CN114408035A - Half-track type plant phenotype detection mobile device - Google Patents
Half-track type plant phenotype detection mobile device Download PDFInfo
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- CN114408035A CN114408035A CN202210034901.7A CN202210034901A CN114408035A CN 114408035 A CN114408035 A CN 114408035A CN 202210034901 A CN202210034901 A CN 202210034901A CN 114408035 A CN114408035 A CN 114408035A
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- 238000001514 detection method Methods 0.000 title claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 96
- 239000002420 orchard Substances 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 239000002689 soil Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002542 deteriorative effect Effects 0.000 description 1
- 238000007373 indentation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000035699 permeability Effects 0.000 description 1
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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
- B62D55/02—Endless track vehicles with tracks and additional ground wheels
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Abstract
The invention discloses a semi-crawler type plant phenotype detection mobile device, which comprises a vehicle body, crawler type traveling mechanisms, wheel type traveling mechanisms and double rocker arm mechanisms, wherein the crawler type traveling mechanisms are arranged on two sides of the vehicle body; the double-rocker mechanism is used for driving the crawler type travelling mechanism and the wheel type travelling mechanism which are positioned on the same side of the vehicle body to synchronously swing clockwise and anticlockwise and driving the crawler type travelling mechanism to independently rotate; the semi-crawler type plant phenotype detection mobile device provided by the invention combines the advantages of a wheel type mechanism and a crawler mechanism, so that the semi-crawler type plant phenotype detection mobile device provided by the invention has the advantages of simple structure, low manufacturing cost and good stability, and is suitable for driving between fields and orchards.
Description
Technical Field
The invention relates to a mobile device, in particular to a semi-crawler type plant phenotype detection mobile device.
Background
88% of the existing robotic mobile platforms for detecting plant phenotypes are four-wheel driven, while the remaining 12% are track driven; in the vehicle adopting four-wheel drive, the wheels can be independently operated, so that the vehicle has good maneuverability and provides higher flexibility for the control and navigation of the vehicle between crops in fields and orchards. However, this driving method is easy to press deep indentations on the ground and also compacts the soil, thereby deteriorating the air permeability of the soil. And the vehicle adopting four-wheel drive is difficult to walk on the land which just rains or just irrigates, and accidents such as vehicle trapping, skidding, vehicle overturning and the like are easy to occur. The track drive can generate larger traction force and reduce the pressure on the soil, so that the condition of compacting the soil is not easy to occur, and the track-type vehicle is easier to run on rugged terrain and obstacles than a wheel-type vehicle. However, the structure of the crawler drive is complex, and the maintenance difficulty is high.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides the semi-crawler type plant phenotype detection moving device which combines the advantages of a wheel type mechanism and a crawler mechanism, has a simple structure, low manufacturing cost and good stability, and is suitable for driving in fields and orchards.
The technical scheme for solving the technical problems is as follows:
a semi-crawler type plant phenotype detection moving device comprises a vehicle body, crawler type traveling mechanisms, wheel type traveling mechanisms and double rocker arm mechanisms, wherein the crawler type traveling mechanisms are arranged on two sides of the vehicle body, the double rocker arm mechanisms are used for promoting the crawler type traveling mechanisms and the wheel type traveling mechanisms to swing, and the crawler type traveling mechanisms are arranged at the front end of the vehicle body; the wheel type travelling mechanism is arranged at the rear end of the vehicle body; the double-rocker mechanism is used for driving the crawler type travelling mechanism and the wheel type travelling mechanism which are positioned on the same side of the vehicle body to synchronously swing clockwise or anticlockwise and driving the crawler type travelling mechanism to independently rotate;
the wheel type travelling mechanism comprises travelling wheels and a travelling driving mechanism for driving the travelling wheels to rotate;
the crawler-type travelling mechanism comprises crawler wheels and a crawler driving mechanism for driving the crawler wheels to move;
the double-rocker mechanism comprises a main rocker mechanism and a slave rocker mechanism, wherein the main rocker mechanism consists of two main rocker rods, the two main rocker rods are arranged in an angle mode, and the joint of the two main rocker rods is rotatably connected with the vehicle body; the tail end of one main rocker arm rod is connected with the walking driving mechanism; the tail end of the other main rocker arm rod is rotationally connected with the slave rocker arm mechanism; the auxiliary rocker arm mechanism comprises two auxiliary rocker arms and a rotating motor for driving the two auxiliary rocker arms to synchronously rotate, wherein the two auxiliary rocker arms are arranged in an angle mode, the connecting position of the two auxiliary rocker arms is connected with the rotating motor, and the rotating motor is installed at the tail end of the main rocker arm; the tail ends of the two slave rocker arms are respectively connected with the track driving mechanism and the driven wheel in the track wheel.
