A power mechanism and agricultural robot

Abstract

This utility model provides a power mechanism and an agricultural robot, relating to the field of power transmission technology. The power mechanism includes a first multi-stage gear set and a second multi-stage gear set disposed on both sides inside a gearbox. The first multi-stage gear set has a first input shaft and a first output shaft at both ends. A first motor is disposed on the outside of the gearbox, with its drive shaft passing through the gearbox and connected to the first input shaft. A first track drive wheel is also disposed on the outside of the gearbox, with its first output shaft passing through the gearbox and connected to the first track drive wheel. The second multi-stage gear set has a second input shaft and a second output shaft at both ends. A second motor is disposed on the outside of the gearbox, with its drive shaft passing through the gearbox and connected to one end of the second input shaft. A second track drive wheel is also disposed on the outside of the gearbox, with its second output shaft passing through the gearbox and connected to the second track drive wheel. This utility model can effectively improve the operating efficiency of a tractor.

Description

Technical Field

[0001] This utility model relates to the field of power transmission technology, and more specifically, to a power mechanism and an agricultural robot. Background Technology

[0002] With continuous breakthroughs in autonomous driving technology, battery energy technology, and intelligent control systems, electric unmanned tractors have achieved a leap from concept to practice. Relying on high-precision satellite positioning, environmental perception sensors, and intelligent algorithms, they can autonomously complete a series of agricultural operations, including tilling, sowing, fertilizing, and harvesting. In large-scale farmland, they can precisely control tillage depth, sowing spacing, and fertilizer application according to preset operating plans, ensuring consistent operational quality and significantly improving agricultural production efficiency. In remote areas or complex terrain, the application of electric unmanned tractors has solved the problems of labor shortages and high operational difficulty, completing tasks that traditional tractors cannot handle through remote control or autonomous operation.

[0003] Currently, existing tractors typically use a transmission method where the drive motor is directly connected to the drive wheels (via tracks or wheels), which simplifies the transmission system to some extent. However, when the tractor encounters hard clods of earth or travels over potholes, it needs to instantly increase torque to overcome resistance, which may cause the motor to overload, resulting in a significant drop in speed or even a complete stop, thus affecting the tractor's operating efficiency. Utility Model Content

[0004] The problem this invention addresses is how to improve the operating efficiency of tractors.

[0005] To solve the above problems, this utility model provides a power mechanism and an agricultural robot.

[0006] In a first aspect, this utility model provides a power mechanism, including a first motor, a second motor, a gearbox, a first multi-stage gear set, a second multi-stage gear set, a first track drive wheel, and a second track drive wheel. The first multi-stage gear set and the second multi-stage gear set are arranged opposite each other on both sides inside the gearbox along a first direction. The first multi-stage gear set has a first input shaft and a first output shaft respectively arranged at both ends along a second direction. The first motor is arranged on the outside of the gearbox, which matches the position of the first input shaft. The drive shaft of the first motor passes through the outer shell of the gearbox and is connected to one end of the first input shaft. The first track drive wheel is arranged on the gear set, which matches the position of the first output shaft. On the outside of the gearbox, the first output shaft passes through the outer shell of the gearbox and connects to the first track drive wheel; the second multi-stage gear set has a second input shaft and a second output shaft respectively provided at both ends along the second direction; the second motor is located on the outside of the gearbox that matches the position of the second input shaft; the drive shaft of the second motor passes through the outer shell of the gearbox and connects to one end of the second input shaft; the second track drive wheel is located on the outside of the gearbox that matches the position of the second output shaft; the second output shaft passes through the outer shell of the gearbox and connects to the second track drive wheel; wherein, the first direction is the width direction of the gearbox, and the second direction is the length direction of the gearbox.

[0007] Optionally, the first multi-stage gear set further includes a first brake shaft, which is located between the first input shaft and the first output shaft, and one end of the first brake shaft is used to pass through the housing of the gearbox and connect to the brake.

[0008] Optionally, the second multi-stage gear set further includes a second brake shaft, which is located between the second input shaft and the second output shaft, and one end of the second brake shaft is used to pass through the housing of the gearbox and connect to the brake.

[0009] Optionally, the power structure further includes a first bushing and a second bushing. The first bushing is sleeved on the first output shaft between the first track drive wheel and the gearbox and is connected to the gearbox. The second bushing is sleeved on the second output shaft between the second track drive wheel and the gearbox and is connected to the gearbox.

[0010] Optionally, the bottom of the gearbox is further provided with a first gear carrier, which is located between the first multi-stage gear set and the second multi-stage gear set. The side of the first gear carrier near the first brake shaft is rotatably connected to the other end of the first brake shaft, and the side of the first gear carrier near the second brake shaft is rotatably connected to the other end of the second brake shaft.

[0011] Optionally, the bottom of the gearbox is further provided with an input shaft gear bracket, which includes a second gear bracket and a third gear bracket. The position of the second gear bracket matches the other end of the first input shaft, and the other end of the first input shaft is rotatably connected to the second gear bracket. The position of the third gear bracket matches the other end of the second input shaft, and the other end of the second input shaft is rotatably connected to the third gear bracket.

[0012] Optionally, the first multi-stage gear set further includes a first support shaft, which is disposed between the first input shaft and the first brake shaft along the second direction. The first support shaft is disposed between the side wall of the gearbox and the first gear carrier along the first direction. One end of the first support shaft is rotatably connected to the side wall of the gearbox, and the other end of the first support shaft is rotatably connected to the first gear carrier.

[0013] Optionally, the second multi-stage gear set further includes a second support shaft, which is disposed between the second input shaft and the second brake shaft along the second direction, and between the side wall of the gearbox and the first gear carrier along the first direction. One end of the second support shaft is rotatably connected to the side wall of the gearbox, and the other end of the second support shaft is rotatably connected to the first gear carrier.

[0014] Optionally, the power structure further includes a third multi-stage gear set, a fourth gear carrier, and a drive shaft. The fourth gear carrier is disposed on the inner wall of one end of the gearbox along the second direction. The third multi-stage gear set is disposed between the inner wall of the gearbox and the fourth gear carrier. The upper end of the third multi-stage gear set along the vertical direction has a third input shaft. One end of the third input shaft passes through the fourth gear carrier along the second direction and connects to one end of the drive shaft. The other end of the drive shaft passes through the gearbox along the second direction away from the third multi-stage gear set and is used to connect to an external power device. The lower end of the third multi-stage gear set along the vertical direction has a third output shaft. One end of the third output shaft passes through the gearbox along the second direction and connects to a front-end attachment. The vertical direction, the first direction, and the second direction are all perpendicular to each other.

