CN112046638A - Be applied to delivery platform of paddy field environment - Google Patents
Be applied to delivery platform of paddy field environment Download PDFInfo
- Publication number
- CN112046638A CN112046638A CN202010964744.0A CN202010964744A CN112046638A CN 112046638 A CN112046638 A CN 112046638A CN 202010964744 A CN202010964744 A CN 202010964744A CN 112046638 A CN112046638 A CN 112046638A
- Authority
- CN
- China
- Prior art keywords
- carrying platform
- main body
- support
- leg
- paddy field
- 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
Images
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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a carrying platform applied to a paddy field environment, which comprises a carrying platform main body and a plurality of swinging leg mechanisms connected to the side surface of the carrying platform main body; the swing leg mechanism comprises a leg support, a waist joint for realizing the forward and backward swing of the leg support to drive the carrying platform main body to move forward and backward, and a hip joint and a knee joint for realizing the kicking motion of the leg support to assist the carrying platform main body to finish the gait; the front end and the rear end of the carrying platform main body are provided with ultrasonic ranging modules for detecting the distance between the carrying platform main body and front and rear obstacles in the motion process; and the leg support is provided with a damping structure for slowing down the impact on the carrying platform main body in the advancing process. The carrying platform applied to the paddy field environment can stably carry materials in a small-scale paddy field, achieves the purposes of replacing manpower and labor in the paddy field and improving efficiency, can also reduce the problem that the platform sinks when the paddy field walks, and can realize efficient operation of the paddy field.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a carrying platform applied to a paddy field environment, which is suitable for automatic movement of work in the paddy field environment.
Background
At present, the plant protection machinery in China is mostly suitable for dry farmlands, and paddy field wheels are mostly simply replaced for meeting the requirement of paddy field work. The complicated mud foot condition causes the conventional tractors such as the wheeled tractor and the crawler tractor not to work well, which not only affects the working efficiency, but also may cause problems of slipping, sinking and the like, and even causes difficulty in advancing seriously. And a large tractor can not be adopted to carry crops and realize pesticide spraying operation in part of small-scale paddy fields, so that a small mobile self-propelled platform device capable of efficiently running in the paddy fields is urgently needed in China.
The paddy field self-propelled platform needs to realize the vertical walking of the paddy field and has certain carrying capacity. The paddy field environment is complicated changeable, and the muddy unevenness in ground, traditional wheeled, crawler-type and wriggling formula are compared in sufficient formula removal, have that the topography adaptability is strong, the obstacle-crossing passes through advantages such as the performance is good, the moving direction can all-round adjustment, mobility are good. Compared with other foot type mobile robots, the six-foot mobile robot has better dynamic stability and fault tolerance, and is the best choice for complex paddy field working environment. The paddy field self-propelled platform is of a structure similar to a mechanical foot, so that treading and damage to the paddy field are reduced, and the yield of crops is increased; compared with the traditional carrying platform, the automatic carrying platform can realize automation, reduce the number of workers in cooperative operation and improve the working efficiency.
The patent publication CN106741284A discloses a hexapod robot based on parallel mechanism and its working method, which uses multi-link transmission mechanism, and has the disadvantages that the movement of the link mechanism must be transmitted through the intermediate member, so the transmission route is long, large error accumulation is easy to occur, and the efficiency is low, and it is not suitable for high-speed movement. The patent with publication number CN209305720U discloses a chain transmission-based triangle gait structure of a hexapod robot, wherein a chain transmission mechanism is installed in a cavity, and the defects are that the transmission stability is poor, impact and noise exist in the work process, and the robot is not suitable for high-speed occasions and is not suitable for the situation that the rotation direction is frequently changed.
Disclosure of Invention
Aiming at the defects in the prior art, the technical problem to be solved by the invention is to provide the carrying platform applied to the paddy field environment, which can stably carry materials in a small-scale paddy field, achieve the purposes of replacing manpower labor and improving efficiency in the paddy field, simultaneously can reduce the sinking problem of the platform when the paddy field walks, and can realize high-efficiency operation of the paddy field.
In order to achieve the purpose, the invention adopts the following technical measures:
the invention relates to a carrying platform applied to a paddy field environment, which comprises a carrying platform main body and a plurality of swinging leg mechanisms connected to the side surface of the carrying platform main body; the swing leg mechanism comprises a leg support, a waist joint for realizing the forward and backward swing of the leg support to drive the carrying platform main body to move forward and backward, and a hip joint and a knee joint for realizing the kicking motion of the leg support to assist the carrying platform main body to finish the gait; the front end and the rear end of the carrying platform main body are provided with ultrasonic ranging modules for detecting the distance between the carrying platform main body and front and rear obstacles in the motion process; and the leg support is provided with a damping structure for slowing down the impact on the carrying platform main body in the advancing process.
