A tension wheel adjustment device, a wheel transmission system, and an agricultural robot

Abstract

This utility model provides a tension wheel adjustment device, a wheel transmission system, and an agricultural robot, relating to the field of agricultural machinery technology. The tension wheel adjustment device includes a mounting bracket and an adjustment mechanism. The mounting bracket is used to fix the device to the frame of the agricultural robot. The adjustment mechanism includes an adjusting screw, a nut structure, a sleeve, and a movable frame. The sleeve is fixedly connected to the mounting bracket, and a portion of the movable frame is embedded within the sleeve. The end of the movable frame is used to connect to the tension wheel. The nut structure is fixed to the end of the sleeve. The adjusting screw is threadedly connected to the nut structure and extends into the sleeve, connecting to the movable frame. This utility model uses the adjustment screw and nut structure, along with other mechanical components, to replace the hydraulic cylinder and hydraulic system of related technologies. This ensures the stability of the tension force on the tension wheel. The adjusting screw and nut structure prevents changes in the position of the tension wheel due to changes in ambient temperature, thus ensuring the normal operation of the agricultural robot.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery and equipment technology, specifically to a tension wheel adjustment device, a wheel transmission system, and an agricultural robot. Background Technology

[0002] In the field of robotics, such as agricultural robots, the stability of the wheel drive system is a key factor in ensuring operational efficiency and equipment reliability. Among them, the tensioner, as a core component for adjusting the tension of transmission parts such as belts and chains, directly affects the smoothness of power transmission, energy efficiency, and the service life of components through precise control of its tension.

[0003] In related technologies, agricultural robots typically use hydraulic cylinders as tensioning wheel adjustment devices. The hydraulic system provides hydraulic oil to drive the hydraulic cylinders to extend and retract, thereby dynamically adjusting the position of the tensioning wheel to meet the tension requirements of the wheel drive system. This ensures that the transmission components do not slip during transmission, thus reducing the impact of the road surface on the wheel drive system.

[0004] However, due to changes in ambient temperature or fluctuations in oil pressure, the tension force on the tensioning wheel in the hydraulic system (which mainly includes hydraulic tanks, hydraulic pumps, hydraulic pipes, directional valves, etc.) becomes unstable, causing the position of the tensioning wheel to change and the transmission components to loosen, thus affecting the normal operation of the agricultural robot. Utility Model Content

[0005] The problem solved by this invention is how to ensure the stability of the tension force on the tensioning wheel through an adjustment device.

[0006] To solve the above problems, this utility model provides a tensioning wheel adjustment device, a wheel transmission system, and an agricultural robot.

[0007] In a first aspect, this utility model provides a tension wheel adjusting device, comprising:

[0008] Mounting bracket, which is used to fix the agricultural robot to the frame;

[0009] An adjusting mechanism is provided, comprising an adjusting screw, a nut structure, a sleeve, and a movable frame. The sleeve is fixedly connected to the mounting bracket. A portion of the movable frame is embedded within the sleeve, and the end of the movable frame is used to connect to a tensioning wheel. The nut structure is fixed to the end of the sleeve. The adjusting screw is threadedly connected to the nut structure and extends into the sleeve and connects to the movable frame.

[0010] Optionally, the movable frame includes a movable rod and a connecting frame, a portion of the movable rod is embedded in the sleeve, and the ends of the movable rod and the sleeve are polygonal in shape; the adjusting screw is connected to the movable rod, and the end of the movable rod away from the adjusting screw is fixedly connected to the connecting frame, which is used to engage with the tensioning wheel.

[0011] Optionally, the sleeve includes a first sidewall, the sidewall of the sleeve away from the mounting bracket being the first sidewall; the adjustment mechanism further includes a locking structure, the locking structure including a first fastener, the first fastener passing through the first sidewall and connected to the moving rod.

[0012] Optionally, the sleeve further includes a second sidewall, which is disposed adjacent to the first sidewall; the locking structure further includes a second fastener, which passes through the second sidewall and is connected to the moving rod.

[0013] Optionally, the moving rod has a plurality of first positioning holes arranged at intervals along its own extension direction on the side wall corresponding to the first side wall, and the first fastener passes through the first positioning holes;

[0014] The moving rod and the side wall corresponding to the second side wall are provided with a plurality of second positioning holes arranged at intervals along their own extension direction, and the second fastener passes through the second positioning holes.

[0015] Optionally, the sleeve includes a sleeve body and an end panel, with a portion of the moving rod embedded in the sleeve body; the end of the sleeve body away from the connecting frame is fixedly connected to the end panel; and the nut structure is fixedly connected to the end panel.

[0016] Optionally, the tension wheel adjustment device further includes a reinforcing structure, which includes a third fastener and a first plate and a second plate arranged at an angle. The first plate is fixedly connected to the end panel, and the third fastener passes through the second plate and is fixedly connected to the mounting bracket.

[0017] Optionally, the mounting bracket includes a first connecting beam and a support frame. A plurality of the first connecting beams are arranged at intervals along the extension direction of the sleeve and are used to be fixedly connected to the frame respectively. At least a portion of the first connecting beams are fixedly connected to the support frame, and a portion of the first connecting beams are fixedly connected to the sleeve.

