CN115230843B

CN115230843B - Agricultural mobile platform with changeable wheel track and conformal vibration reduction

Info

Publication number: CN115230843B
Application number: CN202210920644.7A
Authority: CN
Inventors: 魏鸿; 童俊华; 王永华; 王小琴
Original assignee: Zhejiang Sci Tech University ZSTU
Current assignee: Zhejiang Sci Tech University ZSTU
Priority date: 2022-08-02
Filing date: 2022-08-02
Publication date: 2023-07-25
Anticipated expiration: 2042-08-02
Also published as: CN115230843A

Abstract

The invention relates to the technical field of agricultural mobile platforms. The purpose is to provide an agricultural platform which is suitable for both the variable track and the conformal vibration reduction of dry land ridge crops or greenhouse seedling culture. The mobile platform not only can expand the range of the operation object, but also can effectively reduce the work burden of the majority of workers, and is also beneficial to the development of modern agriculture. The technical scheme is that the agricultural mobile platform with the changeable wheel track and the conformal vibration reduction comprises a frame, wheels arranged below the frame, an electric cabinet and a battery arranged on the frame; the method is characterized in that: the platform also comprises two variable wheel track modules which are respectively and horizontally arranged at the front end and the rear end of the frame and used for adjusting the wheel track, independent driving and steering modules which are respectively and slidably positioned at the two ends of each variable wheel track module and provided with the wheels, and a navigation device which is arranged at the upper part of the frame and used for acquiring the position information of the agricultural mobile platform.

Description

Agricultural mobile platform with changeable wheel track and conformal vibration reduction

Technical Field

The invention relates to the technical field of agricultural mobile platforms, in particular to an agricultural mobile platform with variable wheel tread and conformal vibration reduction.

Background

Along with the development of the modern agricultural process, the field management operation machine has important significance for promoting the stable development of the modern agricultural in China. By 2021, the planting area of the dry land in China reaches 9.65 hundred million mu, and the planting area of the dry land accounts for 50.33% of the total cultivated land area; the agricultural mobile platform which can spray, fertilize and pollinate for different crops, different row spacing and different periods and meet the ridge driving environment is very lack of research at present. In addition, besides being outdoor, for greenhouse seedling raising, a mobile platform capable of adapting to different seedling bed sizes and meeting the requirement of the traditional use field with uneven seedling field is also needed, and the mobile platform assists in manually completing complicated work for greenhouse seedling raising. In view of the above-mentioned current situation, it is necessary to start a research on an agricultural mobile platform with variable track and conformal vibration damping.

Disclosure of Invention

The invention aims to overcome the defects of the background technology and provide the agricultural platform with variable wheel distance and conformal vibration reduction, which is suitable for both dry land ridge crop cultivation and greenhouse seedling cultivation. The mobile platform not only can expand the range of the operation object, but also can effectively reduce the work burden of the majority of workers, and is also beneficial to the development of modern agriculture.

The technical scheme provided by the invention is as follows:

an agricultural mobile platform with variable wheel track and conformal vibration reduction comprises a frame, wheels arranged below the frame, an electric cabinet arranged on the frame and a battery; the method is characterized in that: the platform also comprises two variable wheel track modules which are respectively and horizontally arranged at the front end and the rear end of the frame and used for adjusting the wheel track, independent driving and steering modules which are respectively and slidably positioned at the two ends of each variable wheel track module and provided with the wheels, and a navigation device which is arranged at the upper part of the frame and used for acquiring the position information of the agricultural mobile platform.

The variable track module comprises a cavity, two telescopic shafts, two driving modules and two transmission assemblies, wherein the cavity is connected to the frame and is formed by a cover plate and a groove plate, the two telescopic shafts are slidably positioned in the cavity through a sliding table structure and are coaxially arranged, the two driving modules are respectively arranged on the upper side of the cover plate and support the top end of the protective cover, and the two transmission assemblies are respectively used for transmitting power of the driving modules to the corresponding telescopic shafts.

The transmission assembly comprises a driving gear driven by the driving module and a driven gear driven by the driving gear, and gear shafts in the transmission assembly are respectively arranged on the cover plate through bearings and are protected by the supporting protective cover enclosure; the driving gear shaft and the driven gear shaft also penetrate downwards through the cover plate to be respectively connected with a rack gear.

The upper side and the lower side of the telescopic shaft are respectively fixed with sliding strips parallel to the length direction of the telescopic shaft, and the inner side surface of the cover plate and the bottom surface of the groove plate are respectively fixed with sliding tables in sliding fit with the two sliding strips one by one.