Furthermore, waist joint, hip joint and knee joint all include the steering wheel that is used for providing the moment of torsion, steering wheel dish and the steering wheel support of being connected with the steering wheel, and the steering wheel is installed on corresponding steering wheel support through respective steering wheel dish.
Preferably, the steering engine support is of a U-shaped plate structure, the steering engine support of the waist joint is fixed with the carrying platform body, and the steering engine of the waist joint realizes the front and back rotation function of the leg support; the steering engine support of the hip joint is connected with the steering engine support of the knee joint through a straight beam, and the steering engine support of the knee joint is connected with the leg support; the leg support is characterized in that the hip joint steering engine realizes the functions of lifting and putting down the leg support before movement, and the knee joint steering engine realizes the leg kicking action of the leg support.
Further, a foot support is formed at the bottom end of the leg support, the shock absorbing structure includes a support rod connected to the foot support, a spring fixing member, and a spring, the top of the support rod passes through the body of the leg support and is connected to one end of the spring, and the other end of the spring is fixed to the body of the leg support by the spring fixing member.
Preferably, the spring fixing member is formed of a U-shaped member having a downward opening.
Preferably, the number of swing leg mechanisms is six and evenly distributed around the carrying platform body.
Compared with the prior art, the invention has the following advantages and effects:
the invention relates to a carrying platform applied to a paddy field environment, which imitates the physical structure characteristics of a hexapod robot and consists of a carrying main body structure, six leg supporting structures, a driving device, an ultrasonic module and a control module, wherein the leg supporting structures are symmetrically distributed around the carrying main body, the control module is connected with the driving device, and outputs level signals to control the driving device to generate displacement change and is matched with the leg supporting structures to realize the front and back movement of the platform and obstacle avoidance. The invention can realize stable material carrying in small-scale paddy fields, achieve the purposes of replacing manpower labor and improving efficiency in the paddy fields, simultaneously can relieve the problem that the platform sinks when the paddy fields walk, and can realize high-efficiency operation of the paddy fields.
Drawings
Fig. 1 is a schematic structural view of a carrying platform applied to a paddy field environment according to the present invention.
Fig. 2 is a schematic structural view of a swing leg mechanism of a carrying platform applied to a paddy field environment.
Fig. 3 is a schematic structural view of a leg support of a carrying platform applied to a paddy field environment according to the present invention.
Fig. 4 is a schematic diagram of the movement of the carrying platform applied to a paddy field environment of the present invention.
Wherein: 1. knee joint, 2, hip joint, 3, waist joint, 4, carrying platform main part, 5, swing leg mechanism, 6, drive arrangement, 7, control module, 8, ultrasonic ranging module, 9, leg support.
Detailed Description
As shown in fig. 1, the carrying platform applied to the paddy field environment of the present invention comprises a carrying platform main body 4, multiple degrees of freedom swing leg mechanisms 5, a driving device 6, a control module 7 and an ultrasonic ranging module 8, wherein six sets of swing leg mechanisms 5 are uniformly distributed and connected to the side surface of the carrying platform main body 4 through screws and nuts, and stable straight movement of the carrying platform main body 4 in the paddy field environment is realized through alternate swing of the swing leg mechanisms 5.
As shown in fig. 2, the leg swinging mechanism 5 of the present invention comprises a leg support 9, a knee joint 1 connected to the leg support 9, a hip joint 2 connected to the knee joint 1, and a waist joint 3 connected to the hip joint 2, wherein the waist joint 3 can swing the leg support 9 back and forth to drive the carrier platform body 4 to move back and forth. The hip joint 2 and the knee joint 1 realize the kicking motion of the leg support 9 and assist the carrying platform main body 4 to complete the gait. The waist joint 3, the hip joint 2 and the knee joint 1 respectively comprise a steering engine for providing torque, a steering engine disc connected with the steering engine and a steering engine support, and the steering engines are installed on the corresponding steering engine supports through the respective steering engine discs.
Three steering gears of the swing leg mechanism 5 are respectively arranged on respective steering gear supports and fixed through screws and nuts. A steering engine bracket 21 of the hip joint 2 is connected with a steering engine bracket 11 of the knee joint 1 by a straight beam 20, and a steering engine bracket 31 of the waist joint 3 is fixed with the carrying platform main body 4. The three steering engines are respectively responsible for the rotation of one joint.
