CN109514524B - Working width and a height of Adjustable agricultural robot platform - Google Patents
Working width and a height of Adjustable agricultural robot platform Download PDFInfo
- Publication number
- CN109514524B CN109514524B CN201910023716.6A CN201910023716A CN109514524B CN 109514524 B CN109514524 B CN 109514524B CN 201910023716 A CN201910023716 A CN 201910023716A CN 109514524 B CN109514524 B CN 109514524B
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- height
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 45
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 230000008859 change Effects 0.000 claims description 2
- 238000003860 storage Methods 0.000 abstract description 10
- 230000008602 contraction Effects 0.000 abstract 1
- 230000001105 regulatory effect Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Agricultural Machines (AREA)
Abstract
The invention discloses an agricultural robot platform with adjustable working width and height, comprises a storage plate, a main frame, a height synchronous adjusting mechanism, a width adjusting mechanism, a supporting rod, a steering wheel component, a driving wheel component and a front wheel connecting rod and a rear wheel connecting rod, the main frame consists of two main beams which are crossed into an X shape and a central shaft seat, the two main beams are arranged on the central shaft seat and can rotate around the central shaft seat, and the object placing plate is arranged at the top of the central shaft seat. The support rods are four, the upper ends of the support rods are provided with threads, and the support rods are respectively nested in support rod sleeves at the two ends of the two main beams. The height synchronous adjusting mechanism is arranged below the main frame and drives the four supporting rods to move linearly synchronously through a height adjusting motor to realize height adjustment. The width adjusting mechanism is arranged on the object placing plate, and the included angle of the two main beams is changed through the expansion and contraction of the output shaft of the electric push rod, so that the width adjustment is realized. The invention realizes the height and width adjustment only through a group of motors and the electric push rod, and has the advantages of simple structure and convenient control.
Description
Technical Field
The invention relates to the agricultural robot technology, in particular to an agricultural robot platform capable of realizing the adjustment of working width and height through a group of motors and electric push rods.
Background
In recent years, agricultural robots are widely used in China. The agricultural robot platform is used as a carrier for agricultural production operations such as field information acquisition, plant protection operation, fruit and vegetable picking, crop topping and the like by robots, and has become a research hot spot. The agricultural robot platform can support and install various sensors and control modules, and provides important guarantee for realizing field running and completing specific field tasks.
But facing the field complex environment, the working width (track width) and the working height of the agricultural robot are often required to be adjusted according to different field conditions, different crops, different planting modes and different operation requirements. In the existing agricultural robot platform, although the working width and height of the robot platform are adjustable, the robot platform is adjusted by a plurality of groups of width adjusting motors and height adjusting motors, the structure and the control system are complex, the adjustment consistency is difficult to ensure, and therefore the working performance of the robot is affected.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention aims to avoid the defects of the prior art, and provides the agricultural robot platform which can realize the adjustment of the working width and the height only through a group of motors and electric push rods, thereby ensuring the consistency of the height or the width adjustment, reducing the complexity of a control system and lowering the cost.
In order to achieve the purpose of the invention, the invention adopts the following technical scheme: an agricultural robot platform with adjustable working width and height is composed of a storage plate, a main frame, a height synchronous adjusting mechanism, a width adjusting mechanism, a supporting rod, a steering wheel component, a driving wheel component and front and rear wheel connecting rods. The main frame comprises two main beams and a central shaft seat which are crossed to form an X shape, wherein a cross sleeve is arranged in the middle of the main beams along the length direction, support rod sleeves are arranged at the two ends of the main beams, the cross sleeves of the two main beams are all arranged on the central shaft seat and can rotate around the central shaft seat, the object placing plate is arranged at the top of the central shaft seat, the support rods are four, the upper ends of the support rods are threaded and are respectively nested in the support rod sleeves at the two ends of the two main beams, the height synchronous adjusting mechanism is arranged below the main frame and is connected with the four support rods, so that the height adjustment is realized, and the width adjusting mechanism is arranged on the object placing plate and is connected with the two main beams, so that the width adjustment is realized. The steering wheel part has two groups, installs the bottom at the place ahead of robot platform two spinal branch vaulting poles respectively, the drive wheel part has two groups, installs the bottom at the place ahead of robot platform two spinal branch vaulting poles respectively, front and back wheel connecting rod have two, set up respectively in the both sides of robot platform and be connected with the steering wheel part and the drive wheel part of this side for the bracing piece do not take place to rotate when guaranteeing the altitude mixture control.
