Wheel type rubber collecting robot chassis with large stroke suspension and full access structure

Abstract

The utility model discloses a wheel type collection rubber robot chassis with large stroke suspension and full access structure, including full access chassis frame, full access chassis frame top installation panel, dust cover protection all kinds of sensor and steering reduction motor are installed to front and rear both ends, top center mechanical arm mounting plate can install heavier mechanical arm, and the bottom is full access structure, and the upper and lower two layers are divided by general electrical installation plate, and all kinds of electric control device are installed to the upper layer, and the lower layer places battery, chassis has four drive rudders of front and rear and two bearing wheels in the middle, and the stroke of shock absorber is enlarged through specially designed bogie and wheel hub support, and the drive rudder is controlled 360 degree any direction by steering reduction motor and slewing bearing, and is driven by wheel hub reduction motor, and the chassis is flexible, compact structure, and the bearing and cross country ability are strong, and the cost is low, and the rubber can be collected on the left and right sides without adjusting the direction, and the working efficiency is high, and it is helpful to realize unmanned collection rubber operation.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a wheeled glue-collecting robot chassis with a long-stroke suspension and a full-through structure. Background Technology

[0002] As a key industrial raw material, the harvesting of natural rubber is still mainly done manually. Rubber plantations are mostly located in mountainous and hilly terrain, with narrow, undulating forest paths and obstacles. Manual labor is labor-intensive and inefficient, and the difficulty of access further restricts production capacity. To promote mechanization and automation, the industry has developed wheeled rubber harvesting equipment. However, existing equipment has significant drawbacks: First, most are enclosed or semi-enclosed structures with fragmented spaces, making it difficult to integrate heavy-duty robotic arms, rubber harvesting devices, and electronic control systems. Furthermore, they are prone to deformation due to weak load-bearing capacity. Second, the suspension system has a short travel, making it prone to slipping or hitting the chassis on undulating terrain, resulting in poor maneuverability. Third, the steering mode is limited, and the small spacing between rows in the forest makes it difficult to achieve small-radius turns, increasing the risk of collisions with trees. Fourth, it relies on ordinary GPS navigation, which suffers from poor signal due to tree canopy obstruction, leading to significant positioning errors and failing to meet the requirements for precise rubber harvesting. Fifth, most harvesting is done on one side, requiring frequent rerouting, and some specialized wheel systems are costly, hindering widespread adoption. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a wheeled glue-collecting robot chassis that is highly mobile, compact in structure, and possesses strong load-bearing and off-road capabilities.

[0004] To achieve the above objectives, this utility model provides a wheeled glue-collecting robot chassis with a large-stroke suspension and a full-through structure, comprising: a full-through chassis frame, a glue-collecting device mounting bracket, a panel, a protective cover, a robotic arm mounting plate, a battery, a general electrical mounting plate, a steering gear motor, a slewing bearing, a wheel hub support, a bogie, a shock absorber, a wheel hub gear motor, and wheels; wherein, the glue-collecting device mounting bracket is fixed on the left and right sides of the full-through chassis frame; the panel, protective cover, robotic arm mounting plate, and steering gear motor are fixed on the upper part of the full-through chassis frame; the general electrical mounting plate divides the lower space of the full-through chassis frame into upper and lower layers, with the battery placed in the lower layer; the bogie is connected to the full-through chassis frame through the slewing bearing, and the wheel hub support, shock absorber, and bogie are hinged to each other to form a drive steering wheel; the wheel hub gear motor is fixed inside the wheel hub support, and a wheel is mounted on the motor output end.

[0005] Optionally, a panel is mounted on the top of the full-through chassis frame, and protective covers are mounted at both ends to enclose various sensors and steering reduction motors.

[0006] Optionally, the steering reduction motor and the slewing bearing are engaged by gears to drive the bogie to rotate at any angle of 360°, thereby controlling the direction of the drive wheel.