Batteries in the driving device 6 provide electric energy for each steering engine, and the driving of the multi-freedom-degree swing leg mechanism 5 comes from the steering engines of each joint. The three steering engine supports are of U-shaped plate structures, are connected through bolts and can rotate.
The process of swinging the leg (leg support 9) back and forth: when the waist joint 3 is rotated, the hip joint 2 and the knee joint 1 are driven to naturally follow the movement. The implementation process of kicking movement is as follows: the lifting of the hip joint 2 and then the lifting of the knee joint 1 are completed in two steps. The three-foot gait is that three supporting feet are not moved, and in addition, the three feet kick backwards to finish the antedisplacement.
As shown in fig. 2 and 4, 3 joints are designed in the swing leg mechanism, each joint is equivalent to a revolute pair, and each joint is connected with a steering engine disk by a steering engine. The torque provided by the steering engine is transmitted to the leg support through the steering engine disc, so that the rotation of the leg joint is realized. In a single leg, the steering engine 32 of the waist joint 3 realizes the rotation function of the front and the back of the leg support, the steering engine 22 of the hip joint 2 realizes the lifting and the lowering function of the leg support before movement, and the steering engine 12 of the knee joint 1 realizes the leg kicking action of the leg support, so that the function of moving the self-propelled platform left and right can be realized. The steering engine of the present invention may be of the MG995 type. The structure of the steering engine disk is similar to that of a flange disk, and the steering engine disk plays a role in connecting the steering engine and transmitting torque.
The ultrasonic ranging modules 8 are arranged at the front end and the rear end of the carrying platform main body 4 and used for detecting the distance between the paddy field platform and front and rear obstacles in the moving process. The ultrasonic ranging module 8 can use a ranging module of HC-SR04 type, which needs four pins, two power supplies and ground wires directly connected with the singlechip of the control module 7, and two IO ports and input pulse signals connected with the singlechip.
The steering wheel part is connected in parallel with GND of the single chip microcomputer of the control module 7, VCC of the single chip microcomputer is connected in parallel with the anode of the power supply module, and the signal end is connected with a plurality of IO ports of the single chip microcomputer. The singlechip is connected with an external power supply.
As shown in fig. 3, the leg support 9 is provided with a shock absorbing structure for attenuating impact on the body part during traveling. The shock-absorbing structure is composed of a support bar connected to the foot support at the bottom of the leg support 9, a spring fixing member and a spring, the top of the support bar passes through the main body of the leg support 9 and is connected to one end of the spring, and the other end of the spring is fixed to the main body of the leg support 9 by the spring fixing member. The support rods may be replaced by bolts and the spring mounts are downwardly opening U-shaped members. When only the tripodia are supporting whole organism or meet the circumstances of ground unevenness, the bracing piece is by jack-up upwards, thereby compression spring slows down the shock attenuation of realizing the shank to the impact of main part.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can understand that the modifications or substitutions within the technical scope of the present invention should be included in the scope of the present invention.
Claims (6)
1. The utility model provides a be applied to delivery platform of paddy field environment which characterized in that: comprises a carrying platform main body (4) and a plurality of swinging leg mechanisms (5) connected to the side surface of the carrying platform main body (4);
the swing leg mechanism (5) comprises a leg support (9), a waist joint (3) for realizing the forward and backward swing of the leg support (9) to drive the carrying platform main body (4) to move forward and backward, a hip joint (2) for realizing the kicking motion of the leg support (9) to assist the carrying platform main body (4) to finish the gait and a knee joint (1);
the front end and the rear end of the carrying platform main body (4) are provided with ultrasonic ranging modules (8) for detecting the distance between the carrying platform main body (4) and front and rear obstacles in the motion process;
and the leg support (9) is provided with a damping structure for slowing down the impact on the carrying platform main body (4) in the process of advancing.
2. A carrying platform for paddy field environment according to claim 1, wherein: waist joint (3), hip joint (2) and knee joint (1) all include the steering wheel that is used for providing the moment of torsion, steering wheel dish and the steering wheel support of being connected with the steering wheel, and the steering wheel is installed on the steering wheel support that corresponds through respective steering wheel dish.
3. A carrying platform for paddy field environment according to claim 2, wherein: the steering engine support is of a U-shaped plate structure, the steering engine support (31) of the waist joint (3) is fixed with the carrying platform main body (4), and the steering engine (32) of the waist joint (3) achieves the function of rotating the leg support (9) forwards and backwards;
the steering engine support (21) of the hip joint (2) is connected with the steering engine support (11) of the knee joint (1) through a straight beam (20), and the steering engine support (11) of the knee joint (1) is connected with the leg support (9); the leg support (9) is lifted up and put down before movement by the steering engine (22) of the hip joint (2), and the leg kicking action of the leg support (9) is realized by the steering engine (12) of the knee joint (1).
