CN108909864A - A kind of chassis structure of greenhouse robot - Google Patents
A kind of chassis structure of greenhouse robot Download PDFInfo
- Publication number
- CN108909864A CN108909864A CN201811164336.6A CN201811164336A CN108909864A CN 108909864 A CN108909864 A CN 108909864A CN 201811164336 A CN201811164336 A CN 201811164336A CN 108909864 A CN108909864 A CN 108909864A
- Authority
- CN
- China
- Prior art keywords
- chassis
- connecting plate
- frame
- lower connecting
- driving wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000000712 assembly Effects 0.000 claims abstract description 11
- 238000000429 assembly Methods 0.000 claims abstract description 11
- 230000008878 coupling Effects 0.000 claims abstract description 9
- 238000010168 coupling process Methods 0.000 claims abstract description 9
- 238000005859 coupling reaction Methods 0.000 claims abstract description 9
- 229910052782 aluminium Inorganic materials 0.000 claims description 16
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 7
- 230000006978 adaptation Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 239000004411 aluminium Substances 0.000 description 6
- 230000008901 benefit Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
Abstract
The present invention relates to a kind of chassis structures of greenhouse robot, which is characterized in that the driving wheel module including chassis frame and the respective independent control for being mounted on the chassis frame two sides of the bottom；The drive wheel assemblies of the driving wheel module are connect by corresponding flexible adjustment component with the chassis frame.The flexible adjustment component includes elastic parts, and the upper and lower ends of the elastic parts pass through upper junction plate and lower connecting plate respectively and connect with the chassis frame, and the upper and lower ends of the elastic parts are rotatablely connected with the upper junction plate and the lower connecting plate respectively；The lower connecting plate and the chassis frame are rotatablely connected.The drive wheel assemblies include motor and wheel, and the output shaft of the motor is fixedly linked by shaft coupling and the wheel；The motor is connect by motor support base with the lower connecting plate, and the shaft coupling is fixedly connected with the lower connecting plate.The present invention can automatic adaptation to the ground, turn to flexibly, run smoothly, load capacity is strong, at low cost.
Description
Technical field
The invention belongs to greenhouse intelligent Agricultural Machinery Equipment technical fields, and in particular to a kind of chassis knot of greenhouse robot
Structure.
Background technique
With the development of science and technology, agricultural machinery intelligence degree is continuously improved, automated greenhouse Work robot constantly goes out
It is existing.Its chassis traveling mechanism has Three-wheel type, four wheeled, six wheeled, crawler type, McCrum wheeled.Wherein, Three-wheel type structure letter
Single, there is no having skidded because of ground out-of-flatness, but stability is poor, and bearing capacity is limited.Six wheeled constructions
Intermediate coaxial line on two-wheeled be driving wheel, turned using differential, in addition four-wheel be universal wheel, advantage be carry energy
Power is high, and control is simple, it can be achieved that pivot turn, but is easy to be maked somebody a mere figurehead when the out-of-flatness of ground, and driving wheel is caused to skid.Crawler type bottom
Disk can overcome the influence of ground road conditions, but not flexible limit its use in agricultural environment due to turning to, moving.Mike
Nurse wheel undercarriage is drawn to can be realized universal steering, but mechanism is complicated, at high cost, and road pavement adaptability is poor, load capacity
Difference needs that each wheel is operated alone.The four wheeled structure of tradition is similar to automobile chassis structures, simple and stable structure compared with
It is good, but turning radius is larger, can not achieve pivot turn, and ground road conditions can seriously affect the balance of car body.
Summary of the invention
In order to eliminate the defects of robot chassis under greenhouse turns to not flexible, road surface bad adaptability, bearing capacity is weak,
The present invention devises a kind of chassis structure of greenhouse robot.
To achieve the goals above, the invention adopts the following technical scheme：
A kind of chassis structure of greenhouse robot including chassis frame and is mounted on the drivings of the chassis frame two sides of the bottom
Take turns module；The drive wheel assemblies of the driving wheel module are connect by corresponding flexible adjustment component with the chassis frame.
Further, the flexible adjustment component includes elastic parts, and the upper and lower ends of the elastic parts pass through upper respectively
Connecting plate and lower connecting plate are connect with the chassis frame, the upper and lower ends of the elastic parts respectively with the upper junction plate and
The lower connecting plate rotation connection；The lower connecting plate and the chassis frame are rotatablely connected, the lower connecting plate with it is corresponding
Drive wheel assemblies connection.
Further, the upper and lower ends of the elastic parts pass through with the upper junction plate and the lower connecting plate connect respectively
Hinge connection.
Further, the lower connecting plate and the chassis frame are rotatablely connected by loose-leaf.
