A wheel assembly, a walking mechanism and an agricultural robot

Abstract

This invention provides a wheel assembly, a walking mechanism, and an agricultural robot, relating to the technical field of agricultural robots. The wheel assembly includes a connecting frame structure and a wheel section. The connecting frame structure is used for fixed connection with the vehicle body. The wheel section includes a wheel bracket and multiple load-bearing wheel structures. The wheel bracket of each wheel section is fixedly connected to the end of the connecting frame structure along a first direction. The wheel bracket has multiple connection holes, and each load-bearing wheel structure is connected to a corresponding connection hole. The first direction refers to the arrangement direction of two wheel sections. This invention avoids the stress concentration problem of the wheel bracket in the wheel section used to install multiple load-bearing wheel structures, thereby reducing the risk of deformation or breakage of the load-bearing wheel structure and the wheel bracket, and thus improving the driving stability and reliability of the agricultural robot.

Description

Technical Field

[0001] This utility model relates to the technical field of agricultural robots, specifically to a wheel assembly, a walking mechanism, and an agricultural robot. Background Technology

[0002] Robots, such as agricultural robots used in farming, are mainly used for various agricultural production processes such as rotary tillage, weeding, and pesticide spraying on the soil.

[0003] In related technologies, the walking mechanism of agricultural robots mainly adopts the following structure. For example, the walking mechanism includes a drive component and a wheel component. The drive component is fixed to the vehicle body of the agricultural robot. The wheel component includes a transmission component, a drive wheel, multiple load-bearing wheels, and multiple wheel beams. The drive component is driven and connected to the drive wheel. Each load-bearing wheel is fixed to the vehicle body through a corresponding wheel beam. The drive wheel and multiple load-bearing wheels are connected through the transmission component.

[0004] When agricultural robots travel in areas with uneven soil or varying soil hardness, the forces exerted on each load-bearing wheel of the wheel assembly are different. Furthermore, the forces exerted on each load-bearing wheel are transmitted to the vehicle body through their respective wheel beams. As a result, the load-bearing wheel and wheel beam bearing the greatest force are prone to deformation or breakage, thereby affecting the driving stability and reliability of the agricultural robot. Utility Model Content

[0005] The problem this invention addresses is how to improve the driving stability and reliability of agricultural robots.

[0006] To address the aforementioned problems, this utility model provides a wheel assembly, a walking mechanism, and an agricultural robot.

[0007] In a first aspect, the present invention provides a wheel assembly, including a connecting frame structure and a wheel portion. The connecting frame structure is used for fixed connection with a vehicle body. The wheel portion includes a wheel bracket and a plurality of load-bearing wheel structures. The wheel bracket of each wheel portion is fixedly connected to the end of the connecting frame structure along a first direction. The wheel bracket is provided with a plurality of connection holes, and each load-bearing wheel structure is connected to the corresponding connection hole. The first direction refers to the arrangement direction of the two wheel portions.

[0008] Optionally, the wheel bracket includes a frame body, the frame body having a plurality of connection holes spaced apart along a second direction;

[0009] The frame body is a U-shaped frame structure with a cavity, and part of the load-bearing wheel structure is located inside the cavity; wherein, the second direction refers to the extension direction of the wheel bracket and is perpendicular to the first direction.

[0010] Optionally, the connecting frame structure includes a plurality of first support beams, which are spaced apart along the second direction and are respectively used for fixed connection with the vehicle body, and the frame body of each wheel portion is fixedly connected to the bottom of the first support beam.

[0011] Optionally, the connecting frame structure further includes a second support beam, which extends along the second direction, and at least a portion of the first support beam is fixedly connected to the second support beam.

[0012] Optionally, the wheel bracket further includes a plurality of struts, with the struts being disposed between at least two adjacent load-bearing wheel structures; the opposite side walls of the frame body are respectively provided with first through holes, and the ends of the struts are respectively inserted into the corresponding first through holes.

[0013] Optionally, the wheel bracket further includes multiple reinforcing plates, with the reinforcing plates disposed between at least two adjacent load-bearing wheel structures; the reinforcing plates are fixedly connected to the inner wall of the accommodating cavity of the frame body.

[0014] Optionally, the reinforcing plate is provided with a second through hole, the second through hole corresponding to the position of the load-bearing wheel structure.

