CN115465358B - Omnidirectional agricultural robot - Google Patents
Omnidirectional agricultural robot Download PDFInfo
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- CN115465358B CN115465358B CN202211278173.0A CN202211278173A CN115465358B CN 115465358 B CN115465358 B CN 115465358B CN 202211278173 A CN202211278173 A CN 202211278173A CN 115465358 B CN115465358 B CN 115465358B
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- 229910052744 lithium Inorganic materials 0.000 claims abstract description 18
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 17
- 239000003638 chemical reducing agent Substances 0.000 claims description 25
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 238000003466 welding Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 5
- 230000007246 mechanism Effects 0.000 abstract description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 abstract description 3
- 229910052782 aluminium Inorganic materials 0.000 abstract description 3
- 239000011148 porous material Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000009333 weeding Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000007795 chemical reaction product Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L8/00—Electric propulsion with power supply from forces of nature, e.g. sun or wind
- B60L8/003—Converting light into electric energy, e.g. by using photo-voltaic systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S30/00—Structural details of PV modules other than those related to light conversion
- H02S30/20—Collapsible or foldable PV modules
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Toys (AREA)
Abstract
The application belongs to the technical field of machines, and particularly relates to an omnidirectional agricultural robot which comprises an omnidirectional wheel leg structure system, a multi-load platform, a power supply system and a control system, wherein the omnidirectional wheel leg structure system comprises an integrated wheel with a hub motor structure, a steering motor mechanism, a Z-shaped fixed plate and the like; the power supply system comprises a lithium battery system and a solar panel accessory; the multi-load platform is mainly assembled by standard aluminum materials, a section bar pore canal is reserved, and a top load is quickly built; the multi-load platform can be directly assembled on the Z-shaped fixed plate and forms a basic frame structure of the omnidirectional agricultural robot together with the four omnidirectional wheel leg structure systems, and a screw rod lifting device can be additionally arranged between the multi-load platform and the Z-shaped fixed plate to adjust the ground clearance. The application has the advantages of high realizability, flexible steering, small number of parts, low cost, simple structure and long endurance time.
Description
Technical Field
The invention relates to a robot, in particular to an omnidirectional agricultural robot.
Background
In recent years, with the rapid development of agricultural mechanization in China, special robots for agricultural production are becoming important contents for developing agricultural technical equipment. The appearance and the application of the agricultural robot change the traditional agricultural labor mode and promote the modern agricultural development. At present, china has research and development in aspects of a cultivation robot, a weeding robot, a fertilizing robot, a pesticide spraying robot, a vegetable grafting robot, a harvesting robot, a picking robot and the like, and at present, agricultural robot application cases with higher industrial degree comprise an automatic driving tractor, a milking robot, a plant protection pesticide application unmanned aerial vehicle, a remote control weeding robot, an autonomous information acquisition unmanned aerial vehicle and the like.
The new period provides new development space for the agricultural robot and also puts higher requirements. Currently, the biggest restriction of agricultural mechanization in China is insufficient effective supply of new technology and new equipment of agricultural machinery. On one hand, the surplus capacity of agricultural machinery products and gap broken gears coexist, the quantity of middle-high end products is small, the degree of automation is low, and the adaptability and the reliability are required to be improved; on the other hand, agricultural machinery and agriculture are not fused enough, and technological integration matching and system solution research are just started.
At present, domestic scientific research institutions and enterprises focus on research of harvesting and picking robots and achieve certain results, but the investment of agricultural operation scenes and key technologies is less, and the agricultural robots are particularly required to be further improved in the aspects of field weeding, inspection, seedling condition monitoring and data acquisition. Therefore, a new omni-directional agricultural robot is needed at present, which provides intelligent, efficient, high torque and adaptive high agricultural robot system and platform for agriculture.
