CN113548122A - Remote control walking robot for inclined plane of ditch in orchard - Google Patents
Remote control walking robot for inclined plane of ditch in orchard Download PDFInfo
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- CN113548122A CN113548122A CN202110861248.7A CN202110861248A CN113548122A CN 113548122 A CN113548122 A CN 113548122A CN 202110861248 A CN202110861248 A CN 202110861248A CN 113548122 A CN113548122 A CN 113548122A
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- inclined plane
- inner panel
- fixed
- walking robot
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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
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
- A01B39/16—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for working in vineyards, orchards, or the like ; Arrangements for preventing damage to vines
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
- A01B39/24—Undercarriages
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
- A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
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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
- B62D55/08—Endless track units; Parts thereof
- B62D55/088—Endless track units; Parts thereof with means to exclude or remove foreign matter, e.g. sealing means, self-cleaning track links or sprockets, deflector plates or scrapers
- B62D55/0882—Track or sprocket cleaning devices mounted on the frame
Abstract
The invention belongs to the technical field of robots, and particularly relates to a remote control walking robot for an inclined plane of a ditch in an orchard, which comprises a machine body chassis, wherein a power supply device is fixedly arranged on the upper surface of the machine body chassis, a control module is fixedly arranged above the power supply device, and a wireless signal receiving module is arranged on the side surface of the control module; this ditch is remote control walking robot for inclined plane in orchard, through setting up just dual-purpose running gear to one side, it rotates to drive main drive wheel through driving motor, it rotates to drive the european track of walking by main drive wheel again, it advances on normal road surface to realize the walking track, inner panel on piston end jack-up through electric telescopic handle, because connecting rod length is unchangeable, and electric telescopic handle length is variable, make and go up inner panel and last planking angle slope, and then realize that walking track angle slope advances in order to agree with the ditch inclined plane, the effectual current technical problem that patrols and examines the robot and can't walk along the ditch inclined plane of having solved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a remote control walking robot for an inner ditch inclined plane of an orchard.
Background
The inspection robot can save a large amount of manpower, is low in cost and reliable in performance, adopts four-wheel drive, is positioned by laser radar navigation, and can carry video, sound, temperature, gas concentration and other multiple sensing detection equipment into a whole.
The orchard inspection robot can facilitate orchard management, intelligent management of an orchard is achieved, the orchard inspection robot has the advantages of being obvious in advantages, strong in adverse resistance and wide in application, but a general orchard inspection robot support product is large in size, the orchard inspection robot is difficult to stably advance on an uneven road surface, and the orchard inspection robot cannot advance along an inclined plane of a ditch. In order to enable the inspection robot to stably advance in an orchard, an inspection robot structure capable of advancing on a normal and inclined road surface is urgently needed.
Disclosure of Invention
Based on the technical problem that the existing inspection robot cannot walk along the inclined surface of the ditch, the invention provides a remote control walking robot for the inclined surface of the ditch in an orchard.
The invention provides a remote control walking robot for an inclined plane of a ditch in an orchard, which comprises a machine body chassis, wherein a power supply device is fixedly arranged on the upper surface of the machine body chassis, a control module is fixedly arranged above the power supply device, and a wireless signal receiving module is arranged on the side surface of the control module;
a forward-oblique dual-purpose traveling device is fixedly arranged below the machine body chassis and can adapt to a normal-gradient road surface and an oblique road surface;
the back of the machine body chassis is provided with an inclined plane leveling device, and the inclined plane leveling device levels the inclined plane of the ditch.
Preferably, the forward and oblique dual-purpose traveling device comprises a fixed plate, the fixed plate is fixedly mounted on the lower surface of the chassis of the machine body through bolts, a connecting rod is fixedly mounted on the lower surface of the fixed plate, and an electric telescopic rod is fixedly mounted on the lower surface of the fixed plate;
through above-mentioned technical scheme, by connecting rod and last planking be connected, electric telescopic handle is connected with last inner panel to inner panel in piston end jack-up through electric telescopic handle makes and goes up inner panel and last planking angle slope, and then realizes that track angle slope is in order to agree with the irrigation canals and ditches inclined plane.