Two parallel racks are symmetrically arranged on two sides of the width direction of the telescopic shaft, and are respectively meshed with a rack gear connected with the driving gear shaft and a rack gear connected with the driven gear shaft one by one.

The driving module comprises a worm gear reducer arranged on the supporting protective cover and a servo motor for driving the worm gear reducer; and an output shaft of the worm gear reducer vertically downwards extends into the supporting protective cover to carry out power transmission with the driving gear shaft.

The independent driving and steering module comprises a bearing support, a driving bearing frame, a stepping motor, a planetary reducer and a quadrilateral driving assembly, wherein the top end of the bearing support is fixed with the end of the telescopic shaft, the driving bearing frame can be rotationally positioned at the bottom end of the bearing support around a vertical axis, the stepping motor is positioned on the bearing support, the planetary reducer is driven by the stepping motor and drives the driving bearing frame to rotate, and the quadrilateral driving assembly is installed at the lower part of the driving bearing frame and provided with wheels.

The quadrilateral driving assembly comprises a driving bearing frame, two connecting plates and configuration plates which are all the same in length and are sequentially hinged end to end through a hinge to form a parallelogram mechanism, and a conformal vibration damper, wherein two ends of the conformal vibration damper are respectively hinged with the driving bearing frame and the configuration plates; the wheel is an in-wheel motor driving wheel connected with the configuration plate.

An in-situ sensor and a last position sensor for detecting the extension length of each telescopic shaft are arranged on the inner wall of the cavity, and a position probe matched with the in-situ sensor and the last position sensor is arranged at the tail part of each telescopic shaft so as to ensure the structural stability of the mobile platform; and an angle sensor for detecting the rotation angle of the bearing support is arranged on the bearing support.

The main electric cabinet is provided with a main control board electrically connected with each motor driver, each sensor data box and each camera, and the auxiliary electric cabinet is provided with each motor driver, each sensor data box, a position module, a remote control module and an energy module.

Two navigation cameras are respectively installed in the intermediate position of the third aluminum profile, two electric cabinets are respectively installed in the intermediate position of the first aluminum profile, and four groups of batteries are installed on the first aluminum profile in pairs.

The invention has the beneficial effects that:

the agricultural mobile platform with the variable wheel distance and the conformal vibration reduction adopts a gear rack mode to drive the telescopic shaft to extend or retract, adopts a four-wheel independent driving and steering mode and adopts a method of connecting the conformal vibration damper with the driving wheel, and acquires operation environment information through two navigation cameras, and after analysis of a main control board, a driver controls each motor to operate, so that the agricultural mobile platform can autonomously move along the edge of a ridge where a crop is located and autonomously adjust different ridge widths of different crops (the range of an operation object is enlarged), thereby realizing the stability, the accuracy and the suitability of the agricultural mobile platform in the running process. In addition, the invention can be carried with different agricultural robots to spray pesticide, fertilize and harvest the ridge culture crops with different ridge widths. The method is also suitable for greenhouse seedling raising seedbeds, and can effectively improve the economic benefit of various agricultural crops and reduce the labor burden for the majority of laborers.

Drawings

Fig. 1 is a schematic perspective view of an embodiment of the present invention.

Fig. 2 is a schematic diagram of a variable track effect according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of a variable track module according to an embodiment of the invention.

Fig. 4 is a schematic structural view of the telescopic shaft in the variable track module shown in fig. 3.

FIG. 5 is a second schematic view of the telescopic shaft of the variable track module shown in FIG. 3.

Fig. 6 is a schematic view of a mounting structure of a driving module in the variable track module shown in fig. 3.

Fig. 7 is a schematic view of a mounting structure of a transmission assembly in the driving module shown in fig. 6.

FIG. 8 is a schematic view of the mounting location of the sensor in the variable track module of FIG. 3.

Fig. 9 is a schematic perspective view of an independent driving and steering module according to an embodiment of the invention.

Fig. 10 is a schematic view showing a mounting structure of an angle sensor in the independent driving and steering module shown in fig. 9.

FIG. 11 is a schematic view of the A-A structure of FIG. 10.

Fig. 12 is a schematic perspective view of the drive receiving frame in fig. 9.

Fig. 13 is a schematic view of vibration damping effect according to different terrains in an embodiment of the present invention.