[0015] Optionally, the wheel section further includes a drive wheel and a track, the drive wheel being used to connect to the drive assembly, and the drive wheel and the plurality of load-bearing wheel structures being connected via the track drive.

[0016] The frame body has a clearance hole at its end along the first direction, and the clearance hole corresponds to the position of the drive wheel.

[0017] Secondly, this utility model provides a walking mechanism, including a wheel assembly as described above, and a drive assembly, wherein the drive assembly is connected to the drive wheel of the wheel assembly and is used to drive the drive wheel to rotate.

[0018] Thirdly, this utility model provides an agricultural robot, including the wheel assembly as described above, or including the walking mechanism as described above.

[0019] The beneficial effects of the wheel assembly, walking mechanism, and agricultural robot of this utility model are:

[0020] The wheel assembly may include a connecting frame structure and multiple wheel sections. The connecting frame structure is used to be fixedly connected to the body of the agricultural robot. The ends of the connecting frame structure along the first direction are respectively fixedly connected to the wheel brackets of the corresponding wheel sections, so that the wheel sections are connected to the body through the connecting frame structure. This allows the weight of the body to be distributed to the wheel sections arranged along the first direction through the connecting frame structure, thereby improving the driving stability of the body through the wheel assembly.

[0021] Because the wheel bracket has multiple connection holes, each load-bearing wheel structure connects to the corresponding connection hole on the wheel bracket. This allows multiple load-bearing wheel structures arranged at intervals to be installed on the same wheel bracket. When the agricultural robot travels in areas with uneven soil or varying hardness, even if the forces acting on each load-bearing wheel structure are different, the forces acting on each load-bearing wheel structure in the same wheel section are transmitted to the corresponding wheel bracket and distributed. This avoids stress concentration problems in the wheel bracket used to install multiple load-bearing wheel structures in the wheel section, and correspondingly reduces the risk of deformation or breakage of the load-bearing wheel structure and wheel bracket, thereby improving the driving stability and reliability of the agricultural robot. Attached Figure Description

[0022] Figure 1 This is one of the partial structural schematic diagrams of the wheel assembly in an embodiment of this utility model;

[0023] Figure 2 This is a second partial structural schematic diagram of the wheel assembly in an embodiment of this utility model;

[0024] Figure 3 This is the third partial structural schematic diagram of the wheel assembly in this embodiment of the present utility model;

[0025] Figure 4 for Figure 3 Enlarged structural diagram at point A;

[0026] Figure 5 This is a schematic diagram of the structure of the agricultural robot in this embodiment of the utility model;

[0027] Figure 6 This is a schematic diagram of the connection structure between the connecting frame structure and a single wheel in an embodiment of this utility model;

[0028] Figure 7 for Figure 5 A magnified structural diagram at point B in the middle.

[0029] Explanation of reference numerals in the attached figures:

[0030] 100-Wheel assembly; 110-Connecting frame structure; 1101-First support beam; 1102-Second support beam; 120-Wheel section; 121-Wheel bracket; 1210-Connecting hole; 1211-Frame body; 12110-First through hole; 12111-Third through hole; 12112-Avoiding hole; 1212-Strut; 1213-Reinforcing plate; 12130-Second through hole; 122-Load-bearing wheel structure; 123-Drive wheel; 124-Track; 125-Support wheel structure; 200-Drive assembly; 300-Vehicle body. Detailed Implementation

[0031] 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.

[0032] In the attached diagram, the Z-axis represents the vertical direction, i.e., up and down, with the positive direction of the Z-axis representing up and the negative direction representing down. The X-axis represents the horizontal direction, specifically the left and right positions, 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 front and back positions, with the positive direction of the Y-axis representing the front and the negative direction representing the back. 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.

[0033] 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.

[0034] 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".

[0035] To address the problems existing in the aforementioned related technologies, this embodiment provides a wheel assembly, a walking mechanism, and an agricultural robot.

[0036] like Figure 1As shown in the figure, an embodiment of the present invention provides a wheel assembly, including a connecting frame structure 110 and two wheel portions 120. The connecting frame structure 110 is used for fixed connection with a vehicle body 300. The wheel portion 120 includes a wheel bracket 121 and a plurality of load-bearing wheel structures 122. The wheel bracket 121 of each wheel portion 120 is fixedly connected to the end of the connecting frame structure 110 along a first direction. The wheel bracket 121 is provided with a plurality of connection holes 1210, and each load-bearing wheel structure 122 is connected to the corresponding connection hole 1210. The first direction refers to the arrangement direction of the two wheel portions 120.

