Ultra-light chassis of grain sampling robot

Abstract

The utility model discloses an ultra-light chassis of a grain sampling robot, and relates to the technical field of grain sampling, the ultra-light chassis of the grain sampling robot comprises two crawler walking mechanisms; the mounting frame is arranged between the two crawler walking mechanisms; and the first assembly frame is arranged between the two crawler walking mechanisms. Through the arrangement of the electromagnetic coil and the permanent magnet assembly, damping force opposite to the vibration direction can be dynamically generated according to the actual bumping impact condition of the chassis, so that accurate buffering adjustment is achieved, in the special working condition of small-amplitude high-frequency bumping, the combination of the electromagnetic coil and the permanent magnet can rapidly respond, and the damping effect is good. Appropriate damping force matched with high-frequency vibration is rapidly generated, shaking of the chassis under small and rapid changing impact is effectively restrained, and the stable state of the chassis is maintained.

Description

Technical Field

[0001] This application relates to the field of grain sampling technology, and in particular to an ultralight chassis for a grain sampling robot. Background Technology

[0002] In modern agriculture and grain storage, grain quality testing is a crucial step in obtaining accurate grain samples for component analysis and quality assessment. Traditional grain sampling methods often rely on manual operation, which is not only inefficient but also ill-suited for large-scale, complex operations. With the development of automation technology, grain sampling robots have emerged.

[0003] When robots move between grain stacks or travel on uneven ground, traditional shock absorption methods, such as relying solely on elastic elements, often rely on passive buffering based on elastic deformation. The magnitude and characteristics of the buffering force are relatively fixed. When the chassis is subjected to different degrees of bumps, traditional elastic elements, due to their fixed characteristics, find it difficult to adapt to these different working conditions simultaneously. Summary of the Invention

[0004] The purpose of this application is to provide an ultralight chassis for a grain sampling robot, which solves the problem of existing chassis adapting to different working conditions when subjected to varying degrees of bumps.

[0005] According to an embodiment of this application, an ultralight chassis for a grain sampling robot is proposed, comprising: two tracked walking mechanisms; a mounting frame disposed between the two tracked walking mechanisms; a first assembly frame disposed between the two tracked walking mechanisms; a placement plate disposed between the mounting frame and the first assembly frame, and located at the bottom of the mounting frame and the bottom of the first assembly frame; a plurality of mounting cylinders embedded in the placement plate; a second cavity disposed within the mounting cylinders; a first cavity disposed within the mounting cylinders, the inner ring of the first cavity concentrically enclosing the second cavity; four partitions disposed within the second cavity; a permanent magnet assembly disposed within the second cavity; and an electromagnetic coil disposed within the first cavity.

[0006] According to one aspect of the embodiments of this application, the permanent magnet system includes a plurality of permanent magnets, with two adjacent permanent magnets being N-pole permanent magnets and S-pole permanent magnets, respectively.

[0007] According to one aspect of the embodiments of this application, it further includes: a second assembly frame disposed between the two tracked walking mechanisms, which is hollow; the first assembly frame and the second assembly frame are the same.

[0008] According to one aspect of the embodiments of this application, it further includes: two connecting rods disposed between the first assembly frame and the second assembly frame, and located at the bottom of the first assembly frame and the bottom of the second assembly frame; the connecting rods are hollow.

[0009] According to one aspect of the embodiments of this application, the mounting frame, the first assembly frame, the second assembly frame and the connecting rod are all made of magnesium-lithium alloy or carbon fiber composite material.

[0010] According to one aspect of the embodiments of this application, it further includes: a plurality of first elastic strips disposed at the top of the inner cavity of the connecting rod; a plurality of second elastic strips disposed at the bottom of the inner cavity of the connecting rod; and a plurality of connecting strips disposed between the first elastic strips and the second elastic strips.

[0011] According to one aspect of the embodiments of this application, the hollow cavity of the connecting rod is filled with a lightweight energy-absorbing material, wherein the lightweight energy-absorbing material is a closed-cell polyurethane foam or aerogel.

[0012] According to one aspect of the present application, the placement plate is provided with a plurality of positioning grooves for positioning the mounting cylinder, and the bottom of each positioning groove is provided with an elastic buffer pad. The mounting cylinder is embedded in the positioning groove and connected to the placement plate through the elastic buffer pad.