Reference numerals:

01-rack, 0101-first aluminum profile, 0102-second aluminum profile, 0103-third aluminum profile, 0104-fourth aluminum profile, 02-main electric cabinet, 0201-auxiliary electric cabinet, 03-battery, 04-navigation device, 0401-navigation camera, 0402-YZ-direction rotating platform, 05-variable track module, 0501-groove plate, 0502-cover plate, 0503-servo motor, 0504-worm gear reducer, 0505-worm gear reducer seat cushion, 0506-supporting shield, 0507-driving gear shaft, 0508-driving gear, 0509-driving gear shaft bearing, 0510-rack gear, 0511-first transmission gear shaft, 0512-first transmission gear, 0513-first transmission gear shaft bearing, 0514-second transmission gear shaft, and 0503-worm gear reducer seat cushion 0515-second drive gear, 0516-second drive gear shaft bearing, 0517-driven gear shaft, 0518-driven gear, 0519-driven gear shaft bearing, 0520-rack, 0521-telescoping shaft, 0522-upper slide bar, 0523-upper slide table, 0524-lower slide bar, 0525-lower slide table, 0526-home position sensor, 0527-last position sensor, 0528-position probe, 06-independent drive and steering module, 0601-load bearing support, 0602-stepper motor, 0603-planetary reducer, 0604-rotation shaft, 0605-hexagonal nut, 0606-spring pad, 0607-thrust bearing, 0608-upper bearing end cap, 0609-deep groove ball bearing, 0610-lower bearing end cap, 0611-measuring gearwheel, 0612-angle sensor, 0604-rotation shaft, 0600-lower bearing end cap, 0601-measuring gear, and angle sensor, 0613-measuring pinion, 0614-driving bearing frame, 0616-spring damper, 0617-wheel, 0618-configuration board and 0619-connection board.

Detailed Description

Further description will be given below of embodiments shown in the drawings.

The agricultural movable platform with variable wheel track and vibration reduction shown in the attached drawing comprises a frame 01, wheels arranged below the frame, an electric cabinet arranged on the frame and a battery 03 (preferably a lead storage battery); the agricultural mobile platform comprises a frame, two wheel track adjusting modules 05 which are respectively and horizontally arranged at the front end and the rear end of the frame and used for adjusting the wheel track, independent driving and steering modules 06 which are respectively and slidably positioned at the two ends of each wheel track adjusting module and provided with wheels, and a navigation device 04 which is arranged at the upper part of the frame and used for acquiring the position information of the operation environment of the agricultural mobile platform.

The frame shown in fig. 1 to 2 is constructed by aluminum profiles of different types and sizes, a first aluminum profile 0101 is installed along the X direction, the end of the first aluminum profile 0101 is fixedly connected with a groove plate 0501 of a variable tread module 05 to form a rectangular shape, a second aluminum profile 0102 is installed at two ends of the first aluminum profile along the Z direction, a third aluminum profile 0103 is installed on the second aluminum profile of the side along the Y direction, and a fourth aluminum profile 0104 is installed on the second aluminum profile of the side along the X direction; the navigation device includes a YZ-direction rotating platform 0402 (outsource piece) and a navigation camera 0401 mounted on the YZ-direction rotating platform. The YZ-direction rotating platform can rotate around a Z axis and a Y axis for a certain angle and is used for adjusting the optimal navigation angle of the navigation camera 0401; and is fixedly connected to the middle position of the third aluminum profile through a bolt. The main electric cabinet and the auxiliary electric cabinet are respectively arranged at the middle position of the first aluminum profile and are respectively fixedly connected with the fourth aluminum profile, and the four groups of batteries are also respectively arranged on the first aluminum profile and are fixed with the fourth aluminum profile.

As shown in fig. 3 to 6; the variable tread module 05 is horizontally arranged along the width direction of the frame (the length direction of the variable tread module is parallel to the width direction of the frame); wherein: the groove plate 0501 is connected with the end part of the first aluminum profile, the cover plate 0502 and the groove plate are matched to form a cavity of the variable tread module, and two ends of the cavity can be slidably inserted into the telescopic shaft; the left end and the right end above the cover plate are respectively provided with a driving module, and each driving module drives the telescopic shaft through a transmission assembly. Two coaxial and horizontally arranged telescopic shafts 0521 are slidably inserted into the cavity through a sliding table structure, and one end of each telescopic shaft extends out of the cavity and is used for connecting with an independent driving and steering module 06 (as can be seen in fig. 3, one end of each telescopic shaft extends out of the left end and the right end of the cavity respectively). The sliding table structure comprises an upper sliding table 0522 and an upper sliding table 0523 matched with the upper sliding table, and a lower sliding table 0524 and a lower sliding table 0525 matched with the lower sliding table; the upper sliding strip is arranged at the upper end of the telescopic shaft, the upper sliding table is arranged on the lower side surface of the cover plate, and the sliding direction of the upper sliding strip is consistent with the length direction of the telescopic shaft; the lower ends of the telescopic shafts are provided with two lower sliding strips, the two lower sliding tables are arranged on the surfaces of the bottom ends of the groove plates, and the sliding directions of the lower sliding strips are consistent with the length directions of the telescopic shafts. The sliding table structure can ensure that the telescopic shaft can perform telescopic translational motion in a smoother mode while being stressed. As can be seen from fig. 7 and 8: two parallel racks 0520 are symmetrically arranged on two sides of the telescopic shaft in the width direction.