Preferably, the walking driving mechanism is a walking motor; the track driving mechanism is a driving motor.
Preferably, the crawler wheel comprises a driving wheel, a driven wheel and a crawler arranged on the driving wheel and the driven wheel, wherein the driving wheel is connected with the driving motor.
Preferably, the length of the main rocker arm used for connecting the walking motor is greater than the length of the main rocker arm used for connecting the slave rocker arm mechanism.
Preferably, the two slave rocker arms are equal in length.
Preferably, a rotating plate is arranged in the middle of the vehicle body, the middle of the rotating plate is rotatably connected to the vehicle body through a rotating shaft, two ends of the rotating plate are respectively connected with the main rocker arm mechanisms on two sides of the vehicle body through connecting rods, and a connecting lug is arranged at the joint of the two main rocker arm mechanisms; the engaging lug with all be provided with the spread groove in the rotor plate, the both ends of connecting rod are installed through the flake bearing respectively the engaging lug with in the spread groove of rotor plate.
Compared with the prior art, the invention has the following beneficial effects:
(1) when the semi-crawler type plant phenotype detection moving device runs on the rugged ground, the crawler wheels and the walking wheels can be always attached to the ground due to the action of the double-rocker mechanism, for example, when the crawler wheels cross a higher obstacle, due to the fact that the height of the crawler wheels is increased, the two main rocker rods in the main rocker mechanism can rotate anticlockwise, the walking wheels move downwards and are in contact with the ground, the walking wheels and the crawler wheels are guaranteed to be in contact with the ground, the stability of the semi-crawler type plant phenotype detection moving device is guaranteed, and in addition, the fact that a vehicle body of the semi-crawler type plant phenotype detection moving device does not incline forwards and backwards when the semi-crawler type plant phenotype detection moving device crosses the obstacle can be guaranteed. Similarly, when the travelling wheels at the rear end of the vehicle body cross a higher obstacle, the stability and the stationarity of the vehicle body can be ensured; and at the moment, the track wheels can be driven to rotate by the rotating motor, so that the height of the front end of the vehicle body is increased to ensure the stability of the vehicle body.
(2) Compared with a wheel type driving mobile platform, the semi-crawler type plant phenotype detection mobile device can provide larger traction force and reduce the condition of soil compaction; compared with a crawler driving mobile platform, the crawler driving mobile platform is simple in structure and better in flexibility.
(3) The semi-crawler type plant phenotype detection mobile device has good adaptability to rugged ground in fields, orchards and the like.
Drawings
Fig. 1-3 are schematic perspective views of three different viewing angles of the semi-crawler type plant phenotype detection mobile device of the invention.
Fig. 4 is a side view of fig. 3.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Referring to fig. 1-4, the semi-crawler type plant phenotype detection mobile device of the present invention comprises a vehicle body 4, crawler type traveling mechanisms arranged on both sides of the vehicle body 4, wheel type traveling mechanisms, and a double rocker arm mechanism for promoting the crawler type traveling mechanisms and the wheel type traveling mechanisms to swing, wherein the crawler type traveling mechanisms are arranged at the front end of the vehicle body 4; the wheel type travelling mechanism is arranged at the rear end of the vehicle body 4; the double rocker arm mechanism is used for driving the crawler type travelling mechanism and the wheel type travelling mechanism which are positioned at the same side of the vehicle body 4 to synchronously swing clockwise and anticlockwise and driving the crawler type travelling mechanism to independently rotate, wherein,
the wheel type travelling mechanism comprises a travelling wheel 1 and a travelling motor 10 for driving the travelling wheel 1 to rotate;
the crawler-type travelling mechanism comprises crawler wheels 2 and a driving motor 3 for driving the crawler wheels 2 to move, wherein the crawler wheels 2 comprise driving wheels, driven wheels and crawlers arranged on the driving wheels and the driven wheels, and the driving wheels are connected with the driving motor 3;
the double-rocker mechanism comprises a main rocker mechanism 9 and a slave rocker mechanism 8, wherein the main rocker mechanism 9 consists of two main rocker rods, the two main rocker rods are arranged at an angle, and the joint of the two main rocker rods is rotatably connected with the vehicle body 4; the tail end of one of the main rocker arms is connected with the walking motor 10; the tail end of the other main rocker arm rod is rotationally connected with the slave rocker arm mechanism 8; the slave rocker arm mechanism 8 comprises two slave rocker arms and a rotating motor for driving the two slave rocker arms to synchronously rotate, wherein the two slave rocker arms are arranged at an angle, the joint of the two slave rocker arms is connected with the rotating motor, and the rotating motor is arranged at the tail end of the other master rocker arm; the tail ends of the two auxiliary rocker arms are respectively connected with the driving motor 3 and the driven crawler wheel 2.
