Chassis special for tomato pollination robot

Abstract

The utility model relates to the technical field of robots, and discloses a special chassis for a tomato pollination robot, which comprises a main frame, the upper surface of the main frame is fixedly connected with a bracket, one side of the outer wall of the main frame is provided with a driving assembly, and the other side of the outer wall of the main frame is provided with a cleaning assembly; the cleaning assembly comprises an extension frame, one side of the outer wall of the extension frame is fixedly connected to the other side of the outer wall of the main frame, a connecting rod is fixedly connected to the upper surface of the extension frame, a sliding sleeve is slidably connected to the outer wall of the connecting rod, and first rotating plates which are in bilateral symmetry are rotatably connected to the outer wall of the sliding sleeve; the outer walls of the two first rotating plates are rotationally connected with arc-shaped scraping plates. The driving assembly drives the robot to move, meanwhile, the first spring pushes the sliding sleeve to move downwards to be in linkage with the first rotating plate to rotate, the arc-shaped scraper always scrapes the outer walls of the moving wheels to remove mud, the second rotating plate is used for limiting deviation of the first rotating plate, the wheels are effectively prevented from slipping, and the practicability of the chassis is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a special chassis for a tomato pollination robot. Background Technology

[0002] In existing facility agriculture environments, with the accelerating trend of "machine replacing human labor," agricultural robots are widely used in various production stages such as tomato planting, pollination, harvesting, and transportation. The chassis, as the core load-bearing and mobility foundation for agricultural robots, directly determines their operational efficiency and reliability through its structural stability, maneuverability, and environmental adaptability. Especially in tomato growing environments such as greenhouses and plastic tunnels, the surface often contains pollutants such as mud, slippery surfaces, and organic residues, significantly impacting the adhesion, driving force, and operational stability of the robot's chassis wheels.

[0003] Most current agricultural robot chassis adopt simple four-wheel or tracked structures, and their design is generally based on load-bearing. Although they can complete basic movement functions, they have the following significant technical shortcomings in complex planting environments: the moving wheels are prone to the accumulation of dirt on the outer wall due to long-term contact with mud and dirt, especially in high humidity soil or after fertilization and irrigation, which can easily lead to problems such as tire slippage and reduced power transmission efficiency. Moreover, mud and dirt removal usually requires manual labor or regular cleaning, which increases maintenance costs and downtime. Therefore, a special chassis for tomato pollination robots is proposed to solve the above problems. Utility Model Content

[0004] To overcome the above shortcomings, this utility model provides a special chassis for tomato pollination robots, which aims to improve the problem that the robot's moving wheels are prone to accumulating dirt on the outer wall due to long-term contact with mud and dirt in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a special chassis for a tomato pollination robot, comprising a main frame, a bracket fixedly connected to the upper surface of the main frame, a drive assembly installed on one side of the outer wall of the main frame, and a cleaning assembly installed on the other side of the outer wall of the main frame;

[0006] The cleaning assembly includes an extension frame, one side of which is fixedly connected to the other side of the main frame. A connecting rod is fixedly connected to the upper surface of the extension frame. A sliding sleeve is slidably connected to the outer wall of the connecting rod. A symmetrical rotating plate 1 is rotatably connected to the outer wall of the sliding sleeve. An arc-shaped scraper is rotatably connected to the outer walls of the two rotating plates 1. A rotating plate 2 is rotatably connected to one side of the outer wall of the extension frame. One side of the outer wall of the rotating plate 2 is slidably connected to one side inside the rotating plate 1. A spring 1 is sleeved on the outer wall of the connecting rod.

[0007] As a further description of the above technical solution:

[0008] The drive assembly includes a motor, one side of which is fixedly connected to the outer wall of the main frame. Inside the main frame, near the motor, a rotating shaft is rotatably connected. The output end of the main frame is connected to one end of the rotating shaft by a synchronous belt. One end of the rotating shaft is fixedly connected to a movable wheel. Inside the main frame, away from the rotating shaft, a rotating shaft is rotatably connected. One end of the rotating shaft is fixedly connected to a movable wheel. The other end of the rotating shaft and the other end of the rotating shaft are connected by a synchronous belt. The outer wall of one arc-shaped scraper abuts against the outer wall of the movable wheel, and the outer wall of the other arc-shaped scraper abuts against the outer wall of the movable wheel.