The driving module consists of a servo motor 0503 and a worm gear reducer 0504 and is used for providing power for driving the telescopic shaft; the drive module is mounted above the support shield 0506 by a worm gear reducer seat 0505. The supporting protective cover is arranged on the cover plate; the drive assembly (see fig. 7) is mounted within a support shield that provides support and protection for the drive assembly. The transmission assembly comprises a driving gear shaft 0507 provided with a driving gear 0508, a first transmission gear shaft 0511 provided with a first transmission gear 0512, a second transmission gear shaft 0514 provided with a second transmission gear 0515, a driven gear shaft 0517 provided with a driven gear 0518, and two rack gears 0510 arranged at the lower ends of the driving gear shaft and the driven gear shaft; each gear shaft is vertically mounted on the support guard by a corresponding gear shaft bearing (a driving gear shaft bearing 0509, a first transmission gear shaft bearing 0513, a second transmission gear shaft bearing 0516, a driven gear shaft bearing 0519) respectively.

As shown in fig. 6 to 7, the output shaft of the worm gear reducer passes through the supporting protection cover downwards and then is connected with the driving gear shaft (preferably connected through a coupling), so as to drive the driving gear; the driving gear sequentially passes through the first transmission gear and the second transmission gear and then is meshed with the driven gear, so that the rotation speeds of the driving gear and the driven gear are the same and the directions are opposite; the rack gears 0510 arranged at the lower ends of the driving gear shaft and the driven gear shaft can be meshed with the corresponding racks 0517, so that the telescopic shafts are driven to horizontally move in the width direction of the moving platform. When the two telescopic shafts in each variable track module move towards each other, the two independent driving and steering modules with wheels approach each other; when the two telescopic shafts in each variable track module move away from each other, the two independent driving and steering modules with wheels are far away from each other.

Further, in order to secure structural stability of the moving platform, the recess plate is mounted with an in-situ sensor 0526 and an end position sensor 0527 (see fig. 8) corresponding to each telescopic shaft. The original position sensor and the last position sensor are used for detecting the maximum displacement position of the telescopic shaft when the wheel track is changed and the position information when the telescopic shaft is reset; the tail of the telescopic shaft is provided with a position detecting piece 0528, and when the telescopic shaft is at the original position, the position detecting piece is positioned in the home position sensor. The telescopic shaft can extend outwards for a plurality of lengths according to the operation requirement, then the driving module stops power output, and the telescopic shaft is fixed by utilizing the self-locking property of the worm gear reducer to prevent sliding; in order to ensure the structural stability of the mobile platform, the linear distance between the original position sensor and the final position sensor is 2/3 of the length of the telescopic shaft, and when the position detecting sheet reaches the final position sensor, the telescopic shaft reaches the maximum displacement position.

As shown in fig. 9 to 12, the top end of the independent driving and steering module 06 is a bearing bracket 0601 connected with the telescopic shaft through bolts, and a stepping motor 0602 for providing steering power and a planetary reducer 0603 are installed in the bearing bracket in a matching way. The drive carrier 0614 is provided with a vertically arranged rotating shaft 0604 through a bearing assembly (comprising a thrust bearing 0607, an upper bearing end cover 0608, a deep groove ball bearing 0609 and a lower bearing end cover 0610, wherein the thrust bearing 0607 is sequentially arranged at the bottom of a bearing support and is used for bearing axial force, the upper bearing end cover 0608 is used for supporting the thrust bearing, the deep groove ball bearing is used for supporting radial force, the lower bearing end cover 0610 is used for supporting the deep groove ball bearing, the lower bearing end cover is arranged on the drive carrier 0614), the upper end of the rotating shaft is provided with external threads, and the rotating shaft is fixed on the bearing support through a hexagonal nut 0605 and a spring pad 0606 and is in coaxial coordination with an output shaft of the planetary reducer. Thereby realizing the connection and relative rotation of the bearing bracket and the driving bearing bracket through the bearing component. An angle sensor 0612 is further installed on the bearing support, a measurement pinion 0613 is fixed on an input shaft of the angle sensor, a measurement large gear 0611 is fixed at the upper end of the rotating shaft, and the large gear is meshed with the pinion; when the planetary reducer output shaft drives the rotation shaft to rotate, the large gear is meshed with the small gear, and the angle sensor detects the rotation angle of the rotation shaft and outputs signals to the main control board.

