CN113548122B - 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
- Publication number
- CN113548122B CN113548122B CN202110861248.7A CN202110861248A CN113548122B CN 113548122 B CN113548122 B CN 113548122B CN 202110861248 A CN202110861248 A CN 202110861248A CN 113548122 B CN113548122 B CN 113548122B
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- fixedly arranged
- rotating shaft
- plate
- inner plate
- inclined plane
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Classifications
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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, in particular to a remote control walking robot for a trench slope 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 remote control walking robot for channel inclined plane in orchard, through setting up just oblique dual-purpose running gear, drive the main drive wheel through driving motor and rotate, drive the European track of walking by the main drive wheel and rotate again, realize walking track and advance on normal road surface, jack-up the inner panel through the piston end of electric telescopic handle, because connecting rod length is unchangeable, and electric telescopic handle length is changeable for go up inner panel and last planking angle slope, and then realize walking track angle slope and advance with agreeing with the channel inclined plane, effectually solved the technical problem that current inspection robot can't walk along the channel inclined plane.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a remote control walking robot for a trench slope in 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, and can carry various sensing detection equipment such as video, sound, temperature and gas concentration into a whole through laser radar navigation positioning.
The orchard inspection robot can facilitate orchard management, intelligent management of an orchard is achieved, advantages of the orchard inspection robot are obvious, severe resistance is high, application is wide, but a general orchard inspection robot support product is large in size, and the orchard in-road surface uneven inspection robot is difficult to stably travel and cannot travel along a ditch inclined plane. In order to enable the inspection robot to stably travel in an orchard, an inspection robot structure capable of adapting to a forward inclined road surface to travel is urgently needed.
Disclosure of Invention
Based on the technical problem that an existing inspection robot cannot walk along a trench slope, the invention provides a remote control walking robot for the trench slope in an orchard.
The invention provides a remote control walking robot for a trench slope 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;
the forward-inclined dual-purpose traveling device is fixedly arranged below the chassis of the machine body and can adapt to a normal-gradient road surface and an inclined road surface;
the back of fuselage chassis is provided with inclined plane leveling device, inclined plane leveling device levels the inclined plane of irrigation canals and ditches.
Preferably, the forward-inclined dual-purpose walking device comprises a fixed plate, wherein the fixed plate is fixedly arranged on the lower surface of the chassis of the machine body through bolts, a connecting rod is fixedly arranged on the lower surface of the fixed plate, and an electric telescopic rod is fixedly arranged on the lower surface of the fixed plate;
through above-mentioned technical scheme, be connected with last planking by the connecting rod, electric telescopic handle is connected with last inner panel to jack-up through electric telescopic handle's piston end and go up the inner panel, make and go up inner panel and last planking angle slope, and then realize track angle slope in order to agree with the irrigation canals and ditches inclined plane.
Preferably, the forward-inclined dual-purpose walking device further comprises an upper inner plate, wherein an upper rotating shaft is fixedly arranged on the side surface of the upper inner plate, an upper outer plate is fixedly connected with the side surface of the upper inner plate through the upper rotating shaft, and an upper supporting wheel is rotatably sleeved on the surface of the upper rotating shaft;
through above-mentioned technical scheme, rotate and connect the supporting wheel by last inner panel and last planking, rotate the support by last supporting wheel pair walking track again.
Preferably, a lower inner plate is fixedly connected to the lower surface of the upper inner plate, a lower rotating shaft is fixedly arranged on the side surface of the lower inner plate, a lower outer plate is fixedly connected to the side surface of the lower inner plate through the lower rotating shaft, the lower outer plate is fixedly connected with the upper outer plate, and a lower supporting wheel is sleeved on the surface of the lower rotating shaft in a rotating manner;
through above-mentioned technical scheme, fixed lower inner panel by last inner panel, have the fixed lower planking of upper planking, rotate by lower inner panel and lower planking and connect the lower supporting wheel, rotate by lower supporting wheel pair walking track and support.