[0015] Secondly, this utility model provides an agricultural robot, including the power mechanism described above.

[0016] The beneficial effects of the power mechanism of this utility model are as follows: In terms of power output efficiency, a highly efficient power conversion system is formed through the cooperation of dual motors and dual multi-stage gear sets. The driving force of the first motor and the second motor is transmitted to the corresponding first and second multi-stage gear sets via the first and second input shafts, respectively. Through the gear meshing of multiple sets of gears, the transmission ratio can be adjusted, which can accurately convert the high speed and low torque of the motor into the low speed and high torque required by the track drive wheels. This allows the tractor to continuously output stable and sufficient power when towing heavy agricultural implements (such as large plows and seeders) or working in heavy soil or muddy fields, avoiding work stoppages caused by insufficient torque, ensuring the continuous progress of processes such as tilling and sowing, reducing time waste caused by power interruption, and significantly increasing the workload per unit time. Furthermore, since the first and second multi-stage gear sets are relatively independently set along the width direction of the gearbox (first direction) and correspond to the track drive wheels on both sides, the tracks on both sides can be controlled individually, allowing differential movement of the tracks on both sides by controlling the speed difference between the first motor and the second motor. For example, when turning in small plots of farmland or operating on complex terrain, there is no need to significantly adjust the driving route; simply adjusting the speed of the tracks on both sides allows for flexible steering, effectively reducing the turning radius. This feature reduces the tractor's ineffective travel distance during operation, allowing more time and power to be concentrated on effective work segments, especially in areas with irregular plot shapes, significantly improving work coverage and efficiency. Simultaneously, the structure of directly connecting the motor drive shaft to the input shaft of the multi-stage gear set reduces intermediate links in power transmission, lowering energy losses caused by friction and clearances in multiple components in traditional transmission systems. The symmetrical layout of the gear assembly within the gearbox along the first direction, and the linear arrangement of the input shaft, gear set, and output shaft along the second direction (length direction), ensures the linearity and stability of power transmission, further reducing energy waste. This efficient energy conversion not only reduces the load on the motor, extends equipment lifespan, and reduces efficiency losses due to downtime, but also allows for more work to be done with the same amount of electricity or energy consumption, indirectly improving the economy and efficiency of operations. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the power mechanism in an embodiment of the present utility model;

[0018] Figure 2 This is a schematic diagram of the gearbox structure in an embodiment of the present invention;

[0019] Figure 3 This is a three-dimensional structural schematic diagram of the power mechanism in an embodiment of this utility model;

[0020] Figure 4 This is a schematic diagram of the structure of the multi-stage gear in an embodiment of this utility model.

[0021] Explanation of reference numerals in the attached figures:

[0022] 01-First motor; 02-Second motor; 03-Gearbox; 04-First multi-stage gear set; 041-First input shaft; 042-First output shaft; 043-First brake shaft; 044-First support shaft; 05-Second multi-stage gear set; 051-Second input shaft; 052-Second output shaft; 053-Second brake shaft; 054-Second support shaft; 06-First track drive wheel; 07-Second track drive wheel; 08-First bushing; 09-Second bushing; 10-First gear carrier; 11-Second gear carrier; 12-Third gear carrier; 13-Transmission shaft; 14-Third multi-stage gear set; 141-Third input shaft; 142-Third output shaft; 15-Fourth gear carrier; 16-First multi-stage gear; 17-Second multi-stage gear; 18-Third multi-stage gear; 19-Fourth multi-stage gear; 20-Fifth multi-stage gear; 21-Sixth multi-stage gear. Detailed Implementation

[0023] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Although some embodiments of this utility model are shown in the drawings, it should be understood that this utility model can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this utility model. It should be understood that the drawings and embodiments of this utility model are for illustrative purposes only and are not intended to limit the scope of protection of this utility model.

[0024] In the attached diagram, the Z-axis represents the vertical direction, i.e., the up-down position, with the positive direction of the Z-axis representing upward and the negative direction representing downward. The X-axis represents the width direction of the gearbox and is designated as the left-right position, with the positive direction of the X-axis representing the right side and the negative direction representing the left side. The Y-axis represents the width direction of the gearbox and is designated as the front-back position, with the positive direction of the Y-axis representing the rear side and the negative direction representing the front side. It should be noted that the aforementioned representations of the Z, Y, and X axes are merely for ease of description and simplification of the present invention, and do not indicate or imply that the device or component 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 the present invention.

[0025] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this utility model are only used to distinguish different devices, modules, or units, and are not used to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0026] It should be noted that the terms "one" and "multiple" used in this utility model are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0027] Combination Figures 1 to 3 As shown in the figure, a power mechanism provided by this utility model embodiment includes a first motor 01, a second motor 02, a gearbox 03, a first multi-stage gear set 04, a second multi-stage gear set 05, a first track drive wheel 06, and a second track drive wheel 07. The first multi-stage gear set 04 and the second multi-stage gear set 05 are arranged opposite each other on both sides inside the gearbox 03 along a first direction. The first multi-stage gear set 04 has a first input shaft 041 and a first output shaft 042 respectively arranged at both ends along a second direction. The first motor 01 is arranged on the outside of the gearbox 03, which matches the position of the first input shaft 041. The drive shaft of the first motor 01 passes through the outer shell of the gearbox 03 and is connected to one end of the first input shaft 041. The first track drive wheel 06 is arranged on the gear set 07, which matches the position of the first output shaft 042. On the outside of gearbox 03, the first output shaft 042 passes through the housing of gearbox 03 and is connected to the first track drive wheel 06; the second multi-stage gear set 05 is provided with a second input shaft 051 and a second output shaft 052 at both ends along the second direction; the second motor 02 is provided on the outside of gearbox 03, which matches the position of the second input shaft 051; the drive shaft of the second motor 02 passes through the housing of gearbox 03 and is connected to one end of the second input shaft 051; the second track drive wheel 07 is provided on the outside of gearbox 03, which matches the position of the second output shaft 052; the second output shaft 052 passes through the housing of gearbox 03 and is connected to the second track drive wheel 07; wherein, the first direction is the width direction of gearbox 03, and the second direction is the length direction of gearbox 03.