[0007] Optionally, the hub support, shock absorber, and bogie are hinged together to form a lever mechanism, with the shock absorber lever being smaller than that of the hub support, so that the hub reduction motor and wheel installed at the end of the hub support lever can obtain longitudinal displacement stroke.

[0008] Optionally, the steering reduction motor and the slewing bearing control the steering wheel to face any direction, enabling the robot to turn with a small radius and turn in place.

[0009] Optionally, the bottom space of the full-through chassis frame has a front and rear full-through structure, and is divided into upper and lower layers using an electrical mounting plate, with the upper layer used to install various electrical control devices.

[0010] Optionally, the electronic control device includes a receiver and a controller. The receiver receives remote control signals and transmits the received remote control signals to the controller, which then controls each actuator according to the remote control signals. Optionally, the receiver receives remote control signals and outputs PPM or SBUS signals; the PPM to CAN module converts the PPM or SBUS signals into CAN protocol signals for the controller to parse.

[0011] The advantages of this utility model compared to the prior art are as follows: The wheeled glue-collecting robot has a fully open chassis frame with a top panel, dust covers at the front and rear ends to protect various sensors and steering reduction motors, a top center robotic arm mounting plate for mounting heavier robotic arms, and a fully open bottom structure divided into upper and lower layers by a general electrical mounting plate. The upper layer houses various electronic control devices, and the lower layer contains batteries. Glue-collecting device mounting frames are located on the center of both sides of the chassis. The chassis has four front and rear drive wheels and two middle load-bearing wheels, with a specially designed bogie and wheel hub supports amplifying the shock absorber travel. The drive wheels are controlled by steering reduction motors and slewing bearings in any 360° direction and are driven by wheel hub reduction motors. This chassis is highly maneuverable, compact, has strong load-bearing and off-road capabilities, is inexpensive, and can collect glue from both sides without needing to change direction, resulting in high work efficiency and facilitating unmanned glue-collecting operations. Attached Figure Description

[0012] Figure 1 This is an overall structural diagram of a wheeled glue-collecting robot chassis with a large-stroke suspension and a full-through structure provided by this utility model; Figure 2 This is a top view of a wheeled glue-collecting robot chassis with a large-stroke suspension and a full-through structure provided by this utility model; Figure 3 This is a structural diagram of the full-through chassis frame provided by this utility model; Figure 4 This utility model provides Figure 5 This is a schematic diagram of the control system architecture provided by this utility model. Detailed Implementation

[0013] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0014] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not specifically singular and may include plural forms. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0015] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0016] Reference Figure 1 and Figure 2This embodiment provides a wheeled glue-collecting robot chassis with a long-stroke suspension and a full-through structure, including a full-through chassis frame 1, a glue-collecting device mounting bracket 2, a panel 3, a protective cover 4, a robotic arm mounting plate 5, a battery 6, a general electrical mounting plate 7, a steering reduction motor 8, a slewing bearing 9, a wheel hub support 10, a bogie 11, a shock absorber 12, a wheel hub reduction motor 13, and wheels 14. The glue-collecting device mounting bracket 2 is fixed to the left and right sides of the full-through chassis frame 1. The panel 3, protective cover 4, robotic arm mounting plate 5, and steering reduction motor 8 are fixed to the upper part of the full-through chassis frame 1. The general electrical mounting plate 7 divides the lower space of the full-through chassis frame 1 into upper and lower layers, with the battery 6 placed in the lower layer. The bogie 11 is connected to the full-through chassis frame 1 via the slewing bearing 9. The wheel hub support 10, shock absorber 12, and bogie 11 are hinged to each other to form a drive steering wheel. The wheel hub reduction motor 13 is fixed inside the wheel hub support 10, and wheels 14 are mounted on the motor output end.