Preferably, an auxiliary driving wheel is installed at one end of the lower inner plate, a main driving wheel is installed at one end of the upper inner plate, 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 engaged walking crawler belt to rotate and advance, and the auxiliary supporting wheel rotationally supports the walking crawler belt.
Preferably, an auxiliary transmission disc is fixedly arranged on the side surface of the main driving wheel, a driving seat is fixedly arranged on the side surface of the upper inner plate, a driving motor is fixedly arranged 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 the technical scheme, the main driving disk is driven to rotate by the rotation of the driving motor, the auxiliary driving disk is driven to rotate by the transmission of the main driving disk, and the main driving disk is driven to rotate by the auxiliary driving disk, so that the travelling crawler belt is driven to travel by the main driving disk.
Preferably, a first rotating shaft block is fixedly arranged on the upper surface of the upper outer plate, the first rotating shaft block is rotationally connected with one end of the connecting rod, a second rotating shaft block is fixedly arranged on the side surface of the upper inner plate, the second rotating shaft block is rotationally connected with the piston end of the electric telescopic rod, and crawler cleaning devices are arranged on the upper surfaces of the upper inner plate and the upper outer plate;
through above-mentioned technical scheme, by the one end and the first pivot piece rotation of connecting rod are connected, by the piston end and the second pivot piece rotation of electric telescopic handle are connected, jack-up the inner panel through electric telescopic handle's piston end, because connecting rod length is unchangeable, and electric telescopic handle length is changeable for go up inner panel and last planking angle slope, and then realize track angle slope in order to agree with the irrigation canals and ditches inclined plane.
Preferably, the crawler cleaning device comprises a cleaning fixing block, the lower surfaces of the cleaning fixing block are fixedly connected with the upper surfaces of the upper outer plate and the upper inner plate respectively, the upper surfaces of the upper outer plate and the upper inner plate are fixedly provided with a cleaning fixing seat, the surface of the cleaning fixing seat is fixedly provided with a micro motor, and an output shaft of the micro motor is fixedly sleeved with a cleaning brush;
through the technical scheme, the micro motor rotates to drive the cleaning brush to rotate, and then the cleaning brush rotates to clean soil on the surface of the walking track.
Preferably, the inclined plane leveling device comprises leveling brackets which are symmetrically distributed and fixedly arranged on the back of the chassis of the machine body, and the leveling brackets are connected through reinforcing rods;
through above-mentioned technical scheme, fix the leveling seat by the leveling support.
Preferably, one end of the leveling support is fixedly connected with a leveling seat, one end of the leveling seat is rotationally 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 the technical scheme, the flattening plate is jacked up by the piston end of the air cylinder, and soil on the inclined surface of the ditch is flattened through the flattening plate.
The beneficial effects of the invention are as follows:
1. through setting up the dual-purpose running gear of forward and slant, drive the main drive wheel through driving motor and rotate, drive the European track of walking by the main drive wheel again and rotate, realize walking track and advance on normal road surface, jack-up the inner panel through the piston end of electric telescopic handle, because connecting rod length is unchangeable, and electric telescopic handle length is changeable for go up inner panel and last planking angle slope, and then realize walking track angle slope and advance with agreeing with the irrigation ditch inclined plane, effectually solved the technical problem that current inspection robot can't walk along the irrigation ditch inclined plane.
2. Through setting up track cleaning device, rotate by micro motor and drive the brush and rotate, by the brush rotation of cleaning again the earth on walking track surface for walking track and ditch inclined plane frictional force increase, the more stable of walking.
3. Through setting up inclined plane leveling device, jack-up screed by the piston end of cylinder, flatten the earth on irrigation canals and ditches inclined plane through the screed.
