A walking mechanism for an agricultural robot

Abstract

This utility model discloses a walking mechanism for an agricultural robot, relating to the field of agricultural robot technology. It includes a fixed base, an adjustable arm, and walking wheels. The adjustable arm is mounted on the middle of one side of the fixed base, and the walking wheels are connected and mounted on the end of the adjustable arm furthest from the fixed base. This walking mechanism for the agricultural robot achieves multi-dimensional adjustment and stable walking through the cooperation of the fixed base, the adjustable arm, and the walking wheels. The fixed base, as the basic support unit, has an inverted "L"-shaped structure made of damping alloy material, ensuring structural strength while effectively absorbing operational vibrations. The adjustable arm adopts a graded robotic arm design, with a nested connection between the first and second robotic arms, combined with the dynamic adjustment of hydraulic spring shock absorbers, allowing the walking wheels to adapt to different terrain slopes. The coaxial layout of the servo motor and gearbox effectively improves power transmission, while the double-layer shock absorber structure, through the deformation recovery characteristics of the damping alloy, increases the attenuation rate of ground impact force.

Description

Technical Field

[0001] This utility model relates to the field of agricultural robot technology, specifically to a walking mechanism for an agricultural robot. Background Technology

[0002] Agricultural robots are intelligent equipment applied in agricultural production. By integrating technologies such as artificial intelligence, machine vision, and automated control, they achieve precise operations and autonomous decision-making in planting, breeding, and harvesting. Their core functions include environmental perception, trajectory planning, and multi-robot collaboration, which can significantly improve efficiency and reduce labor costs. The locomotion mechanism of an agricultural robot is the core component of its mobile execution system.

[0003] Conventional agricultural robots often use fixed locomotion mechanisms, which are difficult to adapt to complex and varied farmland terrain. At the same time, the fixed structure also means that the chassis height of agricultural robots is relatively fixed. When dealing with fields with large undulations, there is a risk of instability or even overturning. When passing through obstacles such as ditches and rocks, strong impact forces are directly transmitted to the robot body, affecting the lifespan of internal precision instruments and electronic components. Utility Model Content

[0004] The purpose of this invention is to provide a walking mechanism for an agricultural robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a walking mechanism for an agricultural robot, comprising a fixed base, an adjusting arm, and walking wheels. The adjusting arm is installed in the middle of one side of the fixed base, and the walking wheels are connected to the end of the adjusting arm away from the fixed base. The adjusting arm includes a control base, a controller, a first robotic arm, a second robotic arm, a hydraulic spring damping column, and a docking seat. The controller is connected to one side of the control base, and the first robotic arm is connected to the side of the control base away from the fixed base. The second robotic arm is connected to the end of the first robotic arm away from the control base, and the hydraulic spring damping column is connected to the end of the second robotic arm away from the first robotic arm. The docking seat is connected to the end of the hydraulic spring damping column away from the second robotic arm.

[0006] Furthermore, the fixing base includes a main body, a first support block, a second support block, a limiting groove, an auxiliary assembly hole, a wire harness groove, and a mounting hole. The first support block and the second support block are respectively provided at the upper and lower ends of the main body near the adjusting arm. The first support block and the second support block are provided at the bottom and top ends of the first support block and the second support block near the main body. The auxiliary assembly hole is vertically provided at the four diagonal corners of the top of the main body. The wire harness groove is provided in the middle of the edge of one side of the top of the main body. At the same time, the mounting holes are symmetrically provided horizontally at the upper and lower ends of the vertical side of the main body.

[0007] Furthermore, the main body adopts an inverted "L" shaped structure, and the first support block and the second support block are both welded together and fixed to the main body. Moreover, the main body, the first support block, and the second support block are all made of damping alloy material.

[0008] Furthermore, the control seat has holes for bolt installation at the four opposite corners on the side near the main body and at the connection between the main body and the control seat. The inner surface structure of the limiting groove matches the surface structure of the upper and lower ends on the side of the control seat near the main body.