[0017] In this embodiment, as Figure 3 As shown, the top structure of the all-through chassis frame 1 is flat, and the front and rear protective covers can encapsulate various sensors and steering reduction motors 8 as needed. The central robotic arm mounting plate 5 can accommodate robotic arms of different specifications, and the surrounding structure is simple and unobstructed, providing the robotic arm's workspace to meet all-directional working requirements. The mounting position of the central load-bearing wheel at the bottom of the all-through chassis frame 1 is recessed inward, significantly reducing the height of the glue collection device mounting frame 2. Glue collection device mounting frames 2 are equipped on both sides of the vehicle body, eliminating the need for the robot to turn around or change sides during glue collection; it can collect glue both forward and backward, significantly increasing work efficiency and reducing control difficulty. The steering reduction motor 8 and the slewing bearing 9 can control the steering wheel to face any direction, enabling the robot to turn with a small radius and turn in place, which is beneficial for improving motion control capabilities and accuracy.

[0018] like Figure 4 As shown, the hub support 10, shock absorber 12 and bogie 11 are hinged to each other to form a lever mechanism, which can amplify the small extension and retraction of the shock absorber 12 into the vertical movement stroke of the hub reduction motor 13 and the wheel 14, significantly improving the chassis suspension stroke, obstacle crossing ability and wheel load uniformity of the wheel robot, and meeting the needs of field rubber plantation operations.

[0019] The operating principle is as follows: A panel 3 is mounted on the top of the full-through chassis frame 1, and protective covers 4 are mounted at the front and rear to encapsulate various sensors and steering reduction motors 8. The steering reduction motor 8 and the slewing bearing 9 drive the bogie 11 to rotate at any angle of 360° through gear meshing, controlling the direction of the drive wheel. The hub support 10, shock absorber 12 and bogie 11 are hinged to each other to form a lever mechanism. The lever of the shock absorber 12 is smaller than that of the hub support 10, so that the hub reduction motor 13 and wheel 14 installed at the end of the lever of the hub support 10 can obtain a larger longitudinal displacement stroke. The bottom space of the full-through chassis frame 1 is a front-to-rear full-through structure, which is divided into upper and lower layers by an electrical mounting plate 7. Various electronic control devices are installed on the upper layer, and the battery 6 is placed on the lower layer. If the battery needs to be replaced, it can be pulled out from the front and rear ends of the chassis without disassembling other parts on the top. The rubber harvesting device mounting bracket 2 is installed in the space on both sides of the middle of the full-through chassis frame 1. It is used to fix the rubber harvesting device at a lower height, and cooperates with the installation position of devices such as rubber cups on rubber trees to realize the harvesting of natural rubber.

[0020] This embodiment provides a wheeled rubber harvesting robot chassis with a large-stroke suspension and a full-through structure. The shock absorber travel is amplified through a specially designed bogie and wheel hub supports. The drive steering wheel is controlled in any 360° direction by a steering reduction motor and a slewing bearing, and is driven by a wheel hub reduction motor. The chassis control system adopts a distributed control architecture, enabling the chassis to achieve front-wheel steering, figure-eight steering, and in-situ steering, adapting to the complex terrain of rubber plantations. This chassis is highly maneuverable, compact, has strong load-bearing and off-road capabilities, is cost-effective, and can harvest rubber from either side without needing to change direction, resulting in high work efficiency and contributing to unmanned rubber harvesting operations.

[0021] In another embodiment, the rubber tapping robot chassis control has two modes: manual remote control with a maximum control distance of 300 meters or chassis self-navigation control. The rubber tapping robot chassis control system adopts a distributed control architecture and uses a CAN2.0B industrial bus for communication, possessing high reliability and anti-interference capabilities. The control system architecture is as follows: Figure 5 As shown.

[0022] In another embodiment, the remote controller provides manual operation input signals; the receiver receives the remote control signals and outputs PPM or SBUS signals; the PPM-to-CAN module converts the PPM or SBUS signals into CAN protocol signals for the VCU to parse; the VCU controller is the core of the control system, parsing remote control commands and distributing them to various actuators. The walking drive controls the wheel hub motor speed to achieve forward and backward movement. The steering drive controls the wheel yaw angle to achieve turning, lateral movement, and other actions. The BMS system monitors and manages the power battery, providing safe and stable power supply.