Further, the drive wheel assemblies include motor and wheel, the output shaft of the motor by shaft coupling with it is described
Wheel is fixedly linked；The motor is connect by motor support base with the lower connecting plate, the shaft coupling and the lower connecting plate
It is fixedly connected.
Further, the motor support base is the hardened structure of L-type, is provided with mounting hole on the vertical plate of the hardened structure of L-type to install
Motor is stated, connecting hole is provided on the transverse slat of the hardened structure of L-type to connect with the lower connecting plate.
Further, it there are four the driving wheel modules, is symmetrically mounted at left and right sides of the chassis frame bottom；Described four
The respective independent control of a driving wheel module.
Further, the chassis frame is a frame structure, and all columns and cross bar of frame structure are all made of aluminum profile
It is made；Corresponding sliding block screw, right angle corner brace and slider nut are all made of between column and cross bar, cross bar and the cross bar being connected
It is fixedly connected.
Further, the main body of the frame structure is a cuboid or cube structure, the cuboid or square knot
The rear and front end of structure each extends over out mounting rack to install the driving wheel module.
Further, the cross section of the aluminum profile is rectangular or rectangular configuration, rectangular or rectangular configuration center and quadrangle
It is provided with lightening hole；The four sides of the aluminum profile is provided with longitudinal installation connection slot.
Further, upper backup pad and lower supporting plate are also horizontally provided on the chassis frame；The upper backup pad and
Round and/or strip through-hole is provided on lower supporting plate with the corresponding control panel of location and installation, electronic component, mechanical device.
Further, the upper backup pad and lower supporting plate are made of aluminium sheet.
The chassis structure of greenhouse robot has the advantages that：
（1）In the present invention, flexible adjustment component can carry out dynamic adjustment according to landform, and robot chassis is adapted to automatically
Landform overcomes traditional wheel chassis and turns to the defect that flexibility ratio is low, Greenhouse Robot chassis wheel carrier impact missing is sliding；Meanwhile four
A driving wheel module is equipped with elastomeric element, can play the role of damping, buffering in broken terrain.
（2）Present invention employs the driving wheel module of four independent controls, can be realized trolley straight line walking, original place
It flexibly turns to.
（3）In the present invention, most of part is aluminium sheet and aluminium column, at low cost, good economy performance.It is propped up under the upper backup pad built
There are through-holes for fagging, are easily installed required device.
（4）The configuration of the present invention is simple runs smoothly, and flexibly, load capacity is strong, at low cost for turning.
Detailed description of the invention
Fig. 1：The structural schematic diagram of the chassis structure of robot of embodiment of the present invention medium temperature chamber；
Fig. 2：The connection structure stereoscopic schematic diagram I of chassis frame in embodiment of the present invention；
Fig. 3：The connection structure floor map II of chassis frame in embodiment of the present invention；
Fig. 4：The structural schematic diagram of driving wheel module in embodiment of the present invention；
Fig. 5：The structural schematic diagram of flexible adjustment component in embodiment of the present invention；
Fig. 6：The structural schematic diagram of drive wheel assemblies in embodiment of the present invention.
Description of symbols：
1-upper backup pad；2-chassis frames；21-aluminum profiles；22-sliding block screws；23-right angle corner braces；24-sliding block spiral shells
It is female；3-lower supporting plates；4-driving wheel modules；41-flexible adjustment components；411-upper junction plates；412-connects hinges；
413-elastic parts；414-loose-leaves；415-lower connecting plates；42-drive wheel assemblies；421-motors；422-motor support bases；
423-shaft couplings；424-wheels.
Specific embodiment
With reference to the accompanying drawing, the present invention will be further described：
Fig. 1 to Fig. 6 shows the specific embodiment of the chassis structure of greenhouse robot of the present invention.Fig. 1 is present embodiment
The structural schematic diagram of the chassis structure of robot of medium temperature chamber；Fig. 2 and Fig. 3 is the connection structure of chassis frame in present embodiment
Schematic diagram；Fig. 4 to fig. 6 is the structural schematic diagram of driving wheel module in present embodiment.
As shown in Figure 1, the chassis structure of the greenhouse robot in present embodiment, including chassis frame 2 and it is mounted on
The drive wheel assemblies 42 of the driving wheel module 4 of 2 two sides of the bottom of chassis frame, driving wheel module 4 pass through corresponding flexible adjustment group
Part 41 is connect with chassis frame 2.
Preferably, flexible adjustment component 41 includes elastic parts 413, and the upper and lower ends of elastic parts 413 pass through upper respectively
Connecting plate 411 and lower connecting plate 415 are connect with chassis frame 2, the upper and lower ends of elastic parts 413 respectively with upper junction plate 411
It is rotatablely connected with lower connecting plate 415；Lower connecting plate 415 and chassis frame 2 are rotatablely connected, lower connecting plate 415 and corresponding driving
Wheel assembly 42 connects, as shown in Figure 4 and Figure 5.