[0009] Furthermore, the first support block and the second support block are respectively located on the upper and lower sides of the control seat, and the second robotic arm, the hydraulic spring shock absorber column and the docking seat are all located on the same central axis.

[0010] Furthermore, the traveling wheel includes a first shock absorber, a second shock absorber, a servo motor, a gearbox, a combination seat, a main wheel body, and side guards. The second shock absorber is connected to one side of the first shock absorber, and the servo motor is horizontally installed inside the first shock absorber. The gearbox is horizontally connected to the power output end of the servo motor. The combination seat is provided on the side of the second shock absorber near the adjusting arm. The main wheel body is connected to the power output end of the gearbox, and side guards are installed on both sides of the main wheel body.

[0011] Furthermore, both the first and second shock absorber frames are made of damping alloy material, and the combination seat and the second shock absorber frame are integrated into one structure.

[0012] Furthermore, the four diagonal surfaces of the combined seat and the docking seat are horizontally provided with holes for bolt connection and installation, and the servo motor, gearbox and main wheel are all located on the same central axis.

[0013] This utility model provides a walking mechanism for an agricultural robot, which has the following beneficial effects: 1. This utility model, through the design of an adjustable arm and a combination of a first robotic arm, a second robotic arm, and a hydraulic spring shock absorber, achieves high flexibility and stability in its walking mechanism. The first and second robotic arms are connected by precise joints, allowing for multi-angle adjustments based on different terrains and operational needs, ensuring stable movement of the agricultural robot even in complex farmland environments. The hydraulic spring shock absorber effectively absorbs vibrations and impacts generated during movement, further improving stability and extending the robot's lifespan. This structure provides reliable support for the agricultural robot in complex terrain, preventing tipping risks due to uneven ground and reducing fatigue damage to the mechanical structure caused by long-term vibration. The adjustable arm design also enables electric control via a controller, allowing operators to remotely adjust the extension and angle of the robotic arm according to real-time operational scenarios, significantly improving the agricultural robot's adaptability to different crop planting environments. Furthermore, the connection structure between the adjustable arm and the fixed base uses a combination of a limiting groove and a support block, ensuring the rigidity of the overall structure while enabling quick disassembly and maintenance through the guiding effect of the limiting groove, effectively shortening downtime during equipment maintenance.

[0014] 2. This utility model features a unique fixed base design with an inverted "L" shaped structure. This not only enhances the overall structural stability but also provides a solid support foundation for the adjusting arm through the first and second support blocks. Furthermore, the top structure of the main base also provides some support. Simultaneously, the main base, the first support block, and the second support block are all made of damping alloy material, thus providing structural support for the connected robot. The damping alloy material possesses excellent shock absorption and fatigue resistance, effectively absorbing and dispersing vibration energy generated during movement, reducing impact on the robot's internal structure. The impact resistance of precision components extends the service life of the equipment. Furthermore, the wiring harness and auxiliary assembly holes facilitate the layout of electrical circuits and the installation of auxiliary equipment. This structural design ensures the stability and reliability of the electrical system during long-term operation of the agricultural robot, reducing the risk of malfunctions caused by messy wiring or loose equipment. Simultaneously, the mounting holes on the main body facilitate the fixing of the entire walking mechanism to the main frame of the agricultural robot, further enhancing the overall structural stability and safety. This design enables the agricultural robot to maintain higher stability and reliability when facing complex and changing farmland operating environments, thereby effectively improving operational efficiency and quality.

