A travelling mechanism

Abstract

The utility model discloses a kind of advancing mechanisms, including frame, advancing mechanism and carrying mechanism, advancing mechanism is connected with frame, advancing mechanism can move along preset direction, carrying mechanism includes support part, driving part and at least one adjusting piece, support part is slidably installed on frame, driving part is installed on frame, and is connected with support part, driving part can drive support part to lift, at least one adjusting piece is installed on support part, adjusting piece has movable end, movable end can move along the direction of motion perpendicular to advancing mechanism. Solve the problem that each new end effector is designed in prior art, research and development team needs to redevelop a set of matched advancing mechanism, this process is time-consuming and laborious, and increases development cost.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, specifically to a traveling mechanism. Background Technology

[0002] With the continuous advancement of modern agricultural technology, agricultural robots are being used more and more widely in agricultural production. These intelligent devices not only improve work efficiency but also reduce reliance on human resources and help achieve refined management of agricultural production.

[0003] However, engineers face a series of challenges when designing agricultural robots. Among them, obstacle-crossing ability is one of the key design considerations, because the agricultural environment is complex and varied, and the ground may be uneven, with obstacles such as mounds of soil, ditches, and crop residues.

[0004] To ensure that robots can work smoothly in such environments, a mobility system with strong obstacle-crossing capabilities needs to be designed. In addition, to adapt to different types of agricultural operations, such as sowing, weeding, and harvesting, robots usually need to be equipped with mechanisms that can be adjusted vertically and horizontally to facilitate the installation of various specialized end effectors. These end effectors are working parts that directly perform specific tasks, such as gripping tools, spraying devices, or cutting tools. Utility Model Content

[0005] The purpose of this utility model is to overcome the above-mentioned technical deficiencies and provide a traveling mechanism to solve the problem that in the prior art, every time a new end effector is designed, the R&D team needs to develop a new traveling mechanism to match it, which is time-consuming, labor-intensive and increases development costs.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: This utility model provides a traveling mechanism, including: frame; A traveling mechanism, connected to a frame, capable of moving along a preset direction; and... The mounting mechanism includes a support, a drive, and at least one adjusting member. The support is slidably mounted on the frame. The drive is mounted on the frame and connected to the support. The drive can drive the support to move up and down. At least one adjusting member is mounted on the support. The adjusting member has a movable end that can move along a direction perpendicular to the movement direction of the traveling mechanism.

[0007] In some embodiments, the support includes a mounting platform and a plurality of connectors, all of which are mounted on the mounting platform. Each connector is slidably connected to a guide rail on the frame. The mounting platform is connected to the drive member, and the adjustment member is mounted on the mounting platform.

[0008] In some embodiments, the drive unit includes a drive source and a threaded screw, the threaded screw being rotatably mounted on the frame and threadedly connected to the mounting platform, and the drive source being mounted on the frame and connected to one end of the threaded screw.

[0009] In some embodiments, the drive source includes a first motor and a chain. The first motor is mounted on a frame, and a drive gear is fixed at the output end of the first motor. A driven gear is provided at the end of the threaded screw, and the chain is connected between the drive gear and the driven gear.

[0010] In some embodiments, the connector includes two connecting plates, a plurality of connecting rods, and a slider. The plurality of connecting rods are fixed between the two connecting plates, and the slider is fixed on one of the connecting plates. The two connecting plates are connected to the mounting platform, and the slider is slidably connected to a guide rail on the frame.

[0011] In some embodiments, the adjusting member includes a second motor, a transmission toothed belt, a driving gear, and a driven gear. The second motor is fixedly mounted on the mounting platform. The driving gear is fixedly connected to the output end of the second motor. The driven gear is rotatably mounted on the mounting platform. The transmission toothed belt is connected between the driving gear and the driven gear. The movable end is slidably connected to the mounting platform and fixedly connected to the transmission toothed belt.

[0012] In some embodiments, the movable end includes a base and a movable block, the movable block being fixedly mounted on the base, the base being fixedly connected to the transmission toothed belt, and the movable block being slidably connected to the track on the mounting platform.

[0013] In some embodiments, the traveling mechanism includes two moving parts located on opposite sides of the frame. Each moving part includes a traveling side plate, a third motor, a traveling gear, a traveling track, and guide wheels. The traveling side plate is fixedly connected to the frame. The third motor is fixedly mounted on the traveling side plate and its output end is fixedly connected to the traveling gear. A plurality of guide wheels are rotatably mounted on the traveling side plate, and the traveling track is connected between the traveling gear and the plurality of guide wheels.

[0014] In some embodiments, the inner side of the traveling track is provided with a rack section and a groove section, the traveling gear meshes with the rack section, and the edge of the guide wheel is engaged in the groove section.

[0015] In some embodiments, the moving member further includes at least one tensioning wheel connected to the traveling side plate, the edge of the tensioning wheel being engaged within the groove segment.