Disclosure of Invention
The main objective of the present disclosure is to provide an omni-directional agricultural robot, so as to effectively solve the problems set forth by the inventor in the above background art.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
An omnidirectional agricultural robot comprises four omnidirectional wheel leg structure systems, a multi-load platform, a power supply system and a control system;
The omnidirectional wheel leg structure system comprises a walking wheel and a steering device, is structurally connected with an integrated wheel with a steering mechanism and a hub motor structure, and sequentially drives a coupler, a rotating shaft, a U-shaped bracket and the integrated wheel with the hub motor structure through forward and reverse rotation of a rotating motor of the steering mechanism to finally control the steering of the wheel; the omni-directional wheel leg structure system can move forwards or backwards in any direction through the positive and negative rotation of the wheel hub motor in the travelling wheel; the four omnidirectional wheel leg structure systems comprise wheels with integrated hub motor structures, U-shaped brackets, rotating shafts, Z-shaped fixing plates, bearing seats, couplings, motor speed reducer brackets, speed reducers, steering motors, end face bearings, clamping springs and flat keys, wherein the wheels with integrated hub motor structures are composed of main components such as tires, spoke plates, hub motors and the like;
The multi-load platform is mainly assembled by standard aluminum materials, a section bar pore canal is reserved, and a top load is quickly built; the multi-load platform can be directly assembled on a Z-shaped fixed plate and forms the omni-directional agricultural robot frame with the four omni-directional wheel leg structure systems, and a screw rod lifter can be additionally arranged between the multi-load platform and the Z-shaped fixed plate to adjust the ground clearance of the multi-load platform;
The power supply system comprises a lithium battery system and a solar panel accessory, wherein two sides of the power supply system are respectively provided with a large-capacity lithium battery, and the power supply system is connected in parallel, so that the power supply system can meet the requirements of higher capacity and larger current, and can realize a quick charge and quick disassembly type power conversion mode; the solar panel accessories comprise solar panels, MPPT solar boosting controllers, electric push rods and support welds, the four solar panels are connected in series and are arranged on a multi-load platform, wherein the electric push rods are arranged on the two outer solar panels to control the folding of the solar panels, the area of the solar panels is increased after the folding, the walking width can be reduced after the folding, and the lithium battery can be continuously charged through the MPPT solar boosting controllers;
Further, the control system comprises a main control system, a walking sub-control system, a steering sub-control system and an electric push rod control; the main control system comprises a main controller and an IO expansion board; the main controller is mainly responsible for image acquisition preprocessing, system flow control and interface display; the IO expansion board mainly provides various peripheral control and communication interfaces for the system, including IO, serial ports, PWM and the like; the walking sub-control system inputs control signals of a rotating handle A, a learning line, a reversing operation, an electronic brake, a three-gear operation and a soft start operation to the walking motor sub-controller through the main controller, and then the walking motor sub-controller controls a walking wheel motor through a motor phase line and a motor Hall line; the steering sub-control system inputs PWM, enabling, resetting, forward transmission and reverse rotation control signals to the steering motor sub-controller through the main controller, and then the steering motor sub-controller controls the steering motor through driving signals and encoder signals; the electric push rod control is an IO pin of the main controller, and the switch control of the electric push rod is performed;
after the technical scheme is adopted, the inner encoder of the walking wheel hub motor acquires the rotating speed signal of the driving wheel, the controller controls the driving mechanism to drive the corresponding driving wheel to rotate according to the rotating speed signal acquired by the encoder so as to drive the vehicle body to move, and the inner encoder of the steering motor acquires the steering signal of the driving wheel so as to control the steering motor to rotate positively or negatively to control the moving direction of the omnidirectional agricultural robot, and the omnidirectional motor steers, four wheels turn four times and zero turning radius; supporting spin, traversing, tilting, ackerman modes.
In view of this, compared with the prior art, the beneficial effects of the invention are:
The application has simple structure, less parts and low cost.
In the application, the omnidirectional motor turns, four wheels turn four times and the turning radius is zero.
