CN110155195B - Farmland robot capable of adapting to various road conditions - Google Patents
Farmland robot capable of adapting to various road conditions Download PDFInfo
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- CN110155195B CN110155195B CN201910464646.8A CN201910464646A CN110155195B CN 110155195 B CN110155195 B CN 110155195B CN 201910464646 A CN201910464646 A CN 201910464646A CN 110155195 B CN110155195 B CN 110155195B
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- joint
- screw rod
- vehicle body
- wheel
- travelling mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
Abstract
The embodiment of the invention discloses a farmland robot capable of adapting to various road conditions, which comprises a vehicle body and a travelling mechanism arranged on the vehicle body, wherein the travelling mechanism comprises a crawler-type travelling mechanism, a wheel-type travelling mechanism and an undercarriage, the crawler-type travelling mechanism is arranged on the side surface of the vehicle body, the wheel-type travelling mechanism is arranged between the crawler-type travelling mechanism and the vehicle body, the undercarriage is connected with the side surface of the vehicle body, and the wheel-type travelling mechanism is connected with the undercarriage and controls the retraction and release of the wheel-type travelling mechanism through the undercarriage. Wheeled walking when flat road conditions, the crawler-type walking when meetting complicated road conditions all has better adaptability to multiple road conditions, and the structure is firm durable, and the cost is low, and it is little to maintain work load, and the maintenance cost is low.
Description
Technical Field
The embodiment of the invention relates to the technical field of agricultural instruments, in particular to a farmland robot capable of adapting to various road conditions.
Background
Along with the development of intelligent robot technique, farmland robot has also had wider application in the agricultural field, and farmland robot can replace the manual work to carry out automatic farmland operation, can effectively help to reduce labour cost, improves agricultural production efficiency. The operational environment of farmland robot mostly is outdoor field place, the road conditions of traveling is generally comparatively complicated and various, existing flat ground, simultaneously still muddy, the rubble, the ramp from top to bottom, the barrier, complicated road surfaces such as ditch even, current farmland robot adopts single crawler-type or wheeled running gear more, crawler-type robot can the various road conditions of better adaptation, but there are the track speed of advancing slowly, turn to the dumb, the steady effect of shock attenuation is not good, the low power dissipation, the wear rate is high, increase maintenance volume scheduling problem, wheeled robot has the speed of advancing fast, it is nimble to travel, the low power dissipation, wearing and tearing are relatively low, the shock attenuation is effectual, the advantage such as relatively steady during advancing, but generally only be fit for traveling in the relatively flat highway section, can't deal with extremely complicated road conditions.
Disclosure of Invention
Therefore, the embodiment of the invention provides a farmland robot capable of adapting to various road conditions, so as to solve the problem that the existing farmland robot mostly adopts a single walking mechanism and has poor adaptability to various complex road conditions.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions: the utility model provides a can adapt to farmland robot of multiple road conditions, farmland robot include the automobile body and install in running gear on the automobile body, running gear includes crawler-type running gear, wheeled running gear and undercarriage, crawler-type running gear installs in the automobile body side, wheeled running gear sets up between crawler-type running gear and automobile body, the undercarriage is connected with the automobile body side, wheeled running gear connects the undercarriage and passes through undercarriage control wheeled running gear's receiving and releasing.
Further, the farmland robot further comprises an intelligent obstacle avoidance mechanism, wherein the intelligent obstacle avoidance mechanism comprises an infrared radar detection module and an ultrasonic radar detection module which are arranged at the front end and the rear end of the vehicle body.
Further, the farmland robot further comprises a control module, the infrared radar detection module and the ultrasonic radar detection module are both connected with the control module, and the control module is connected with the walking mechanism.
Further, the crawler-type traveling mechanism comprises a crawler, crawler wheels and a crawler driving motor, wherein the crawler is connected with the crawler wheels, and the crawler wheels are connected with the crawler driving motor.