[0018] Secondly, this utility model provides a wheel transmission system, including the tension wheel adjustment device as described above, and also including a drive device, a drive wheel, a tension wheel, a track, and a plurality of load-bearing wheels. The drive device is connected to the drive wheel and is used to drive the drive wheel to rotate. The drive wheel, the tension wheel, and the plurality of load-bearing wheels are connected by the track.

[0019] Thirdly, this utility model provides an agricultural robot, including the wheel transmission system described above.

[0020] The beneficial effects of the tension wheel adjustment device, wheel transmission system, and agricultural robot of this utility model are:

[0021] The tension wheel adjustment device mainly includes a mounting bracket and an adjustment mechanism. The sleeve of the adjustment mechanism can be fixedly connected to the mounting bracket, so that the adjustment mechanism and the mounting bracket can be fixedly installed on the frame of the agricultural robot.

[0022] When it is necessary to adjust the tension of the tension wheel, since one end of the moving frame is connected to the tension wheel, the adjusting screw passes through the nut structure and extends into the sleeve fitting, connecting to the end of the moving frame away from the tension wheel. The adjusting screw is threadedly connected to the nut structure. By rotating the adjusting screw, the nut structure converts the rotational motion of the adjusting screw into linear motion of the moving frame, thereby using the moving frame to drive the tension wheel to move linearly, changing the position of the tension wheel and realizing the tension adjustment action of the tension wheel.

[0023] Compared to related technologies where hydraulic cylinders and hydraulic systems used to adjust the tension wheel are susceptible to instability in tension force due to changes in ambient temperature or oil pressure fluctuations, this invention replaces the hydraulic cylinders and hydraulic systems of related technologies with an adjusting screw and nut structure and other mechanical components. This ensures the stability of the tension force on the tension wheel. The adjusting screw and nut structure will not cause changes in the position of the tension wheel due to changes in ambient temperature, thereby ensuring the normal operation of the agricultural robot. Attached Figure Description

[0024] Figure 1 This is one of the structural schematic diagrams of the tension wheel adjustment device in the embodiments of this utility model;

[0025] Figure 2 This is one of the exploded structural diagrams of the adjusting mechanism in the embodiments of this utility model;

[0026] Figure 3 This is the second exploded structural diagram of the adjusting mechanism in the embodiments of this utility model;

[0027] Figure 4 This is a partial structural schematic diagram of the tension wheel adjustment device in an embodiment of this utility model;

[0028] Figure 5 for Figure 4 Enlarged structural diagram at point A;

[0029] Figure 6 This is the second schematic diagram of the tension wheel adjusting device in the embodiments of this utility model;

[0030] Figure 7 This is a schematic diagram of the structure of the agricultural robot in this embodiment of the utility model;

[0031] Figure 8 This is a partial structural schematic diagram of the wheel transmission system in an embodiment of this utility model.

[0032] Explanation of reference numerals in the attached figures:

[0033] 1-Mounting bracket; 11-First connecting beam; 12-Support frame; 13-Second connecting beam; 2-Adjusting mechanism; 21-Adjusting screw; 22-Nut structure; 23-Sleeve fitting; 231-Sleeve body; 2310-First side wall; 2311-Second side wall; 232-End panel; 24-Moving frame; 241-Moving rod; 2411-First positioning hole; 2412-Second positioning hole; 2413-Positioning connection structure; 242-Connecting frame; 25-Locking structure; 251-First fastener; 252-Second fastener; 26-Reinforcing structure; 261-First plate; 262-Second plate; 3-Tensioning wheel; 4-Drive wheel; 5-Bearing wheel; 6-Crawler track; 7-Support wheel; 8-Frame. Detailed Implementation

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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".

[0038] In related technologies, such as in the field of robotics and agricultural robots, the stability of the wheel transmission system is a key factor in ensuring operational efficiency and equipment reliability. Among these, the tensioner, as a core component for adjusting the tension of transmission parts such as belts and chains, directly affects the smoothness of power transmission, energy efficiency, and the service life of components through precise control of its tension.

[0039] In related technologies, agricultural robots typically use hydraulic cylinders and U-shaped frames as adjustment devices for the tension wheel. The hydraulic cylinder is fixed to the frame of the agricultural robot, and the end of the piston rod of the hydraulic cylinder is fixedly connected to the center of the U-shaped frame. The open end of the U-shaped frame is engaged with the tension wheel, and hydraulic oil is supplied through the hydraulic system to drive the hydraulic cylinder to extend and retract, thereby dynamically adjusting the position of the tension wheel to meet the tension requirements of the wheel transmission system, ensuring that the transmission components do not slip during transmission, and reducing the impact of the road surface on the wheel transmission system.

[0040] However, due to changes in ambient temperature or fluctuations in oil pressure, the tension force on the tensioning wheel in the hydraulic system (which mainly includes hydraulic tanks, hydraulic pumps, hydraulic pipes, directional valves, etc.) becomes unstable, causing the position of the tensioning wheel to change and the transmission components to loosen, thus affecting the normal operation of the agricultural robot.