[0023] In another embodiment, in conjunction with the mechanical system, the control system can achieve three steering modes: front-wheel steering, figure-eight steering, and stationary steering, to adapt to the complex terrain of rubber plantations. Front-wheel steering controls the angle of the front wheel servo motor, while the rear wheels remain straight, suitable for fine-tuning on straight sections. Figure-eight steering involves synchronized control of the four-wheel steering motors, with the front and rear wheels deflecting at opposite angles to form a figure-eight path, suitable for turning and obstacle avoidance on forest paths. Stationary steering adjusts the steering angles of all four wheels to point towards the tangent of the outer circle formed by the vehicle's center, with the wheels driven at the same linear speed, suitable for adjusting direction in extremely narrow spaces. The three steering modes can be freely switched, utilizing different drive angle and speed mapping algorithms.

[0024] In another embodiment, the control system supports interface with an onboard industrial computer, expanding to include RTK GPS, LiDAR, vision modules, and robotic arm modules. It reserves I / O interfaces and PWM outputs to control other peripheral devices. Remote control functionality for the robotic arm is included, with a 12-channel extended remote controller. A 5G module is also reserved for remote data transmission and remote operation.

[0025] It should be noted that rubber plantations are typically located in remote suburbs, with dense forests and complex terrain. To achieve high-precision positioning and navigation control, the self-navigation system of the rubber tapping robot chassis combines a Livox Mid-360 lidar and an RFID road sign recognition system to achieve high-precision environmental perception and navigation control, thus expanding the functions of precision agriculture management, improving operational efficiency, and enhancing environmental monitoring capabilities.

[0026] In another embodiment, the robot can employ an RTK-IMU integrated navigation system to achieve centimeter-level high-precision real-time positioning. Equipped with a Livox Mid-360 LiDAR, it supports SLAM mapping and dynamic obstacle avoidance, possessing 360° omnidirectional perception capabilities and stable operation in complex, unstructured environments such as forests. An RFID road sign recognition system is integrated to achieve accurate identification and positioning of rubber tree operation points, enhancing navigation robustness and maintaining stable and reliable positioning and path tracking performance even in environments with limited or obstructed RTK signals. A 5G communication module is integrated to achieve ultra-low latency remote real-time high-definition video streaming and synchronous uploading of equipment status. The remote intelligent control platform supports emergency takeover intervention, dynamic task deployment, and multi-dimensional real-time monitoring, comprehensively enhancing the accuracy and responsiveness of remote operations. It communicates with the end effector (robotic arm) via an Ethernet interface (supporting TCP / IP protocol) and coordinates control with the robotic arm's motion control system.

[0027] In another embodiment, the rubber tapping robot chassis has two operating modes: a rubber collection mode and an inspection mode. In the rubber collection mode, the trolley can operate stably and autonomously along a preset or learned path. Precise positioning of the rubber trees is achieved through an RFID road sign identification system, ensuring accurate identification and reliable positioning of each tree. The rubber box is equipped with an extension rod structure that automatically triggers a tilting action upon reaching the rubber tree; the rubber flows smoothly into the onboard collection tank for automatic collection. No stopping is required throughout the process, operating continuously at a constant and efficient speed, significantly improving collection efficiency and operational consistency. The inspection mode uses four rubber trees as a work unit, achieving modular and efficient inspection; high-precision parking is achieved using an RFID road sign identification system, ensuring the trolley stops precisely at the target rubber tree location. Upon reaching the designated location, it automatically stops and enters a work-ready state. The robotic arm is invoked in real-time via an Ethernet interface to perform tasks such as rubber box replacement. The work path supports manual teaching and input, ensuring accurate positioning of each rubber tree, stable and reliable operation, and adaptability to various field operation needs.