Furthermore, the undercarriage comprises two groups of expansion brackets and a double-shaft stepping motor, the two groups of expansion brackets are respectively connected with two motor shafts of the double-shaft stepping motor, one side of each expansion bracket is fixedly connected with the vehicle body, and the other side of each expansion bracket is connected with a wheel type travelling mechanism.
Furthermore, the telescopic frame comprises a bidirectional screw rod, two groups of screw nuts, a first joint and a second joint, the bidirectional screw rod is connected with a motor shaft of the double-shaft stepping motor, the two groups of screw nuts are in threaded connection with the bidirectional screw rod and can move oppositely or oppositely under the driving of the rotation of the bidirectional screw rod, the first joint and the second joint are respectively arranged on two sides of the bidirectional screw rod and are rotatably connected with the two groups of screw nuts through connecting rods, the first joint is fixedly connected with the vehicle body, and the second joint is connected with the wheel type walking mechanism.
Furthermore, the first joint and the second joint respectively comprise a first rotary joint, a second rotary joint and a third rotary joint, the first rotary joint and the second rotary joint are respectively connected with two sets of screw nuts through connecting rods, the third rotary joint of the first joint is fixedly connected with the vehicle body, and the third rotary joint of the second joint is connected with the wheel type walking mechanism.
Furthermore, the center of the screw rod nut is provided with a transverse threaded hole in threaded connection with the bidirectional screw rod, and two sides of the transverse threaded hole are provided with two groups of longitudinal connecting grooves which are respectively in rotatable connection with the connecting rod.
Furthermore, the wheel type travelling mechanism comprises two groups of travelling wheels and travelling wheel driving motors, the two groups of travelling wheels are respectively connected with the undercarriage, and the travelling wheel driving motors are connected with the travelling wheels.
The embodiment of the invention has the following advantages:
the embodiment of the invention provides a farmland robot capable of adapting to various road conditions, which comprises two traveling mechanisms, namely a crawler-type traveling mechanism and a wheel-type traveling mechanism, wherein the retraction and release of the wheel-type traveling mechanism are controlled by an undercarriage, the wheel-type traveling mechanism is put down when the road conditions are flat, the wheel-type traveling mechanism travels in a wheel mode, the crawler-type traveling mechanism is suspended, the wheel-type traveling mechanism is retracted when the road conditions are complicated, the crawler-type traveling mechanism is in contact with the ground, crawler-type traveling is performed, different traveling mechanisms are selected according to the road conditions, and the farmland robot has good adaptability to various road conditions.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
Fig. 1 is a schematic structural diagram of a farm robot capable of adapting to various road conditions according to embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of a walking mechanism of a farmland robot capable of adapting to various road conditions, provided by embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram of a landing gear of a farm robot capable of adapting to various road conditions according to embodiment 1 of the present invention;
fig. 4 is a schematic structural diagram of a first joint of a farm robot capable of adapting to various road conditions according to embodiment 1 of the present invention;
fig. 5 is a schematic structural diagram of a second joint of a farm robot capable of adapting to various road conditions according to embodiment 1 of the present invention;
fig. 6 is a schematic view of a crawler type walking state of a farm robot capable of adapting to various road conditions according to embodiment 1 of the present invention;
fig. 7 is a schematic view of a wheel-type walking state of a farm robot capable of adapting to various road conditions according to embodiment 1 of the present invention;
fig. 8 is a schematic structural diagram of an intelligent obstacle avoidance mechanism of a farm robot capable of adapting to various road conditions according to embodiment 1 of the present invention.