[0037] Specifically, the wheel assembly 100 may include at least two wheel portions 120, which are oriented in a first direction and can be coupled to... Figure 1 In the coordinate system, the X-axis is parallel, and at least two wheel sections 120 are spaced apart along the first direction. When the wheel assembly 100 has two wheel sections 120, the two wheel sections 120 can be located at both ends of the connecting frame structure 110 along the first direction. The wheel bracket 121 of each wheel section 120 is fixedly connected to the end of the connecting frame structure 110 along the first direction, and each load-bearing wheel structure 122 is connected to the corresponding connecting hole 1210 on the wheel bracket 121, so that multiple load-bearing wheel structures 122 are fixedly installed at intervals on the corresponding wheel brackets 121.

[0038] In this embodiment, the wheel assembly 100 may include a connecting frame structure 110 and a plurality of wheel portions 120. The connecting frame structure 110 is used to be fixedly connected to the vehicle body 300 of the agricultural robot. The ends of the connecting frame structure 110 along the first direction are respectively fixedly connected to the wheel brackets 121 of the corresponding wheel portions 120, so that the wheel portions 120 are connected to the vehicle body 300 through the connecting frame structure 110, and the weight of the vehicle body 300 can be distributed to the wheel portions 120 arranged along the first direction through the connecting frame structure 110, thereby improving the driving stability of the vehicle body 300 through the wheel assembly 100.

[0039] Since the wheel bracket 121 is provided with multiple connection holes 1210, each load-bearing wheel structure 122 is connected to the corresponding connection hole 1210 on the wheel bracket 121. This allows multiple load-bearing wheel structures 122 arranged at intervals to be installed on the same wheel bracket 121. When the agricultural robot travels in areas with uneven soil or varying hardness, even if the forces acting on each load-bearing wheel structure 122 are different, the forces acting on each load-bearing wheel structure 122 in the same wheel section 120 are all transmitted to the corresponding wheel bracket 121 and distributed. This avoids the stress concentration problem in the wheel bracket 121 of the wheel section 120 used to install multiple load-bearing wheel structures 122, and correspondingly reduces the risk of deformation or breakage of the load-bearing wheel structure 122 and the wheel bracket 121, thereby improving the driving stability and reliability of the agricultural robot.

[0040] Optionally, combined Figure 2 As shown, the wheel bracket 121 includes a frame body 1211, and the frame body 1211 is provided with a plurality of connection holes 1210 arranged at intervals along the second direction;

[0041] The frame body 1211 is a U-shaped frame structure with a receiving cavity, and part of the load-bearing wheel structure 122 is located in the receiving cavity; wherein, the second direction refers to the extension direction of the wheel bracket 121 and is perpendicular to the first direction.

[0042] Specifically, the second direction can be related to Figure 2 In the coordinate system, the Y-axis is parallel to the direction of travel. The second direction refers to the extension direction of each wheel bracket 121, and can also refer to the forward or backward direction of the agricultural robot; the first direction can be parallel to the direction of travel. Figure 2 In the coordinate system, the X-axis is parallel and can also refer to the left and right directions of the agricultural robot, so the second direction is perpendicular to the first direction.

[0043] Multiple connection holes 1210 on the frame body 1211 are spaced apart along the second direction, and multiple load-bearing wheel structures 122 in the wheel section 120 are spaced apart along the second direction. Therefore, the multiple load-bearing wheel structures 122 are connected to the corresponding connection holes 1210 respectively.

[0044] The load-bearing wheel structure 122 can be connected to the connecting hole 1210 in the following manner: Since the frame body 1211 is a U-shaped frame structure with a cavity, each connecting hole 1210 includes at least two connecting through holes, that is, corresponding connecting through holes are opened on the opposite side walls of the frame body 1211. The load-bearing wheel structure 122 includes a load-bearing wheel and a pin. The pin passes through the center hole of the load-bearing wheel, and both ends of the pin pass through the connecting through holes of the frame body 1211.

[0045] In this optional embodiment, since the frame body 1211 is provided with a plurality of connection holes 1210 spaced apart along the second direction, the plurality of load-bearing wheel structures 122 spaced apart along the second direction of each wheel part 120 are connected to the corresponding connection holes 1210, and each load-bearing wheel structure 122 can rotate around the axis of the connection hole 1210, thereby providing a stable mounting base for the plurality of load-bearing wheel structures 122.