[0009] As a further description of the above technical solution:

[0010] A support rod is fixedly connected to the inner wall of the bracket, and the lower end of the support rod is fixedly connected to the upper surface of the main frame.

[0011] As a further description of the above technical solution:

[0012] The outer wall of the support rod is slidably connected to a sliding sleeve, and the outer wall of the support rod is fitted with two symmetrical springs, spring two and spring three.

[0013] As a further description of the above technical solution:

[0014] A connecting plate is rotatably connected to one side of the outer wall of the sliding sleeve, and a limit frame is fixedly connected to the side near the support rod.

[0015] As a further description of the above technical solution:

[0016] The outer wall of the limiting frame is slidably connected to a hinge seat, and one side of the connecting plate is rotatably connected to the inner wall of the hinge seat. A spring four is sleeved on the outer wall of the limiting frame, one end of the spring four is fixedly connected to one side of the outer wall of the limiting frame, and the other end of the spring four is fixedly connected to one side of the outer wall of the hinge seat.

[0017] As a further description of the above technical solution:

[0018] A second connecting plate is rotatably connected to the other side of the hinge seat, and a mounting base is rotatably connected to one side of the outer wall of the second connecting plate.

[0019] As a further description of the above technical solution:

[0020] The upper end of the second spring is fixedly connected to the lower surface of the bracket, and the lower end of the third spring is fixedly connected to the upper surface of the main frame. Both the lower end of the second spring and the upper end of the third spring are fixedly connected to the outer wall of the sliding sleeve.

[0021] This utility model has the following beneficial effects:

[0022] 1. In this utility model, the drive component enables the robot to move freely within the tomato plantation. Simultaneously, the reaction force of the spring causes the sliding sleeve to move downward, thereby causing the rotating plate to rotate. This achieves the effect of keeping the two arc-shaped scrapers constantly in contact with the outer walls of the moving wheels 1 and 2 to scrape away mud and dirt. At the same time, the restriction of the rotating plate 2 keeps the rotating plate 1 stable and prevents it from deviating. This solves the problem of traditional robots easily getting mud and dirt stuck on their wheels and slipping when moving in tomato plantations, thus improving the practicality of the chassis.

[0023] 2. In this utility model, when the movable wheel one and movable wheel two receive shaking pressure, the mounting base first pushes the hinge seat on one side of the connecting plate two to stretch the spring four, thereby achieving the initial effect of reducing shaking. At the same time, through the movement of the hinge seat, the sliding sleeve on the outer side of the connecting plate one can be moved. Through the movement of the sliding sleeve, the effect of stretching the spring three and squeezing the spring two can be achieved. Through the cooperation of the spring two and the spring three, the effect of further reducing shaking is achieved, thereby improving the practicality of the chassis. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of a special chassis for a tomato pollination robot proposed in this utility model;

[0025] Figure 2 This is a schematic diagram of a portion of the rotating shaft structure of a special chassis for a tomato pollination robot proposed in this utility model.

[0026] Figure 3 This is a schematic diagram of a portion of the rotating plate structure of a special chassis for a tomato pollination robot proposed in this utility model.

[0027] Figure 4 This is a schematic diagram of the limiting frame structure of a special chassis for a tomato pollination robot proposed in this utility model.

[0028] Legend:

[0029] 1. Main frame; 2. Bracket; 3. Motor; 4. Rotating shaft one; 5. Synchronous belt one; 6. Moving wheel one; 7. Rotating shaft two; 8. Moving wheel two; 9. Synchronous belt two; 10. Extension frame; 11. Connecting rod; 12. Sliding sleeve; 13. Rotating plate one; 14. Arc-shaped scraper; 15. Rotating plate two; 16. Spring one; 17. Support rod; 18. Sliding sleeve; 19. Spring two; 20. Spring three; 21. Connecting plate one; 22. Limiting frame; 23. Spring four; 24. Hinge seat; 25. Connecting plate two; 26. Mounting seat. Detailed Implementation

[0030] 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.