[0015] 3. This utility model, through the structural design of the walking wheels and the precise control of the servo motor and gearbox, achieves flexible rotation and speed adjustment of the main wheel body. The setting of the first and second shock absorber frames further enhances the shock absorption effect of the walking wheels, ensuring the stability of the agricultural robot during walking. In addition, the design of the side guard plate effectively protects the sides of the main wheel body from damage by debris in the farmland, extending the service life of the walking wheels. The above-mentioned structural settings enable the agricultural robot to move flexibly while effectively absorbing ground impact, reducing the impact of vibration on the robot body and operating accuracy. The side guard plate, through physical protection, prevents debris such as stones and straw in the farmland from being caught in the wheel body, reducing the risk of equipment failure. This structural design not only improves the durability and reliability of the walking wheels, but also ensures that the agricultural robot can maintain a stable and efficient operating state in complex terrain through the combination of shock absorption and protection functions, providing a strong guarantee for the implementation of precision agriculture. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the axial side view of the walking mechanism of an agricultural robot according to the present invention. Figure 2 This is a schematic diagram of the fixed base structure of the walking mechanism of an agricultural robot according to the present invention; Figure 3 This is a three-dimensional structural diagram of the adjusting arm of the walking mechanism of an agricultural robot according to the present invention. Figure 4 This is a three-dimensional structural diagram of the walking wheel of the walking mechanism of an agricultural robot according to the present invention.

[0017] In the diagram: 1. Fixed base; 101. Main base body; 102. First support block; 103. Second support block; 104. Limiting groove; 105. Auxiliary assembly hole; 106. Cable harness groove; 107. Mounting hole; 2. Adjusting arm; 201. Control base; 202. Controller; 203. First robotic arm; 204. Second robotic arm; 205. Hydraulic spring shock absorber column; 206. Docking base; 3. Traveling wheel; 301. First shock absorber frame; 302. Second shock absorber frame; 303. Servo motor; 304. Gearbox; 305. Combination base; 306. Main wheel body; 307. Side guard plate. Detailed Implementation

[0018] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0019] like Figures 1 to 4As shown, a walking mechanism for an agricultural robot includes a fixed base 1, an adjustable arm 2, and walking wheels 3. The adjustable arm 2 is mounted on the middle of one side of the fixed base 1. The walking wheels 3 are connected to the end of the adjustable arm 2 away from the fixed base 1. The adjustable arm 2 includes a control base 201, a controller 202, a first robotic arm 203, a second robotic arm 204, a hydraulic spring shock absorber 205, and a docking seat 206. The controller 202 is connected to one side of the control base 201, and the first robotic arm 203 is connected to the side of the control base 201 away from the fixed base 1. The second robotic arm 204 is connected to the end of the first robotic arm 203 away from the control base 201, and the second robotic arm 204 is connected to the end of the second robotic arm 204 away from the first robotic arm 203. A hydraulic spring damping column 205 is used, and a docking seat 206 is connected to the end of the hydraulic spring damping column 205 away from the second robotic arm 204. The first support block 102 and the second support block 103 are respectively set on the upper and lower sides of the control seat 201. The second robotic arm 204, the hydraulic spring damping column 205 and the docking seat 206 are all on the same central axis. The controller 202 can accurately control the extension and rotation angles of the first robotic arm 203 and the second robotic arm 204 to ensure that the adjusting arm 2 maintains flexibility and stability in complex terrain. The hydraulic spring damping column 205 effectively buffers the impact force generated during walking through the synergistic effect of the internal hydraulic system and the spring structure, further reducing the impact of vibration on the robot body.

[0020] like Figures 1 to 4As shown, the fixing base 1 includes a main body 101, a first support block 102, a second support block 103, a limiting groove 104, an auxiliary assembly hole 105, a wire harness groove 106, and a mounting hole 107. The main body 101 has a first support block 102 and a second support block 103 respectively located at its upper and lower ends near the adjusting arm 2. Limiting grooves 104 are provided at the bottom and top ends of the first and second support blocks 102 and 103 near the main body 101. Auxiliary assembly holes 105 are vertically provided at the four opposite corners of the top of the main body 101. A wire harness groove 106 is provided in the middle of one edge of the top side of the main body 101. Mounting holes 107 are symmetrically provided horizontally at both the upper and lower ends of the vertical side of the main body 101. The main body 101 adopts an inverted "L" shape structure, and both the first support block 102 and the second support block 103 are... The main body 101 is fixed by welding. The main body 101, the first support block 102, and the second support block 103 are all made of damping alloy. The control seat 201 has holes for bolt installation at the four opposite corners on the side near the main body 101 and at the connection between the main body 101 and the control seat 201. The inner surface structure of the limiting groove 104 matches the surface structure of the upper and lower ends on the side of the control seat 201 near the main body 101. The combination of the main body 101 with the first support block 102 and the second support block 103, which has an inverted "L" shape, provides a stable support platform for the adjusting arm 2, ensuring that the adjusting arm 2 can maintain a stable posture during the walking or operation of the agricultural robot. The welding connection enhances the overall structure and effectively prevents the connection from loosening due to long-term use or vibration.