In the figure: the vehicle body 1, the running gear 2, the intelligent obstacle avoidance mechanism 3, the control module 4, the crawler type running gear 21, the wheel type running gear 22, the undercarriage 23, the infrared radar detection module 31, the ultrasonic radar detection module 32, the crawler 211, the crawler wheels 212, the running wheels 221, the expansion bracket 231, the double-shaft stepping motor 232, the bidirectional lead screw 2311, two sets of lead screw nuts 2312, the first joint 2313, the second joint 2314, the connecting rod 2315, the first rotating joint 2316, the second rotating joint 2317, the third rotating joint 2318, the transverse threaded hole 23121 and the longitudinal connecting groove 23122.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1, the present embodiment provides a farm robot capable of adapting to various road conditions, and the farm robot includes a vehicle body 1 and a traveling mechanism 2 installed on the vehicle body 1. The running gear 2 comprises a crawler-type running gear 21, a wheel-type running gear 22 and an undercarriage 23, the crawler-type running gear 21 is mounted on the side surface of the vehicle body 1, the wheel-type running gear 22 is arranged between the crawler-type running gear 21 and the vehicle body 1, as shown in fig. 2, the undercarriage 23 is connected with the side surface of the vehicle body 1, and the wheel-type running gear 22 is connected with the undercarriage 23 and controls the retraction of the wheel-type running gear 22 through the undercarriage 23.
The crawler type traveling mechanism 21 includes a crawler belt 211, crawler wheels 212, and a crawler drive motor, the crawler belt 211 is connected to the crawler wheels 212, the crawler wheels 212 are connected to the crawler drive motor, and the crawler belt traveling is realized by driving the crawler wheels 212 by the crawler drive motor, as shown in fig. 6. The wheel type traveling mechanism 22 includes two sets of traveling wheels 221 and traveling wheel drive motors, the two sets of traveling wheels 221 are respectively connected to the undercarriage 23, the traveling wheel drive motors are connected to the traveling wheels 221, and the traveling wheels 221 are driven by the traveling wheel drive motors to realize wheel type traveling, as shown in fig. 7, when the undercarriage 23 is in a retracted state, the wheel type traveling mechanism 22 is retracted inside the crawler type traveling mechanism 21, at this time, the crawler type traveling mechanism 21 is in direct contact with the ground, when the undercarriage 23 is in a dropped state, the wheel type traveling mechanism 22 falls down to the ground, and under a supporting action of the wheel type traveling mechanism 22, the crawler type traveling mechanism 21 is lifted off integrally with the vehicle.
As shown in fig. 3, the undercarriage 23 includes two sets of telescopic frames 231 and a two-axis stepping motor 232, the two sets of telescopic frames 231 are respectively connected to two motor shafts of the two-axis stepping motor 232, one side of the telescopic frame 231 is fixedly connected to the vehicle body 1, and the other side is connected to the wheel type traveling mechanism 22. Further, the telescopic frame 231 comprises a bidirectional screw rod 2311, two sets of screw rod nuts 2312, a first joint 2313 and a second joint 2314, the bidirectional screw rod 2311 is connected with a motor shaft of the double-shaft stepping motor 232, two sections of threads with different turning directions are carved on the bidirectional screw rod 2311, the two sets of screw rod nuts 2312 are in threaded connection with the bidirectional screw rod 2311 and can move oppositely or oppositely under the driving of the rotation of the bidirectional screw rod 2311, the first joint 2313 and the second joint 2314 are respectively arranged on two sides of the bidirectional screw rod 2311 and are rotatably connected with the two sets of screw rod nuts 2312 through connecting rods 2315, the first joint 2313 is fixedly connected with the vehicle body 1, and the second joint 2314 is connected with the wheel type traveling mechanism 22. Further, as shown in fig. 4, each of the first joint 2313 and the second joint 2314 includes a first rotating joint 2316, a second rotating joint 2317 and a third rotating joint 2318, the first rotating joint 2316 and the second rotating joint 2317 are respectively connected with two sets of lead screw nuts 2312 through a connecting rod 2315, the third rotating joint 2318 of the first joint 2313 is fixedly connected with the vehicle body 1, and the third rotating joint 2318 of the second joint 2314 is connected with the wheel type traveling mechanism 22. Further, as shown in fig. 5, the screw nut 2312 is centrally provided with a transverse threaded hole 23121 threadedly coupled to the bidirectional screw 2311, and two sets of longitudinal coupling grooves 23122 rotatably coupled to the connecting rods 2315, respectively, are provided at both sides of the transverse threaded hole.