[0028] Specifically, this power structure uses gearbox 03 as its core carrier. Inside gearbox 03, a first multi-stage gear set 04 and a second multi-stage gear set 05 are arranged opposite each other along the width direction (first direction) of gearbox 03. This opposite arrangement ensures that the two gear sets are symmetrically distributed within gearbox 03 along the first direction; that is, the first multi-stage gear set 04 is located on the left side of gearbox 03 (opposite to the X-axis), and the second multi-stage gear set 05 is located on the right side of gearbox 03 (positive to the X-axis). This design saves internal space and creates conditions for independent power supply to the track drive wheels on both sides. The width of gearbox 03 is adapted to the wheel track width of the left and right sides of the tractor, ensuring the stability of power transmission to the track drive wheels.

[0029] Furthermore, in the first multi-stage gear set 04, a first input shaft 041 and a first output shaft 042 are connected to both ends along the length direction (second direction) of the gearbox 03, respectively. That is, the first input shaft 041 is located on the rear side (positive direction of the Y-axis) of the first multi-stage gear set 04, and the first output shaft 042 is located on the front side (reverse direction of the Y-axis) of the first multi-stage gear set 04. The first motor 01 is installed on the outside of the gearbox 03 at a position corresponding to the first input shaft 041, that is, on the left rear side of the gearbox 03. The drive shaft of the first motor 01 passes through the outer shell of the gearbox 03 and connects to the first input shaft 041. This direct connection method reduces intermediate links in the power transmission process and reduces energy loss. The drive shaft and the outer shell of the gearbox 03 can be rotatably connected through bearings. That is, by embedding a bearing in the corresponding through hole of the outer shell of the gearbox 03, the drive shaft passes through the bearing, thereby achieving a rotatable connection with the outer shell of the gearbox 03 through the bearing. When the first motor 01 starts, power is transmitted through the drive shaft to the first input shaft 041 (set on the first multi-stage gear), and then the speed and torque are adjusted by the first multi-stage gear set 04. The multi-stage gear set is composed of multiple multi-stage gears with different numbers of teeth meshing together, which can achieve different transmission ratios according to the operation requirements, converting the high speed and low torque of the first motor 01 into the low speed and high torque required for track drive. Subsequently, the adjusted power is output through the first output shaft 042 (such as set on the sixth stage output wheel) located at the front end of the first multi-stage gear set. The first output shaft 042 passes through the gearbox 03 along the first direction and connects to the first track drive wheel 06, thereby transmitting power through the first output shaft 042 to the first track drive wheel 06 outside the gearbox 03. The first track drive wheel 06 is located on the left front side outside the gearbox 03, thereby driving the track located on the left side of the gearbox 03 through the first track drive wheel 06. The track is fitted on the first track drive wheel 06.

[0030] Similarly, the second multi-stage gear set 05 is consistent with the first multi-stage gear set 04 in structure and working principle. The second multi-stage output gear set has a second input shaft 051 and a second output shaft 052 respectively at both ends along the length direction (second direction) of the gearbox 03. That is, the second input shaft 051 (positive Y-axis) is located at the rear end of the second multi-stage gear set 05, and the second output shaft 052 (reverse Y-axis) is located at the front end of the second multi-stage gear set 05. The second motor 02 is also installed on the outside of the gearbox 03 at a position corresponding to the second input shaft 051, that is, on the right rear side of the gearbox 03. The drive shaft of the second motor 02 passes through the outer shell of the gearbox 03 and connects to the second input shaft 051. This drive shaft can also be rotatably connected to the outer shell of the gearbox 03 via bearings. The second motor 02 transmits power to the second input shaft 051 via the drive shaft. This power is then regulated by the second multi-stage gear set 05 and transmitted to the second track drive wheel 07 via the second output shaft 052. Specifically, the second output shaft 052 extends along the second direction from the right side wall of the gearbox 03 and connects to the second track drive wheel 07 located at the corresponding position (the front side of the gearbox 03). This second track drive wheel 07 then drives the right track. This dual-motor independent drive design allows the two tracks to achieve different speeds and torque outputs according to operational needs. For example, when turning, by controlling the speed difference between the two motors, differential movement of the tracks is achieved, improving the tractor's steering flexibility and terrain adaptability.

[0031] For example, such as Figure 1 and Figure 4 As shown, for example, the first multi-stage gear set 04 may include a first multi-stage gear 16, a second multi-stage gear 17, a third multi-stage gear 18, a fourth multi-stage gear 19, a fifth multi-stage gear 20, and a sixth multi-stage gear 21. The first input shaft 041 is mounted on the first multi-stage gear 16, the first output shaft 042 is mounted on the sixth multi-stage gear 21, and the first brake shaft 043 is mounted on the fourth multi-stage gear 19 and the fifth multi-stage gear 20. The support shaft is mounted on the second multi-stage gear 17 and the third multi-stage gear 18. The second multi-stage gear set 05 is symmetrically arranged with the first multi-stage gear set 04, and its mechanism and working principle are the same as those of the first multi-stage gear set 04. Of course, this multi-stage transmission is not limited to the current transmission structure; multiple stages of transmission structures can be added according to actual conditions to ensure efficient power transmission.

[0032] In this embodiment, a highly efficient power conversion system is formed through the cooperation of dual motors and dual multi-stage gear sets in terms of power output efficiency. The driving force of the first motor 01 and the second motor 02 is transmitted to the corresponding first multi-stage gear set 04 and second multi-stage gear set 05 via the first input shaft 041 and the second input shaft 051, respectively. Through the meshing of multiple gear sets, the transmission ratio can be adjusted, which can accurately convert the high speed and low torque of the motor into the low speed and high torque required by the track drive wheels. This allows the tractor to continuously output stable and sufficient power when towing heavy agricultural implements (such as large plows and seeders) or when working in heavy soil or muddy fields, avoiding work stoppages caused by insufficient torque, ensuring the continuous progress of processes such as tilling and sowing, reducing time waste caused by power interruption, and significantly increasing the workload per unit time. Furthermore, since the first multi-stage gear set 04 and the second multi-stage gear set 05 are relatively independently arranged along the width direction (first direction) of the gearbox 03 and correspond to the two side track drive wheels respectively, the tracks on both sides can be individually controlled. This allows the tracks on both sides to achieve differential movement by controlling the speed difference between the first motor 01 and the second motor 02. For example, when turning in small plots of farmland or operating in complex terrain, there is no need to significantly adjust the driving route. By simply adjusting the speed of the tracks on both sides, flexible steering can be achieved, effectively reducing the turning radius. This feature reduces the ineffective travel distance of the tractor during operation, allowing more time and power to be concentrated on effective operation, especially in areas with irregular plot shapes, which can significantly improve the coverage and efficiency of operations. At the same time, the structure of directly connecting the motor drive shaft to the input shaft of the multi-stage gear set reduces intermediate links in power transmission and reduces energy loss caused by friction and clearance of multiple components in traditional transmission systems. The symmetrical layout of the gear assembly in the gearbox 03 along the first direction, and the linear arrangement of the input shaft, gear set, and output shaft along the second direction (length direction), ensure the linearity and stability of power transmission, further reducing energy waste. Efficient energy conversion not only reduces the load on the motor and extends the service life of the equipment, but also reduces efficiency losses caused by downtime due to malfunctions. It also allows for more work to be done with the same amount of electricity or energy consumption, indirectly improving the economy and efficiency of the operation.