[0021] like Figures 1 to 4As shown, the traveling wheel 3 includes a first shock absorber 301, a second shock absorber 302, a servo motor 303, a gearbox 304, a combination seat 305, a main wheel body 306, and side guards 307. The second shock absorber 302 is connected to one side of the first shock absorber 301, and the servo motor 303 is horizontally mounted inside the first shock absorber 301. The gearbox 304 is horizontally connected to the power output end of the servo motor 303. The combination seat 305 is located on the side of the second shock absorber 302 near the adjusting arm 2. The main wheel body 306 is connected to the power output end of the gearbox 304, and side guards 307 are mounted on both sides of the main wheel body 306. Both the first shock absorber 301 and the second shock absorber 302 are made of damping alloy material, and the combination seat 305 and the second shock absorber 302 are integrally formed. The structure features horizontal holes for bolt connection at the four diagonal corners of the junction between the combined base 305 and the docking base 206. The servo motor 303, gearbox 304, and main wheel 306 are all located on the same central axis. The precise coordination between the servo motor 303 and gearbox 304 enables precise speed control and torque output of the main wheel 306, ensuring that the agricultural robot can obtain suitable propulsion power in different operating scenarios. The damping alloy material of the first shock absorber 301 and the second shock absorber 302 effectively absorbs the vibration energy caused by uneven ground, significantly reducing the impact of vibration on the robot body and operating parts. The side guard plate 307 acts as a physical barrier to protect the sides of the main wheel 306, preventing unnecessary structural damage that could affect operation.

[0022] In summary, as Figures 1 to 4 As shown, when using the walking mechanism of this agricultural robot, the fixed base 1 is first fixed to the main frame of the agricultural robot through the mounting hole 107 to ensure that the installation is firm and stable. The auxiliary assembly hole 105 and the wire harness groove 106 are used to arrange the electrical lines and install auxiliary equipment in a reasonable manner, so that the lines are neat and orderly and avoid messy tangling. The control seat 201 of the adjusting arm 2 is bolted to the hole structure corresponding to the connection with the main body 101 of the fixed seat 1. At the same time, the upper and lower surfaces of the control seat 201 on the side close to the main body 101 are embedded in the limiting groove 104 to achieve quick positioning and stable connection. The controller 202 precisely controls the extension and rotation angles of the first robotic arm 203 and the second robotic arm 204, so that the adjusting arm 2 can be adjusted to a suitable posture according to the actual terrain and operation requirements. During the adjustment of the adjusting arm 2, the hydraulic spring shock absorber 205 effectively buffers the impact force generated during the walking process through the synergistic effect of the internal hydraulic system and the spring structure, reducing the impact of vibration on the robot body. The combination seat 305 of the walking wheel 3 is bolted to the docking seat 206 of the adjusting arm 2 to ensure a tight and reliable connection. The servo motor 303 is started, and the main wheel 306 is flexibly rotated and its speed is adjusted through the precise control of the gearbox 304, enabling the agricultural robot to walk along a predetermined route and speed. During the walking process, the first shock absorber 301 and the second shock absorber 302 utilize the characteristics of the damping alloy material to further absorb the impact force from the ground, ensuring the stability of the agricultural robot's walking. The side guard plate 307 effectively protects the sides of the main wheel 306, reducing the risk of equipment failure. Throughout the entire use process, this walking mechanism, with its unique structural design, provides reliable support for the agricultural robot in complex farmland environments, ensuring that the agricultural robot can stably and efficiently complete various tasks.