Preferably, the dual-purpose walking device for forward running and oblique running further comprises an upper inner plate, an upper rotating shaft is fixedly mounted on the side surface of the upper inner plate, the side surface of the upper inner plate is fixedly connected with an upper outer plate through the upper rotating shaft, and an upper supporting wheel is rotatably sleeved on the surface of the upper rotating shaft;
through the technical scheme, the upper inner plate and the upper outer plate are rotatably connected with the upper supporting wheel, and then the upper supporting wheel is used for rotatably supporting the walking crawler belt.
Preferably, the lower surface of the upper inner plate is fixedly connected with a lower inner plate, the side surface of the lower inner plate is fixedly provided with a lower rotating shaft, the side surface of the lower inner plate is fixedly connected with a lower outer plate through the lower rotating shaft, the lower outer plate is fixedly connected with the upper outer plate, and the surface of the lower rotating shaft is rotatably sleeved with a lower support wheel;
through the technical scheme, the lower inner plate is fixed by the upper inner plate, the lower outer plate is fixed by the upper outer plate, the lower inner plate and the lower outer plate are rotatably connected with the lower supporting wheel, and the lower supporting wheel is used for rotatably supporting the walking crawler belt.
Preferably, one end of the lower inner plate is provided with an auxiliary driving wheel, one end of the upper inner plate is provided with a main driving wheel, the main driving wheel and the auxiliary driving wheel are both meshed with a walking crawler, and the upper supporting wheel and the lower supporting wheel are both rotatably connected with the inner side of the walking crawler;
through the technical scheme, the main driving wheel drives the meshed walking crawler to rotate and advance, and the auxiliary supporting wheel rotatably supports the walking crawler.
Preferably, an auxiliary transmission disc is fixedly mounted on the side surface of the main driving wheel, a driving seat is fixedly mounted on the side surface of the upper inner plate, a driving motor is fixedly mounted on the upper surface of the driving seat, a main transmission disc is fixedly sleeved on an output shaft of the driving motor, and the main transmission disc is in transmission connection with the auxiliary transmission disc through a transmission belt;
through above-mentioned technical scheme, rotate by driving motor and drive the main drive dish and rotate, drive the auxiliary drive dish through the transmission by the main drive dish again and rotate, drive the main drive wheel by the auxiliary drive dish again and rotate, and then reach and drive the walking track through the main drive wheel and advance.
Preferably, a first rotating shaft block is fixedly mounted on the upper surface of the upper outer plate, the first rotating shaft block is rotatably connected with one end of the connecting rod, a second rotating shaft block is fixedly mounted on the side surface of the upper inner plate, the second rotating shaft block is rotatably connected with the piston end of the electric telescopic rod, and crawler belt cleaning devices are mounted on the upper surfaces of the upper inner plate and the upper outer plate;
through above-mentioned technical scheme, rotate by the one end of connecting rod and be connected with first pivot piece, rotate by electric telescopic handle's piston end and second pivot piece and be connected, go up the inner panel through electric telescopic handle's piston end jack-up, because connecting rod length is unchangeable, and electric telescopic handle length is variable for go up inner panel and last planking angle slope, and then realize the track angle slope in order to agree with the irrigation canals and ditches inclined plane.
Preferably, the track cleaning device comprises a cleaning fixing block, the lower surface of the cleaning fixing block is fixedly connected with the upper surfaces of the upper outer plate and the upper inner plate respectively, cleaning fixing seats are fixedly arranged on the upper surfaces of the upper outer plate and the upper inner plate, a micro motor is fixedly arranged on the surface of each cleaning fixing seat, and a cleaning brush is fixedly sleeved on an output shaft of the micro motor;
through the technical scheme, the cleaning brush is driven to rotate by the rotation of the micro motor, and then the cleaning brush is used for cleaning the soil on the surface of the walking crawler belt in a rotating manner.
Preferably, the inclined plane leveling device comprises leveling supports, the leveling supports are symmetrically distributed and fixedly mounted at the back of the machine body chassis, and the leveling supports are connected through reinforcing rods;
through above-mentioned technical scheme, fix the flattening seat by the flattening support.
Preferably, one end of the leveling support is fixedly connected with a leveling seat, one end of the leveling seat is rotatably connected with a leveling plate, the leveling seat is fixedly provided with a cylinder, and the piston end of the cylinder is fixedly connected with the leveling plate;
through above-mentioned technical scheme, by the piston end jack-up flattening plate of cylinder, flatten the earth on irrigation and drainage inclined plane through the flattening plate.