[0033] Furthermore, for example, this power mechanism can further adapt to the core requirements of autonomous operation and precise control for unmanned tractors. Regarding the stability of autonomous operation, unmanned tractors rely on preset programs or remote commands to complete the entire operation, requiring extremely high continuity and consistency of power output. This power mechanism, through the cooperation of dual motors and dual multi-stage gear sets, can stably output high torque, ensuring that the unmanned tractor can continuously and efficiently complete operations such as tilling and sowing without human intervention, avoiding operation interruptions due to insufficient power and reducing the frequency of manual intervention. Moreover, in terms of precise control, unmanned tractors need to rely on intelligent algorithms to achieve path planning and operation parameter adjustment. The two tracks in this power mechanism can achieve differential movement through the difference in motor speed, which perfectly matches the autonomous driving system of the unmanned tractor. The intelligent algorithm can precisely control the speed of the two motors based on real-time positioning and terrain data, enabling the unmanned tractor to turn flexibly, adjust its driving trajectory, and strictly follow the preset path, reducing operational deviations and improving operational accuracy and land utilization. In addition, improving energy utilization efficiency is of great significance to unmanned tractors. Unmanned tractors usually rely on battery power. Efficient power transmission can extend the driving time, reduce the number of charging times, and enable them to complete more tasks after a single charge, thereby improving overall operating efficiency and better meeting the needs of large-scale, long-term unmanned agricultural production.

[0034] Optionally, combined Figure 1 and Figure 3 As shown, the first multi-stage gear set 04 also includes a first brake shaft 043, which is located between the first input shaft 041 and the first output shaft 042. One end of the first brake shaft 043 is used to pass through the housing of the gearbox 03 and connect to the brake.

[0035] In this optional embodiment, the first multi-stage gear set 04 further includes a first brake shaft 043, located between the first input shaft 041 and the first output shaft 042. This first brake shaft 043 forms a crucial braking control node in the power transmission chain of the first multi-stage gear set 04. When the power from the first motor 01 is transmitted to the first multi-stage gear set 04 via the first input shaft 041, it passes through a gear meshing link associated with the first brake shaft 043 before continuing to be transmitted to the first output shaft 042. In other words, the first brake shaft 043 and its associated gears are the nodes of power transmission. One end of the first brake shaft 043 extends from the left side of the gearbox 03 along a first direction, exiting the gearbox 03's housing, and connects to a brake located outside the gearbox 03. This allows the brake to directly act on the node of the intermediate power transmission link, rather than directly acting on the output shaft or drive wheel as in traditional structures. For example, for unmanned tractors, this design can significantly improve braking response speed and control accuracy. In unmanned operation mode, when the intelligent control system issues a braking command based on environmental perception data (such as encountering obstacles, needing to stop urgently, or adjusting the work path), the brake can quickly intervene in the power transmission of the first multi-stage gear set 04 through the first brake shaft 043. Since the braking point is located between the input shaft and the output shaft, the power has not yet been fully transmitted to the track drive wheel, and the braking action can take effect more quickly, shortening the braking distance. If a stone is encountered in the field during autonomous driving, after the system issues a braking signal, the brake can quickly cut off or slow down the power transmission through the first brake shaft 043, avoiding collisions caused by the track drive wheel continuing to rotate due to inertia, greatly improving the safety of unmanned operation. At the same time, the setting of the first brake shaft 043 can make the braking process smoother. When the unmanned tractor performs precision operations (such as row spacing adjustment during sowing, differential braking during turning), the power of one side of the track can be finely adjusted by controlling the brake corresponding to the first brake shaft 043. Compared to direct braking of the drive wheels, this braking method, which occurs in the middle of a multi-stage gear set, reduces the impact on the track drive wheels, preventing track slippage or displacement of working components due to sudden braking, and ensuring the stability of operating parameters. Furthermore, it can be combined with the intelligent algorithms of the unmanned tractor to precisely control the braking force and duration based on real-time operating data, achieving progressive braking and further improving the smoothness and accuracy of unmanned operation. This provides reliable braking assurance for the efficient and safe operation of unmanned tractors in complex farmland environments.

[0036] Optionally, combined Figure 1 and Figure 3 As shown, the second multi-stage gear set 05 also includes a second brake shaft 053, which is located between the second input shaft 051 and the second output shaft 052. One end of the second brake shaft 053 is used to pass through the housing of the gearbox 03 and connect to the brake.