[0013] In summary, the beneficial technical effects of this application are as follows:

[0014] By setting up an electromagnetic coil and permanent magnet system, a damping force opposite to the direction of vibration can be dynamically generated according to the actual situation of chassis bumps and impacts, thereby achieving precise buffering adjustment. Furthermore, when facing special working conditions such as small-amplitude high-frequency bumps, the combination of electromagnetic coil and permanent magnet can respond quickly and rapidly generate an appropriate damping force that matches the high-frequency vibration, effectively suppressing the chassis from shaking under small, rapidly changing impacts and maintaining the stability of the chassis. Attached Figure Description

[0015] Figure 1 This is an isometric schematic diagram of the ultralight chassis of the grain sampling robot of this application;

[0016] Figure 2 This is a schematic diagram of the mounting bracket structure;

[0017] Figure 3 This is a schematic diagram of the mounting cylinder structure;

[0018] Figure 4 This is a schematic diagram of the first elastic strip structure;

[0019] Figure 5 This is a schematic diagram of the first cavity structure;

[0020] Reference numerals in the attached drawings: 1. Tracked walking mechanism; 2. Mounting frame; 3. First assembly frame; 4. Second assembly frame; 5. Connecting rod; 6. Placement plate; 7. Mounting cylinder; 51. First elastic strip; 52. Connecting strip; 53. Second elastic strip; 71. First cavity; 72. Permanent magnet assembly; 73. Second cavity; 74. Partition plate; 75. Electromagnetic coil. Detailed Implementation

[0021] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0022] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0023] In the embodiments of this application, the same reference numerals denote the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width, and other dimensions of various components in the embodiments of this application shown in the accompanying drawings, as well as the overall thickness, length, width, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0024] In this application, "multiple" means two or more (including two).

[0025] like Figure 1 - Figure 5As shown, an embodiment of this utility model provides an ultralight chassis for a grain sampling robot, comprising: two tracked walking mechanisms 1; a mounting frame 2 disposed between the two tracked walking mechanisms 1; a first assembly frame 3 disposed between the two tracked walking mechanisms 1; a placement plate 6 disposed between the mounting frame 2 and the first assembly frame 3, and located at the bottom of the mounting frame 2 and the bottom of the first assembly frame 3; a plurality of mounting cylinders 7 embedded in the placement plate 6; a second cavity 73 disposed within the mounting cylinders 7; a first cavity 71 disposed within the mounting cylinders 7, the inner ring of the first cavity 71 concentrically enclosing the second cavity 73; four partitions 74 disposed within the second cavity 73; a permanent magnet assembly 72 disposed within the second cavity 73; and an electromagnetic coil 75 disposed within the first cavity 71.

[0026] Four partitions 74 divide the second cavity 73 into four, and the four second cavities 73 are interconnected. The placement plate 6 can be used to place the sampling device. When the chassis bounces upward, the electromagnetic coil 75 moves upward relative to the permanent magnet assembly 72, and the Ampere force generated is directed downward, which plays a role in suppressing the upward movement of the chassis. When the chassis bounces downward, the Ampere force is directed upward, which hinders the chassis from moving further downward.

[0027] The permanent magnet assembly 72 comprises several permanent magnets, with adjacent permanent magnets being N-pole and S-pole permanent magnets, respectively. By arranging the permanent magnets in the permanent magnet assembly 72 in an N-S-N configuration, an alternating magnetic field distribution is formed, which can create a relatively stable magnetic field environment within the four second cavities 73. In different regions, the viscosity of the magnetofluid changes with the magnetic field strength. The N-S-N arrangement of the permanent magnets allows the magnetofluid to exhibit higher viscosity in certain regions, thereby better absorbing impact energy.

[0028] It also includes: a second assembly frame 4, which is hollow and positioned between the two tracked walking mechanisms 1; the first assembly frame 3 and the second assembly frame 4 are identical. Storage and sampling devices can be placed on the first assembly frame 3 and the second assembly frame 4 for storing samples after sampling.

[0029] It also includes: two connecting rods 5, which are disposed between the first assembly frame 3 and the second assembly frame 4, and located at the bottom of the first assembly frame 3 and the bottom of the second assembly frame 4; the connecting rods 5 are hollow. By setting the connecting rods 5, one end is connected to the first assembly frame 3 and the other end is connected to the second assembly frame 4, forming an organic whole.

[0030] Mounting bracket 2, first assembly bracket 3, second assembly bracket 4, and connecting rod 5 are all made of magnesium-lithium alloy or carbon fiber composite material. This lightweight material ensures sufficient connection and support strength while minimizing the weight of the chassis.

[0031] It also includes: several first elastic strips 51 disposed at the top of the inner cavity of the connecting rod 5; several second elastic strips 53 disposed at the bottom of the inner cavity of the connecting rod 5; and several connecting strips 52 disposed between the first elastic strips 51 and the second elastic strips 53. When the chassis is subjected to bumps and impacts, the first elastic strips 51 and the second elastic strips 53 will undergo elastic deformation due to external force, and the elastic strips will be compressed or stretched. The connecting strips 52 connect the first elastic strips 51 and the second elastic strips 53, so that they can function as a whole to provide cushioning.

