Plant protection robot chassis with shock absorption for different road conditions

Abstract

A plant protection robot chassis with shock absorption suitable for different road conditions, comprising a frame part and a wheel group part, wherein the frame part comprises a frame plate with mounting holes, and the wheel group part comprises a bearing plate and a lower wheel group part, the lower wheel group part comprises a lower support, a spring, a wheel mounted on the lower support, and a cylindrical shaft fixed above the lower support, a pad is integrally fixed on the cylindrical shaft, the free end of the cylindrical shaft passes through the avoidance hole below the frame plate and is fastened by a corresponding nut, the spring is clamped between the bearing plate and the lower support, and the height of the upper surface of the pad is lower than the height of the upper surface of the lower support when the upper end of the spring is not under pressure, allowing the bearing plate to oscillate between the lower surface of the nut and the upper surface of the pad of the lower support. In this way, the chassis can always contact the ground when traveling through uneven ground, and is not easy to deviate.

Description

Technical Field

[0001] This utility model relates to the field of facility agriculture equipment, and more specifically to a plant protection robot chassis with built-in shock absorption suitable for different road conditions, especially a universal chassis device for vehicles used inside greenhouses. Background Technology

[0002] Modern agriculture improves production efficiency and precision through technological innovation, with greenhouse cultivation as a core model, placing stringent demands on the performance of operating equipment chassis. Currently, omnidirectional steering chassis can flexibly adapt to the complex spaces of greenhouses, and track-based designs ensure precise operating paths; however, instability and slippage remain potential issues. Therefore, developing chassis that improve these characteristics is crucial for promoting the efficient and intelligent development of modern greenhouse cultivation, and is of great significance for enhancing agricultural production efficiency. Utility Model Content

[0003] To address the aforementioned problems, the purpose of this invention is to provide a universal chassis that can move omnidirectionally like a Mecanum wheel and also has shock absorption functionality in a track configuration.

[0004] According to this utility model, a plant protection robot chassis with built-in shock absorption suitable for different road conditions is provided, including a frame part and a wheel assembly part. The frame part includes a frame plate with mounting holes. The wheel assembly part includes a bearing plate and a lower wheel assembly part. The lower wheel assembly part includes a lower bracket, a spring, a wheel mounted on the lower bracket, and a cylindrical shaft fixed above the lower bracket. A pad is integrally fixed on the cylindrical shaft. The free end of the cylindrical shaft passes through a clearance hole from below the frame plate and is fastened by a corresponding nut. The spring is sandwiched between the bearing plate and the lower bracket. The spring is configured such that the height of the upper surface of the pad is lower than the height of the upper surface of the lower bracket when the upper end of the spring is not compressed, allowing the bearing plate to vibrate between the lower surface of the nut and the upper surface of the pad of the lower bracket.

[0005] Preferably, the wheels are fixed track wheels and Mecanum wheels supported side by side below the lower support.

[0006] Preferably, a guide shaft for mounting the spring and a plurality of cylindrical shafts surrounding the guide shaft are fixedly disposed above the lower bracket. The cylindrical shafts are prepared in a stepped manner to form pads, and each pad has a relatively flush upper surface.

[0007] Preferably, the bearing plates are fixed together through mounting holes on the upper part of the frame, and each washer passes through the clearance holes of the frame plate.

[0008] Preferably, four wheel sets are installed below the frame, and each wheel set is provided with four cylindrical axles.

[0009] Preferably, the bearing plate includes a lower bearing plate and an upper bearing plate connected as an integral structure.

[0010] Preferably, a washer is provided on the upper surface of the bearing plate, and the free end of the cylindrical shaft passes through the washer of the bearing plate and passes through the clearance hole from the bottom of the frame plate together with the washer.

[0011] Preferably, a washer is integrally fixed on the upper surface of the bearing plate; or, the washer is installed in a movable and separate manner, or a sleeve is installed instead of the washer.

[0012] Preferably, both the guide shaft and the cylindrical shaft are fixed to the upper part of the lower bracket via a flange.

[0013] Preferably, a wheel assembly is installed below the chassis, and a water tank is installed above the chassis.