4. A carrying platform for paddy field environment according to claim 1, wherein: the bottom end of the leg support (9) is formed with a foot support, the shock-absorbing structure comprises a support rod connected with the foot support, a spring fixing piece and a spring, the top of the support rod penetrates through the main body of the leg support (9) and is connected with one end of the spring, and the other end of the spring is fixed on the main body of the leg support (9) by the spring fixing piece.
5. A carrying platform for paddy field environment according to claim 4, wherein: the spring fixing piece is composed of a U-shaped piece with a downward opening.
6. A carrying platform for paddy field environment according to claim 1, wherein: the number of the swing leg mechanisms (5) is six, and the swing leg mechanisms are uniformly distributed around the carrying platform main body (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010964744.0A CN112046638A (en) | 2020-09-15 | 2020-09-15 | Be applied to delivery platform of paddy field environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010964744.0A CN112046638A (en) | 2020-09-15 | 2020-09-15 | Be applied to delivery platform of paddy field environment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112046638A true CN112046638A (en) | 2020-12-08 |
Family
ID=73610817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010964744.0A Pending CN112046638A (en) | 2020-09-15 | 2020-09-15 | Be applied to delivery platform of paddy field environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112046638A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201291928Y (en) * | 2008-08-28 | 2009-08-19 | 安徽工程科技学院 | Six-foot walking robot device |
| CN105172933A (en) * | 2015-08-18 | 2015-12-23 | 长安大学 | Spider-imitating multi-foot robot platform |
| CN109533074A (en) * | 2018-11-14 | 2019-03-29 | 西北农林科技大学 | A kind of implementation method of hexapod robot and its gait of keeping straight on |
-
2020
- 2020-09-15 CN CN202010964744.0A patent/CN112046638A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201291928Y (en) * | 2008-08-28 | 2009-08-19 | 安徽工程科技学院 | Six-foot walking robot device |
| CN105172933A (en) * | 2015-08-18 | 2015-12-23 | 长安大学 | Spider-imitating multi-foot robot platform |
| CN109533074A (en) * | 2018-11-14 | 2019-03-29 | 西北农林科技大学 | A kind of implementation method of hexapod robot and its gait of keeping straight on |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207151125U (en) | A kind of agricultural fertilizer pesticide applying vehicle suitable for complicated landform | |
| CN201231791Y (en) | Multi-joint type crawler mobile robot | |
| CN105151153A (en) | Wheel-foot hybrid mode hexapod robot moving platform | |
| CN201712689U (en) | Modular six-degree-of-freedom active joint type biped walking robot | |
| CN110682976B (en) | Multi-degree-of-freedom mechanical wheel leg structure of wheel leg combined type mobile robot | |
| CN204197100U (en) | A kind of quadruped robot with flexible joint | |
| WO2021135148A1 (en) | Multi-motion mode wheel-track-leg composite robot | |
| CN104527835B (en) | A kind of wheel changeable robot of leg pattern | |
| CN112208660A (en) | Wheel-track combined chassis for mountain land operation | |
| CN110077486B (en) | Bionic eight-foot special robot | |
| CN105923067A (en) | Small wheel-foot combined type hexapod robot | |
| CN212123315U (en) | Kiwi fruit picking robot moving platform | |
| CN108094384B (en) | Agricultural plant protection machinery | |
| CN115285250A (en) | Six-wheel leg composite moving action robot with leg and arm multiplexing function | |
| CN105539628A (en) | Wheeled leg type cockroach-shaped bio-robot | |
| CN108860340A (en) | Wheel-track combined omni-directional mobile robots | |
| CN212828739U (en) | Wheel-track composite trolley | |
| CN112046638A (en) | Be applied to delivery platform of paddy field environment | |
| CN109927808B (en) | Collaborative crawler-type quadruped robot dog | |
| CN110588829A (en) | But climbing big angle slope height hinders bionic robot more | |
| CN206654108U (en) | The crawler unit that a kind of mud ground is advanced | |
| CN113428257B (en) | Six-foot platform of reconfigurable space closed-chain leg mechanism | |
| CN206494025U (en) | Imitative spider robot | |
| CN209921457U (en) | Bionic quadruped robot | |
| CN213262658U (en) | Wheel-track combined chassis for mountain land operation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201208 |