And thirdly, the application has ultra-long endurance mileage.
Drawings
Fig. 1 is a schematic structural diagram of an omni-directional agricultural robot provided by the invention;
FIG. 2 is a schematic diagram of an omni-directional wheel leg structure system;
FIG. 3 is a schematic side cross-sectional view of FIG. 2;
FIG. 4 is a schematic diagram of a multi-load platform structure;
FIG. 5 is a schematic view of a lithium battery accessory structure;
FIG. 6 is a schematic diagram of a solar panel attachment;
FIG. 7 is a control system hardware schematic.
Icon: in the figure: 1-tire, 2-spoke disk, 3-hub motor, 4-U-shaped bracket, 5-rotating shaft, 6-Z-shaped fixed plate, 7-bearing seat, 8-coupler, 9-motor reducer bracket, 10-reducer, 11-steering motor, 12-end face bearing, 13-clamp spring, 14-flat key, 15-hub motor structure integrated wheel, 16-platform beam, 17-angle code, 18-platform longitudinal beam, 19-lead screw lifter, 20-solar boosting controller, 21-lithium battery, 22-U-shaped pull belt, 23-rubber belt, 24-fixed frame, 25-angle steel beam welding, 26-fixed frame, 27-solar panel, 28-rubber sleeve, 29-electric push rod, 30-push rod bracket, 31-pin shaft, 32-main controller, 33-IO expansion plate, 34-main control box, 35-walking motor sub controller, 36-steering motor sub controller and 37-sub controller bracket.
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. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-7, the present invention provides the following embodiments:
An omnidirectional agricultural robot comprises an omnidirectional wheel leg structure system, a multi-load platform, a power supply system and a control system;
The omnidirectional wheel leg structure system comprises a tire 1, a spoke plate 2, a hub motor 3, a U-shaped bracket 4, a rotating shaft 5, a Z-shaped fixing plate 6, a bearing seat 7, a coupler 8, a motor speed reducer bracket 9, a speed reducer 10, a steering motor 11, an end face bearing 12, a clamp spring 13, a flat key 14 and a hub motor structure integrated traveling wheel 15, wherein the hub motor structure integrated traveling wheel 15 consists of the tire 1, the spoke plate 2, the hub motor 3 and other main components; the wheel hub motor structure integrated traveling wheel 15 is arranged on the inner side of the U-shaped bracket 4, two side ends of the wheel hub motor structure integrated traveling wheel 15 are axially milled to be flat, are fixedly matched with the side surface of a semi-oblong hole of the U-shaped bracket 4, and the end surfaces are fastened through nuts; the steering motor 11 is arranged on the speed reducer 10, the output shaft end of the steering motor 11 is connected with the input shaft end of the speed reducer 10, the steering motor 11 is connected with the speed reducer 10 in series and then is connected with the motor speed reducer bracket 9 through bolts and is connected to the Z-shaped fixed plate 6 through bolts, the fixed encoder is positioned in the speed reducer 10, the rotating speed feedback can be realized, and the output shaft of the speed reducer 10 is unidirectional output; an output shaft at the bottom of the speed reducer 10 is connected with the upper coupler 8 through a flat key and is longitudinally positioned through a jackscrew bolt, so that the output shaft of the speed reducer 10 can conveniently and synchronously drive the upper coupler 8 to rotate, the upper coupler 8 and the lower coupler 8 are connected through wedge blocks in a matched mode, and therefore the upper coupler 8 drives the lower coupler 8 to rotate, and the lower coupler 8 is connected with the upper end of the rotating shaft 5 through a flat key and is longitudinally positioned through the jackscrew bolt; the middle end of the rotating shaft 5 is provided with an end face bearing 12 and is arranged in the bearing seat 7, the lower end of an inner ring of the end face bearing 12 is matched and positioned through a shoulder of the rotating shaft 5, the lower end of an outer ring of the end face bearing 12 is matched and fixed with a shoulder of the bearing seat 7, and the upper end of the outer ring of the end face bearing 12 is matched and fixed through a hole of the bearing seat 7 by using a clamp spring 13; the lower end of the rotating