[0046] Since a part, such as the upper part, of the load-bearing wheel structure 122 is located inside the receiving cavity of the frame body 1211, and another part, such as the lower part, of the load-bearing wheel structure 122 protrudes outside the receiving cavity, in other words, the bottom end of the frame body 1211 is higher than the bottom of the load-bearing wheel structure 122, so that when the frame body 1211 provides an installation foundation for the load-bearing wheel structure 122, there is a certain distance between the frame body 1211 and the supporting surface, such as soil, to avoid soil clods from causing wear on the frame body 1211, or to prevent the frame body 1211 from interfering with the driving operation of the wheel part 120 on the soil.

[0047] Optionally, combined Figure 2 As shown, the connecting frame structure 110 includes a plurality of first support beams 1101, which are spaced apart along the second direction and are respectively used to be fixedly connected to the vehicle body 300. The frame body 1211 of each wheel part 120 is fixedly connected to the bottom of the first support beam 1101.

[0048] Specifically, multiple first support beams 1101 can be arranged at intervals along the second direction, and the multiple first support beams 1101 can be fixedly connected to the vehicle body 300 by means of bolt fasteners, plug-in or welding, etc. Each first support beam 1101 can extend along the first direction, the vehicle frame body 1211 can be located below the first support beams 1101, and the bottom of the first support beams 1101 and the top of the vehicle frame body 1211 can be fixedly connected by means of welding, bolt fasteners or other methods.

[0049] In this optional embodiment, since the multiple first support beams 1101 are arranged at intervals along the second direction, and the first support beams 1101 are fixedly connected to the vehicle body 300, and the bottom of the first support beams 1101 is fixedly connected to the frame body 1211 of each wheel part 120, the frame body 1211 of each wheel part 120, the first support beams 1101, and the vehicle body 300 are connected into an integral structure. Since the multiple first support beams 1101 arranged at intervals along the second direction are fixedly connected to the frame body 1211 of each wheel part 120, it is equivalent to increasing the connection point position between the connecting frame structure 110 and the frame body 1211 of the wheel part 120 along the second direction, thereby improving the connection stability between the wheel part 120 and the connecting frame structure 110.

[0050] Furthermore, any load-bearing wheel structure 122 in a wheel section 120 can transmit the applied force through the frame body 1211 and the connecting frame structure 110 to the vehicle body 300 and the other wheel section 120 for distribution, effectively avoiding stress concentration on the frame body 1211 of a single wheel section 120, and further improving the stability and reliability of the vehicle body 300 when traveling through the wheel assembly 100.

[0051] Optionally, combined Figure 2 As shown, the connecting frame structure 110 further includes a second support beam 1102, which extends along the second direction, and at least a portion of the first support beam 1101 is fixedly connected to the second support beam 1102.

[0052] Specifically, the connecting frame structure 110 may include at least two second support beams 1102 spaced apart along a first direction, each second support beam 1102 extending along a second direction; the portion of the first support beam 1101 near each frame body 1211 is fixedly connected to at least one second support beam 1102. The second support beam 1102 and the first support beam 1101 may be fixedly connected using a combination of connecting plates and bolt fasteners, welding, riveting, or other methods.

[0053] The second support beam 1102 and the first support beam 1101 can be hollow tubes to ensure that the weight of the connecting frame structure 110 is reduced while maintaining a certain load-bearing capacity. Additionally, the ends of the second support beam 1102 and the first support beam 1101 can be polygonal in shape. Figure 2 The second support beam 1102 and the first support beam 1101 can be hollow square tube structures.

[0054] The second support beam 1102 can be installed on top of the first support beam 1101.

[0055] The fact that at least a portion of the first support beams 1101 are fixedly connected to the second support beams 1102 can be understood as meaning that only a portion of the first support beams 1101 are fixedly connected to the second support beams 1102, or that on the same side of the wheel section 120, the second support beams 1102 are fixedly connected to all the first support beams 1101.