The beneficial effects of the invention are as follows:
1. through setting up just dual-purpose running gear to one side, drive the main drive wheel through driving motor and rotate, it rotates to drive the european track of walking by main drive wheel again, realize that the walking track is marchd on normal road surface, inner panel on piston end jack-up through electric telescopic handle, because connecting rod length is unchangeable, and electric telescopic handle length is variable, make and go up inner panel and last planking angle slope, and then realize that walking track angle slope is marchd in order to agree with the irrigation canals and ditches inclined plane, the effectual current technical problem who patrols and examines the robot and can't walk along the irrigation canals and ditches inclined plane of having solved.
2. Through setting up track cleaning device, rotate by micro motor and drive the brush cleaner and rotate, rotate by the brush cleaner again and clean the earth on walking track surface for walking track and irrigation canals and ditches inclined plane frictional force increase, more stable of walking.
3. Through setting up inclined plane leveling device, by the piston end jack-up flattening board of cylinder, flatten the earth on irrigation canals and ditches inclined plane through the flattening board.
Drawings
FIG. 1 is a schematic view of a remote walking robot for a slope of a trench in an orchard according to the present invention;
fig. 2 is a perspective view of a chassis structure of a body of a remote walking robot for an inclined surface of a ditch in an orchard according to the present invention;
fig. 3 is an exploded view of a walking track structure of a remote-controlled walking robot for a slope of a ditch in an orchard according to the present invention;
FIG. 4 is a perspective view of a cleaning brush structure of a remote-controlled walking robot for an inclined surface of a ditch in an orchard according to the present invention;
fig. 5 is a perspective view of a driving motor structure of a remote-controlled walking robot for an inclined surface of a trench in an orchard according to the present invention;
fig. 6 is a perspective view of a screed structure of a remote-controlled walking robot for a slope of a trench in an orchard according to the present invention.
In the figure: 1. a fuselage chassis; 11. a power supply device; 12. a control module; 13. a wireless signal receiving module; 2. a fixing plate; 21. a connecting rod; 22. an electric telescopic rod; 3. an upper inner plate; 31. an upper rotating shaft; 32. an upper outer plate; 33. an upper support wheel; 4. a lower inner panel; 41. a lower rotating shaft; 42. a lower outer plate; 43. a lower support wheel; 5. a secondary drive wheel; 51. a main drive wheel; 52. a walking crawler belt; 6. an auxiliary drive plate; 61. a driving seat; 62. a drive motor; 63. a main drive plate; 7. a first shaft block; 71. a second spindle block; 8. cleaning a fixed block; 81. cleaning the fixed seat; 82. a micro motor; 83. cleaning with a brush; 9. leveling the support; 91. a reinforcing rod; 10. leveling the seat; 101. a screed plate; 102. and a cylinder.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-6, the remote control walking robot for the inclined plane of the ditch in the orchard comprises a machine body chassis 1, wherein a power supply device 11 is fixedly installed on the upper surface of the machine body chassis 1, a control module 12 is fixedly installed above the power supply device 11, and a wireless signal receiving module 13 is arranged on the side surface of the control module 12;
a forward-oblique dual-purpose traveling device is fixedly arranged below the machine body chassis 1 and can adapt to a normal-gradient road surface and an oblique road surface;
further, in order to realize that the crawler tracks are matched with the inclined surfaces of the ditches to walk, the forward-inclined dual-purpose walking device comprises a fixing plate 2, the fixing plate 2 is fixedly installed on the lower surface of the machine body chassis 1 through bolts, a connecting rod 21 is fixedly installed on the lower surface of the fixing plate 2, and an electric telescopic rod 22 is fixedly installed on the lower surface of the fixing plate 2; the connecting rod 21 is connected with the upper outer plate 32, the electric telescopic rod 22 is connected with the upper inner plate 3, and the piston end of the electric telescopic rod 22 jacks up the upper inner plate 3, so that the upper inner plate 3 and the upper outer plate 32 are inclined at an angle, and the inclined angle of the crawler belt is further realized to fit the inclined plane of the ditch.
Further, in order to enable the crawler belt to incline to enable the crawler belt to fit the inclined surface of the ditch to obliquely walk, the forward-inclining dual-purpose walking device further comprises an upper inner plate 3, an upper rotating shaft 31 is fixedly installed on the side surface of the upper inner plate 3, an upper outer plate 32 is fixedly connected to the side surface of the upper inner plate 3 through the upper rotating shaft 31, and an upper supporting wheel 33 is rotatably sleeved on the surface of the upper rotating shaft 31;
the upper inner plate 3 and the upper outer plate 32 are rotatably connected to the upper support wheels 33, and the upper support wheels 33 rotatably support the crawler belt 52.