[0023] The embodiments of this utility model are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the utility model to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical applications of this utility model, and to enable those skilled in the art to understand this utility model and design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A walking mechanism for an agricultural robot, comprising a fixed base (1), an adjustable arm (2), and walking wheels (3), characterized in that: An adjusting arm (2) is installed in the middle of one side of the fixed base (1). The walking wheel (3) is connected to the end of the adjusting arm (2) away from the fixed base (1). The adjusting arm (2) includes a control base (201), a controller (202), a first robotic arm (203), a second robotic arm (204), a hydraulic spring shock absorber (205), and a docking seat (206). The controller (202) is connected to one side of the control base (201), and the first robotic arm (203) is connected to the side of the control base (201) away from the fixed base (1). The second robotic arm (204) is connected to the end of the first robotic arm (203) away from the control base (201), and the hydraulic spring shock absorber (205) is connected to the end of the second robotic arm (204) away from the first robotic arm (203). At the same time, the docking seat (206) is connected to the end of the hydraulic spring shock absorber (205) away from the second robotic arm (204).

2. The walking mechanism of an agricultural robot according to claim 1, characterized in that, The fixed base (1) includes a main body (101), a first support block (102), a second support block (103), a limiting groove (104), an auxiliary assembly hole (105), a wire harness groove (106), and a mounting hole (107). The main body (101) is provided with a first support block (102) and a second support block (103) at its upper and lower ends near the adjusting arm (2), respectively. The first support block (102) and the second support block (103) are provided with limiting grooves (104) at the bottom and top of one end of the main body (101), respectively. The main body (101) is provided with auxiliary assembly holes (105) at the four opposite corners of its top, and a wire harness groove (106) is provided in the middle of one edge of the top of the main body (101). At the same time, the main body (101) is provided with mounting holes (107) at its upper and lower ends on the vertical side.

3. The walking mechanism of an agricultural robot according to claim 2, characterized in that, The main body (101) adopts an inverted "L" shaped structure, and the first support block (102) and the second support block (103) are both welded together and fixed to the main body (101). The main body (101), the first support block (102) and the second support block (103) are all made of damping alloy material.

4. The walking mechanism of an agricultural robot according to claim 2, characterized in that, The control seat (201) has holes for bolt installation at four opposite corners on the side near the main body (101) and at the connection between the main body (101) and the control seat (201). The inner surface structure of the limiting groove (104) matches the surface structure of the upper and lower ends on the side of the control seat (201) near the main body (101).

5. The walking mechanism of an agricultural robot according to claim 2, characterized in that, The first support block (102) and the second support block (103) are respectively located on the upper and lower sides of the control seat (201), and the second robotic arm (204), the hydraulic spring shock absorber column (205) and the docking seat (206) are all located on the same central axis.

6. The walking mechanism of an agricultural robot according to claim 2, characterized in that, The walking wheel (3) includes a first shock absorber (301), a second shock absorber (302), a servo motor (303), a gearbox (304), a combination seat (305), a main wheel body (306), and a side guard plate (307). The first shock absorber (301) is connected to the second shock absorber (302) on one side, and the servo motor (303) is horizontally installed inside the first shock absorber (301). The power output end of the servo motor (303) is horizontally connected to the gearbox (304). The second shock absorber (302) is provided with a combination seat (305) on the side near the adjusting arm (2). The power output end of the gearbox (304) is connected to the main wheel body (306), and side guard plates (307) are installed on both sides of the main wheel body (306).

7. The walking mechanism of an agricultural robot according to claim 6, characterized in that, Both the first shock absorber (301) and the second shock absorber (302) are made of damping alloy material, and the combination seat (305) and the second shock absorber (302) are integrated into one structure.

8. The walking mechanism of an agricultural robot according to claim 6, characterized in that, The four diagonal surfaces of the combined seat (305) and the docking seat (206) are all horizontally provided with holes for bolt connection and installation. The servo motor (303), gearbox (304) and main wheel body (306) are all located on the same central axis.

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