[0028] In another embodiment, each rubber tree or trunk in the rubber plantation is securely fitted with a UHF RFID tag, with the tag ID corresponding one-to-one with the tree number, facilitating system identification and management. The reader has a recognition radius of approximately 1–2 meters, automatically collecting tag information and associating it in real-time with the tree's location on a high-precision map to establish a global landmark network. The navigation system continuously scans surrounding tags using the RFID reader to obtain real-time information on rubber trees in the current area, achieving tree-level precise positioning. After identifying landmarks, the system automatically fuses laser SLAM positioning data to dynamically correct the vehicle's position, ensuring a strict match between the work path and physical landmarks. The navigation system has a fault-tolerant mechanism for temporary landmark obstruction or loss; the system can rely on multi-sensor fusion to maintain stable operation without affecting task continuity. In areas with weak or obstructed RTK signals (such as under forests or near buildings), RFID landmarks are prioritized for position correction and navigation compensation, significantly improving system robustness; RFID identification has a high success rate and fast response, effectively suppressing SLAM cumulative errors and providing a reliable position reference for long-term, large-scale autonomous operations.

[0029] The above description is merely an embodiment of this utility model and does not limit the scope of protection of this utility model. Any equivalent structural or procedural transformations made based on the content of this utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of protection of this utility model.

Claims

1. A wheeled glue-collecting robot chassis with a long-stroke suspension and a full-through structure, characterized in that, include: Full-length chassis frame (1), glue collection device mounting bracket (2), panel (3), protective cover (4), robotic arm mounting plate (5), battery (6), general electrical mounting plate (7), steering gear motor (8), slewing bearing (9), wheel hub bearing (10), bogie (11), shock absorber (12), wheel hub gear motor (13), wheel (14); Among them, the glue collection device mounting bracket (2) is fixed on the left and right sides of the full-through chassis frame (1); the panel (3), protective cover (4), robotic arm mounting plate (5), and steering reduction motor (8) are fixed on the upper part of the full-through chassis frame (1); the general electrical mounting plate (7) divides the lower space of the full-through chassis frame (1) into upper and lower layers, and the battery (6) is placed in the lower layer; the bogie (11) is connected to the full-through chassis frame (1) through the slewing bearing (9), and the hub support (10), shock absorber (12) and bogie (11) are hinged to each other to form a drive steering wheel; the hub reduction motor (13) is fixed in the hub support (10), and the motor output end is equipped with a wheel (14).

2. The wheeled glue-collecting robot chassis according to claim 1, characterized in that: The top of the full-through chassis frame (1) is equipped with a panel (3), and protective covers (4) are installed at the front and rear to encapsulate various sensors and steering gear motors (8).

3. The wheeled pick-up robot chassis of claim 1, wherein: The steering reduction motor (8) and the slewing bearing (9) drive the bogie (11) to rotate at any angle of 360° through gear meshing, thereby controlling the direction of the drive wheel.

4. The wheeled pick-up robot chassis of claim 1, wherein: The hub support (10), shock absorber (12) and bogie (11) are hinged to each other and form a lever mechanism. The shock absorber (12) lever is smaller than the hub support (10), so that the hub reduction motor (13) and wheel (14) installed at the end of the hub support (10) lever can obtain longitudinal displacement stroke.

5. The wheeled pick-up robot chassis of claim 1, wherein: The steering reduction motor (8) and the slewing bearing (9) control the steering wheel to face any direction, enabling the robot to turn with a small radius and turn in place.

6. The wheeled pick-up robot chassis of claim 1, wherein: The bottom space of the full-through chassis frame (1) is a front and rear full-through structure, and is divided into upper and lower layers using an electrical mounting plate (7). The upper layer is used to install various electrical control devices.

7. The wheeled pick-up robot chassis of claim 6, wherein: The electronic control device includes a receiver and a controller. The receiver is used to receive remote control signals and transmit the received remote control signals to the controller. The controller controls each actuator according to the remote control signals.

8. The wheeled pick-up robot chassis of claim 7, wherein: The receiver receives remote control signals and outputs PPM or SBUS signals; the PPM to CAN module converts the PPM or SBUS signals into CAN protocol signals for the controller to parse.

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