The double-shaft stepping motor 232 is started, the motor shaft rotates to drive the two-way screw rods 2311 on the two sides to rotate, the two groups of screw rod nuts 2312 on the two-way screw rods 2311 move oppositely or oppositely, the first joint 2313 is fixedly connected with the vehicle body 1, the expansion brackets 231 on the two sides are vertically folded and unfolded by taking the fixed connection point at the first joint 2313 as a supporting point, and the double-shaft stepping motor 232 rotates forwards and backwards to realize folding and unfolding control of the wheel type travelling mechanism 22.
Because the farmland robot works in a certain task area, and the road conditions in the fixed task area are generally relatively single road conditions, the crawler-type traveling mechanism and the wheel-type traveling mechanism can be selected and preset by workers according to the specific task area of the farmland robot, when the farmland robot belongs to a flat road condition in the task area, the traveling mechanism of the farmland robot is switched to a wheel type in advance before the operation, and when the farmland robot belongs to a complex road condition in the task area, the traveling mechanism of the farmland robot is switched to a crawler type in advance before the operation, so that continuous switching in the operation process is not needed, the maintenance workload is small, and the working efficiency is higher.
Further, the farmland robot further comprises an intelligent obstacle avoidance mechanism 3, and the intelligent obstacle avoidance mechanism 3 comprises an infrared radar detection module 31 and an ultrasonic radar detection module 32 which are installed at the front end and the rear end of the vehicle body 1. Further, the farmland robot further comprises a control module 4, as shown in fig. 8, the infrared radar detection module 31 and the ultrasonic radar detection module 32 are both connected with the control module 4, and the control module 4 is connected with the travelling mechanism 2. Infrared radar detection module 31 and ultrasonic radar detection module 32 are respectively through transmitting infrared or ultrasonic detection surrounding barrier, when detecting the place ahead or when the periphery has the barrier, control running gear 2 through control module 4 pause and turn to the detour, and omnidirectional intelligence barrier detour system, periphery ultrasonic radar, infrared radar cooperation use have in the task area, and intelligence location is from drawing the ability of rectifying the route.
The farmland robot that can adapt to multiple road conditions of this embodiment, put down wheeled running gear 22 during flat road conditions, wheeled walking, crawler-type running gear 21 is unsettled, pack up wheeled running gear 22 when meetting complicated road conditions, track 211 running gear 2 and ground contact, crawler-type walking, different running gear 2 is selected according to the road surface condition, all have better adaptability to multiple road conditions, mechanical type hangs and the design of rising and falling, the structure is firm more durable, the cost is low, it is little to maintain the work load, it is with low costs to maintain, omnidirectional intelligent barrier system of detouring, can intelligent location self-drawing self-correction route, adaptability is stronger.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (5)
1. A farmland robot capable of adapting to various road conditions is characterized by comprising a vehicle body and a travelling mechanism arranged on the vehicle body, wherein the travelling mechanism comprises a crawler-type travelling mechanism, a wheel-type travelling mechanism and an undercarriage;
the undercarriage comprises two groups of telescopic frames and a double-shaft stepping motor, the two groups of telescopic frames are respectively connected with two motor shafts of the double-shaft stepping motor, one side of each telescopic frame is fixedly connected with the undercarriage body, and the other side of each telescopic frame is connected with a wheel type travelling mechanism;
the telescopic frame comprises a bidirectional screw rod, two groups of screw rod nuts, a first joint and a second joint, the bidirectional screw rod is connected with a motor shaft of the double-shaft stepping motor, the two groups of screw rod nuts are in threaded connection with the bidirectional screw rod and can move oppositely or oppositely under the driving of the rotation of the bidirectional screw rod, the first joint and the second joint are respectively arranged on two sides of the bidirectional screw rod and are rotatably connected with the two groups of screw rod nuts through connecting rods, the first joint is fixedly connected with a vehicle body, and the second joint is connected with a wheel type walking mechanism;
the first joint and the second joint respectively comprise a first rotating joint, a second rotating joint and a third rotating joint, the first rotating joint and the second rotating joint are respectively connected with two groups of screw nuts through connecting rods, the third rotating joint of the first joint is fixedly connected with the vehicle body, and the third rotating joint of the second joint is connected with the wheel type travelling mechanism;
the center of the screw rod nut is provided with a transverse threaded hole in threaded connection with the bidirectional screw rod, and two sides of the transverse threaded hole are provided with two groups of longitudinal connecting grooves which are respectively in rotatable connection with the connecting rod.