[0016] Compared with the prior art, the present invention provides a traveling mechanism that is connected to a frame and can move along a preset direction. The mounting mechanism includes a support part, a driving member, and at least one adjusting member. The support part is slidably mounted on the frame, the driving member is mounted on the frame and connected to the support part, and the driving member can drive the support part to rise and fall. At least one adjusting member is mounted on the support part and has a movable end that can move in a direction perpendicular to the movement direction of the traveling mechanism. When a newly developed end effector is mounted on the support part, the driving member drives the support part to rise and fall, thereby driving the end effector to rise and fall. When the newly developed end effector is mounted on the movable end of the adjusting member, the adjusting member can adjust the position of the end effector in the horizontal direction. This traveling mechanism can be matched with different types of end effectors, eliminating the need to develop other types of traveling mechanisms and reducing production costs. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a traveling mechanism provided by this utility model; Figure 2 This is a schematic diagram of the structure of the movable component provided by this utility model; Figure 3 This is a partial structural schematic diagram of the mounting mechanism provided by this utility model; Figure 4 This is a structural schematic diagram of the connector provided by this utility model. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0019] To address the technical challenge that existing technologies require R&D teams to develop a completely new traveling mechanism for each new end effector design—a process that is time-consuming, labor-intensive, and increases development costs—this solution provides a traveling mechanism applicable to end effectors with different functions.

[0020] Please see Figure 1 -picture, Figures 1-4One embodiment of the present invention provides a traveling mechanism, comprising a frame 1, a traveling mechanism 2, and a mounting mechanism 3. The traveling mechanism 2 is connected to the frame 1 and can move along a preset direction. The mounting mechanism 3 includes a support part 31, a driving member 32, and at least one adjusting member 33. The support part 31 is slidably mounted on the frame 1. The driving member 32 is mounted on the frame 1 and connected to the support part 31, and can drive the support part 31 to move up and down. At least one adjusting member 33 is mounted on the support part 31, and the adjusting member 33 has a movable end that can move along a direction perpendicular to the movement direction of the traveling mechanism 2.

[0021] In actual use, the operator can install the end effector on the support 31 and drive the support 31 to rise and fall through the drive component 32, thereby driving the end effector to rise and fall; or install the end effector on the movable end and drive the end effector to move through the movable end along the direction of movement perpendicular to the traveling mechanism 2; the traveling mechanism 2 can drive the frame 1 to move, and the end effector can perform the corresponding work tasks.

[0022] It should be noted that the support part 31 is not limited to a specific structure. In one embodiment, the support part 31 includes a mounting platform 311 and a plurality of connectors 312. The plurality of connectors 312 are all mounted on the mounting platform 311. Each connector 312 is slidably connected to a guide rail on the frame 1. The mounting platform 311 is connected to the drive member 32. The adjustment member 33 is mounted on the mounting platform 311.

[0023] Specifically, one side of the platform 311 has an installation area, and the end effector can be fixed to the installation area.

[0024] It should be noted that, in one embodiment, the driving component 32 is not limited to a specific structure, as long as it can drive the mounting platform 311 to move up and down; specifically, the driving component 32 includes a driving source 321 and a threaded screw 322, the threaded screw 322 is rotatably mounted on the frame 1, and the threaded screw 322 is threadedly rotatably connected to the mounting platform 311, the driving source 321 is mounted on the frame 1 and connected to one end of the threaded screw 322.

[0025] It is understandable that by driving the threaded screw 322 to rotate forward or backward through the drive source 321, the mounting platform 311 can be driven to rise and fall.

[0026] Preferably, in one embodiment, the drive source 321 includes a first motor 3211 and a chain 3212. The first motor 3211 is mounted on the frame 1. A drive gear is fixed at the output end of the first motor 3211. A driven gear is provided at the end of the threaded screw 322. The chain 3212 is connected between the drive gear and the driven gear.

[0027] It should be noted that, in one embodiment, the connector 312 includes two connecting plates 3121, a plurality of connecting rods 3122, and a slider 3123. The plurality of connecting rods 3122 are fixed between the two connecting plates 3121, and the slider 3123 is fixed on one of the connecting plates 3121. The two connecting plates 3121 are connected to the mounting platform 311, and the slider 3123 is slidably connected to the guide rail on the frame 1. Specifically, both connecting plates 3121 are T-shaped.

[0028] In one embodiment, the frame 1 includes four vertical rods, each of which is fixed with a guide rail. The mounting platform 311 is provided with four connectors 312, and the four sliders 3123 on the four connectors 312 are slidably connected to the four guide rails respectively.

[0029] In one embodiment, the adjusting member 33 includes a second motor 331, a transmission toothed belt 332, a driving gear 333, and a driven gear 334. The second motor 331 is fixedly mounted on the mounting platform 311. The driving gear 333 is fixedly connected to the output end of the second motor 331. The driven gear 334 is rotatably mounted on the mounting platform 311. The transmission toothed belt 332 is connected between the driving gear 333 and the driven gear 334. The movable end 335 is slidably connected to the mounting platform 311 and fixedly connected to the transmission toothed belt 332.