As shown in fig. 9 and 12, the drive receiving rack is provided with a pair of conformal vibration dampers for improving running smoothness of the agricultural mobile platform. The hub motor driving wheel 0617 is connected with the driving bearing frame 0614 through a parallelogram mechanism, and the conformal damper is installed between the hub motor driving wheel and the driving bearing frame. As can be seen from fig. 12: the drive receiving frame, the configuration plate 0618 and two connecting plates 0619 which are arranged in parallel form a parallelogram mechanism through hinging; two ends of the two conformal vibration absorbers which are parallel to each other are respectively hinged with the drive bearing frame and the configuration plate, and the hub motor driving wheel is fixed on the configuration plate through bolts. Thereby ensuring that the axis of the driving wheel of the hub motor is always parallel to the horizontal plane in the driving process. The compliant absorber is an outsourced spring absorber 0616, which is used to absorb the impact from the road surface, and when the wheels pass through the road surface in a concave or convex state, the internal spring of the spring absorber is stretched or compressed to filter the vibration of the road surface, so as to improve the running stability.

The main electric control box and the auxiliary electric control box are arranged and fixed on the rack, and are provided with a main control board for receiving, processing and issuing command information, a driver for controlling the movement of each motor, a data box for receiving information of each sensor, a position module for receiving position information of the navigation camera, a remote control module for adapting remote control operation and an energy module for distributing batteries. The main control board is arranged in a main control electric cabinet, the main control electric cabinet is also provided with a one-key starting, stopping and continuing function button and an emergency stopping button, and when the emergency stopping button is pressed down, the whole mobile platform is powered off; the driver, the data box, the position module, the remote control module and the energy module are arranged in the auxiliary electric cabinet; all the devices respectively carry out information interaction through various data wires (wired and wireless). The data box, the position module, the remote control module, the energy module, the driver and the main control board are outsourcing parts which can be directly applied, so the working principle is not described in detail.

The agricultural movable platform with the variable wheel track and the conformal vibration reduction can be applied to planting scenes of various dry land ridge crops, and links of pesticide spraying, fertilizer application, harvesting and the like of the crops are completed by carrying different operation devices on the agricultural movable platform, and in addition, the agricultural movable platform can adapt to the crops with different ridge widths through the variable wheel track module, and especially after the conformal vibration reduction design is adopted, the stability of the walking process can be greatly improved. Besides, the agricultural mobile platform is not only suitable for outdoors, but also suitable for greenhouse seedling cultivation scenes, and shows great adaptability. Four independent drive and steering modules can realize clockwise and anticlockwise 90-degree rotation. The mobile platform can also realize the independent forward and backward and left and right translational motion effects through the independent driving and rotating module, so as to meet different scenes encountered in the operation process.

The operation process of the invention comprises the following steps:

step one: the agricultural mobile platform can be moved to an operation area by the remote control module on the front-stage road surface, and is switched to an autonomous walking mode after preparing related operations;

step two: the navigation camera acquires information of the ridge width and the ridge distance of crops and sends the information to the main control board, the main control board sends an instruction to the driver according to the received information, and the driver controls the corresponding motor so that the agricultural mobile platform stably advances along the ridge direction;

step three: when the agricultural mobile platform moves to the tail end of a ridge independently, under the condition of field permission, taking the X positive direction as the front, the right front wheel and the left rear wheel rotate 90 degrees anticlockwise, the left front wheel and the right rear wheel rotate 90 degrees clockwise, translate to a ridge, reset the four wheels after translation, and reversely continue to operate; if the field is not allowed, directly returning reversely along the ridge, returning to the initial position, translating again, continuing to operate along the next ridge, and repeating the operation;

step four: when the agricultural platform detects that the wheel track needs to be changed through the navigation camera, the right front wheel and the left rear wheel rotate anticlockwise by 90 degrees, the left front wheel and the right rear wheel rotate clockwise by 90 degrees, four wheels move a plurality of distances along the direction of the telescopic shaft even in the Y direction under the drive of a servo motor in the variable wheel track module to adapt to the width of a crop ridge, and when the wheel track is changed, the four wheels reset;

step five: in the agricultural mobile autonomous mobile running process, the main control board can control the steering motor to automatically adjust the yaw phenomenon in the running process through the driver according to the position information transmitted by the navigation camera;

step six: the agricultural mobile platform adapts to different ridge widths through the variable wheel track, realizes translational change through the steering module, and is switched to different ridges to continue operation, so that the operation is repeated until all the ridges are finished.