The height synchronous adjusting mechanism comprises a height adjusting motor, a driving synchronous wheel, a driven synchronous wheel and synchronous belts, wherein the height adjusting motor is arranged at the bottom of the central shaft seat, the driving synchronous wheel is connected with an output shaft of the height adjusting motor, the driven synchronous wheels are four and are respectively arranged on four supporting rods and arranged below the corresponding main beam supporting rod sleeves, the driven synchronous wheels are provided with internal threads and are matched with the threaded parts of the supporting rods, and the driving synchronous wheel is provided with four grooves and is simultaneously connected with the four driven synchronous wheels through the four synchronous belts. When the height is adjusted, the height adjusting motor drives the driving synchronous wheel to rotate, and drives the four driven synchronous wheels to rotate at the same speed and further drive the four support rods to move linearly synchronously, so that the height adjustment is realized.
The width adjusting mechanism comprises an electric push rod and two adjusting connecting rods, the electric push rod is arranged on a storage plate, an output shaft of the electric push rod is of an L-shaped structure, the storage plate is provided with a sliding groove in the advancing direction of the output shaft of the electric push rod, the output shaft of the electric push rod penetrates through the storage plate and is connected with one ends of the two adjusting connecting rods, the other ends of the two adjusting connecting rods are hinged to the two main beams respectively, and when the width is adjusted, the output shaft of the electric push rod stretches out and draws back to drive the adjusting connecting rods to further drive the included angles of the two main beams to change so as to achieve the width adjustment.
A deep groove ball bearing is arranged in the cross sleeve of the main beam, is matched with the central shaft seat and rotates around the central shaft seat, and therefore width adjustment resistance is reduced. Linear bearings are arranged in the supporting rod sleeves at the two ends so as to reduce friction when the supporting rods do linear motion, and therefore height synchronous adjusting resistance is reduced.
The steering wheel part comprises a steering engine, a steering wheel frame, a U-shaped frame and steering wheels, wherein the steering engine is fixed on the steering wheel frame, an output shaft of the steering engine is connected with the U-shaped frame, the steering wheels are fixed on the U-shaped frame, and when steering is carried out, the steering engine controls the U-shaped frame to rotate and drives the steering wheels fixed on the U-shaped frame to swing, so that the steering of the wheels is realized. The driving wheel part comprises a gear motor, a driving wheel frame and a driving wheel, wherein the gear motor is fixed on the driving wheel frame, and a driving wheel shaft is connected with an output shaft of the gear motor.
One ends of the front and rear wheel connecting rods are provided with sliding grooves, the non-sliding groove ends are hinged with the steering wheel frames on the steering wheel components, and the ends with the sliding grooves are connected with the driving wheel frames on the driving wheel components and can move in the sliding grooves so as to adapt to the front and rear wheelbases under different width states.
Compared with the prior art, the invention has the beneficial effects that the height synchronous adjustment is realized by driving the four support rods to synchronously linearly move only through one height adjusting motor, and the width adjustment is realized by changing the included angle of the two main beams only through one electric push rod, so that the consistency of the height and the width adjustment is ensured structurally, and the invention has the advantages of simple structure, convenient control and lower cost. Provides a good carrier for adapting to the requirements of different field operation environments and carrying various execution or information acquisition devices.
Drawings
Fig. 1 is a schematic view of an agricultural robot platform with adjustable working width and height.
Fig. 2 is a top view of an agricultural robot platform with adjustable working width and height.
Figure 3 shows a partial cross-sectional view of an agricultural robot platform with adjustable working width and height.
Figure 4 shows a partial cross-sectional view of an agricultural robot platform main beam with adjustable working width and height.