[0056] In this optional embodiment, since multiple first support beams 1101 are spaced apart along the second direction, and the first support beams 1101 are fixedly connected to the vehicle body 300 and the frame body 1211 of each wheel part 120, the connection stability between the connecting frame structure 110 and the frame body 1211 of the two wheel parts 120 is improved by the first support beams 1101 spaced apart in the second direction; at least a portion of the first support beams 1101 are fixedly connected to the second support beams 1102. Specifically, on the same side of the wheel part 120, the second support beams 1102 are fixedly connected to at least a portion of the first support beams 1101, so that multiple first support beams 1101 and at least two second support beams 1102 can form a polygonal structure, further enhancing the assembly stability of the wheel part 120 with the vehicle body 300 and the connecting frame structure 110, so as to avoid the problem of deformation or displacement of the two wheel parts 120 due to uneven force.

[0057] Optionally, combined Figure 3 As shown, the wheel bracket 121 also includes a plurality of support rods 1212, and the support rods 1212 are arranged between at least two adjacent load-bearing wheel structures 122; the opposite side walls of the frame body 1211 are respectively provided with first through holes 12110, and the ends of the support rods 1212 are respectively passed through the corresponding first through holes 12110.

[0058] Specifically, the provision of the strut 1212 between at least some of the two adjacent load-bearing wheel structures 122 can be understood as providing one strut 1212 between only some of the two adjacent load-bearing wheel structures 122, or providing one strut 1212 between every two adjacent load-bearing wheel structures 122.

[0059] The strut 1212 can be connected to the frame body 1211 in the following way: for example, first through holes 12110 are opened on the opposite side walls of the frame body 1211, and the two ends of the strut 1212 are inserted into the corresponding first through holes 12110. The strut 1212 can extend along the first direction.

[0060] The strut 1212 and the first through hole 12110 of the frame body 1211 can be connected in a movable manner, for example, the strut 1212 can rotate around the axis of the first through hole 12110; or, the strut 1212 and the first through hole 12110 of the frame body 1211 can be connected in a fixed manner, that is, the strut 1212 will not rotate around the axis of the first through hole 12110.

[0061] After the end of the strut 1212 passes through the first through hole 12110 of the frame body 1211, it can be limited in various ways. For example, the end of the strut 1212 and the frame body 1211 can be connected by screws.

[0062] The first perforation 12110 may be located below the center line of the side wall of the frame body 1211.

[0063] In this optional embodiment, since the ends of the struts 1212 are respectively inserted through the first through holes 12110 of the frame body 1211, and thus connected to the frame body 1211 through the struts 1212, not only can the stress strength of the wheel bracket 121 along the first direction be strengthened, but the struts 1212 located between at least some of the two adjacent load-bearing wheel structures 122 can also reduce the probability of soil clods getting stuck between the two adjacent load-bearing wheel structures 122, so as to ensure that each load-bearing wheel structure 122 can work normally.

[0064] Optionally, combined Figure 3As shown, the wheel bracket 121 also includes a plurality of reinforcing plates 1213, and the reinforcing plates 1213 are disposed between at least two adjacent load-bearing wheel structures 122; the reinforcing plates 1213 are fixedly connected to the inner wall of the accommodating cavity of the frame body 1211.

[0065] Specifically, the reinforcing plate 1213 can be a straight plate structure or other shapes such as an arc plate structure.

[0066] The provision of the reinforcing plate 1213 between at least some of the two adjacent load-bearing wheel structures 122 can be understood as the reinforcing plate 1213 being provided only between some of the two adjacent load-bearing wheel structures 122, or the reinforcing plate 1213 being provided between every two adjacent load-bearing wheel structures 122.

[0067] The reinforcing plate 1213 can be fixedly connected to the inner wall of the frame body 1211 by welding.

[0068] In this optional embodiment, since the reinforcing plate 1213 is provided between at least two adjacent load-bearing wheel structures 122, and the reinforcing plate 1213 is fixedly connected to the inner wall of the accommodating cavity, the stress intensity of the wheel bracket 121 along the first direction and vertically can be increased by increasing the connection area between the reinforcing plate 1213 and the frame body 1211, thereby extending its service life accordingly.

[0069] Optionally, combined Figure 4 As shown, the reinforcing plate 1213 is provided with a second through hole 12130, which corresponds to the position of the load-bearing wheel structure 122.

[0070] Specifically, at least one second perforation 12130 may be made in the inner top wall of the reinforcing plate 1213 near the accommodating cavity.