[0041] To address the problems existing in the aforementioned related technologies, this embodiment provides a tensioning wheel adjustment device, a wheel transmission system, and an agricultural robot.

[0042] like Figure 1 As shown, an embodiment of this utility model provides a tension wheel adjusting device, comprising:

[0043] Mounting bracket 1, which is used to fix the agricultural robot to the frame 8;

[0044] Adjustment mechanism 2 includes an adjustment screw 21, a nut structure 22, a sleeve 23, and a movable frame 24. The sleeve 23 is fixedly connected to the mounting bracket 1. A portion of the movable frame 24 is embedded in the sleeve 23, and the end of the movable frame 24 is used to connect to the tension wheel 3. The nut structure 22 is fixed to the end of the sleeve 23. The adjustment screw 21 is threadedly connected to the nut structure 22 and extends into the sleeve 23 and is connected to the movable frame 24.

[0045] Specifically, the mounting bracket 1 and the frame 8 can be fixedly connected by welding, bolt fasteners, or other methods.

[0046] The sleeve fitting 23 can be fixedly connected to the mounting bracket 1 by welding, riveting, bolt fasteners, etc.

[0047] The moving frame 24 and the sleeve 23 extend in parallel directions. The end area of ​​the sleeve 23 is larger than the end area of ​​the moving frame 24, so that part of the moving frame 24 can be slidably embedded inside the sleeve 23, and the moving frame 24 can slide linearly inside the sleeve 23.

[0048] One end of the movable frame 24 extends out of the sleeve 23 and is connected to the tensioning wheel 3, so that the sleeve 23 can serve as a support base for the movable frame 24 and the tensioning wheel 3.

[0049] The nut structure 22 can be fixed to the end of the sleeve 23 away from the tensioning wheel 3 by welding, so that the sleeve 23 and the nut structure 22 can form an integral structure. The adjusting screw 21 is connected to the nut structure 22 by thread. One end of the adjusting screw 21 passes through the nut structure 22 and extends into the sleeve 23 and is connected to the moving frame 24. The other end of the adjusting screw 21 can be located outside the sleeve 23, so that the operator can operate from the other end of the adjusting screw 21. For example, by rotating the adjusting screw 21 clockwise or counterclockwise, the moving frame 24 can be pushed to slide linearly in the sleeve 23, and the tensioning wheel 3 can be moved linearly to achieve the tensioning (e.g., tightening or loosening) action of the tensioning wheel 3.

[0050] In this embodiment, the tension wheel adjustment device mainly includes a mounting bracket 1 and an adjustment mechanism 2. The sleeve 23 of the adjustment mechanism 2 can be fixedly connected to the mounting bracket 1, so that the adjustment mechanism 2 and the mounting bracket 1 can be fixedly installed on the frame 8 of the agricultural robot.

[0051] When it is necessary to adjust the tension of the tension wheel 3, since one end of the movable frame 24 is connected to the tension wheel 3, the adjusting screw 21 passes through the nut structure 22 and extends into the sleeve 23 and is connected to the end of the movable frame 24 away from the tension wheel 3. The adjusting screw 21 is threadedly connected to the nut structure 22. The operator can rotate the adjusting screw 21, so that the nut structure 22 converts the rotational motion of the adjusting screw 21 into the linear motion of the movable frame 24. The movable frame 24 drives the tension wheel 3 to move linearly, so that the position of the tension wheel changes and the tension adjustment action of the tension wheel 3 is realized.

[0052] Compared to related technologies where the hydraulic cylinder and hydraulic system used to adjust the tension wheel 3 are susceptible to instability due to changes in ambient temperature or oil pressure fluctuations, this invention replaces the hydraulic cylinder and hydraulic system of related technologies with the adjustment screw 21, nut structure 22, and other mechanical components. This ensures the stability of the tension force on the tension wheel 3. The adjustment screw 21 and nut structure 22 will not cause changes in the position of the tension wheel 3 due to changes in ambient temperature, thus ensuring the normal operation of the agricultural robot. Moreover, compared to related technologies that use hydraulic oil as the power drive for the hydraulic cylinder, this invention, through the threaded connection between the adjustment screw 21 and nut structure 22, converts the rotational motion of the adjustment screw 21 into its own linear movement, thereby improving the adjustment accuracy of the tensioning action of the tension wheel 3.

[0053] Alternatively, a fixing nut can be provided at the end of the adjusting screw 21 away from the moving frame 24. A tool such as a sleeve can be used to connect to the fixing nut (e.g., sleeve connection) so that the adjusting screw 21 can be rotated by the tool to achieve the tension adjustment operation of the tensioning wheel 3.

[0054] Optionally, combined Figure 2 As shown, the movable frame 24 includes a movable rod 241 and a connecting frame 242. A portion of the movable rod 241 is embedded in the sleeve 23. The ends of the movable rod 241 and the sleeve 23 are polygonal in shape. The adjusting screw 21 is connected to the movable rod 241. The end of the movable rod 241 away from the adjusting screw 21 is fixedly connected to the connecting frame 242. The connecting frame 242 is used to engage with the tensioning wheel 3.