[0014] According to this utility model, a plant protection robot chassis with built-in shock absorption is provided, which is suitable for different road conditions. When the chassis travels over potholes, the wheels always maintain stable contact with the ground and are not easy to slip or deviate. Attached Figure Description

[0015] Figure 1 A perspective view of the entire vehicle assembly of the plant protection robot according to an embodiment is shown schematically.

[0016] Figure 2 A schematic three-dimensional view of the chassis is shown.

[0017] Figure 3 A schematic perspective view of the chassis section is shown.

[0018] Figure 4 A schematic three-dimensional view of the lower wheel assembly is shown.

[0019] Figure 5 A schematic three-dimensional view of the cylindrical shaft is shown.

[0020] Figure 6 A schematic perspective view of the cross-sectional structure of the lower wheel assembly is shown.

[0021] Figure 7 A schematic three-dimensional view of the wheelset section is shown.

[0022] Figure 8 A schematic three-dimensional view of the wheel assembly is shown.

[0023] Figure 9 The diagram illustrates the operating conditions, where (A) shows the travel on a level surface and (B) shows the travel with obstacles.

[0024] Figure 10 The mounting holes are shown schematically.

[0025] Figure 11 The control box (distribution box) is shown schematically.

[0026] Figure 12 This is a schematic representation of the water tank section.

[0027] Figure 13 The assembly process diagram is shown schematically.

[0028] Figure 14 An assembly structure diagram is shown schematically. Detailed Implementation

[0029] The exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The exemplary embodiments described below and illustrated in the drawings are intended to teach the principles of the present invention, enabling those skilled in the art to implement and use the present invention in various environments and for various applications. Therefore, the scope of protection of the present invention is defined by the appended claims, and the exemplary embodiments are not intended, and should not be considered, a limiting description of the scope of protection of the present invention. Furthermore, for ease of description, the dimensions of the various parts shown in the drawings are not necessarily drawn to actual scale. Orientation descriptions, such as front, rear, inside, outside, top, bottom, left, right, top, and bottom, indicating orientations or positional relationships corresponding to the chassis's forward or backward or longitudinal direction, are based on the orientations or positional relationships shown in the drawings and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element 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. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or partial structures will be omitted where they may cause confusion or make the understanding of the present disclosure difficult to observe. Unless otherwise specifically stated, the order and numerical values ​​of the components and assembly steps described in the embodiments do not limit the scope of this invention.

[0030] This utility model provides a plant protection robot chassis (hereinafter referred to as the device) that is suitable for different road conditions and has built-in shock absorption. It mainly includes a frame part 1, a wheel set part 2, a control box 4, and a water tank part 3. The main shock absorption structure comes from the wheel set part 2. Each wheel set part 2 has a shock absorption function, so that the device as a whole has a shock absorption function.

[0031] In one embodiment, such as Figure 1 The plant protection robot shown has a wheel assembly 2 installed below the chassis, and a water tank 3 and a control box 4 installed above the chassis. The chassis mainly includes a frame 1 as the main body, and four wheel assemblies 2 are installed at each corner or side of the frame 1, which is, for example, roughly rectangular frame-shaped.

[0032] like Figure 2As shown, two sets of wheel sets 2 are mounted at the front and rear of the four corners of the frame section 1, respectively. The frame section 1 includes a frame 11 and a frame housing 12. At each of the four corners of the frame housing 12, a frame plate 31 with clearance holes 30 is formed for corresponding mounting of the wheel sets 2. (As will be described later...) Figure 7 , 8 As shown, the wheel assembly 2 includes a bearing plate 33 and a lower wheel assembly 5. The bearing plate 33 is used to be mounted on the frame plate 31, and the lower wheel assembly 5 is used to contact the ground for driving.