[0030] Preferably, in one embodiment, the movable end 335 includes a base and a movable block, the movable block is fixedly mounted on the base, the base is fixedly connected to the transmission toothed belt, and the movable block is slidably connected to the track on the mounting platform 311.

[0031] In use, the operator can install the end effector on the base. It is understood that the second motor 331 drives the drive gear 333 to rotate, which in turn drives the transmission belt 332 to rotate, thereby causing the movable end 335 to move relative to the mounting platform 311. The end effector can move synchronously with the movable end 335.

[0032] It should be noted that the moving part 21 is not limited to a specific structure. In one embodiment, the traveling mechanism 2 includes two moving parts 21, which are located on opposite sides of the frame 1. Each moving part 21 includes a traveling side plate 211, a third motor 212, a traveling gear 213, a traveling track 214, and guide wheels 215. The traveling side plate 211 is fixedly connected to the frame 1. The third motor 212 is fixedly mounted on the traveling side plate 211 and its output end is fixedly connected to the traveling gear 213. A plurality of guide wheels 215 are rotatably mounted on the traveling side plate 211. The traveling track 214 is connected between the traveling gear 213 and the plurality of guide wheels 215.

[0033] It is understandable that the third motor 212 drives the travel gear 213 to rotate, which in turn drives the travel track 214 to rotate. In one embodiment, the inner side of the traveling track 214 is provided with a rack section 214a and a groove section 214b, the traveling gear 213 meshes with the rack section 214a, and the edge of the guide wheel 215 is engaged in the groove section 214b.

[0034] In addition, in one embodiment, the moving part 21 further includes at least one tensioning wheel 216, which is connected to the traveling side plate 211, and the edge of the tensioning wheel 216 is engaged in the groove section 214b; it can be understood that by installing the tensioning wheel 216, the tensioning wheel 216 mainly plays a tensioning role to ensure that the traveling track 214 always maintains appropriate tension. The specific embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any other corresponding changes and modifications made based on the technical concept of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A traveling mechanism characterized by comprising: include: frame; A traveling mechanism, which is connected to the frame, is capable of moving in a preset direction; as well as, The mounting mechanism includes a support, a drive, and at least one adjusting member. The support is slidably mounted on the frame. The drive is mounted on the frame and connected to the support. The drive can drive the support to move up and down. At least one adjusting member is mounted on the support. The adjusting member has a movable end that can move along a direction perpendicular to the movement direction of the traveling mechanism.

2. A travelling mechanism according to claim 1, wherein The support includes a mounting platform and multiple connectors. The multiple connectors are all mounted on the mounting platform, and each connector is slidably connected to a guide rail on the frame. The mounting platform is connected to the drive component, and the adjustment component is mounted on the mounting platform.

3. A travelling mechanism according to claim 2, wherein, The driving component includes a driving source and a threaded screw. The threaded screw is rotatably mounted on the frame and is threadedly rotatably connected to the mounting platform. The driving source is mounted on the frame and connected to one end of the threaded screw.

4. A travelling mechanism according to claim 3, wherein The drive source includes a first motor and a chain. The first motor is mounted on a frame, and a drive gear is fixed at the output end of the first motor. A driven gear is provided at the end of the threaded screw, and the chain is connected between the drive gear and the driven gear.

5. A travelling mechanism according to claim 2, wherein The connector includes two connecting plates, multiple connecting rods, and a slider. The multiple connecting rods are fixed between the two connecting plates, and the slider is fixed on one of the connecting plates. The two connecting plates are connected to the mounting platform, and the slider is slidably connected to the guide rail on the frame.

6. A traveling mechanism according to claim 1, wherein The adjusting component includes a second motor, a transmission toothed belt, a driving gear, and a driven gear. The second motor is fixedly mounted on the mounting platform. The driving gear is fixedly connected to the output end of the second motor. The driven gear is rotatably mounted on the mounting platform. The transmission toothed belt connects the driving gear and the driven gear. The movable end is slidably connected to the mounting platform and fixedly connected to the transmission toothed belt.

7. A travelling mechanism according to claim 6, wherein The movable end includes a base and a movable block. The movable block is fixed on the base, the base is fixedly connected to the transmission toothed belt, and the movable block is slidably connected to the track on the mounting platform.

8. A traveling mechanism according to claim 1, characterized in that, The traveling mechanism includes two moving parts, which are located on opposite sides of the frame. Each moving part includes a traveling side plate, a third motor, a traveling gear, a traveling track, and guide wheels. The traveling side plate is fixedly connected to the frame. The third motor is fixedly mounted on the traveling side plate and its output end is fixedly connected to the traveling gear. A plurality of guide wheels are rotatably mounted on the traveling side plate. The traveling track is connected between the traveling gear and the plurality of guide wheels.

9. A travelling mechanism according to claim 8, wherein, The inner side of the track is provided with a rack section and a groove section, the traveling gear meshes with the rack section, and the edge of the guide wheel is engaged in the groove section.

10. A travelling mechanism according to claim 9, wherein, The moving component also includes at least one tensioning wheel, which is connected to the traveling side plate, and the edge of the tensioning wheel is engaged in the groove section.

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