[0071] In this optional embodiment, by opening a second perforation 12130 on the reinforcing plate 1213, and the second perforation 12130 corresponding to the position of the load-bearing wheel structure 122, the weight of the wheel assembly 100 is appropriately reduced while improving the stress strength of the wheel bracket 121 through the second reinforcing plate 1213. Furthermore, if there are soil blocks stuck between two adjacent load-bearing wheel structures 122, the soil blocks can be removed from the wheel bracket 121 by inserting a rod-shaped tool into the second perforation 12130 on the reinforcing plate 1213. Therefore, the second perforation 12130 can ensure the convenience of cleaning soil blocks stuck in the wheel bracket 121.

[0072] Optionally, combined Figure 3 As shown, the frame body 1211 has a third through hole 12111, which can be connected to the decorative panel by bolt fasteners.

[0073] Specifically, a third through hole 12111 can be opened at the end of the frame body 1211 along the second direction, and bolt fasteners can be inserted through the third through hole 12111 and the decorative plate (not shown in the figure) to fix the decorative plate to the wheel bracket 121.

[0074] In this optional embodiment, the decorative panel can serve a certain decorative purpose during the display of the agricultural robot, or prevent soil clods from entering the interior of the wheel bracket 121 during the operation of the agricultural robot.

[0075] Optionally, combined Figures 5 to 7 As shown, the wheel section 120 also includes a drive wheel 123 and a track 124. The drive wheel 123 is used to connect the drive assembly 200. The drive wheel 123 and the plurality of load-bearing wheel structures 122 are connected by transmission through the track 124.

[0076] The frame body 1211 is provided with a clearance hole 12112 at the end along the first direction, and the clearance hole 12112 corresponds to the position of the drive wheel 123.

[0077] Specifically, the drive wheel 123 can be driven to connect with the drive assembly 200 of the walking mechanism so as to drive the drive wheel 123 to rotate through the drive assembly 200.

[0078] Multiple load-bearing wheel structures 122 are installed at intervals along the second direction on the frame body 1211.

[0079] The track 124 is fitted onto the drive wheel 123 and the multiple load-bearing wheel structures 122 to achieve a transmission connection between the drive wheel 123 and the multiple load-bearing wheel structures 122 via the track 124. The track 124 can be a rubber track, a stainless steel track, or other types of track. Any track 124 that can achieve power transmission between the drive wheel 123 and the load-bearing wheel structures 122 is suitable for this technical solution, and no specific limitation is made here.

[0080] The frame body 1211 has clearance holes 12112 at both ends along the first direction, and the clearance holes 12112 correspond to the positions of the drive wheels 123.

[0081] The wheel section 120 also includes a support wheel structure 125, which is arranged at intervals with the drive wheel 123 along the second direction. The support wheel structure 125 includes a support wheel and a mounting bracket. The support wheel is fixed to the upper part of the wheel bracket 121 by the mounting bracket, and the support wheel abuts against the track 124 to support the track 124 from below, thereby reducing the sagging of the track 124 and ensuring the stability and reliability of the track 124 transmission.

[0082] In this optional embodiment, the drive wheel 123 can be driven by the drive assembly 200 to rotate the track 124. The drive wheel 123 and the multiple load-bearing wheel structures 122 are connected by the track 124. The track 124 can transmit the rotational force of the drive wheel 123 to the multiple load-bearing wheel structures 122 and the support wheel structure 125, so that the rotation of the wheel assembly 100 realizes the driving action of the agricultural robot. Since the end of the frame body 1211 along the first direction is provided with a clearance hole 12112, it not only provides clearance between the drive wheel 123 and the frame body 1211 when they are assembled separately, but also prevents the frame body 1211 from interfering with the rotation of the drive wheel 123, thereby ensuring the safety of the agricultural robot's operation.

[0083] The present invention provides a walking mechanism, including a wheel assembly 100 as described in the above embodiment, and a drive assembly 200. The drive assembly 200 is connected to the drive wheel 123 of the wheel assembly 100 and is used to drive the drive wheel 123 to rotate.

[0084] Specifically, the walking mechanism may include two drive components 200, each drive component 200 being driven connected to the drive wheel 123 of the corresponding wheel part 120, so that the two wheel parts 120 can be driven independently by the two drive components 200, thereby realizing the forward, backward or turning movements of the agricultural robot.

[0085] The drive assembly 200 may have the following structure, for example, including a rotary motor and a reducer. The rotary motor may be fixedly installed in the vehicle body. The motor shaft of the rotary motor is connected to the input shaft of the reducer. The output shaft of the reducer is driven to drive the drive wheel 123 to rotate.