[0055] Specifically, part of the moving rod 241 is slidably embedded in the sleeve 23. In other words, the sleeve 23 can be sleeved on the outside of the moving rod 241, and the moving rod 241 can slide linearly in the sleeve 23 under the rotational pushing action of the adjusting screw 21.

[0056] The ends of the moving rod 241 and the sleeve 23 are polygonal in shape, for example, they can both be quadrilateral (see...). Figure 2 The moving rod 241 has a pentagonal or hexagonal structure, and the end face shape of the moving rod 241 matches the end face shape of the sleeve 23. This ensures that when the moving rod 241 is inserted into the sleeve 23, the outer wall of the moving rod 241 can contact the inner wall of the sleeve 23 as much as possible, thereby improving the stability of the moving rod 241 sliding linearly within the sleeve 23. Furthermore, the polygonal structure of the moving rod 241 can prevent rotation relative to the sleeve 23.

[0057] Combination Figure 3 As shown, the end of the moving rod 241 and the adjusting screw 21 can be connected in the following ways: for example, a positioning connection structure 2413 is provided at the end of the moving rod 241. This positioning connection structure 2413 is used to abut or insert with the end of the adjusting screw 21, so that the end of the adjusting screw 21 can rotate within the positioning connection structure 2413. This positioning connection structure 2413 can increase the contact area between the moving rod 241 and the adjusting screw 21, prevent the adjusting screw 21 from disengaging from the positioning connection structure 2413, and improve the orientation of the moving rod 241 in the linear sliding of the sleeve 23. The positioning connection structure 2413 can be a circular groove, in which case the end of the adjusting screw 21 abuts against the circular groove; or, the positioning connection structure 2413 can also be a cylindrical structure, in which case the cylindrical structure can be fixed by welding at the center of the end of the moving rod 241, in which case the end of the adjusting screw 21 is inserted into the cylindrical structure.

[0058] The connecting frame 242 can adopt a U-shaped frame structure. The U-shaped frame structure can include a connecting plate and two side plates spaced apart. The opposite ends of the connecting plate are fixedly connected to the corresponding side plates to form the shape of a U-shaped frame. The end of the moving rod 241 away from the adjusting screw 21 can be fixedly connected to the connecting plate of the connecting frame 242 by welding.

[0059] The connecting frame 242 can be connected to the tension wheel 3 in the following ways: for example, the tension wheel 3 includes a tension wheel body and a support shaft, the support shaft passes through the central hole of the tension wheel body, and the ends of the two side plates of the U-shaped frame structure away from the connecting plate are respectively provided with slots. The tension wheel body is located between the two side plates, and the ends of the support shaft are respectively connected to the slots of the two side plates to realize the snap-fit ​​operation between the connecting frame 242 and the tension wheel 3.

[0060] Optionally, combined Figure 3 As shown, the sleeve 23 includes a first sidewall 2310, and the sidewall of the sleeve 23 away from the mounting bracket 1 is the first sidewall 2310; the adjustment mechanism 2 also includes a locking structure 25, the locking structure 25 includes a first fastener 251, the first fastener 251 passes through the first sidewall 2310 and is connected to the moving rod 241.

[0061] Specifically, the sleeve 23 can be fixed to the upper end of the mounting bracket 1. Therefore, the side wall of the sleeve 23 away from the mounting bracket 1 can be understood as the upper side wall of the sleeve 23, which can be defined as the first side wall 2310.

[0062] The first fastener 251 may be a bolt fastener. For example, the first fastener 251 extends vertically and passes through the first side wall 2310 of the sleeve 23 and is connected to the moving rod 241 to lock the position of the first side wall 2310 of the sleeve 23 and the top wall of the moving rod 241.

[0063] When it is necessary to adjust the tension of the tension wheel 3, the first fastener 251 can be loosened or removed to release the position lock of the first fastener 251 on the sleeve 23 and the moving rod 241. At this time, the adjustment screw 21 can be rotated, and the nut structure 22 can be used to convert the rotational movement of the adjustment screw 21 into linear movement, driving the moving rod 241 to move linearly within the sleeve 23. The moving frame 24 drives the tension wheel 3 to move, thereby adjusting the tension of the tension wheel 3. After adjusting the position (or tension) of the tension wheel 3, the first fastener 251 can be tightened by rotating it, so that the first fastener 251 passes through the first side wall 2310 of the sleeve 23 and connects to the moving rod 241, thereby locking the position of the sleeve 23 and the moving rod 241, and correspondingly locking the position of the tension wheel 3. This prevents the tension wheel 3 from shifting due to force during the operation of the agricultural robot, which would affect the force transmission effect of the track 6 of the agricultural robot.

[0064] Optionally, combined Figure 3As shown, the sleeve 23 further includes a second sidewall 2311, which is disposed adjacent to the first sidewall 2310; the locking structure 25 further includes a second fastener 252, which passes through the second sidewall 2311 and is connected to the moving rod 241.