In the figure: 1. the device comprises a storage plate, 2, a main frame, 21, a main beam, 211, a deep groove ball bearing, 212, a cross sleeve, 213, a linear bearing, 214, a supporting rod sleeve, 22, a central shaft seat, 3, a width adjusting mechanism, 31, an electric push rod, 32, an adjusting connecting rod, 4, a height synchronous adjusting mechanism, 41, a height adjusting motor, 42, a driving synchronous wheel, 43, a driven synchronous wheel, 44, a synchronous belt, 5, a supporting rod, 6, a steering wheel component, 61, a steering engine, 62, a steering wheel frame, 63, a U-shaped frame, 64, a steering wheel, 7, a front wheel connecting rod, a rear wheel connecting rod, 8, a driving wheel component, 81, a speed reducing motor, 82, a driving wheel, 83 and a driving wheel frame.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 to 3, the agricultural robot platform of the present invention is composed of a storage plate 1, a main frame 2, a height synchronous adjusting mechanism 4, a width adjusting mechanism 3, a supporting rod 5, a steering wheel component 6, a driving wheel component 8 and front and rear wheel connecting rods 7, wherein the main frame 2 is composed of two main beams 21 which are crossed into an X shape and a central shaft seat 22, the two main beams 21 are installed on the central shaft seat 22 and can rotate around the central shaft seat 22, the storage plate 1 is installed at the top of the central shaft seat 22, the supporting rods 5 are four, the upper ends of the supporting rods are engraved with threads, the height synchronous adjusting mechanism 4 is arranged below the main frame 2 and is respectively connected with the four supporting rods 5, and the width adjusting mechanism 3 is arranged on the storage plate 1, passes through a chute on the storage plate 1 and is hinged with the two main beams 21. The two groups of steering wheel parts 6 are respectively arranged at the bottoms of two supporting rods 5 in front of the robot platform, the two groups of driving wheel parts 8 are respectively arranged at the bottoms of two supporting rods 5 in back of the robot platform, and the two front and rear wheel connecting rods 7 are respectively arranged at two sides of the robot platform and are connected with the steering wheel parts 6 and the driving wheel parts 8 at the sides.
The width adjusting mechanism 3 comprises an electric push rod 31 and two adjusting connecting rods 32, the electric push rod 31 is arranged on the object placing plate 1, an output shaft of the electric push rod 31 is of an L-shaped structure, a sliding groove is formed in the advancing direction of the output shaft of the electric push rod 31, the output shaft of the electric push rod 31 penetrates through the sliding groove in the object placing plate 1 and is hinged to one ends of the two adjusting connecting rods 32, and the other ends of the two adjusting connecting rods 32 are respectively hinged to the two main beams 21. During width adjustment, the output shaft of the electric push rod 31 stretches out and draws back to drive the adjusting connecting rod 32 connected with the output shaft of the electric push rod 31 to move, the included angle of the two adjusting connecting rods 32 changes, the included angle of the two main beams 21 respectively hinged with the two adjusting connecting rods 32 changes, and meanwhile, the wheel track of the supporting rods 5 nested in the supporting rod sleeves 214 at the two ends of the two main beams 21 and the steering wheel part 6 and the driving wheel part 8 below the supporting rods 5 changes, so that width adjustment is realized.
The height synchronization regulating mechanism 4 comprises a height regulating motor 41, a driving synchronizing wheel 42, driven synchronizing wheels 43 and a synchronous belt 44, wherein an output shaft of the height regulating motor 41 is downwards installed at the bottom of the central shaft seat 22 and partially nested in the central shaft seat 22, the driving synchronizing wheel 42 is connected with an output shaft of the height regulating motor 41 and can rotate along with the height regulating motor 41, the driven synchronizing wheels 43 are four and respectively installed on four supporting rods 5 and are arranged below corresponding supporting rod sleeves 214 of the main beam 21, the driven synchronizing wheels 43 are provided with internal threads and are matched with threads of the supporting rods 5, and the driving synchronizing wheels 42 are provided with four grooves and are simultaneously connected with the four driven synchronizing wheels 43 through the four synchronous belts 44. During height adjustment, the height adjustment motor 41 rotates to drive the lower driving synchronous wheel 42 to rotate, and the four driven synchronous wheels 43 are driven to rotate at the same speed in the same direction through four synchronous belts 44 matched with the grooves of the driving synchronous wheel 42, so that the four support rods 5 are driven to linearly move synchronously, and height adjustment is achieved. In the height adjusting process, in order to ensure that the supporting rod 5 only moves linearly and cannot rotate, front and rear wheel connecting rods 7 are arranged. The front and rear wheel links 7 are respectively arranged at two sides of the robot platform and are connected with the steering wheel part 6 and the driving wheel part 8 at the sides.