[0033] like Figure 4 , 5 As shown, the lower wheel assembly 5 includes: a spring 26, a lower bracket 21, a fixed track wheel 25, and a Mecanum wheel 22 serving as wheels. The fixed track wheel 25 and the Mecanum wheel 22 are supported side-by-side below the lower bracket 21. Above the lower bracket 21, for example via a flange, are a guide shaft for housing the spring 26 and multiple cylindrical shafts 55 for guiding and fixing. Compared to the central guide shaft, the other four cylindrical shafts 55 arranged parallel to it have pads 34 formed at their lower parts. For this purpose, the cylindrical shafts 55 can be manufactured, for example, as stepped shafts with the pads 34 formed. Each pad 34 has a relatively flush upper surface for supporting the bearing plate 33 (see lower bearing plate 24) described later. The height of this upper surface is lower than the height of the upper end of the spring 26 when it is not compressed. That is, when the spring 26 is set to its uncompressed free length state, the height of the bearing plate 33 relative to the upper surface of the lower bracket 21 allows the bearing plate 33 to oscillate between the lower surface of the nut 27 and the upper surface of the pad 34 of the lower bracket 21.

[0034] More specifically, the connection method of the lower wheel assembly 5 is as follows: Figure 6 As shown, the sleeve 29, bearing 28, connecting shaft 201, fixed bearing 202, and bearing seat shaft 203 are fixed into an integrated structure. The bearing seat shaft 203 is fixed to the lower bracket 21 with screws. Other installation methods can also be used. The motor plate 204 is used to fix the motor (not shown) later.

[0035] like Figure 7 As shown, the wheel assembly 2 includes a lower wheel assembly 5, a nut 27, a lower bearing plate 24 and an upper bearing plate 23 connected as an integral bearing plate structure. Each cylindrical shaft 55 of the lower wheel assembly 5 passes through corresponding holes in the bearing plate 33 and can be fastened with the nut 27. The bearing plate 33 is not limited to being composed of the lower bearing plate 24 and the upper bearing plate 23; it can also be configured as a single plate or a combination of multiple plates. A washer 35 is integrally fixed to the upper surface of the bearing plate 33, for example, by welding.

[0036] The installation method of wheel assembly 2 is as follows Figure 8As shown, firstly, the lower bearing plate 24 and the upper bearing plate 23 pass through the cylindrical shaft 55 of the lower wheel assembly 5 together, and then are locked with the nut 27. At this time, the bearing plate 33 is sandwiched between the corresponding pad 34 and the nut 27.

[0037] The shock absorption effect of wheel assembly 2 is shown in the diagram. Figure 9 As shown, where, Figure 9 (A) shows the condition when traveling on a level road surface, with the spring 26 at its free length or under a small amount of compression, and the lower surface of the spring 26 supporting the bearing plate 33 disengaging from the upper surface of the pad 34 until the washer 35 pushes upward against the nut 27. Figure 9 (B) shows that in the presence of an obstacle, the bearing plate 33 is compressed downward by the spring 26, causing the upper surface of the washer 35 to disengage from the lower surface of the nut 27 until the lower surface of the bearing plate 33 abuts against the upper surface of the pad 34.

[0038] In this way, the lower wheel assembly 5 can move relative to the lower bearing plate 24 and the upper bearing plate 23 in the vertical direction, and can automatically reset under the action of the spring 26, thereby achieving the shock absorption effect.

[0039] like Figure 10 , 13 As shown in Figure 14, the bearing plates 33 of the wheelset section 2 are fixed together through the mounting holes 110 on the upper part of the frame section 1, and each washer 35 passes through the clearance holes 30 of the frame plate 31, thereby fixing each wheelset section 2 to the frame section 1 and realizing the installation of the shock-absorbing chassis. Therefore, the frame section 1 can also move relative to the lower wheelset section 5, so that the device as a whole has a shock-absorbing function.

[0040] like Figure 11 The diagram illustrates control box 4.

[0041] like Figure 12 The diagram illustrates the water tank support.

[0042] The control box 4 and the water tank section can be simultaneously fixed to the upper part of the chassis by screws. The water tank section can also be equipped with a water tank bracket and a nozzle spray bar (not shown) fixed to the upper part of the vehicle frame, so that the vehicle can carry out plant protection operations.

[0043] The above shows a washer 35 integrally fixed to the upper surface of the bearing plate 33; however, this is not a limitation, and the washer 35 or sleeve may be installed in a movable, separate manner. Furthermore, the guide shaft may be omitted if necessary. The spring 26 is also not limited to one type.