[0065] Specifically, the side wall of the sleeve 23 away from the frame 8 of the agricultural robot can be defined as the second side wall 2311 of the sleeve 23, which is adjacent to the first side wall 2310.

[0066] The second fastener 252 can be a bolt fastener, for example, the second fastener 252 can be... Figure 3 Extending along the X-axis in the coordinate system, the second fastener 252 penetrates the second sidewall 2311 of the sleeve 23 and connects to the moving rod 241 to lock the position of the second sidewall 2311 of the sleeve 23 and the sidewall of the moving rod 241 away from the frame 8.

[0067] When it is necessary to adjust the tension of the tension wheel 3, the first fastener 251 and the second fastener 252 can be loosened or removed to release the position lock of the first fastener 251 and the second fastener 252 on the sleeve 23 and the moving rod 241. At this time, the adjustment screw 21 can be rotated, and the rotational movement of the adjustment screw 21 can be converted into linear movement by the nut structure 22, which drives the moving rod 241 to move linearly in the sleeve 23. The moving frame 24 drives the tension wheel 3 to move, thereby realizing the adjustment of the tension of the tension wheel 3. After adjusting the position of the tension wheel 3, the first fastener 251 and the second fastener 252 can be tightened so that the first fastener 251 and the second fastener 252 pass through the first side wall 2310 of the sleeve 23 and connect to the moving rod 241. This fixes the sleeve 23 to the moving rod 241 from the upper end and the side away from the frame 8, thereby further improving the stability of the position locking of the sleeve 23 and the moving rod 241 from two different directions. Correspondingly, the position locking of the tension wheel 3 is achieved, preventing the tension wheel 3 from shifting due to force during the operation of the agricultural robot, which would affect the force transmission effect of the track 6 of the agricultural robot.

[0068] Optionally, combined Figure 3 As shown, the moving rod 241 and the side wall corresponding to the first side wall 2310 are provided with a plurality of first positioning holes 2411 arranged at intervals along their own extension direction, and the first fastener 251 passes through the first positioning holes 2411.

[0069] The moving rod 241 and the side wall corresponding to the second side wall 2311 are provided with a plurality of second positioning holes 2412 arranged at intervals along their own extension direction, and the second fastener 252 passes through the second positioning holes 2412.

[0070] Specifically, the multiple first positioning holes 2411 are arranged at intervals in a direction parallel to the extension direction of the moving rod 241, and the multiple second positioning holes 2412 are arranged at intervals in a direction parallel to the extension direction of the moving rod 241.

[0071] In addition, a third positioning hole corresponding to the first positioning hole 2411 is provided on the first side wall 2310 of the sleeve 23, and a fourth positioning hole corresponding to the second positioning hole 2412 is provided on the second side wall 2311 of the sleeve 23.

[0072] The diameter of the first fastener 251 is smaller than the inner diameter of the first positioning hole 2411, and the diameter of the second fastener 252 is smaller than the inner diameter of the second positioning hole 2412, so that the first fastener 251 can be smoothly inserted into the third positioning hole of the sleeve 23 and the first positioning hole 2411 of the moving rod 241 in sequence, and the second fastener 252 can be smoothly inserted into the fourth positioning hole of the sleeve 23 and the second positioning hole 2412 of the moving rod 241 in sequence.

[0073] The number of first fasteners 251 is less than the number of first positioning holes 2411, and the number of second fasteners 252 is less than the number of second positioning holes 2412. The number of first positioning holes 2411 and second positioning holes 2412 may be the same or different.

[0074] Among them, at least one of the first positioning hole 2411 and the third positioning hole is a threaded hole that is matched and screwed to the first fastener 251, and the second positioning hole 2412 and the fourth positioning hole are threaded holes that are matched and screwed to the second fastener 252.

[0075] In this optional embodiment, the first fastener 251 passes through the third positioning hole of the sleeve 23 and is inserted into the first positioning hole 2411 corresponding to the position of the moving rod 241, and the second fastener 252 passes through the fourth positioning hole of the sleeve 23 and is inserted into the second positioning hole 2412 corresponding to the position of the moving rod 241. This allows for position locking of the moving rod 241 of the moving frame 24 at different positions within the sleeve 23, and correspondingly, position locking of the tensioning wheel 3 at different positions, thereby improving the applicability and flexibility of position adjustment and position locking of the tensioning wheel 3.

[0076] Optionally, combined Figure 2 and Figure 3 As shown, the sleeve fitting 23 includes a sleeve body 231 and an end panel 232. A portion of the moving rod 241 is embedded in the sleeve body 231. The end of the sleeve body 231 away from the connecting frame 242 is fixedly connected to the end panel 232. The nut structure 22 is fixedly connected to the end panel 232.

[0077] Specifically, the sleeve body 231 can be a shell structure with an internal cavity and openings at both ends. The moving rod 241 of the moving frame 24 is slidably inserted into or embedded in the cavity of the sleeve body 231 from one opening. The end of the moving rod 241 is fixedly connected to the connecting frame 242. The end panel 232 and the opening of the sleeve body 231 away from the connecting frame 242 can be sealed by welding or integral molding.