Further, in order to enable the crawler belt to be unaffected during inclined walking, the lower surface of the upper inner plate 3 is fixedly connected with a lower inner plate 4, a lower rotating shaft 41 is fixedly installed on the side surface of the lower inner plate 4, a lower outer plate 42 is fixedly connected to the side surface of the lower inner plate 4 through the lower rotating shaft 41, the lower outer plate 42 is fixedly connected with the upper outer plate 32, and a lower supporting wheel 43 is rotatably sleeved on the surface of the lower rotating shaft 41; the lower inner plate 4 is fixed by the upper inner plate 3, the lower outer plate 42 is fixed by the upper outer plate 32, the lower inner plate 4 and the lower outer plate 42 are rotatably connected with the lower support wheels 43, and the walking crawler 52 is rotatably supported by the lower support wheels 43.
Further, in order to enable the crawler belt to not be affected when the crawler belt runs obliquely, one end of the lower inner plate 4 is provided with a secondary driving wheel 5, one end of the upper inner plate 3 is provided with a main driving wheel 51, the main driving wheel 51 and the secondary driving wheel 5 are both meshed with a running crawler belt 52, and the upper supporting wheel 33 and the lower supporting wheel 43 are both rotatably connected with the inner side of the running crawler belt 52; the engaged traveling crawler 52 is rotated and advanced by the main drive wheel 51, and the traveling crawler 52 is rotatably supported by the sub-support wheels.
Further, in order to enable the driving device not to be affected when the crawler belt runs obliquely, an auxiliary driving disc 6 is fixedly mounted on the side surface of the main driving wheel 51, a driving seat 61 is fixedly mounted on the side surface of the upper inner plate 3, a driving motor 62 is fixedly mounted on the upper surface of the driving seat 61, a main driving disc 63 is fixedly sleeved on an output shaft of the driving motor 62, and the main driving disc 63 is in transmission connection with the auxiliary driving disc 6 through a driving belt; the driving motor 62 rotates to drive the main transmission disc 63 to rotate, the main transmission disc 63 drives the auxiliary transmission disc 6 to rotate through transmission, the auxiliary transmission disc 6 drives the main driving wheel 51 to rotate, and the walking crawler 52 is driven to move through the main driving wheel 51.
Further, in order to realize the inclination of the crawler belt to fit the inclined surface of the ditch, a first rotating shaft block 7 is fixedly installed on the upper surface of the upper outer plate 32, the first rotating shaft block 7 is rotatably connected with one end of the connecting rod 21, a second rotating shaft block 71 is fixedly installed on the side surface of the upper inner plate 3, the second rotating shaft block 71 is rotatably connected with the piston end of the electric telescopic rod 22, and crawler belt cleaning devices are installed on the upper surfaces of the upper inner plate 3 and the upper outer plate 32; one end of the connecting rod 21 is rotatably connected with the first rotating shaft block 7, the piston end of the electric telescopic rod 22 is rotatably connected with the second rotating shaft block 71, the inner plate 3 is jacked up through the piston end of the electric telescopic rod 22, the length of the connecting rod 21 is unchanged, and the length of the electric telescopic rod 22 is variable, so that the inner plate 3 and the outer plate 32 are inclined at an angle, and the inclined angle of the crawler belt is further realized to be matched with the inclined plane of the ditch.
Through setting up just dual-purpose running gear to one side, drive main drive wheel 51 through driving motor 62 and rotate, it rotates to drive the european track of walking by main drive wheel 51 again, it advances on normal road surface to realize walking track 52, inner panel 3 in the piston end jack-up through electric telescopic handle 22, because connecting rod 21 length is unchangeable, and electric telescopic handle 22 length is variable, make and go up inner panel 3 and the slope of last planking 32 angle, and then realize walking track 52 angle slope and advance in order to agree with the irrigation canals and ditches inclined plane, the effectual technical problem who patrols the robot and can't walk along the irrigation canals and ditches inclined plane of having solved current.