The steering wheel component 6 comprises a steering engine 61, a steering wheel frame 62, a U-shaped frame 63 and steering wheels 64, wherein the steering engine 61 is fixed on the steering wheel frame 62, an output shaft of the steering engine 61 is connected with the U-shaped frame 63, the steering wheels 64 are fixed on the U-shaped frame 63, and when steering is carried out, the steering engine 61 controls the U-shaped frame 63 to rotate so as to drive the steering wheels 64 fixed on the U-shaped frame 63 to swing, so that steering of the wheels is realized. The driving wheel part 8 comprises a gear motor 81, a driving wheel frame 83 and a driving wheel 82, wherein the gear motor 81 is fixed on the driving wheel frame 83, the axle of the driving wheel 82 is connected with the output shaft of the gear motor 81, and the gear motor 81 rotates to drive the driving wheel 82 to rotate so as to realize wheel walking. One ends of the front and rear wheel connecting rods 7 are provided with sliding grooves, the non-sliding groove ends are hinged with the steering wheel frames 62 on the steering wheel component 6, the ends with the sliding grooves are connected with the driving wheel frames 83 on the driving wheel component 8, and the driving wheel component 8 can move in the sliding grooves so as to adapt to different front and rear wheel distances under different width states.
As shown in fig. 4, the main beam 21 is provided with a cross sleeve 212 in the middle along the length direction, deep groove ball bearings 211 are installed in the cross sleeve 212, two ends of the main beam 21 are provided with support rod sleeves 214, and linear bearings 213 are installed in the support rod sleeves 214.
Although the present invention has been described in a real-time manner with reference to the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined in the appended claims.
Claims (5)
1. An agricultural robot platform with adjustable working width and height, which is characterized in that: the height synchronous adjusting mechanism comprises a main frame, two main beams which are crossed into an X shape and a central shaft seat, wherein crossed sleeves are arranged in the middle of the main beams along the length direction, support rod sleeves are arranged at two ends of the main beams, the crossed sleeves of the two main beams are arranged on the central shaft seat and can rotate around the central shaft seat, the object placing plate is arranged at the top of the central shaft seat, the support rods are four, the upper ends of the support rods are provided with threads, the support rod sleeves are respectively nested in the support rod sleeves at the two ends of the two main beams, the height synchronous adjusting mechanism comprises a height adjusting motor, a driving synchronous wheel, a driven synchronous wheel and a synchronous belt, the height adjusting motor is arranged at the bottom of the central shaft seat, the driving synchronous wheel is connected with an output shaft of the height adjusting motor, the four driven synchronous wheels are respectively arranged on the four support rods and below the corresponding main beam support rod sleeves, the driven synchronous wheels are provided with internal threads and are matched with the threaded parts of the support rods, the synchronous belts are four, the driving synchronous wheels are provided with four belt grooves, the four driven synchronous wheels are simultaneously connected with the four driven synchronous wheels through the four synchronous belts, the driving synchronous wheels drive the four driven synchronous wheels to rotate at the same speed when rotating so as to drive the four support rods to move synchronously and linearly to realize height adjustment, the width adjusting mechanism comprises an electric push rod and two adjusting connecting rods, the electric push rod is arranged on the object placing plate, one ends of the two adjusting connecting rods are respectively hinged on the two main beams, the other ends of the two adjusting connecting rods are connected with the output shafts of the electric push rod, the device comprises an electric push rod, a steering wheel component, a driving wheel component, a front wheel connecting rod, a rear wheel connecting rod, a driving wheel component and a driving wheel component, wherein the electric push rod is characterized in that an output shaft of the electric push rod drives an adjusting connecting rod to drive an included angle of two main beams to change so as to realize width adjustment when the output shaft stretches out and draws back, the steering wheel component is provided with two groups, the two groups are respectively arranged at the bottoms of two supporting rods in front of a robot platform, the driving wheel component is respectively arranged at the bottoms of the two supporting rods behind the robot platform, the front wheel connecting rod and the rear wheel connecting rod are respectively arranged at two sides of the robot platform and are connected with the steering wheel component and the driving wheel component at the side, and the supporting rods are used for ensuring that the supporting rods do not rotate when the height is adjusted;
the middle sleeve of the main beam is provided with a deep groove ball bearing, and the sleeves of the support rods at the two ends are internally provided with linear bearings;
the output shaft of the electric push rod adopts an L-shaped structure.