[0037] In this optional embodiment, the second multi-stage gear set 05 further includes a second brake shaft 053, which is consistent with the first brake shaft 043 in terms of positional layout and working logic. The second brake shaft 053 is located between the second input shaft 051 and the second output shaft 052, serving as an intermediate link in the power transmission of the second motor 02. One end of the second brake shaft 053 extends through the housing of the gearbox 03 and connects to a brake located outside the gearbox 03. When the power from the second motor 02 enters the second multi-stage gear set 05 via the second input shaft 051, it first undergoes gear meshing with the second brake shaft 053 before transmitting power to the second output shaft 052. This design allows the brake to directly intervene in the power transmission of the second multi-stage gear set 05, also possessing the characteristics of rapid braking response and precise control, providing reliable protection for the braking of the right track drive wheel. For example, in unmanned tractor operation, the coordinated operation of the first brake shaft 043 and the second brake shaft 053 can further enhance the intelligent operation capability and safety of the equipment. In terms of steering control, when the unmanned tractor needs to turn, the intelligent control system can adjust the braking force of the brakes corresponding to the first brake axle 043 and the second brake axle 053 to achieve differential braking of the two tracks. When turning left, the system controls the brake of the first brake axle 043 to apply a certain force, which appropriately hinders the power transmission of the left track and reduces its speed, while the right track maintains normal power output. The difference in speed between the two tracks achieves smooth steering. Compared with simply relying on motor speed adjustment, this differential braking method makes the steering process more precise and faster. Especially in narrow areas or when precise adjustments to the work route are required, it can significantly reduce steering errors and ensure the accuracy of the work trajectory. In emergency braking scenarios, when the environmental perception system of the unmanned tractor detects a sudden obstacle or dangerous situation ahead, the control system can immediately issue a synchronous braking command to the brakes on both sides. The brakes corresponding to the first brake axle 043 and the second brake axle 053 act simultaneously, quickly cutting off the power transmission of the two tracks and achieving an emergency stop for the entire vehicle. Because both brake axles are located in the middle of the power transmission, braking actions can take effect synchronously in a short time, avoiding vehicle deviation or rollover caused by unilateral braking delay, greatly improving braking safety in emergency situations. Furthermore, when operating in complex terrain, the coordination of the first brake axle 043 and the second brake axle 053 allows the unmanned tractor to better adapt to terrain changes. When one track gets stuck in mud, the system can control the brake axle on the corresponding side to perform intermittent braking and release, coordinating with the power output of the other track to help the tractor get out of trouble. This flexible braking coordination method, combined with real-time analysis of terrain data using intelligent algorithms, allows the unmanned tractor to maintain a stable operating state in various complex environments, further expanding its applicability and operational efficiency.

[0038] Optionally, combined Figure 1 and Figure 3 As shown, the power mechanism also includes a first bushing 08 and a second bushing 09. The first bushing 08 is sleeved on the first output shaft 042 between the first track drive wheel 06 and the gearbox 03 and is connected to the gearbox 03. The second bushing 09 is sleeved on the second output shaft 052 between the second track drive wheel 07 and the gearbox 03 and is connected to the gearbox 03.

[0039] In this optional embodiment, the first bushing 08 is mounted on the first output shaft 042 between the first track drive wheel 06 and the gearbox 03, and the second bushing 09 is fitted onto the second output shaft 052 between the second track drive wheel 07 and the gearbox 03. During tractor operation, the first output shaft 042 and the second output shaft 052 need to continuously transmit power to drive the track drive wheel to rotate. Due to the certain distance between the track drive wheel and the gearbox 03, the output shaft is prone to radial runout when rotating at high speed and bearing a large torque. The bushing can support the output shaft, reduce the degree of shaft bending deformation, and reduce friction and wear at the connection between the output shaft and the gearbox 03 housing, as well as at the connection between the output shaft and the track drive wheel. This not only extends the service life of the output shaft, the gearbox 03 housing, and the track drive wheel, but also reduces failures caused by component wear, ensures the stability of power transmission, and enables the tractor to operate stably for a long time. At the same time, the bushing can effectively reduce the vibration of the output shaft during rotation. When a tractor operates on rough terrain, the machine body experiences significant vibrations, which can exacerbate output shaft vibrations, affecting the smoothness of power transmission and even causing instability in operating parameters, such as uneven tillage depth and inconsistent sowing spacing. The first and second axle sleeves 08 and 09, through their tight fit with the output shaft, act as buffers and dampers, ensuring smoother rotation of the output shaft and even force distribution on the track drive wheels, thereby guaranteeing consistent work quality. This stability is even more crucial for unmanned tractors. Unmanned tractors rely on precise control and stable operating conditions to achieve preset work plans, and the stable rotation of the output shaft is fundamental to ensuring it operates according to the preset path and parameters. The first and second axle sleeves 08 and 09 reduce power transmission fluctuations caused by vibration and wear, enabling the unmanned tractor's intelligent control system to more precisely control the speed and torque of the track drive wheels, further improving operational accuracy and reliability, and better adapting to the needs of unmanned agricultural production.

[0040] Optionally, combined Figures 1 to 3As shown, a first gear carrier 10 is also provided at the bottom of the gearbox 03. The first gear carrier 10 is located between the first multi-stage gear set 04 and the second multi-stage gear set 05. The side of the first gear carrier 10 near the first brake shaft 043 is rotatably connected to the other end of the first brake shaft 043, and the side of the first gear carrier 10 near the second brake shaft 053 is rotatably connected to the other end of the second brake shaft 053.

[0041] In this optional embodiment, a first gear carrier 10 is provided at the bottom of the gearbox 03. This first gear carrier 10 is located between the first multi-stage gear set 04 and the second multi-stage gear set 05, thus serving as a key support component to ensure the stable operation of the brake shaft and the output wheel assembly. The side of the first gear carrier 10 closest to the first brake shaft 043 is rotatably connected to the other end of the first brake shaft 043, thereby forming a support structure for both ends of the first brake shaft 043 through the side wall of the gearbox 03 and the first gear carrier 10. The side of the first gear carrier 10 closest to the second brake shaft 053 is rotatably connected to the other end of the second brake shaft 053, thus forming a support structure for both ends of the second brake shaft 053 through the side wall of the gearbox 03 and the first gear carrier 10. Ultimately, the first gear carrier 10 forms a symmetrical support structure for the first brake shaft 043 and the second brake shaft 053 on both sides. The connection can also be achieved through bearings. During power transmission, the first brake shaft 043 and the second brake shaft 053 not only transmit torque but also generate radial and axial forces due to gear meshing. Especially during braking, the force exerted by the brake on the brake shaft can cause it to bear a significant load. Without stable support, this can easily lead to bending, deformation, or misalignment of the brake shaft, affecting gear meshing accuracy and braking performance. The first gear carrier 10, through its rotatable connection to the other end of the brake shaft, provides stable radial support to the shaft, offsetting some of the radial force and reducing shaft vibration and wobbling. This support keeps the brake shaft in its preset axial position, ensuring uniform meshing clearance with the relevant gears in the multi-stage gear set. This prevents accelerated gear wear or transmission jamming due to shaft misalignment, extending the service life of the gears and brake shaft. When the first multi-stage gear set 04 and the second multi-stage gear set 05 operate at high speed, the vibration generated by gear meshing is transmitted to the first gear carrier 10 through the brake shaft. The fixed connection between the gear carrier and the bottom of the gearbox 03 disperses some of the vibration onto the overall structure of the gearbox 03, reducing the impact of vibration on the brake shaft and gear set. This reduces power fluctuations caused by vibration during power transmission from the input shaft to the output shaft, ensuring uniform torque output and thus smoother operation of the track drive wheels. It also prevents instability in operating parameters (such as inconsistent tillage depth) caused by sudden power fluctuations. For example, in unmanned tractors, the presence of the first gear carrier 10 further enhances the precision of braking control. During unmanned operation, the intelligent control system's fine adjustments to the brake shaft rely on its stable operation. The robust support of the first gear carrier 10 prevents braking delays or deviations in braking force due to shaft wobbling when the brake is applied.For example, during differential steering, the system precisely matches the braking force of both brake axles. The first gear carrier 10 ensures the stability of the brake axles under load, ensuring that the braking effect on both sides strictly follows the instructions, guaranteeing accurate steering angles, and avoiding steering deviations caused by brake axle wobbling. This improves the path control accuracy of the unmanned tractor when operating in complex terrain. Simultaneously, the stable operating state of the brake axles reduces interference with sensor data, allowing the intelligent system to more accurately perceive the equipment's operating status and providing a reliable basis for subsequent operational adjustments.