[0086] The walking mechanism of this embodiment has the same beneficial effects over the prior art as the wheel assembly 100 described above, and will not be repeated here.

[0087] This utility model embodiment also provides an agricultural robot, including the wheel assembly 100 as described in the above embodiment, or including the walking mechanism as described in the above embodiment.

[0088] The agricultural robot in this embodiment also includes a vehicle body 300, which can be the main structure of the agricultural robot. This main structure is related to the functions performed by the agricultural robot. For example, if the main function of the agricultural robot is to spray pesticides, the main structure may include a frame and a pesticide tank set in the frame. If the main function of the agricultural robot is to rotary tillage, the main structure may include a casing and a rotary tillage device set on the frame. The rotary tillage device can be an existing rotary tillage mechanism on the market, and no specific limitation is made here.

[0089] The vehicle body 300 may include a frame, and the connecting frame structure 110 may be fixedly connected to the frame of the vehicle body 300 by means of welding, bolt fasteners or other methods.

[0090] The beneficial effects of the agricultural robot in this embodiment compared to the prior art are the same as those of the wheel assembly or walking mechanism described above, and will not be repeated here.

[0091] 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 wheel assembly, characterized by The system includes a connecting frame structure (110) and a wheel section (120). The connecting frame structure (110) is used to fix it to the vehicle body (300). The wheel section (120) includes a wheel bracket (121) and a plurality of load-bearing wheel structures (122). The wheel bracket (121) of each wheel section (120) is fixedly connected to the end of the connecting frame structure (110) along a first direction. The wheel bracket (121) is provided with a plurality of connection holes (1210). Each load-bearing wheel structure (122) is connected to the corresponding connection hole (1210). The first direction refers to the arrangement direction of the two wheel sections (120).

2. The wheel assembly of claim 1, wherein, The wheel bracket (121) includes a frame body (1211), which has a plurality of connection holes (1210) spaced apart along a second direction. The frame body (1211) is a U-shaped frame structure with a cavity, and part of the load-bearing wheel structure (122) is located in the cavity; wherein, the second direction refers to the extension direction of the wheel bracket (121) and is perpendicular to the first direction.

3. The wheel assembly of claim 2, wherein, The connecting frame structure (110) includes a plurality of first support beams (1101), which are spaced apart along the second direction and are respectively used to be fixedly connected to the vehicle body (300). The frame body (1211) of each wheel part (120) is fixedly connected to the bottom of the first support beam (1101).

4. The wheel assembly of claim 3, wherein, The connecting frame structure (110) further includes a second support beam (1102), which extends along the second direction, and at least a portion of the first support beam (1101) is fixedly connected to the second support beam (1102).

5. The wheel assembly of claim 2, wherein, The wheel bracket (121) also includes a plurality of struts (1212), and the struts (1212) are arranged between at least two adjacent load-bearing wheel structures (122); the opposite side walls of the frame body (1211) are respectively provided with first through holes (12110), and the ends of the struts (1212) are respectively inserted into the corresponding first through holes (12110).

6. The wheel assembly of claim 2, wherein, The wheel bracket (121) also includes a plurality of reinforcing plates (1213), and the reinforcing plates (1213) are disposed between at least two adjacent load-bearing wheel structures (122); the reinforcing plates (1213) are fixedly connected to the inner wall of the accommodating cavity of the frame body (1211).

7. The wheel assembly of claim 6, wherein, The reinforcing plate (1213) is provided with a second through hole (12130), which corresponds to the position of the load-bearing wheel structure (122).

8. The wheel assembly of claim 2, wherein, The wheel section (120) further includes a drive wheel (123) and a track (124). The drive wheel (123) is used to connect to the drive assembly (200). The drive wheel (123) and the plurality of load-bearing wheel structures (122) are connected by transmission through the track (124). The frame body (1211) has a clearance hole (12112) at the end along the first direction, and the clearance hole (12112) corresponds to the position of the drive wheel (123).

9. A walking mechanism characterized by The wheel assembly as described in any one of claims 1 to 8 is further comprising a drive assembly (200) connected to a drive wheel (123) of the wheel assembly (100) for driving the drive wheel (123) to rotate.

10. An agricultural robot, characterized in that, It includes the wheel assembly as described in any one of claims 1 to 8, or the walking mechanism as described in claim 9.

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