Referring to fig. 1-4, the working principle of the semi-crawler type plant phenotype detection mobile device of the invention is as follows:
when the semi-crawler type plant phenotype detection mobile device works, the walking motor 10 and the driving motor 3 respectively drive the walking wheel 1 and the crawler wheel 2 to move, so that the semi-crawler type plant phenotype detection mobile device is driven to move; when the semi-crawler type plant phenotype detection moving device runs on a rugged ground, the crawler wheel 2 and the walking wheel 1 can be always attached to the ground due to the action of the double rocker arm mechanisms, for example, when the crawler wheel 2 crosses a higher obstacle, two main rocker arms in the main rocker arm mechanism 9 can rotate anticlockwise due to the increase of the height of the crawler wheel 2, so that the walking wheel 1 moves downwards and is in contact with the ground, the walking wheel 1 and the crawler wheel 2 are ensured to be in contact with the ground, the stability of the semi-crawler type plant phenotype detection moving device is ensured, and in addition, the vehicle body 4 of the semi-crawler type plant phenotype detection moving device can be ensured not to incline when the semi-crawler type plant phenotype detection moving device crosses the obstacle. Similarly, when the travelling wheels 1 at the rear end of the vehicle body 4 pass through a higher obstacle, the stability and the stationarity of the vehicle body 4 can be ensured; and at this moment, the track wheel 2 can be driven to rotate by the rotating motor, so that the height of the front end of the vehicle body 4 is increased to ensure the stability of the vehicle body 4.
In addition, the crawler wheel 2 is driven to rotate by the rotating motor, so that the semi-crawler type plant phenotype detection moving device can be prompted to cross an obstacle, and the moving stability of the semi-crawler type plant phenotype detection moving device can be ensured by the double-rocker mechanism when the semi-crawler type plant phenotype detection moving device crosses the obstacle.
In the present embodiment, the length of the main rocker arm for connecting the traveling motor 10 is greater than the length of the main rocker arm for connecting the slave rocker arm; and the lengths of the two slave rocker arms are equal.
Referring to fig. 1-4, a rotating plate 7 is arranged in the middle of the vehicle body 4, the middle of the rotating plate 7 is rotatably connected to the vehicle body 4 through a rotating shaft, two ends of the rotating plate 7 are respectively connected with main rocker arm mechanisms 9 on two sides of the vehicle body 4 through connecting rods 6, and a connecting lug 5 is arranged at the joint of the two main rocker arm rods; the engaging lug 5 with all be provided with the spread groove in the rotor plate 7, the both ends of connecting rod are respectively through the fisheye bearing (make through the characteristic of fisheye bearing rotor plate 7 can drive connecting rod 6 through the rotation mode and be linear motion and do not take place the card and die) install engaging lug 5 with in the spread groove of rotor plate 7.
Through the arrangement, the stress directions of the crawler wheel 2 and the walking wheels 1 arranged diagonally to the crawler wheel 2 are consistent, that is, when the crawler wheel 2 at the upper left corner is subjected to an upward acting force (or the crawler wheel 2 is lifted upwards), the crawler wheel 2 drives the main rocker arm mechanism 9 at the side to rotate, so that the walking wheels 1 at the side are subjected to a downward acting force (or move downwards); the side main rocker arm mechanism 9 can pull the connecting rod 6 to do linear motion while rotating, so as to drive the rotating plate 7 to swing; thereby causing the motion directions of the connecting rods 6 on both sides of the rotating plate 7 to be opposite, namely causing the rotating directions of the main rocker mechanisms 9 on both sides of the vehicle body 4 to be opposite; therefore, the crawler wheel 2 on the other side of the vehicle body 4 is acted by a downward force (or moved downwards), and the walking wheel 1 on the other side is acted by an upward force (or moved upwards), so that the weight of the vehicle body 4 is mainly acted on the crawler wheel 2 on the side which is not subjected to the obstacle, the traction force on the other side is increased, and the vehicle body is helpful for overcoming larger obstacles without losing the traction force.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (6)
1. A semi-crawler type plant phenotype detection moving device is characterized by comprising a vehicle body, crawler type traveling mechanisms, wheel type traveling mechanisms and double rocker arm mechanisms, wherein the crawler type traveling mechanisms are arranged on two sides of the vehicle body; the wheel type travelling mechanism is arranged at the rear end of the vehicle body; the double-rocker mechanism is used for driving the crawler type travelling mechanism and the wheel type travelling mechanism which are positioned on the same side of the vehicle body to synchronously swing clockwise or anticlockwise and driving the crawler type travelling mechanism to independently rotate;
the wheel type travelling mechanism comprises travelling wheels and a travelling driving mechanism for driving the travelling wheels to rotate;
the crawler-type travelling mechanism comprises crawler wheels and a crawler driving mechanism for driving the crawler wheels to move;
the double-rocker mechanism comprises a main rocker mechanism and a slave rocker mechanism, wherein the main rocker mechanism consists of two main rocker rods, the two main rocker rods are arranged in an angle mode, and the joint of the two main rocker rods is rotatably connected with the vehicle body; the tail end of one main rocker arm rod is connected with the walking driving mechanism; the tail end of the other main rocker arm rod is rotationally connected with the slave rocker arm mechanism; the auxiliary rocker arm mechanism comprises two auxiliary rocker arms and a rotating motor for driving the two auxiliary rocker arms to synchronously rotate, wherein the two auxiliary rocker arms are arranged in an angle mode, the connecting position of the two auxiliary rocker arms is connected with the rotating motor, and the rotating motor is installed at the tail end of the main rocker arm; the tail ends of the two slave rocker arms are respectively connected with the track driving mechanism and the driven wheel in the track wheel.