Preferably, the upper and lower ends of elastic parts 413 pass through connecting hinge with upper junction plate 411 and lower connecting plate 415 respectively
Chain 412 connects, as shown in Figure 4 and Figure 5.In the present embodiment, the main body of elastic parts 413 is cylindrical spring, cylindrical spring installation
On spring(-supported) mount.
Preferably, lower connecting plate 415 is rotatablely connected with chassis frame 2 by loose-leaf 414, as shown in Figure 4 and Figure 5.Loose-leaf
414 two hinges are fixedly linked with chassis frame 2, lower connecting plate 415 respectively, and there are revolute pairs for loose-leaf 414, by energy when external force
Enough carry out small-scale rotation adjustment.
Preferably, drive wheel assemblies 42 include motor 421 and wheel 424, and the output shaft of motor 421 passes through shaft coupling 423
It is fixedly linked with wheel 424；Motor 421 is connect by motor support base 422 with lower connecting plate 415, shaft coupling 423 and lower connecting plate
415 are fixedly connected, as shown in Figure 4 and Figure 6.
In the present embodiment, motor support base 422 is the hardened structure of L-type, is provided with mounting hole on the vertical plate of the hardened structure of L-type to install
Motor 421 is provided with connecting hole to connect with lower connecting plate 415 on the transverse slat of the hardened structure of L-type.
In the present embodiment, there are four driving wheel modules 4, and the driving wheel module 4 of four respective independent controls is symmetrically mounted on
At left and right sides of 2 bottom of chassis frame, as shown in Figure 1.
Preferably, chassis frame 2 is a frame structure, and all columns and cross bar of frame structure are all made of aluminum profile system
At；Corresponding sliding block screw 22, right angle corner brace 23 and sliding block spiral shell are all made of between column and cross bar, cross bar and the cross bar being connected
Mother 24 is fixedly connected, as shown in Figures 2 and 3.
Specifically, the main body of the frame structure is a cuboid or cube structure, the cuboid or square knot
The rear and front end of structure each extends over out mounting rack to install driving wheel module 4, as shown in Figure 1, the upper junction plate of driving wheel module 4
411 are fixedly linked by corresponding sliding block screw 22, the mounting rack corresponding to chassis frame 2 of slider nut 24.
Specifically, the cross section of the aluminum profile is rectangular or rectangular configuration, rectangular or rectangular configuration center and quadrangle
It is provided with lightening hole；The four sides of the aluminum profile is provided with longitudinal installation connection slot.
Preferably, upper backup pad 1 and lower supporting plate 3 are also horizontally provided on chassis frame 2；Upper backup pad 1 and lower branch
Round and/or strip through-hole is provided on fagging 3 with the corresponding control panel of location and installation, electronic component, mechanical device.The present embodiment
In, upper backup pad 1 and lower supporting plate 3 are made of aluminium sheet.
In work, when chassis drives to raised ground, the wheel 424 of driving wheel module 4, which is squeezed, to be moved upwards, band
Dynamic lower connecting plate 415 is rotated by the revolute pair of loose-leaf 414 relative to chassis frame 2.Driving wheel module 4 moves upwards process and is hit by a bullet
Property component 413 spring be squeezed and generate downward restoring force, remained with to guarantee wheel 424 with ground and contacted so that
Trolley normally travel can also be driven by obtaining after driving wheel 424 is adjusted in position.
When chassis drives to pit floor, the elastomeric element 413 in driving wheel module 4 is extended by downward restoring force,
Lower connecting plate 415 is driven to rotate by the revolute pair of loose-leaf 414 relative to chassis frame 2, to realize driving wheel module 4 vertical
The adjustment in direction is contacted with guaranteeing that wheel 424 is remained with ground, so that driving wheel 424 also can after position is lowered
Drive trolley normally travel.When the present invention encounters a certain range of broken terrain in agricultural greenhouse environmental work,
The flexible adjustment component can generate opposite restoring force, have apparent cushioning effect to vehicle frame；Meanwhile four independent
Driving wheel can be turned to by controlling the differential of wheel speed, can preferably complete the need flexibly moved when Greenhouse Robot operation
It asks.
In the present invention, using the driving wheel module of four independent controls, can be realized trolley straight line walking, original place
While the function of steering, flexible adjustment component can carry out dynamic adjustment according to landform, and automatic adaptation to the ground overcomes tradition
Wheel chassis turns to that flexibility ratio is low, the sliding problem of robot chassis wheel carrier impact missing in agriculture in greenhouse.
