.

[0030] Example 2: Based on Example 1, as follows Figure 3 As shown, the second drive steering mechanism 12 includes a second servo motor 19, and the back of the second servo motor 19 is fixedly connected to the rear end of the inner wall of the mounting frame 10. The output end of the second servo motor 19 movably passes through the front of the mounting frame 10. A third pulley 20 is fixedly installed on the output end of the second servo motor 19. A second drive belt 21 is movably engaged on the outer wall of the third pulley 20. The left side wall of the second drive belt 21 movably passes through the middle of the inner wall of the mounting frame 10. A fourth pulley 22 is movably engaged on the left side of the inner wall of the second drive belt 21. A connecting pipe 23 is fixedly installed on the front end of the inner wall of the fourth pulley 22. The front end of the outer wall of the connecting pipe 23 is movably connected to the inner wall of the mounting frame 10. The inner wall of the connecting pipe 23 is movably connected to the front end of the outer wall of the first rotating shaft 17. By setting the first connecting sleeve 24, the connecting rod 25 and the second connecting sleeve 26, the second rotating shaft 27 can rotate more stably, avoiding the phenomenon of the second rotating shaft 27 deviating during rotation, and further improving the stability of the device.

[0031] Example 3: Based on Examples 1 and 2, as follows... Figure 3As shown, a first connecting sleeve 24 is fixedly installed on the rear end of the inner wall of the fourth pulley 22, and the inner wall of the first connecting sleeve 24 is movably connected to the outer wall of the first rotating shaft 17. A connecting rod 25 is fixedly installed on the rear end of the left side wall of the first connecting sleeve 24, and a second connecting sleeve 26 is fixedly installed on the back of the connecting rod 25. A second rotating shaft 27 is movably installed on the inner wall of the second connecting sleeve 26. A second bevel gear 28 is fixedly installed on the right side wall of the second rotating shaft 27, and the outer wall of the second bevel gear 28 is movably meshed with the outer wall of the first bevel gear 18. An end effector mounting bracket 29 is fixedly installed on the left side wall of the second rotating shaft 27. By setting the end effector mounting bracket 29, the end effector of the harvesting robot can be installed and disassembled more conveniently, thereby achieving the effect of convenient replacement of the end effector and increasing the flexibility of the device.

[0032] The working principle of this utility model is as follows: In use, the first servo motor 13 drives the first pulley 14 to rotate. The first pulley 14 drives the second pulley 16 to rotate via the first drive belt 15. The second pulley 16 drives the first rotating shaft 17 to rotate. The first rotating shaft 17 drives the first bevel gear 18 to rotate. At the same time, the second servo motor 19 drives the third pulley 20 to rotate. The third pulley 20 drives the fourth pulley 22 to rotate via the second drive belt 21. The fourth pulley 22 drives the first rotating shaft 17 to rotate through the cooperation of the connecting pipe 23 and the first connecting sleeve 24, making the rotation of the first bevel gear 18 more stable. In addition, the fourth pulley 22 also drives the second rotating shaft 27 to rotate through the cooperation of the connecting rod 25 and the second connecting sleeve 26. The second rotating shaft 27 drives the second bevel gear 28 to rotate. The second bevel gear 28 meshes with the first bevel gear 18, thereby realizing the dual-drive steering of the steering device, enabling the harvesting robot to perform steering operations more flexibly, improving harvesting efficiency and harvesting quality.

[0033] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A steering device for an agricultural harvesting robot, comprising a mounting frame (10), characterized in that: The rear end of the inner wall of the mounting frame (10) is provided with a first drive steering mechanism (11), and the front end of the inner wall of the mounting frame (10) is provided with a second drive steering mechanism (12). The first drive steering mechanism (11) includes a first servo motor (13), and the front of the first servo motor (13) is fixedly connected to the front end of the inner wall of the mounting frame (10). The output end of the first servo motor (13) movably passes through the back of the mounting frame (10). A first pulley (14) is fixedly installed on the output end of the first servo motor (13). The outer wall of the first pulley (14) is movably engaged with a first drive belt (15), and the first drive belt (12) is also provided with a second drive steering mechanism (12). The left side of the drive belt (15) moves through the middle of the inner wall of the mounting frame (10). The left side of the inner wall of the first drive belt (15) is engaged with the second pulley (16). The front of the second pulley (16) is fixedly mounted with the first rotating shaft (17), and the front of the first rotating shaft (17) moves through the front of the mounting frame (10). The middle of the outer wall of the first rotating shaft (17) is fixedly mounted with the first bevel gear (18). The second drive steering mechanism (12) includes a second servo motor (19), and the back of the second servo motor (19) is fixedly connected to the rear end of the inner wall of the mounting frame (10).

2. The agricultural harvesting robot steering device according to claim 1, characterized in that: The output end of the second servo motor (19) moves through the front of the mounting frame (10), and the output end of the second servo motor (19) is fixedly mounted with a third pulley (20).

3. The agricultural harvesting robot steering device according to claim 2, characterized in that: The outer wall of the third pulley (20) is movably engaged with the second drive belt (21), and the left side wall of the second drive belt (21) movably penetrates the middle of the inner wall of the mounting frame (10).

4. The agricultural harvesting robot steering device according to claim 3, characterized in that: The fourth pulley (22) is movably engaged on the left side of the inner wall of the second drive belt (21).

5. The agricultural harvesting robot steering device according to claim 4, characterized in that: The front end of the inner wall of the fourth pulley (22) is fixedly installed with a connecting pipe (23), and the front end of the outer wall of the connecting pipe (23) is movably connected to the inner wall of the mounting frame (10). The inner wall of the connecting pipe (23) is movably connected to the front end of the outer wall of the first rotating shaft (17).

6. The agricultural harvesting robot steering device according to claim 4, characterized in that: The inner rear end of the fourth pulley (22) is fixedly installed with a first connecting sleeve (24), and the inner wall of the first connecting sleeve (24) is movably connected to the outer wall of the first rotating shaft (17).

7. The agricultural harvesting robot steering device according to claim 6, characterized in that: A connecting rod (25) is fixedly installed on the rear end of the left side wall of the first connecting sleeve (24), and a second connecting sleeve (26) is fixedly installed on the back of the connecting rod (25). A second rotating shaft (27) is movably installed on the inner wall of the second connecting sleeve (26).

8. The agricultural harvesting robot steering device according to claim 7, characterized in that: A second bevel gear (28) is fixedly installed on the right side wall of the second rotating shaft (27), and the outer wall of the second bevel gear (28) is in movable meshing with the outer wall of the first bevel gear (18).

9. The agricultural harvesting robot steering device according to claim 7, characterized in that: An end effector mounting bracket (29) is fixedly installed on the left side wall of the second rotating shaft (27).

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