[0078] The nut structure 22 can be fixed to the end panel 232 by welding, and the end panel 232 is provided with a through hole corresponding to the nut structure 22 and for easy adjustment of the lead screw 21.

[0079] The adjusting screw 21 has an external thread that is threaded to the nut structure 22.

[0080] In this optional embodiment, since one end of the adjusting screw 21 passes through the hole in the nut structure 22 and the end panel 232 in sequence and is connected to the end of the moving rod 241 away from the connecting frame 242, the external thread portion of the adjusting screw 21 is located inside the sleeve 23, so as to seal the connection between the end panel 232 and the opening of the sleeve body 231. This not only seals the area between the end panel 232 and the end of the moving rod 241 away from the connecting frame 242, reducing the amount of dust, dirt and other impurities from the outside entering the area between the end panel 232 and the end of the moving rod 241 and adhering to the external thread portion of the adjusting screw 21, thus affecting the thread adjustment action of the adjusting screw 21 and the nut structure 22, but also provides a stable installation base for the nut structure 22.

[0081] Optionally, combined Figure 4 and Figure 5 As shown, the tension wheel adjustment device also includes a reinforcing structure 26, which includes a third fastener and a first plate 261 and a second plate 262 arranged at an angle. The first plate 261 is fixedly connected to the end panel 232, and the third fastener passes through the second plate 262 and is fixedly connected to the mounting bracket 1.

[0082] Specifically, the reinforcing structure 26 can be used to increase the connection stability between the sleeve 23 and the mounting bracket 1. Specifically, the first plate 261 and the second plate 262 are set at an angle to form an L-shaped plate with an integral structure to ensure the mechanical strength of the L-shaped plate.

[0083] The reinforcing structure 26 can be fixed to the mounting bracket 1 in various ways. For example, the first plate 261 and the end panel 232 can be fixedly connected by welding, and the second plate 262 and the mounting bracket 1 can be fixedly connected by welding; and / or, the first plate 261 is attached to the end panel 232, the second plate 262 is attached to the mounting bracket 1, and a third fastener is inserted through the second plate 262 and the mounting bracket 1 to fix the second plate 262 to the mounting bracket 1. In this embodiment, the third fastener can be a rivet or a bolt. Furthermore, the third fastener is offset relative to the adjusting screw 21 to avoid affecting the rotation of the adjusting screw 21.

[0084] The height of the first plate 261 in the vertical direction can be less than the height between the adjusting screw 21 and the second plate 262, so as to avoid the first plate 261 interfering with the rotation of the adjusting screw 21.

[0085] In this optional embodiment, since the third fastener passes through the second plate 262 and is fixedly connected to the mounting bracket 1, the first plate 261, which is connected to the second plate 262 at an angle, is connected to the end panel 232. The first plate 261 and the second plate 262, which are fixed to the mounting bracket 1, limit and fix the sleeve 23 from the rear end of the sleeve 23. In other words, the reinforcing structure 26 can enhance the connection stability between the sleeve 23 and the mounting bracket 1 from the rear end of the sleeve 23, and prevent the sleeve 23 from moving in the mounting bracket 1 along the extension direction of the sleeve 23.

[0086] Optionally, combined Figure 6 As shown, the mounting bracket 1 includes a first connecting beam 11 and a support frame 12. A plurality of the first connecting beams 11 are arranged at intervals along the extension direction of the sleeve 23 and are used to be fixedly connected to the frame 8 respectively. At least a portion of the first connecting beams 11 are fixedly connected to the support frame 12; a portion of the first connecting beams 11 are fixedly connected to the sleeve 23.

[0087] Specifically, the extension direction of the sleeve fitting 23 can Figure 6 In the coordinate system, the Y-axis is parallel, and multiple first connecting beams 11 can be arranged at intervals along the extension direction of the sleeve 23 and fixedly connected to the frame 8, thereby increasing the number of connection points between the mounting bracket 1 and the frame 8 along the extension direction of the sleeve 23, and correspondingly increasing the installation stability of the mounting bracket 1 and the frame 8.

[0088] The mounting bracket 1 also includes a second connecting beam 13, which can extend in the extension direction of the sleeve 23. The end of the second connecting beam 13 in the extension direction can be fixedly connected to the first connecting beam 11 by welding, connecting plate or other means. In this way, the second connecting beam 13 can prevent the first connecting beams 11, which are spaced apart along the extension direction of the sleeve 23, from shifting or misaligning, thereby further improving the connection stability between the second connecting beam 13 and the first connecting beam 11 and the frame 8 and the sleeve 23.

[0089] The second connecting beam 13 and the first connecting beam 11 can adopt a square tube structure, thereby reducing the weight of the mounting bracket 1 while ensuring that the mounting bracket 1 meets a certain load, and correspondingly reducing the kinetic energy consumption of the agricultural robot.