Further, in order to keep the surface of the crawler belt clean and increase the ground gripping force when the crawler belt travels, the crawler belt cleaning device comprises a cleaning fixing block 8, the lower surface of the cleaning fixing block 8 is fixedly connected with the upper surfaces of the upper outer plate 32 and the upper inner plate 3 respectively, a cleaning fixing seat 81 is fixedly installed on the upper surfaces of the upper outer plate 32 and the upper inner plate 3, a micro motor 82 is fixedly installed on the surface of the cleaning fixing seat 81, and a cleaning brush 83 is fixedly sleeved on an output shaft of the micro motor 82; the cleaning brush 83 is driven by the rotation of the micro motor 82, and the cleaning brush 83 rotates to clean the soil on the surface of the walking track 52.
Through setting up track cleaning device, rotate by micro motor 82 and drive the rotation of cleaning brush 83, rotate by cleaning brush 83 again and clean the earth on walking track 52 surface for walking track 52 and irrigation canals and ditches inclined plane frictional force increase, more stable of walking.
The back of the machine body chassis 1 is provided with an inclined plane leveling device, and the inclined plane leveling device levels the inclined plane of the ditch.
Further, in order to level the soil on the inclined surface of the ditch in the walking process of the machine, the inclined surface leveling device comprises leveling supports 9, the leveling supports 9 are symmetrically distributed and fixedly arranged on the back of the machine body chassis 1, and the leveling supports 9 are connected through reinforcing rods 91; the leveling seat 10 is fixed by the leveling bracket 9.
Further, in order to level the soil on the inclined surface of the ditch during the walking process of the machine, one end of the leveling bracket 9 is fixedly connected with a leveling seat 10, one end of the leveling seat 10 is rotatably connected with a leveling plate 101, the leveling seat 10 is fixedly provided with an air cylinder 102, and the piston end of the air cylinder 102 is fixedly connected with the leveling plate 101; the leveling plate 101 is lifted up by the piston end of the cylinder 102, and the soil on the inclined surface of the trench is flattened by the leveling plate 101.
By providing the slope leveling device, the leveling plate 101 is jacked up by the piston end of the cylinder 102, and the soil on the slope of the trench is flattened by the leveling plate 101.
The working principle is as follows: during normal walking, the wireless signal receiving module 13 receives a remote control signal and transmits the remote control signal to the control module 12, the control module 12 starts the driving motor 62, the driving motor 62 drives the main driving wheel 51 to rotate, and the main driving wheel 51 drives the walking crawler 52 to rotate, so that the walking crawler 52 can move on a normal road surface. When meetting the irrigation canals and ditches inclined plane, inner panel 3 in the piston end jack-up through electric telescopic handle 22, because connecting rod 21 length is unchangeable, and electric telescopic handle 22 length is variable, make and go up inner panel 3 and the slope of last planking 32 angle, and then realize walking track 52 angle slope and advance in order to agree with the irrigation canals and ditches inclined plane, when walking track 52 walked in the orchard, it can be infected with earth to be difficult for on the walking track 52, earth is stained with much and can influence the speed of marcing track 52, start micro motor 82 this moment, rotate by micro motor 82 and drive cleaning brush 83 and rotate, rotate the earth of cleaning walking track 52 surface by cleaning brush 83 again, increase walking track 52's grip. Because the road surface that walking track 52 pushed away is inevitable uneven, make the irrigation canals and ditches inclined plane more uneven in addition the earth that sweeps off, start cylinder 102 this moment, by cylinder 102's piston end jack-up flattening board 101, through flattening the earth of irrigation canals and ditches inclined plane of flattening board 101.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. The utility model provides a ditch inclined plane is with remote control walking robot in orchard, includes fuselage chassis (1), its characterized in that: a power supply device (11) is fixedly mounted on the upper surface of the machine body chassis (1), a control module (12) is fixedly mounted above the power supply device (11), and a wireless signal receiving module (13) is arranged on the side surface of the control module (12);
a forward-oblique dual-purpose traveling device is fixedly arranged below the machine body chassis (1), and the forward-oblique dual-purpose traveling device can adapt to a normal-gradient road surface and an oblique road surface;
the back of the machine body chassis (1) is provided with an inclined plane leveling device, and the inclined plane leveling device levels the inclined plane of the ditch.