Drawings
FIG. 1 is a schematic diagram of a remote control walking robot for a trench slope in an orchard according to the present invention;
FIG. 2 is a perspective view of a chassis structure of a robot body for remote walking on a slope of a trench in an orchard;
FIG. 3 is an exploded view of a walking crawler belt structure of a remote-controlled walking robot for a trench slope in an orchard according to the present invention;
fig. 4 is a perspective view of a cleaning brush structure of a remote-control walking robot for a trench slope in an orchard, which is provided by the invention;
FIG. 5 is a perspective view of a driving motor structure of a remote control walking robot for a trench slope in an orchard according to the present invention;
fig. 6 is a perspective view of a leveling plate structure of a remote control walking robot for a trench slope 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 plate; 41. a lower rotating shaft; 42. a lower outer plate; 43. a lower support wheel; 5. an auxiliary driving wheel; 51. a main driving wheel; 52. a walking track; 6. an auxiliary driving disc; 61. a driving seat; 62. a driving motor; 63. a main drive disk; 7. a first pivot block; 71. a second shaft block; 8. cleaning the fixed block; 81. cleaning the fixing seat; 82. a micro motor; 83. a cleaning brush; 9. leveling the support; 91. a reinforcing rod; 10. leveling seats; 101. a flattening plate; 102. and (3) a cylinder.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1-6, a remote control walking robot for a trench slope in an orchard comprises a machine body chassis 1, wherein a power supply device 11 is fixedly arranged on the upper surface of the machine body chassis 1, a control module 12 is fixedly arranged above the power supply device 11, and a wireless signal receiving module 13 is arranged on the side surface of the control module 12;
the forward-inclined dual-purpose traveling device is fixedly arranged below the chassis 1 of the machine body and can adapt to a normal-gradient road surface and an inclined road surface;
further, in order to realize that the crawler belt fits the inclined surface of the ditch for walking, the forward-inclined dual-purpose walking device comprises a fixed plate 2, wherein the fixed plate 2 is fixedly arranged on the lower surface of the chassis 1 of the machine body through bolts, a connecting rod 21 is fixedly arranged on the lower surface of the fixed plate 2, and an electric telescopic rod 22 is fixedly arranged on the lower surface of the fixed 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 upper inner plate 3 is jacked up through the piston end of the electric telescopic rod 22, so that the upper inner plate 3 and the upper outer plate 32 are inclined at an angle, and further the inclined track angle is realized to be matched with a ditch inclined plane.
Further, in order to incline the crawler to realize inclined walking of the crawler in accordance with the inclined surface of the ditch, the forward-inclined dual-purpose walking device further comprises an upper inner plate 3, wherein an upper rotating shaft 31 is fixedly arranged on the side surface of the upper inner plate 3, an upper outer plate 32 is fixedly connected with 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 with the upper supporting wheel 33, and the upper supporting wheel 33 rotatably supports the walking crawler 52.
Further, in order to prevent the crawler belt from being affected when the crawler belt walks obliquely, 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 with 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 supporting wheel 43 is rotatably connected by the lower inner plate 4 and the lower outer plate 42, and the walking caterpillar 52 is rotatably supported by the lower supporting wheel 43.
Further, in order to prevent the crawler belt from being affected when the crawler belt is obliquely walking, an auxiliary driving wheel 5 is mounted at one end of the lower inner plate 4, a main driving wheel 51 is mounted at one end of the upper inner plate 3, the main driving wheel 51 and the auxiliary driving wheel 5 are engaged with a walking crawler belt 52, and the upper supporting wheel 33 and the lower supporting wheel 43 are rotatably connected with the inner side of the walking crawler belt 52; the engaged walking crawler belt 52 is driven by the main driving wheel 51 to rotate and advance, and the walking crawler belt 52 is supported by the auxiliary supporting wheels to rotate.
Further, in order that the driving device is not affected when the crawler belt walks obliquely, a secondary driving disc 6 is fixedly arranged on the side surface of the main driving wheel 51, a driving seat 61 is fixedly arranged on the side surface of the upper inner plate 3, a driving motor 62 is fixedly arranged 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 driving connection with the secondary driving disc 6 through a driving belt; the main driving disk 63 is driven to rotate by the rotation of the driving motor 62, the auxiliary driving disk 6 is driven to rotate by the transmission of the main driving disk 63, the main driving disk 6 drives the main driving wheel 51 to rotate, and the travelling crawler belt 52 is driven to travel by the main driving wheel 51.