In the present invention, four driving wheel modules are equipped with elastomeric element, and it is slow to play damping in broken terrain
The effect of punching.
In the present invention, most of part is aluminium sheet and aluminium column, at low cost, good economy performance.It is supported under the upper backup pad built
There are through-holes for plate, are easily installed required device.
Above in conjunction with attached drawing, an exemplary description of the invention, it is clear that realization of the invention is not by aforesaid way
Limitation, as long as use the inventive concept and technical scheme of the present invention carry out various improvement, or it is not improved will be of the invention
Conception and technical scheme directly apply to other occasions, be within the scope of the invention.
Claims (10)
1. a kind of chassis structure of greenhouse robot, which is characterized in that including chassis frame and be mounted on the chassis frame
The driving wheel module of two sides of the bottom；The drive wheel assemblies of the driving wheel module pass through corresponding flexible adjustment component and the bottom
The connection of jiggering frame.
2. the chassis structure of greenhouse robot according to claim 1, which is characterized in that the flexible adjustment component packet
Elastic parts is included, the upper and lower ends of the elastic parts pass through upper junction plate and lower connecting plate respectively and the chassis frame connects
It connects, the upper and lower ends of the elastic parts are rotatablely connected with the upper junction plate and the lower connecting plate respectively；The lower connection
Plate and the chassis frame are rotatablely connected, and the lower connecting plate is connect with corresponding drive wheel assemblies.
3. the chassis structure of greenhouse robot according to claim 2, which is characterized in that above and below the elastic parts
Both ends are connect with the upper junction plate and the lower connecting plate by connects hinge respectively.
4. the chassis structure of greenhouse robot according to claim 2, which is characterized in that the lower connecting plate with it is described
Chassis frame is rotatablely connected by loose-leaf.
5. the chassis structure of greenhouse robot according to claim 1,2,3 or 4, which is characterized in that the driving wheel
Component includes motor and wheel, and the output shaft of the motor is fixedly linked by shaft coupling and the wheel；The motor passes through
Motor support base is connect with the lower connecting plate of the flexible adjustment component, the lower connection of the shaft coupling and the flexible adjustment component
Plate is fixedly connected.
6. the chassis structure of greenhouse robot according to any one of claims 1 to 5, which is characterized in that the driving wheel
There are four modules, is symmetrically mounted at left and right sides of the chassis frame bottom；The respective independent control of four driving wheel modules.
7. the chassis structure of greenhouse robot according to any one of claims 1 to 6, which is characterized in that the chassis vehicle
Frame is a frame structure, and all columns and cross bar of frame structure are all made of aluminum profile and are made；Column and cross bar, the cross being connected
Corresponding sliding block screw is all made of between bar and cross bar, right angle corner brace is fixedly connected with slider nut.
8. the chassis structure of greenhouse robot according to claim 7, which is characterized in that the main body of the frame structure
It is a cuboid or cube structure, the rear and front end of the cuboid or cube structure each extends over out mounting rack to install
The driving wheel module.
9. the chassis structure of greenhouse robot according to claim 7, which is characterized in that the cross section of the aluminum profile
It is rectangular or rectangular configuration, rectangular or rectangular configuration center and quadrangle are provided with lightening hole；The four sides of the aluminum profile is equal
It is provided with longitudinal installation connection slot.
10. the chassis structure of greenhouse robot according to any one of claims 1 to 9, which is characterized in that the chassis vehicle
Upper backup pad and lower supporting plate are also horizontally provided on frame；Be provided on the upper backup pad and lower supporting plate it is round and/or
Strip through-hole is with the corresponding control panel of location and installation, electronic component, mechanical device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811164336.6A CN108909864A (en) | 2018-10-05 | 2018-10-05 | A kind of chassis structure of greenhouse robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811164336.6A CN108909864A (en) | 2018-10-05 | 2018-10-05 | A kind of chassis structure of greenhouse robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108909864A true CN108909864A (en) | 2018-11-30 |
Family
ID=64410071
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811164336.6A Pending CN108909864A (en) | 2018-10-05 | 2018-10-05 | A kind of chassis structure of greenhouse robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108909864A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109820599A (en) * | 2019-03-22 | 2019-05-31 | 重庆金山医疗机器人有限公司 | A kind of driving mechanism and operating table underbody seat for operating table underbody seat |
| CN109911058A (en) * | 2019-03-15 | 2019-06-21 | 北京电影学院 | A kind of mobile platform, its damping drive system and the photography mechanical arm containing it |
| CN114414202A (en) * | 2022-01-26 | 2022-04-29 | 吉林大学 | Wheel rotation working condition test device for small-scale wind tunnel model |
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