2. The farmland robot capable of adapting to various road conditions as claimed in claim 1, further comprising an intelligent obstacle avoidance mechanism, wherein the intelligent obstacle avoidance mechanism comprises an infrared radar detection module and an ultrasonic radar detection module which are installed at the front end and the rear end of the vehicle body.
3. The agricultural robot of claim 2, further comprising a control module, wherein the infrared radar detection module and the ultrasonic radar detection module are both connected to the control module, and the control module is connected to the traveling mechanism.
4. A farm robot as claimed in claim 1, wherein the tracked running gear comprises tracks, track wheels and track drive motors, the tracks are connected with the track wheels, and the track wheels are connected with the track drive motors.
5. A farm robot as claimed in claim 1, wherein the wheel type running gear comprises two sets of running wheels and running wheel driving motors, the two sets of running wheels are respectively connected with the landing gear, and the running wheel driving motors are connected with the running wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910464646.8A CN110155195B (en) | 2019-05-30 | 2019-05-30 | Farmland robot capable of adapting to various road conditions |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910464646.8A CN110155195B (en) | 2019-05-30 | 2019-05-30 | Farmland robot capable of adapting to various road conditions |
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| CN110155195A CN110155195A (en) | 2019-08-23 |
| CN110155195B true CN110155195B (en) | 2020-12-08 |
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| CN201910464646.8A Active CN110155195B (en) | 2019-05-30 | 2019-05-30 | Farmland robot capable of adapting to various road conditions |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20230320261A1 (en) * | 2022-03-23 | 2023-10-12 | Dean Solon | Robotic Device with Deployable Propulsion System |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10334956B4 (en) * | 2003-07-31 | 2014-10-02 | Rheinmetall Landsysteme Gmbh | vehicle |
| KR101072398B1 (en) * | 2009-12-23 | 2011-10-11 | 재단법인대구경북과학기술원 | Wheel and Track hybrid mobile platform apparatus applied off-road driving mechanism for a special service robot |
| CN102310403B (en) * | 2010-07-07 | 2013-10-16 | 中国科学院沈阳自动化研究所 | Wheel-track composite deformation mobile robot with adaptive capability |
| CN202847852U (en) * | 2012-09-05 | 2013-04-03 | 西北工业大学 | Wheel-tracked variable chassis |
| CN103010325A (en) * | 2012-12-17 | 2013-04-03 | 北京邮电大学 | Convertible walking mechanism of robot |
| CN106184434B (en) * | 2016-08-16 | 2019-10-29 | 中国矿业大学 | Wheel carries out transformation mobile chassis and the fire-fighting sniffing robot with it |
| CN108482031B (en) * | 2018-02-06 | 2019-08-27 | 中车工业研究院有限公司 | A kind of railway intelligent multifunctional traveling platform |
| CN208547970U (en) * | 2018-07-18 | 2019-02-26 | 南京陆陆伙伴网络科技有限公司 | A kind of computer based sales item management system |
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