[0042] Optionally, combined Figures 1 to 3 As shown, the bottom of the gearbox 03 is also provided with an input shaft bracket, which includes a second gear carrier 11 and a third gear carrier 12. The position of the second gear carrier 11 matches the other end of the first input shaft 041, and the other end of the first input shaft 041 is rotatably connected to the second gear carrier 11. The position of the third gear carrier 12 matches the other end of the second input shaft 051, and the other end of the second input shaft 051 is rotatably connected to the third gear carrier 12.

[0043] In this optional embodiment, an output shaft gear bracket is also provided at the bottom of the gearbox 03. The output shaft gear bracket is located between the first output shaft 041 and the second output shaft 051, and is used to support the first input shaft 041 and the second input shaft 051 in the gearbox 03. The output shaft gear bracket may include a second gear carrier 11 and a third gear carrier 12, which are dedicated support components for the input shafts, forming a stable connection between the first input shaft 041 and the second input shaft 051 respectively. The position of the second gear carrier 11 is precisely matched with the other end of the first input shaft 041, and the two can be rotatably connected; the third gear carrier 12 is matched and corresponds to the other end of the second input shaft 051, and is also rotatably connected. This design echoes the logic of the first gear carrier 10 supporting the brake shaft, and together they construct the support system of the multi-stage gear set in the gearbox 03. The first input shaft 041 and the second input shaft 051, as the "first gate" for power transmission to the gearbox 03, directly receive the driving force output by the motor, and will bear a large radial force and torque during high-speed rotation. Especially when the motor speed changes frequently to adapt to adjustments in the workload, the risk of vibration and wobbling of the input shaft increases significantly. The second gear carrier 11 and the third gear carrier 12, through their rotatable connections to the other ends of the first input shaft 041 and the second input shaft 051 respectively, provide additional radial support for the shafts, effectively counteracting the centrifugal force and radial load generated during rotation. This allows the first input shaft 041 and the second input shaft 051 to always remain in their preset axial positions, preventing loosening of the connection with the motor drive shaft due to shaft bending or misalignment, or changes in the meshing clearance with the driving gear in the multi-stage gear set. For example, when the first motor 01 suddenly increases its speed due to operational demands, the first input shaft 041, constrained by the second gear carrier 11, can stably transmit power, preventing abnormal gear meshing caused by shaft wobbling, reducing tooth surface wear and transmission noise. The supporting effect of the second gear carrier 11 and the third gear carrier 12 also reduces the additional friction of the input shaft caused by vibration. If the input shaft lacks effective support, radial runout during high-speed rotation can cause friction between the shaft and the inner wall of the gearbox 03 or other components, resulting in energy loss. After being fixed by the input shaft gear bracket, the rotation trajectory of the input shaft is smoother, and the engagement with the motor drive shaft and the drive gear of the multi-stage gear set is tighter. Energy loss due to mechanical vibration or misalignment during power transmission from the motor to the gear set is minimized. For unmanned tractors that rely on electric motors, this means that more effective power can be output with the same amount of electricity, indirectly extending the driving range and increasing the coverage area of ​​a single operation. Meanwhile, the output shaft gear bracket can be integrated, or the second output wheel bracket 11 and the third gear bracket 12 can be connected by a reinforcing structure to ensure the overall stability of the output shaft output wheel bracket, thereby better preventing output shaft wobbling and improving the stability of the power mechanism.

[0044] For example, for the intelligent control of an unmanned tractor, stable operation of the input shaft is a prerequisite for the system to accurately adjust power output. The support of the second gear carrier 11 and the third gear carrier 12 makes the speed and torque transmission of the input shaft more linear, and the deviation between the motor's output parameters and the actual power conversion of the gear set is smaller. When the intelligent algorithm of the unmanned tractor adjusts the motor speed according to the operation requirements (such as reducing power output when switching from tillage mode to seeding mode), a stable input shaft can ensure that the power change transitions smoothly according to the preset curve, avoiding power fluctuations caused by shaft wobbling. For example, in seeding operations, the system needs to accurately control the speed of the seeder to ensure uniform plant spacing, and the stable transmission of the input shaft allows the motor speed adjustment command to be accurately converted into the action of the seeder, reducing seeding errors caused by power fluctuations. In addition, the second gear carrier 11 and the third gear carrier 12 together with the first gear carrier 10 form a point support system (supporting the input shaft and the brake shaft respectively), which further strengthens the integrity of the internal structure of the gearbox 03. This ensures that the relative positions of each shaft and gear set remain stable when the gearbox 03 is subjected to bumps and impacts during tractor operation, reducing the risk of transmission failure caused by overall structural deformation. This provides a guarantee for the long-term reliable operation of the power mechanism, and is especially suitable for use in unmanned tractors in long-term unattended operation scenarios.

[0045] Optionally, the first multi-stage gear set 04 further includes a first support shaft 044, which is disposed between the first input shaft 041 and the first brake shaft 043 along the second direction. The first support shaft 044 is disposed between the side wall of the gearbox 03 and the first gear carrier 10 along the first direction. One end of the first support shaft 044 is rotatably connected to the side wall of the gearbox 03, and the other end of the first support shaft 044 is rotatably connected to the first gear carrier 10.