[0031] Reference Figures 1-4This utility model provides an embodiment of a chassis specifically designed for a tomato pollination robot. The chassis includes a main frame 1, with a bracket 2 fixedly connected to the upper surface of the main frame 1. The bracket 2 is used to mount upper functional components, such as a visual recognition module, pollination arm, or control system, providing a structural support foundation. A drive assembly is installed on one side of the outer wall of the main frame 1 to provide walking power for the robot. A cleaning assembly is installed on the other side of the outer wall of the main frame 1 to remove mud and dirt adhering to the moving wheels, keeping the tire surface clean. The cleaning assembly includes an extension frame 10, with one side of its outer wall fixedly connected to the other side of the outer wall of the main frame 1. The extension frame 10 supports the cleaning structure and extends below the moving wheels. The system achieves contact arrangement between the cleaning components and the tire; a connecting rod 11 is fixedly connected to the upper surface of the extension frame 10, serving as a reference component for installing the sliding cleaning mechanism; a sliding sleeve 12 is slidably connected to the outer wall of the connecting rod 11, which can slide up and down under spring preload to drive the cleaning structure to achieve dynamic self-adaptation; two symmetrical rotating plates 13 are rotatably connected to the outer wall of the sliding sleeve 12, which can adjust their angle according to the sliding of the sliding sleeve 12, ensuring that the arc-shaped scraper 14 is always in close contact with the wheel surface; the two rotating plates 13 are rotatably connected to the outer walls of the two rotating plates 13, which are used to contact the moving wheel, achieving the function of rotating and scraping simultaneously through elasticity and rotation structure. Effectively removes attached mud and impurities; a rotating plate 15 is rotatably connected to one side of the outer wall of the extension frame 10. The rotating plate 15 is designed to limit the range of motion of the rotating plate 13, maintain its working angle stability, and prevent deflection; one side of the outer wall of the rotating plate 15 is slidably connected to one side of the inner side of the rotating plate 13 to achieve mutual restriction and positioning functions; a spring 16 is sleeved on the outer wall of the connecting rod 11, which provides downward elastic force so that the sliding sleeve 12 can continuously apply pressure to the scraper during operation, ensuring that it fits the tire and achieves adaptive scraping; the drive assembly includes a motor 3, one side of which is fixedly connected to one side of the outer wall of the main frame 1, serving as the power source for robot movement; the main frame Inside frame 1, a rotating shaft 4 is rotatably connected to the side near motor 3, transmitting power from motor 3 through rotating shaft 4. A synchronous belt 5 is connected to the output end of the main frame 1 and one end of rotating shaft 4 for synchronous drive from motor 3 to the rotating shaft. A movable wheel 6 is fixedly connected to one end of rotating shaft 4, driving the robot's movement. Inside the main frame 1, a rotating shaft 7 is rotatably connected to the side away from rotating shaft 4, forming a dual-wheel drive system with rotating shaft 4. A movable wheel 8 is fixedly connected to one end of rotating shaft 7, distributed opposite to movable wheel 6 to improve movement stability. A synchronous belt 9 is connected between the other ends of rotating shaft 4 and rotating shaft 7 to ensure synchronous operation of the two sets of wheels. One arc-shaped scraper 14 abuts against the outer wall of movable wheel 6, and the other arc-shaped scraper 14 abuts against the outer wall of movable wheel 8, ensuring synchronous scraping and cleaning of both tires during movement.

[0032] Specifically, through the aforementioned structural coordination, while driving the robot to move, the preload provided by spring 16 causes the sliding sleeve 12 to move downwards, driving the rotating plate 13 to rotate. This ensures that the arc-shaped scraper 14 maintains continuous contact with and synchronously scrapes the tire, effectively removing attached mud and preventing tire slippage. The rotating plate 15 structure provides a limiting constraint on the rotating plate 13, maintaining its stable movement. The overall structure can automatically adapt to muddy field environments, significantly improving the reliability and efficiency of the chassis operation, and meeting the dual needs of cleaning and driving in the complex working environment of tomato planting areas.