2. An agricultural robot platform having an adjustable working width and height as claimed in claim 1, wherein: the object placing plate is provided with a sliding groove in the advancing direction of the output shaft of the electric push rod.
3. An agricultural robot platform having an adjustable working width and height as claimed in claim 1, wherein: one end of the front and rear wheel connecting rod is provided with a chute so as to adapt to the front and rear wheelbases in different width states.
4. An agricultural robot platform having an adjustable working width and height as claimed in claim 1, wherein: the steering wheel part comprises a steering engine, a steering wheel frame, a U-shaped frame and steering wheels, wherein the steering engine is fixed on the steering wheel frame, an output shaft of the steering engine is connected with the U-shaped frame, and the steering wheels are fixed on the U-shaped frame.
5. An agricultural robot platform having an adjustable working width and height as claimed in claim 1, wherein: the driving wheel part comprises a gear motor, a driving wheel frame and a driving wheel, wherein the gear motor is fixed on the driving wheel frame, and a driving wheel shaft is connected with an output shaft of the gear motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910023716.6A CN109514524B (en) | 2019-01-10 | 2019-01-10 | Working width and a height of Adjustable agricultural robot platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910023716.6A CN109514524B (en) | 2019-01-10 | 2019-01-10 | Working width and a height of Adjustable agricultural robot platform |
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| Publication Number | Publication Date |
|---|---|
| CN109514524A CN109514524A (en) | 2019-03-26 |
| CN109514524B true CN109514524B (en) | 2024-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910023716.6A Active CN109514524B (en) | 2019-01-10 | 2019-01-10 | Working width and a height of Adjustable agricultural robot platform |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110720381B (en) * | 2019-11-01 | 2023-09-29 | 河北大沃农业科技有限公司 | Walking robot for field sprinkling irrigation system |
| CN111604781B (en) * | 2020-06-03 | 2021-06-01 | 南通理工学院 | A napping device that is used for steel construction application to have a dust removal function |
| CN112522897B (en) * | 2020-12-10 | 2023-05-23 | 鑫晨防护科技(深圳)有限公司 | Supporting device convenient for multidirectional adjustment and used for cotton textile processing |
| CN114089771B (en) * | 2021-11-24 | 2022-08-12 | 安庆帆盛机电科技有限公司 | Self-adjusting walking robot and adjusting method thereof |
| CN114102669B (en) * | 2021-11-24 | 2022-08-19 | 安庆帆盛机电科技有限公司 | Robot walking base and control method thereof |
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| DE19936932A1 (en) * | 1999-08-05 | 2001-03-15 | Hans Schmelzer | Three-wheel grave excavator with portal structure is for right-angled entry into cemeteries from narrow paths where different cemetery layouts and gravestone heights are involved |
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2019
- 2019-01-10 CN CN201910023716.6A patent/CN109514524B/en active Active
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|---|---|---|---|---|
| DE19936932A1 (en) * | 1999-08-05 | 2001-03-15 | Hans Schmelzer | Three-wheel grave excavator with portal structure is for right-angled entry into cemeteries from narrow paths where different cemetery layouts and gravestone heights are involved |
| KR20100103252A (en) * | 2009-03-13 | 2010-09-27 | 주식회사 아이엘엔지니어링 | Self-propelled type carrier |
| CN105800511A (en) * | 2016-05-19 | 2016-07-27 | 山东农业大学 | Transversely-telescopic greenhouse transport cart lifting platform |
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| CN109514524A (en) | 2019-03-26 |
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