[0046] In this optional embodiment, the first multi-stage gear set 04 further includes a first support shaft 044. The first support shaft 044 is disposed between the first input shaft 041 and the first brake shaft 043 along a second direction (the length direction of the gearbox 03), and simultaneously disposed between the side wall of the gearbox 03 and the first gear carrier 10 along a first direction (the width direction of the gearbox 03). One end of the first support shaft 044 is rotatably connected to the side wall of the gearbox 03, and the other end is rotatably connected to the first gear carrier 10, forming a transverse support beam spanning the side wall of the gearbox 03 and the first gear carrier 10, providing stable support for the first multi-stage gear set 04. For example, during tractor operation, the gearbox 03 will generate continuous vibration due to internal gear meshing and motor operation. In particular, when the first multi-stage gear set 04 transmits power, the interaction force between the gears may cause slight deformation between the side wall of the gearbox 03 and the first gear carrier 10. The first support shaft 044 rigidly connects the side wall of the gearbox 03 and the first gear carrier 10 through the rotational connection at both ends, which disperses the stress generated by vibration, reduces the gear shaft displacement caused by deformation, and provides a structural basis for the stable operation of the first multi-stage gear set 04.

[0047] Optionally, combined Figure 1 and Figure 3 As shown, the second multi-stage gear set 05 also includes a second support shaft 054. The second support shaft 054 is disposed between the second input shaft 051 and the second brake shaft 053 along the second direction. The second support shaft 054 is disposed between the side wall of the gearbox 03 and the first gear carrier 10 along the first direction. One end of the second support shaft 054 is rotatably connected to the side wall of the gearbox 03, and the other end of the second support shaft 054 is rotatably connected to the first gear carrier 10.

[0048] In this optional embodiment, the second multi-stage gear set 05 further includes a second support shaft 054. The second support shaft 054 is structurally and functionally identical to the first support shaft 044. The second support shaft 054 is positioned along a second direction (the length direction of the gearbox 03) between the second input shaft 051 and the second brake shaft 053, and simultaneously mounted along a first direction (the width direction of the gearbox 03) between the side wall of the gearbox 03 and the first gear carrier 10. One end is rotatably connected to the side wall of the gearbox 03, and the other end is rotatably connected to the first gear carrier 10, forming another transverse support beam corresponding to the first support shaft 044. The vibrations and stresses generated by the power transmitted by the second multi-stage gear set 05 are distributed to the side wall of the gearbox 03 and the first gear carrier 10 through the second support shaft 054, reducing deformation of the gearbox 03 caused by excessive local stress, preventing shaft misalignment of the second input shaft 051 and the second brake shaft 053, and ensuring the relative positional stability of the components of the second multi-stage gear set 05.

[0049] Optionally, the power structure further includes a third multi-stage gear set 14, a fourth gear carrier 15, and a drive shaft 13. The fourth gear carrier 15 is disposed on the inner wall of one end of the gearbox 03 along the second direction. The third multi-stage gear set 14 is disposed between the inner wall of the gearbox 03 and the fourth gear carrier 15. The upper end of the third multi-stage gear set 14 along the vertical direction is provided with a third input shaft 141. One end of the third input shaft 141 passes through the fourth gear carrier 15 along the second direction and is connected to one end of the drive shaft 13. The other end of the drive shaft 13 passes out of the gearbox 03 along the second direction away from the third multi-stage gear set 14. The other end of the drive shaft 13 is used to connect to an external power device. The lower end of the third multi-stage gear set 14 along the vertical direction is provided with a third output shaft 142. One end of the third output shaft 142 is used to pass out of the gearbox 03 along the second direction and connect to a front attachment. The vertical direction, the first direction, and the second direction are all perpendicular to each other.

[0050] In this optional embodiment, the power structure further includes a third multi-stage gear set 14, a fourth gear carrier 15, and a drive shaft 13, forming an independent longitudinal power transmission system within the gearbox 03, complementing the previous dual-sided track drive system. The fourth gear carrier 15 is fixed to the inner wall of one end of the gearbox 03 along the second direction (length direction), providing stable support for the third multi-stage gear set 14 and confining it within the space between the inner wall of the gearbox 03 and the fourth gear carrier 15. The third multi-stage gear set 14 is vertically equipped with a third input shaft 141 and a third output shaft 142, with the third input shaft 141 located above the third output shaft 142. This arrangement allows the drive shaft 13, connected to the third input shaft 141, to pass through the gearbox 03 from above the first gear carrier 10 along the second direction, avoiding mutual interference between the first gear carrier 10 and the drive shaft 13. External power equipment (such as a dedicated drive motor, diesel engine, etc.) inputs power into the system via the drive shaft 13. One end of the drive shaft 13 is connected to the third input shaft 141, and the other end passes through the gearbox 03 to interface with external equipment. When the external power is activated, the power is transmitted to the third input shaft 141 via the drive shaft 13, and then adjusted through the gear meshing of the third multi-stage gear set 14. Simultaneously, the transmission ratio design of the third multi-stage gear set 14 allows for the matching of speed and torque. Finally, the adjusted power is transmitted to the tractor's front attachments (such as loaders, bulldozer blades, weeding devices, etc.) via the third output shaft 142, providing independent and controllable driving force for front-end operations. This design allows the front attachments to receive power simultaneously while the tractor performs tracked driving and basic tillage operations, eliminating the need for an additional independent power source and simplifying the overall equipment structure. For example, in smart agriculture scenarios, unmanned tractors often need to complete multiple collaborative operations simultaneously, such as tilling the land while weeding, or leveling the land with the front attachments during sowing. The intelligent control system can control the power equipment according to the operational requirements and precisely control the operating speed of the front attachments (such as the rotation speed of the weeding blades and the lifting force of the bulldozer blades) by adjusting the transmission ratio of the third multi-stage gear set 14 to match the track travel speed. When the unmanned tractor is performing precision seeding at a low speed, the system can simultaneously reduce the rotation speed of the third output shaft 142, allowing the front covering device to operate smoothly at the corresponding speed, avoiding excessively deep or shallow covering due to speed mismatch.