[0044] As mentioned above, a chassis for agricultural robots with built-in shock absorption suitable for various road conditions is provided, offering the following advantages: This chassis integrates track wheels and Mecanum wheels into a single wheel assembly. It features shock absorption; in particular, the four wheel assemblies have identical structures, and each wheel assembly can move relative to the frame via springs and cylindrical axles. This shock-absorbing design ensures that the wheels (fixed track wheels 25 and Mecanum wheels 22) remain in contact with the ground when traversing uneven terrain, preventing deviation. Each wheel assembly relies on a single spring for shock absorption, resulting in simple maintenance and resistance to damage.

[0045] In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified. Unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Although the present invention has been described with reference to various specific embodiments, it should be understood that modifications can be made within the spirit and scope of the described inventive concept. Therefore, it is intended that the present invention be limited to the described embodiments but will have the full scope defined by the language of the appended claims.

Claims

1. A chassis for an agricultural robot with built-in shock absorption suitable for different road conditions, characterized in that, The vehicle includes a frame section (1) and a wheelset section (2). The frame section (1) includes a frame plate (31) with a clearance hole (30). The wheelset section (2) includes a bearing plate (33) and a lower wheelset section (5). The lower wheelset section (5) includes a lower bracket (21), a spring (26), a wheel mounted on the lower bracket (21), and a cylindrical shaft (55) fixed above the lower bracket (21). A pad (34) is integrally fixed on the cylindrical shaft (55). 5) The free end passes through the clearance hole (30) from the bottom of the frame plate (31) and is fastened by the nut (27). The spring (26) is sandwiched between the bearing plate (33) and the lower bracket (21). The spring (26) is set such that the height of the upper surface of the pad (34) is lower than the height of the upper surface of the lower bracket (21) when the upper end of the spring (26) is not pressed, allowing the bearing plate (33) to oscillate between the lower surface of the nut (27) and the upper surface of the pad (34) of the lower bracket (21).

2. The plant protection robot chassis with built-in shock absorption suitable for different road conditions as described in claim 1, characterized in that, The wheels are fixed track wheels (25) and Mecanum wheels (22) supported side by side below the lower support (21).

3. The plant protection robot chassis with built-in shock absorption suitable for different road conditions as described in claim 1, characterized in that, Above the lower bracket (21), a guide shaft for mounting the spring (26) and multiple cylindrical shafts (55) surrounding the guide shaft are fixedly provided. The cylindrical shafts (55) are prepared in a stepped manner to form pads (34), and each pad (34) has a relatively flush upper surface.

4. The plant protection robot chassis with built-in shock absorption suitable for different road conditions as described in claim 1, characterized in that, The bearing plate (33) is fixed together through the mounting hole (110) above the frame part (1), and each washer (35) passes through the clearance hole (30) of the frame plate (31).

5. The plant protection robot chassis with built-in shock absorption suitable for different road conditions as described in claim 1, characterized in that, Four wheel sets (2) are installed below the frame part (1), and each wheel set (2) is provided with four cylindrical axles (55).

6. The plant protection robot chassis with built-in shock absorption suitable for different road conditions as described in claim 1, characterized in that, The bearing plate includes a lower bearing plate (24) and an upper bearing plate (23) connected as an integral structure.

7. The plant protection robot chassis with built-in shock absorption suitable for different road conditions as described in claim 1, characterized in that, A washer (35) is provided on the upper surface of the bearing plate (33). The free end of the cylindrical shaft (55) passes through the washer (35) of the bearing plate (33) and together with the washer (35), passes through the clearance hole (30) from below the frame plate (31).

8. The plant protection robot chassis with built-in shock absorption suitable for different road conditions as described in claim 7, characterized in that, A washer (35) is integrally fixed on the upper surface of the bearing plate (33); or, the washer (35) is installed in a movable and separate manner or a sleeve is installed instead of the washer (35).

9. The plant protection robot chassis with built-in shock absorption suitable for different road conditions as described in claim 1, characterized in that, Both the guide shaft and the cylindrical shaft (55) are fixed above the lower bracket (21) via the flange.

10. The plant protection robot chassis with built-in shock absorption suitable for different road conditions as described in claim 1, characterized in that, A wheel assembly (2) is installed below the chassis, and a water tank assembly (4) is installed above the chassis.

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