[0032] The hollow cavity of connecting rod 5 is filled with a lightweight energy-absorbing material, which is a closed-cell polyurethane foam or aerogel. This lightweight energy-absorbing material absorbs energy through its own deformation. The closed-cell polyurethane foam or aerogel contains numerous tiny closed pores. When subjected to external pressure, these pores are compressed, causing the material to deform and converting the impact energy into internal elastic potential energy and heat energy. Simultaneously, as the elastic strip undergoes elastic deformation, the energy-absorbing material also absorbs energy, further reducing the vibration amplitude. The lightweight energy-absorbing material is not shown in the figure.

[0033] The placement plate 6 has multiple positioning grooves for positioning the mounting cylinder 7. Each positioning groove has an elastic buffer pad at its bottom. The mounting cylinder 7 is embedded in the positioning groove and connected to the placement plate 6 through the elastic buffer pad. The positioning grooves and elastic buffer pads are not shown in the figure. The positioning grooves provide a precise installation position for the mounting cylinder 7. When the chassis is subjected to bumps and impacts, the impact is first transmitted to the placement plate 6. At this time, the elastic buffer pad at the bottom of the mounting cylinder 7 will undergo elastic deformation to absorb part of the vibration energy.

[0034] The technical solution provided by this utility model is that when the chassis encounters bumps, the electromagnetic coil 75 will generate relative motion with respect to the permanent magnet assembly 72. According to the principle of electromagnetic induction, the electromagnetic coil 75 generates an induced current. This current is subjected to Ampere force in the magnetic field generated by the permanent magnet assembly 72, and the direction of the Ampere force is opposite to the direction of the chassis bumps, thereby dynamically suppressing the vibration of the chassis and achieving precise shock absorption. At the same time, the first elastic strip 51 and the second elastic strip 53 will undergo elastic deformation according to the force generated by the bumps, absorbing a part of the energy. Through the lightweight energy-absorbing material in the connecting rod 5, the vibration energy is further reduced.

[0035] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be included within the scope of protection of this application.

Claims

1. A grain sampling robot ultra-light chassis, characterized by, include: Two tracked walking mechanisms (1); Mounting bracket (2) is set between two tracked walking mechanisms (1); The first assembly frame (3) is disposed between the two tracked walking mechanisms (1); A placement plate (6) is disposed between the mounting frame (2) and the first assembly frame (3), and is located at the bottom of the mounting frame (2) and the bottom of the first assembly frame (3); Several mounting cylinders (7) are embedded in the placement plate (6); The second cavity (73) is disposed inside the mounting cylinder (7); The first cavity (71) is disposed inside the mounting cylinder (7), and the inner ring of the first cavity (71) concentrically encloses the second cavity (73); Four partitions (74) are disposed inside the second cavity (73); The permanent magnet assembly (72) is disposed within the second cavity (73); An electromagnetic coil (75) is disposed inside the first cavity (71).

2. A grain sampling robot ultra-light chassis according to claim 1, characterized in that: The permanent magnet assembly (72) includes several permanent magnets, with adjacent permanent magnets being N-pole permanent magnets and S-pole permanent magnets, respectively.

3. A grain sampling robot ultra-light chassis according to claim 1, characterized in that: Also includes: The second assembly frame (4) is set between the two tracked walking mechanisms (1) and is hollow; The first assembly rack (3) and the second assembly rack (4) are the same.

4. A grain sampling robot ultra-light chassis according to claim 3, characterized in that: Also includes: Two connecting rods (5) are disposed between the first assembly frame (3) and the second assembly frame (4), and are located at the bottom of the first assembly frame (3) and the bottom of the second assembly frame (4); the connecting rods (5) are hollow.

5. A grain sampling robot ultra-light chassis according to claim 4, characterized in that: The mounting bracket (2), the first assembly bracket (3), the second assembly bracket (4) and the connecting rod (5) are all made of magnesium-lithium alloy or carbon fiber composite material.

6. A grain sampling robot ultra-light chassis according to claim 4, characterized in that: Also includes: Several first elastic strips (51) are disposed at the top of the inner cavity of the connecting rod (5); Several second elastic strips (53) are disposed at the bottom of the inner cavity of the connecting rod (5); Several connecting strips (52) are disposed between the first elastic strip (51) and the second elastic strip (53).

7. A grain sampling robot ultra-light chassis according to claim 4, characterized in that: The hollow cavity of the connecting rod (5) is filled with a lightweight energy-absorbing material, which is a closed-cell polyurethane foam or aerogel.

8. A grain sampling robot ultra-light chassis according to claim 1, characterized in that: The placement plate (6) is provided with a plurality of positioning grooves for positioning the mounting cylinder (7). Each positioning groove has an elastic buffer pad at the bottom. The mounting cylinder (7) is embedded in the positioning groove and connected to the placement plate (6) through the elastic buffer pad.

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