Claims

1. An agricultural mobile platform with variable wheel track and conformal vibration reduction comprises a frame (01), wheels (0617) arranged below the frame, an electric cabinet and a battery (03) arranged on the frame; the method is characterized in that: the platform also comprises two variable tread modules (05) which are respectively and horizontally arranged at the front end and the rear end of the frame and used for adjusting the tread, independent driving and steering modules (06) which are respectively and slidably positioned at the two ends of each variable tread module and provided with the wheels, and a navigation device (04) which is arranged at the upper part of the frame and used for acquiring the position information of the agricultural mobile platform;

the variable track module comprises a cavity formed by a cover plate (0502) and a groove plate (0501) which are connected to the frame, two telescopic shafts (0521) which are slidably positioned in the cavity through a sliding table structure and are coaxially arranged, two driving modules which are respectively arranged at the top end of a support protective cover (0506) at the upper side of the cover plate, and two transmission assemblies which respectively transmit the power of the driving modules to the corresponding telescopic shafts;

the transmission assembly comprises a driving gear (0508) driven by the driving module and a driven gear (0518) driven by the driving gear, and gear shafts in the transmission assembly are respectively arranged on the cover plate through bearings and are protected by the supporting protection cover (0516) in a surrounding way; wherein the driving gear shaft and the driven gear shaft also pass through the cover plate downwards to be respectively connected with a rack gear (0510);

2. The variable track and compliant vibration reduction agricultural mobile platform of claim 1 wherein: two parallel racks (0520) are symmetrically arranged on two sides of the width direction of the telescopic shaft, and are respectively meshed with a rack gear connected with the driving gear shaft and a rack gear connected with the gear shaft of the driven gear one by one.

3. The agricultural mobile platform with variable track and compliant vibration damping of claim 2, wherein: the driving module comprises a worm and gear reducer (0504) arranged on the supporting protective cover and a servo motor (0503) for driving the worm and gear reducer; and an output shaft of the worm gear reducer vertically downwards extends into the supporting protective cover to carry out power transmission with the driving gear shaft.

4. The agricultural mobile platform of variable track and compliant vibration reduction as claimed in claim 3 wherein: the independent driving and steering module comprises a bearing support (0601) with the top end fixed with the end of the telescopic shaft, a driving bearing frame (0614) which can be rotationally positioned at the bottom end of the bearing support around a vertical axis, a stepping motor (0602) positioned on the bearing support, a planetary reducer (0603) which is driven by the stepping motor and drives the driving bearing frame to rotate, and a quadrilateral driving assembly which is arranged at the lower part of the driving bearing frame and provided with wheels.

5. The variable track and compliant vibration reduction agricultural mobile platform of claim 4 wherein: the quadrilateral driving assembly comprises a driving bearing frame (0614), two connecting plates (0619) and configuration plates (0618) which are all in the same length and are sequentially hinged end to end through hinges, and a conformal shock absorber, wherein two ends of the conformal shock absorber are respectively hinged with the driving bearing frame and the configuration plates; the wheel is an in-wheel motor driving wheel connected with the configuration plate.

6. The variable track and compliant vibration reduction agricultural mobile platform of claim 5 wherein: an in-situ sensor (0526) and a last position sensor (0527) for detecting the extension length of each telescopic shaft are arranged on the inner wall of the cavity, and a position detecting sheet (0528) matched with the in-situ sensor and the last position sensor is arranged at the tail part of each telescopic shaft so as to ensure the structural stability of the mobile platform; an angle sensor (0612) for detecting the rotation angle of the bearing support is arranged on the bearing support.

7. The variable track and compliant vibration reduction agricultural mobile platform of claim 6 wherein: the main electric cabinet is provided with a main control board which is electrically connected with each motor driver, each sensor data box and each camera, and the auxiliary electric cabinet is provided with each motor driver, each sensor data box, a position module, a remote control module and an energy module.