[0033] Reference Figures 1-4A support rod 17 is fixedly connected to the inner wall of the bracket 2. The support rod 17 forms a longitudinally stable support channel between the bracket 2 and the main frame 1 of the chassis. Its lower end is fixedly connected to the upper surface of the main frame 1 to ensure the rigid connection of the overall structure and the uniform transmission of force. A sliding sleeve 18 is slidably connected to the outer wall of the support rod 17. The sliding sleeve 18 can slide up and down on the support rod 17 in the vertical direction to realize the action of the upper connecting structure. A symmetrical spring 2 19 and spring 3 20 are sleeved on the outer wall of the support rod 17. Spring 2 19 is set on the sliding sleeve 1. Between the sliding sleeve 18 and the support 2, a downward elastic restoring force is provided. A third spring 20 is positioned between the sliding sleeve 18 and the main frame 1, providing an upward elastic support force. The two sets of springs work together on the sliding sleeve 18, forming a buffer and return function during device operation, ensuring the stability and smooth transition of the sliding response. A connecting plate 21 is rotatably connected to one side of the outer wall of the sliding sleeve 18. The connecting plate 21, driven by the sliding sleeve 18, can achieve angular linkage, used to transmit vertical movement as a deflection action. A limit frame 22 is fixedly connected near the support rod 17 for limiting movement. The frame 22 serves as a structural base for limiting the stroke of the rotating mechanism, enhancing stability and directional control during sliding. A hinge seat 24 is slidably connected to the outer wall of the frame 22. The hinge seat 24 has relative motion capability and, through rotational connection with the connecting plate 21, forms a stable rotational trajectory under the guidance of the frame 22, improving the smoothness of movement. One side of the connecting plate 21 is rotatably connected to the inner wall of the hinge seat 24, ensuring effective oscillation of the structure under stress. A spring 23 is sleeved on the outer wall of the frame 22, providing elastic return to the hinge seat 24. One end of the spring 19 is fixedly connected to one side of the outer wall of the limit frame 22, and the other end is fixedly connected to one side of the outer wall of the hinge seat 24, realizing the automatic reset function of the hinge component after action, improving the continuity and accuracy of the structural response. A connecting plate 25 is rotatably connected to the other side of the hinge seat 24. The connecting plate 25 serves as a downstream transmission structure, used to further transmit angular movements to the mounting device. A mounting seat 26 is rotatably connected to one side of the outer wall of the connecting plate 25. The mounting seat 26 is used to support the upper robot operating components and has the ability to adjust in conjunction with the connecting plate 25. The upper end of spring 29 is fixedly connected to the lower surface of the bracket 2, and the lower end of spring 30 is fixedly connected to the upper surface of the main frame 1. Together, they provide bidirectional elastic support force to the sliding sleeve 18, ensuring that the system maintains its compliant response capability under changes in upper load or external disturbances. The lower end of spring 29 and the upper end of spring 30 are both fixedly connected to the outer wall of the sliding sleeve 18, forming a complete symmetrical elastic adjustment mechanism.

[0034] Specifically, through the aforementioned structural design, the sliding sleeve 18, in slidable engagement with the symmetrically positioned springs 19 and 20 on the support rod 17, can flexibly absorb and buffer vertical disturbance loads. This, in turn, drives the connecting plate 21, hinge seat 24, connecting plate 25, and mounting base 26 to form a coordinated response, achieving stable positioning and dynamic adjustment of the terminal module. The limiting frame 22 and spring 23 work together to provide angle recovery constraints and reset functions, enhancing the accuracy and reliability of the entire mechanism's movements and ensuring that the chassis structure possesses excellent anti-interference capabilities and continuous operational adaptability in complex agricultural environments.

[0035] Working principle: When the chassis is needed, the mounting base 26 is first installed on the underside of the robot. The starting motor 3 drives the rotating shaft 4 inside the synchronous belt 5 to rotate, thereby driving the moving wheel 6 to rotate. At the same time, the rotating shaft 4 drives the rotating shaft 7 inside the synchronous belt 9 to rotate, thus driving the moving wheel 8 to move stably in conjunction with the moving wheel 6. When encountering uneven surfaces during movement, the mounting base 26 receives pressure and pushes the hinge seat 24 to move through the connecting plate 25. At this time, the hinge seat 24 is limited to move on the outer wall of the limit frame 22, thereby realizing the tension spring. The effect of 423, and the movement of hinge seat 24, further achieves the effect of driving connecting plate 121 to push sliding sleeve 18 to slide on the outer wall of support rod 17. The extension and contraction of spring 29 and spring 320 achieves the effect of efficient buffering. At the same time, when moving wheel 16 and moving wheel 28 move, spring 16 pulls sliding sleeve 12 to move on the outer wall of connecting rod 11, thereby driving rotating plate 13 to rotate. The two arc-shaped scrapers 14 on both sides abut against the outer walls of moving wheel 16 and moving wheel 28 to scrape the mud, thereby achieving the effect of preventing moving wheel 16 and moving wheel 28 from slipping.