2. The remote-controlled walking robot for the slope of a trench in an orchard according to claim 1, characterized in that: just dual-purpose running gear to one side includes fixed plate (2), fixed plate (2) pass through bolt fixed mounting in the lower surface of fuselage chassis (1), the lower fixed surface of fixed plate (2) installs connecting rod (21), the lower fixed surface of fixed plate (2) installs electric telescopic handle (22).
3. The remote-controlled walking robot for the slope of a trench in an orchard according to claim 1, characterized in that: the dual-purpose running gear of just inclining still includes interior plate (3), the side surface fixed mounting who goes up interior plate (3) has last pivot (31), go up the side surface of interior plate (3) and go up planking (32) through last pivot (31) fixedly connected with, the surface rotation of going up pivot (31) has cup jointed last supporting wheel (33).
4. The remote-controlled walking robot for the slope of a trench in an orchard according to claim 3, characterized in that: the lower surface fixedly connected with of going up inner panel (3) is inner panel (4) down, the side surface fixed mounting of inner panel (4) has down pivot (41) down, the side surface of inner panel (4) is through pivot (41) fixedly connected with down planking (42) down, planking (42) down with go up planking (32) fixed connection, the surface rotation of pivot (41) has cup jointed lower supporting wheel (43) down.
5. The remote-controlled walking robot for the slope of a trench in an orchard according to claim 4, characterized in that: vice drive wheel (5) are installed to the one end of lower inner panel (4), main drive wheel (51) are installed to the one end of going up inner panel (3), main drive wheel (51) and vice drive wheel (5) all mesh have walking track (52), go up supporting wheel (33) and under bracing wheel (43) all with the inboard rotation of walking track (52) is connected.
6. The remote-controlled walking robot for the slope of a trench in an orchard according to claim 5, characterized in that: the side surface fixed mounting of main drive wheel (51) has auxiliary drive dish (6), the side surface fixed mounting who goes up inner panel (3) has drive seat (61), the last fixed surface of drive seat (61) installs driving motor (62), main drive dish (63) have been cup jointed to the output shaft of driving motor (62) is fixed, main drive dish (63) through the drive belt with auxiliary drive dish (6) transmission is connected.
7. The remote-controlled walking robot for the slope of a trench in an orchard according to claim 3, characterized in that: go up the last fixed surface of planking (32) and install first pivot piece (7), first pivot piece (7) with the one end of connecting rod (21) is rotated and is connected, the side surface fixed mounting who goes up inner panel (3) has second pivot piece (71), second pivot piece (71) with the piston end of electric telescopic handle (22) rotates and is connected, the last surface mounting who goes up inner panel (3) and last planking (32) has track cleaning device.
8. The remote-controlled walking robot for the slope of a trench in an orchard according to claim 7, wherein: crawler cleaning device is including cleaning fixed block (8), clean the lower surface of fixed block (8) respectively with go up the last fixed surface connection of planking (32) and last inner panel (3), the last fixed surface who goes up planking (32) and last inner panel (3) installs and cleans fixing base (81), the fixed surface who cleans fixing base (81) installs micro motor (82), the output shaft of micro motor (82) is fixed to be cup jointed and is cleaned brush (83).
9. The remote-controlled walking robot for the slope of a trench in an orchard according to claim 1, characterized in that: the inclined plane leveling device comprises leveling supports (9), wherein the leveling supports (9) are symmetrically arranged and fixedly mounted on the back of the machine body chassis (1), and the leveling supports (9) are connected through reinforcing rods (91).
10. The remote-controlled walking robot for the slope of a trench in an orchard according to claim 9, characterized in that: one end fixedly connected with flattening seat (10) of flattening support (9), the one end of flattening seat (10) is rotated and is connected with flattening board (101), flattening seat (10) fixed mounting has cylinder (102), the piston end of cylinder (102) with flattening board (101) fixed connection.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110861248.7A CN113548122B (en) | 2021-07-29 | 2021-07-29 | Remote control walking robot for inclined plane of ditch in orchard |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110861248.7A CN113548122B (en) | 2021-07-29 | 2021-07-29 | Remote control walking robot for inclined plane of ditch in orchard |
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| CN113548122A true CN113548122A (en) | 2021-10-26 |
| CN113548122B CN113548122B (en) | 2023-07-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11364959B1 (en) * | 2021-12-27 | 2022-06-21 | Amos Power, Inc. | Modular robotic vehicle |
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| CN113548122B (en) | 2023-07-21 |
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