[0051] Furthermore, the fourth gear carrier 15 can be rigidly fixed to the side wall of the gearbox 03, strengthening the internal structure of the gearbox 03. The third gear carrier 12 includes a first support plate and a second support plate. The first support plate is perpendicularly connected to the inner wall of the gearbox 03, and its other end is connected to one end of the second support plate. The second support plate is perpendicular to the first support plate, thus forming a space between the second support plate and the inner wall of the gearbox 03 that can accommodate the third multi-stage gear set 14. The vertical layout of the third multi-stage gear set 14 cleverly utilizes the space inside the gearbox 03 that is not occupied by the first multi-stage gear sets 04 and the second multi-stage gear sets 05 on both sides, making the overall structure more compact.

[0052] This utility model provides an agricultural robot, which includes the power mechanism described above.

[0053] The beneficial effects of the agricultural robot in this embodiment compared to the prior art are the same as those of the power mechanism described above, and will not be repeated here.

[0054] Although the present invention has been disclosed above, its protection scope is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the protection scope of the present invention.

Claims

1. A power mechanism characterized by, The system includes a first motor (01), a second motor (02), a gearbox (03), a first multi-stage gear set (04), a second multi-stage gear set (05), a first track drive wheel (06), and a second track drive wheel (07). The first multi-stage gear set (04) and the second multi-stage gear set (05) are arranged opposite each other on both sides inside the gearbox (03) along a first direction. The first multi-stage gear set (04) has a first input shaft (041) and a first output shaft (042) respectively at both ends along a second direction. The first motor (01) is located on the outside of the gearbox (03) and matches the position of the first input shaft (041). The drive shaft of the first motor (01) passes through the outer shell of the gearbox (03) and is connected to one end of the first input shaft (041). The first track drive wheel (06) is located on the outside of the gearbox (03) and matches the position of the first output shaft (042). The first output shaft (042) passes through the housing of the gearbox (03) and is connected to the first track drive wheel (06); the second multi-stage gear set (05) is provided with a second input shaft (051) and a second output shaft (052) at both ends along the second direction; the second motor (02) is provided on the outside of the gearbox (03) that matches the position of the second input shaft (051); the drive shaft of the second motor (02) passes through the housing of the gearbox (03) and is connected to one end of the second input shaft (051); the second track drive wheel (07) is provided on the outside of the gearbox (03) that matches the position of the second output shaft (052); the second output shaft (052) passes through the housing of the gearbox (03) and is connected to the second track drive wheel (07); wherein, the first direction is the width direction of the gearbox (03), and the second direction is the length direction of the gearbox (03).

2. The power mechanism of claim 1, wherein, The first multi-stage gear set (04) further includes a first brake shaft (043), which is located between the first input shaft (041) and the first output shaft (042). One end of the first brake shaft (043) is used to pass through the housing of the gearbox (03) and connect to the brake.

3. The power mechanism of claim 2, wherein, The second multi-stage gear set (05) also includes a second brake shaft (053), which is located between the second input shaft (051) and the second output shaft (052). One end of the second brake shaft (053) is used to pass through the housing of the gearbox (03) and connect to the brake.

4. The power mechanism of claim 1, wherein, It also includes a first bushing (08) and a second bushing (09). The first bushing (08) is sleeved on the first output shaft (042) between the first track drive wheel (06) and the gearbox (03) and is connected to the gearbox (03). The second bushing (09) is sleeved on the second output shaft (052) between the second track drive wheel (07) and the gearbox (03) and is connected to the gearbox (03).

5. The power mechanism of claim 3, wherein, The bottom of the gearbox (03) is also provided with a first gear carrier (10), which is located between the first multi-stage gear set (04) and the second multi-stage gear set (05). The side of the first gear carrier (10) near the first brake shaft (043) is rotatably connected to the other end of the first brake shaft (043), and the side of the first gear carrier (10) near the second brake shaft (053) is rotatably connected to the other end of the second brake shaft (053).

6. The power mechanism of claim 5, wherein, The bottom of the gearbox (03) is also provided with an input shaft gear bracket, which includes a second gear bracket (11) and a third gear bracket (12). The position of the second gear bracket (11) matches the other end of the first input shaft (041), and the other end of the first input shaft (041) is rotatably connected to the second gear bracket (11). The position of the third gear bracket (12) matches the other end of the second input shaft (051), and the other end of the second input shaft (051) is rotatably connected to the third gear bracket (12).

7. The power mechanism of claim 6, wherein, The first multi-stage gear set (04) further includes a first support shaft (044), which is disposed between the first input shaft (041) and the first brake shaft (043) along the second direction. The first support shaft (044) is disposed between the side wall of the gearbox (03) and the first gear carrier (10) along the first direction. One end of the first support shaft (044) is rotatably connected to the side wall of the gearbox (03), and the other end of the first support shaft (044) is rotatably connected to the first gear carrier (10).

8. The power mechanism of claim 6, wherein, The second multi-stage gear set (05) further includes a second support shaft (054), which is disposed between the second input shaft (051) and the second brake shaft (053) along the second direction. The second support shaft (054) is disposed between the side wall of the gearbox (03) and the first gear carrier (10) along the first direction. One end of the second support shaft (054) is rotatably connected to the side wall of the gearbox (03), and the other end of the second support shaft (054) is rotatably connected to the first gear carrier (10).

9. The power mechanism of claim 1, wherein, It also includes a third multi-stage gear set (14), a fourth gear carrier (15), and a drive shaft (13). The fourth gear carrier (15) is disposed on the inner wall of one end of the gearbox (03) along the second direction. The third multi-stage gear set (14) is disposed between the inner wall of the gearbox (03) and the fourth gear carrier (15). The third multi-stage gear set (14) has a third input shaft (141) disposed at its upper end along the vertical direction. One end of the third input shaft (141) passes through the fourth gear carrier (15) and the drive shaft along the second direction. One end of the drive shaft (13) is connected, and the other end of the drive shaft (13) extends out of the gearbox (03) along the second direction away from the third multi-stage gear set (14). The other end of the drive shaft (13) is used to connect with an external power device. The third multi-stage gear set (14) is provided with a third output shaft (142) at its lower end along the vertical direction. One end of the third output shaft (142) is used to extend out of the gearbox (03) along the second direction and connect with the front end attachment. The vertical direction, the first direction and the second direction are perpendicular to each other.

10. An agricultural robot, characterized in that, Includes the power mechanism as described in any one of claims 1-9.

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