[0036] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A chassis specifically designed for a tomato pollination robot, comprising a main frame (1), characterized in that: A bracket (2) is fixedly connected to the upper surface of the main frame (1), a drive assembly is installed on one side of the outer wall of the main frame (1), and a cleaning assembly is installed on the other side of the outer wall of the main frame (1). The cleaning assembly includes an extension frame (10), one side of which is fixedly connected to the other side of the outer wall of the main frame (1). A connecting rod (11) is fixedly connected to the upper surface of the extension frame (10). A sliding sleeve (12) is slidably connected to the outer wall of the connecting rod (11). A rotating plate (13) with left and right symmetry is rotatably connected to the outer wall of the sliding sleeve (12). An arc-shaped scraper (14) is rotatably connected to the outer walls of the two rotating plates (13). A rotating plate (15) is rotatably connected to one side of the outer wall of the extension frame (10). One side of the outer wall of the rotating plate (15) is slidably connected to one side inside the rotating plate (13). A spring (16) is sleeved on the outer wall of the connecting rod (11).

2. The chassis for a tomato pollination robot according to claim 1, characterized in that: The drive assembly includes a motor (3), one side of the outer wall of the motor (3) is fixedly connected to one side of the outer wall of the main frame (1), a rotating shaft (4) is rotatably connected inside the main frame (1) near the motor (3), a synchronous belt (5) is driven to the output end of the main frame (1) and one end of the rotating shaft (4), a moving wheel (6) is fixedly connected to one end of the rotating shaft (4), a rotating shaft (7) is rotatably connected inside the main frame (1) away from the rotating shaft (4), a moving wheel (8) is fixedly connected to one end of the rotating shaft (7), a synchronous belt (9) is driven between the other end of the rotating shaft (4) and the other end of the rotating shaft (7), one of the arc-shaped scrapers (14) abuts against the outer wall of the moving wheel (6), and the other arc-shaped scraper (14) abuts against the outer wall of the moving wheel (8).

3. The chassis for a tomato pollination robot according to claim 2, characterized in that: The inner wall of the bracket (2) is fixedly connected to a support rod (17), and the lower end of the support rod (17) is fixedly connected to the upper surface of the main frame (1).

4. The chassis for a tomato pollination robot according to claim 3, characterized in that: The outer wall of the support rod (17) is slidably connected to a sliding sleeve (18), and the outer wall of the support rod (17) is fitted with a symmetrical spring two (19) and a spring three (20).

5. The chassis for a tomato pollination robot according to claim 4, characterized in that: A connecting plate (21) is rotatably connected to one side of the outer wall of the sliding sleeve (18), and a limit frame (22) is fixedly connected to the side near the support rod (17).

6. The chassis for a tomato pollination robot according to claim 5, characterized in that: The outer wall of the limiting frame (22) is slidably connected to a hinge seat (24), and one side of the connecting plate (21) is rotatably connected to the inner wall of the hinge seat (24). The outer wall of the limiting frame (22) is fitted with a spring four (23), one end of the spring four (23) is fixedly connected to one side of the outer wall of the limiting frame (22), and the other end of the spring four (23) is fixedly connected to one side of the outer wall of the hinge seat (24).

7. The chassis for a tomato pollination robot according to claim 6, characterized in that: The hinge seat (24) is rotatably connected to the other side of the interior of the hinge seat (24), and the mounting seat (26) is rotatably connected to the outer wall of the connecting plate (25).

8. The chassis for a tomato pollination robot according to claim 4, characterized in that: The upper end of the second spring (19) is fixedly connected to the lower surface of the bracket (2), the lower end of the third spring (20) is fixedly connected to the upper surface of the main frame (1), and the lower end of the second spring (19) and the upper end of the third spring (20) are both fixedly connected to the outer wall of the sliding sleeve (18).

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