2. The semi-tracked plant phenotype detection mobile device of claim 1, wherein the travel drive mechanism is a travel motor; the track driving mechanism is a driving motor.
3. The semi-tracked plant phenotype detection mobile device of claim 2, wherein the track wheels comprise a driving wheel, a driven wheel, and a track disposed on the driving wheel and the driven wheel, wherein the driving wheel is connected to the drive motor.
4. The semi-tracked plant phenotype detection mobile device of claim 2, wherein a length of the primary rocker arm used to connect to the travel motor is greater than a length of the primary rocker arm used to connect to the slave rocker mechanism.
5. The semi-tracked plant phenotype detection mobile device of claim 1, wherein the two slave rocker arms are equal in length.
6. The semi-crawler-type plant phenotype detection moving device according to claim 1, wherein a rotating plate is arranged in the middle of the vehicle body, the middle of the rotating plate is rotatably connected to the vehicle body through a rotating shaft, two ends of the rotating plate are respectively connected with main rocker arm mechanisms on two sides of the vehicle body through connecting rods, and a connecting lug is arranged at the joint of the two main rocker arm mechanisms; the engaging lug with all be provided with the spread groove in the rotor plate, the both ends of connecting rod are installed through the flake bearing respectively the engaging lug with in the spread groove of rotor plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210034901.7A CN114408035A (en) | 2022-01-13 | 2022-01-13 | Half-track type plant phenotype detection mobile device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210034901.7A CN114408035A (en) | 2022-01-13 | 2022-01-13 | Half-track type plant phenotype detection mobile device |
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| CN114408035A true CN114408035A (en) | 2022-04-29 |
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| CN202210034901.7A Pending CN114408035A (en) | 2022-01-13 | 2022-01-13 | Half-track type plant phenotype detection mobile device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115783071A (en) * | 2023-02-10 | 2023-03-14 | 山东鲁鸿农业装备有限公司 | Adjustable chassis applied to tractor |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20000737U1 (en) * | 2000-01-18 | 2000-04-06 | Rainer Johann | Steered and sprung rubber crawler belt drive |
| JP2004217055A (en) * | 2003-01-14 | 2004-08-05 | Kubota Corp | Crawler type traveling gear |
| CN101181911A (en) * | 2007-12-13 | 2008-05-21 | 南京航空航天大学 | Combined type obstacle crossing walking system |
| US20100059297A1 (en) * | 2008-09-10 | 2010-03-11 | Torvec, Inc. | Track suspension |
-
2022
- 2022-01-13 CN CN202210034901.7A patent/CN114408035A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20000737U1 (en) * | 2000-01-18 | 2000-04-06 | Rainer Johann | Steered and sprung rubber crawler belt drive |
| JP2004217055A (en) * | 2003-01-14 | 2004-08-05 | Kubota Corp | Crawler type traveling gear |
| CN101181911A (en) * | 2007-12-13 | 2008-05-21 | 南京航空航天大学 | Combined type obstacle crossing walking system |
| US20100059297A1 (en) * | 2008-09-10 | 2010-03-11 | Torvec, Inc. | Track suspension |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115783071A (en) * | 2023-02-10 | 2023-03-14 | 山东鲁鸿农业装备有限公司 | Adjustable chassis applied to tractor |
| CN115783071B (en) * | 2023-02-10 | 2023-04-11 | 山东鲁鸿农业装备有限公司 | Adjustable chassis applied to tractor |
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Application publication date: 20220429 |