[0090] At least a portion of the first connecting beams 11 and the support frame 12 can be fixedly connected by welding, and the sleeve 23 and the support frame 12 can be fixedly connected by welding, so that the sleeve 23 can be fixedly installed on the frame 8 via the support frame 12 and the first connecting beams 11.

[0091] The sleeve 23 also includes a third sidewall, which is disposed opposite to the second sidewall 2311. A portion of the first connecting beams 11 can be fixedly connected to the third sidewall of the sleeve 23 by welding. Since the first connecting beams 11 are connected to the support frame 12, the first connecting beams 11 and the support frame 12 are fixedly connected to the sleeve 23 respectively. Thus, the connection between the sleeve 23 and the support frame 12 can be further increased through the connection between the first connecting beams 11 and the sleeve 23, thereby increasing the stability of the connection between the sleeve 23 and the support frame 12, and correspondingly increasing the stability of the position locking of the tension wheel 3.

[0092] Combination Figure 7 and Figure 8 As shown in the figure, the present invention provides a wheel transmission system, including the tension wheel adjustment device as described in the above embodiment, and further including a drive device, a drive wheel 4, a tension wheel 3, a track 6 and a plurality of load-bearing wheels 5. The drive device is connected to the drive wheel 4 and is used to drive the drive wheel 4 to rotate. The drive wheel 4, the tension wheel 3 and the plurality of load-bearing wheels 5 are connected by the track 6.

[0093] Specifically, the drive unit is used to drive the drive wheel 4 to rotate, providing driving power for the agricultural robot. The drive unit includes a rotary motor and a reducer. The motor housing of the rotary motor can be fixedly installed in the frame 8 using bolts, welding, or other methods. The motor shaft of the rotary motor is connected to the input shaft of the reducer via a coupling, and the output shaft of the reducer is fixedly connected to the drive wheel 4. The rotary motor and reducer work together to drive the rotation of the drive wheel 4.

[0094] The movable frame 24 of the tension wheel adjustment device can be engaged with the tension wheel 3; the wheel transmission system also includes a support wheel 7, which can be fixedly installed on the support frame 12 of the mounting bracket 1.

[0095] The support frame 12 of the mounting bracket 1 can adopt a U-shaped shell structure, and multiple mounting holes can be provided on the U-shaped shell structure, with multiple load-bearing wheels 5 along it. Figure 8 The load-bearing wheels 5 are arranged at intervals along the Y-axis, and a portion of the load-bearing wheels 5 are embedded in the support frame 12 and connected to the corresponding mounting holes. Therefore, in addition to serving as the mounting base for the sleeve 23, the support frame 12 can also serve as the mounting base for the load-bearing wheels 5.

[0096] The drive wheel 4, the tension wheel 3, and the multiple load-bearing wheels 5 are connected by the track 6. The drive wheel 4 rotates under the rotational drive of the drive device, so as to transmit the rotational power of the drive wheel 4 to the tension wheel 3 and the multiple load-bearing wheels 5 through the track 6. The top of the support wheel 7 can abut against the track 6 to support the track 6 and reduce the sagging of the middle area of ​​the track 6.

[0097] The tensioning action of the tensioning wheel 3 can be adjusted in the following way. For example, when it is necessary to tighten the tensioning wheel 3, first loosen or remove the first fastener 251 and the second fastener 252 to release the locking of the first fastener 251 and the second fastener 252 on the position of the sleeve 23 and the moving rod 241. At this time, the adjusting screw 21 can be rotated clockwise, and the rotational motion of the rotating screw can be converted into forward linear movement by the nut structure 22, which drives the moving rod 241 to move forward linearly within the sleeve 23. The moving frame 24 drives the tensioning wheel 3 to move along... Figure 8 When the Y-axis moves in the positive direction in the coordinate system, the distance between the tensioning wheel 3 and the drive wheel 4 increases, thus tensioning the track 6. This prevents the track 6 from detaching from the drive wheel 4 and tensioning wheel 3 due to slack, effectively reducing the impact of the road surface on the wheel transmission system and providing both shock absorption and tensioning. Conversely, if it is necessary to loosen the tensioning wheel 3, the adjusting screw 21 can be rotated counterclockwise. The nut structure 22 converts the rotational motion of the screw into a backward linear movement. At this time, the elastic restoring force of the track 6 can drive the tensioning wheel 3, causing the moving rod 241 to move backward linearly within the sleeve 23. The adjusting screw 21 will then rotate counterclockwise, reducing the distance between the tensioning wheel 3 and the drive wheel 4, thus loosening the track 6 and tensioning wheel 3.

[0098] After the position (or tensioning operation) of the tensioning wheel 3 is adjusted, the first fastener 251 and the second fastener 252 can be tightened so that the first fastener 251 passes through the first side wall 2310 of the sleeve 23 and is connected to the moving rod 241, and the second fastener 252 passes through the second side wall 2311 of the sleeve 23 and is connected to the moving rod 241. This locks the position of the sleeve 23 and the moving rod 241, and correspondingly locks the position of the tensioning wheel 3, preventing the tensioning wheel 3 from shifting due to force during the operation of the agricultural robot, which would affect the force transmission effect of the track 6 of the agricultural robot.