Further, in order to achieve the track inclination to fit the trench inclined plane, 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 track 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 rotationally connected with the first rotating shaft block 7, the piston end of the electric telescopic rod 22 is rotationally connected with the second rotating shaft block 71, the upper inner plate 3 is jacked up through the piston end of the electric telescopic rod 22, and the length of the electric telescopic rod 22 is changeable due to the fact that the length of the connecting rod 21 is unchanged, so that the upper inner plate 3 and the upper outer plate 32 are inclined in angle, and further the inclined track angle is realized to fit a ditch inclined plane.
Through setting up the dual-purpose running gear of forward and backward, drive main drive wheel 51 through driving motor 62 and rotate, drive the European track of walking by main drive wheel 51 again and rotate, realize walking track 52 and march on normal road surface, jack-up through the piston end of electric telescopic handle 22 goes up inner panel 3, because connecting rod 21 length is unchangeable, and electric telescopic handle 22 length is changeable, make the angle slope of going up inner panel 3 and last planking 32, and then realize walking track 52 angle slope and march with the agreeing with the irrigation ditch inclined plane, the effectual technical problem that patrol and examine the robot can't walk along the irrigation ditch inclined plane of having solved.
Further, in order to keep the surface of the crawler clean to increase the grip force when the crawler walks, the crawler cleaning device comprises a cleaning fixing block 8, wherein the lower surfaces of the cleaning fixing block 8 are fixedly connected with the upper surfaces of the upper outer plate 32 and the upper inner plate 3 respectively, the upper surfaces of the upper outer plate 32 and the upper inner plate 3 are fixedly provided with a cleaning fixing seat 81, the surface of the cleaning fixing seat 81 is fixedly provided with a micro motor 82, and the output shaft of the micro motor 82 is fixedly sleeved with a cleaning brush 83; the micro motor 82 rotates to drive the cleaning brush 83 to rotate, and then the cleaning brush 83 rotates to clean soil on the surface of the walking crawler 52.
Through setting up track cleaning device, rotate by micro motor 82 and drive brush cleaner 83 and rotate, by brush cleaner 83 rotation again clean the earth on walking track 52 surface for walking track 52 increases with the inclined plane frictional force of irrigation canals and ditches, and the walking is more stable.
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 enable the machine to level soil on the inclined surface of the ditch in the walking process, the inclined surface leveling device comprises leveling brackets 9, wherein the leveling brackets 9 are symmetrically distributed and fixedly arranged on the back of the machine body chassis 1, and the leveling brackets 9 are connected through reinforcing rods 91; the leveling base 10 is fixed by the leveling bracket 9.
Further, in order to make the machine level the soil on the inclined surface of the ditch in the walking process, 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 a cylinder 102, and the piston end of the cylinder 102 is fixedly connected with the leveling plate 101; the screed plate 101 is lifted by the piston end of the cylinder 102, and soil on the inclined surface of the trench is flattened by the screed plate 101.
By providing the slope leveling device, the screed 101 is jacked up by the piston end of the cylinder 102, and soil on the slope of the trench is flattened by the screed 101.