[0099] The wheel drive system of this embodiment has the same beneficial effects over the prior art as the tensioner adjustment device described above, and will not be repeated here.

[0100] This utility model provides an agricultural robot, including the wheel transmission system described in the above embodiment.

[0101] Specifically, in combination Figure 7 As shown, the agricultural robot also includes a frame 8, along which... Figure 7 Wheel transmission systems are set at both ends of the X-axis of the coordinate system, and the drive devices of the two wheel transmission systems are independent of each other. Thus, the forward, backward or turning movements of the agricultural robot can be realized by operating the rotation speed of the two wheel transmission systems. The operation of the forward, backward or turning movements of the agricultural robot can adopt the mature existing operation methods on the market, which will not be elaborated here.

[0102] Agricultural robots can be used for tractors, various unmanned agricultural machinery, etc.

[0103] The beneficial effects of the agricultural robot in this embodiment compared to the prior art are the same as those of the wheel drive system described above, and will not be repeated here.

[0104] 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 tensioner pulley adjustment device characterized by, include: Mounting bracket (1), which is used to fix to the frame (8) of the agricultural robot; The adjustment mechanism (2) includes an adjustment screw (21), a nut structure (22), a sleeve (23), and a movable frame (24). The sleeve (23) is fixedly connected to the mounting bracket (1). A portion of the movable frame (24) is embedded in the sleeve (23). The end of the movable frame (24) is used to connect to the tension wheel (3). The nut structure (22) is fixed to the end of the sleeve (23). The adjustment screw (21) is threadedly connected to the nut structure (22) and extends into the sleeve (23) and connects to the movable frame (24).

2. A tensioner pulley adjustment device as described in claim 1, wherein, The movable frame (24) includes a movable rod (241) and a connecting frame (242). A portion of the movable rod (241) is embedded in the sleeve (23). The ends of the movable rod (241) and the sleeve (23) are polygonal in shape. The adjusting screw (21) is connected to the movable rod (241). The end of the movable rod (241) away from the adjusting screw (21) is fixedly connected to the connecting frame (242). The connecting frame (242) is used to engage with the tensioning wheel (3).

3. A tensioner pulley adjustment device as in claim 2, wherein, The sleeve (23) includes a first sidewall (2310), and the sidewall of the sleeve (23) away from the mounting bracket (1) is the first sidewall (2310); the adjustment mechanism (2) further includes a locking structure (25), the locking structure (25) includes a first fastener (251), the first fastener (251) passes through the first sidewall (2310) and is connected to the moving rod (241).

4. The tension wheel adjusting device according to claim 3, characterized in that, The sleeve (23) further includes a second sidewall (2311), which is disposed adjacent to the first sidewall (2310); the locking structure (25) further includes a second fastener (252), which passes through the second sidewall (2311) and is connected to the moving rod (241).

5. The tension wheel adjusting device according to claim 4, characterized in that, The moving rod (241) has a plurality of first positioning holes (2411) arranged at intervals along its own extension direction on the side wall corresponding to the first side wall (2310), and the first fastener (251) passes through the first positioning holes (2411). The moving rod (241) has a plurality of second positioning holes (2412) arranged at intervals along its own extension direction on the side wall corresponding to the second side wall (2311), and the second fastener (252) passes through the second positioning holes (2412).

6. The tension wheel adjusting device according to claim 2, characterized in that, The sleeve fitting (23) includes a sleeve body (231) and an end panel (232). A portion of the moving rod (241) is embedded in the sleeve body (231). The end of the sleeve body (231) away from the connecting frame (242) is fixedly connected to the end panel (232). The nut structure (22) is fixedly connected to the end panel (232).

7. The tension wheel adjusting device according to claim 6, characterized in that, It also includes a reinforcing structure (26), which includes a third fastener and a first plate (261) and a second plate (262) arranged at an angle. The first plate (261) is fixedly connected to the end panel (232), and the third fastener passes through the second plate (262) and is fixedly connected to the mounting bracket (1).

8. The tension wheel adjusting device according to claim 1, characterized in that, The mounting bracket (1) includes a first connecting beam (11) and a support frame (12). A plurality of the first connecting beams (11) are arranged at intervals along the extension direction of the sleeve (23) and are used to be fixedly connected to the frame (8) respectively. At least a portion of the first connecting beams (11) are fixedly connected to the support frame (12); a portion of the first connecting beams (11) are fixedly connected to the sleeve (23).

9. A wheel drive system, characterized in that, The device includes the tension wheel adjustment device as described in any one of claims 1 to 8, and further includes a drive device, a drive wheel (4), a tension wheel (3), a track (6), and a plurality of load-bearing wheels (5). The drive device is connected to the drive wheel (4) and is used to drive the drive wheel (4) to rotate. The drive wheel (4), the tension wheel (3), and the plurality of load-bearing wheels (5) are connected by the track (6).

10. An agricultural robot, characterized in that, Includes the wheel drive system as described in claim 9.

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