Working principle: 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 travel on a normal road surface. When encountering the ditch inclined plane, jack-up inner panel 3 through the piston end of electric telescopic handle 22, because connecting rod 21 length is unchangeable, and electric telescopic handle 22 length is changeable, make inner panel 3 and last planking 32 angle slope, and then realize walking track 52 angle slope and advance with the agreeing with the ditch inclined plane, when walking track 52 walks in the orchard, the last earth that can be infected with of walking track 52, the earth is stained with the speed of advancing that can influence walking track 52 more, start micro-motor 82 this moment, rotate by micro-motor 82 and drive brush 83 and rotate, then rotate the earth of cleaning walking track 52 surface by brush 83, increase the grabbing power of walking track 52. Because the road surface pressed by the walking crawler 52 is inevitably uneven, the inclined surface of the ditch is uneven due to the fact that the swept soil is added, at the moment, the cylinder 102 is started, the flattening plate 101 is jacked up by the piston end of the cylinder 102, and the soil on the inclined surface of the ditch is flattened through the flattening plate 101.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (6)
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: the power supply device (11) is fixedly arranged on the upper surface of the machine body chassis (1), the control module (12) is fixedly arranged above the power supply device (11), and the wireless signal receiving module (13) is arranged on the side surface of the control module (12);
a forward-inclined dual-purpose travelling device is fixedly arranged below the machine body chassis (1), and can adapt to a normal-gradient road surface and an inclined road surface;
the forward-inclined dual-purpose walking device comprises a fixed plate (2), wherein the fixed plate (2) is fixedly arranged on the lower surface of the chassis (1) of the machine body through bolts, a connecting rod (21) is fixedly arranged on the lower surface of the fixed plate (2), and an electric telescopic rod (22) is fixedly arranged on the lower surface of the fixed plate (2);
the forward-inclined dual-purpose walking device further comprises an upper inner plate (3), an upper rotating shaft (31) is fixedly arranged on the side surface of the upper inner plate (3), an upper outer plate (32) is fixedly connected with 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 surface of the upper outer plate (32) is fixedly provided with a first rotating shaft block (7), the first rotating shaft block (7) is rotationally connected with one end of the connecting rod (21), the side surface of the upper inner plate (3) is fixedly provided with a second rotating shaft block (71), the second rotating shaft block (71) is rotationally connected with the piston end of the electric telescopic rod (22), and the upper surfaces of the upper inner plate (3) and the upper outer plate (32) are provided with crawler cleaning devices;
the crawler cleaning device comprises a cleaning fixing block (8), wherein 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 arranged on the upper surfaces of the upper outer plate (32) and the upper inner plate (3), a micro motor (82) is fixedly arranged 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 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 control walking robot for a trench slope in an orchard according to claim 1, wherein: 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 arranged on the side surface of the lower inner plate (4), a lower outer plate (42) is fixedly connected with 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 sleeved on the surface of the lower rotating shaft (41) in a rotating mode.
3. The remote control walking robot for a trench slope in an orchard according to claim 2, wherein: the auxiliary driving wheel (5) is installed to one end of lower inner panel (4), main driving wheel (51) is installed to one end of upper inner panel (3), main driving wheel (51) and auxiliary driving wheel (5) all mesh have walking track (52), go up supporting wheel (33) and lower supporting wheel (43) all with the inboard rotation of walking track (52) is connected.
4. A remote control walking robot for a trench slope in an orchard according to claim 3, wherein: the auxiliary transmission disc (6) is fixedly arranged on the side surface of the main driving wheel (51), the driving seat (61) is fixedly arranged on the side surface of the upper inner plate (3), the driving motor (62) is fixedly arranged on the upper surface of the driving seat (61), the main transmission disc (63) is fixedly sleeved on an output shaft of the driving motor (62), and the main transmission disc (63) is in transmission connection with the auxiliary transmission disc (6) through a transmission belt.
5. The remote control walking robot for a trench slope in an orchard according to claim 1, wherein: the inclined plane leveling device comprises leveling supports (9), wherein the leveling supports (9) are symmetrically distributed and fixedly installed on the back of the machine body chassis (1), and the leveling supports (9) are connected through reinforcing rods (91).
6. The remote control walking robot for a trench incline in an orchard according to claim 5, wherein: one end fixedly connected with flattening seat (10) of flattening support (9), the one end rotation of flattening seat (10) 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.
Priority Applications (1)
| 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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| Publication Number | Publication Date |
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| CN113548122A CN113548122A (en) | 2021-10-26 |
| CN113548122B true CN113548122B (en) | 2023-07-21 |
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| US11364959B1 (en) * | 2021-12-27 | 2022-06-21 | Amos Power, Inc. | Modular robotic vehicle |
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