shaft 5 is connected with the U-shaped bracket 4 through bolts and is positioned in a matched manner through a spigot; the bearing seat 7 and the Z-shaped fixing plate 6 are connected through bolts. The wheel leg structure of the omni-directional wheel leg structure rotates forwards or reversely by controlling the forward and reverse rotation of the wheel hub motor 3; steering of the wheel hub motor structure integrated traveling wheel 15 is controlled by controlling forward and reverse rotation of the steering motor 11, and the steering of the steering motor structure integrated traveling wheel 15 is finally controlled by adopting an omni-directional wheel leg structure agricultural robot;
The multi-load platform comprises a platform cross beam 16, corner brackets 17 and a platform longitudinal beam 18, wherein the multi-load platform is fixedly connected with a Z-shaped fixing plate 6 of the four omnidirectional wheel leg structural systems through the corner brackets 17 and bolts, and also can be fixedly connected with a selected lead screw lifter 19 on the Z-shaped fixing plate through the corner brackets 17 and bolts, and the platform cross beam 16 and the platform longitudinal beam 18 are fixedly connected through the corner brackets 17 and bolts;
the power supply system comprises a lithium battery system and a solar panel accessory, wherein the lithium battery system mainly comprises a lithium battery 21, a U-shaped pull belt 22, a rubber press belt 23, a fixing frame 24 and an angle steel beam weld 25, wherein the lower side of the lithium battery 21 is arranged in the fixing frame 24, and is fixedly connected with the fixing frame 24 through bolts by the U-shaped pull belt 22 and the rubber press belt 23; the fixing frame 24 is fixed on the angle steel beam welding 25 by bolts, and two ends of the angle steel beam welding 25 are fixedly connected with the Z-shaped fixing plate 6 of the omnidirectional wheel leg structural system by bolts; the solar panel accessory comprises a fixed frame 26, a solar panel 27, a solar boosting controller 20, a rubber sleeve 28, an electric push rod 29, a push rod support 30 and a pin shaft 31, wherein the fixed solar panel 27 and the rubber sleeve 28 are fixed on a multi-load platform through bolts, one end of the foldable solar panel 27 is connected with the fixed solar panel 27 through a rotary hinge and can rotate around the hinge, the back of the foldable solar panel 27 is connected with the fixed frame 26 through bolts, the extending end of the electric push rod 29 is connected with the fixed frame 26 through the pin shaft 31, the other end of the electric push rod 29 is connected with the push rod support 30 through the pin shaft 31, and the push rod support 30 is fixedly connected with the side of the multi-load platform through bolts; the generated energy of the solar panel 27 is used for charging the lithium battery 21 through the solar boost controller 20;
The control system is divided into two parts, namely control system hardware and a controller signal connection part, wherein the control system hardware comprises a main controller 32, an IO expansion board 33, a main control box 34, a walking motor sub-controller 35, a steering motor sub-controller 36 and a sub-controller bracket 37; the main controller 32 and the IO expansion board 33 are integrally fixed in a main control box 35, the main control box 35 is connected to the multi-load platform through bolts, the walking motor sub-controller 35 and the steering motor sub-controller 36 are fixed on a sub-controller bracket 37 through bolts, and the sub-controller bracket 37 is connected to the multi-load platform through bolts;
Further, the main controller 32 is responsible for image acquisition preprocessing, system flow control and interface display, and the IO expansion board 33 provides various peripheral control and communication interfaces for the system, including IO, serial port, PWM, etc.; the walking sub-control system is characterized in that a main controller 32 inputs control signals of a rotating handle A, a learning line, a reversing operation, an electronic brake, a three-gear operation and a soft start operation to a walking motor sub-controller 35, and the walking motor sub-controller 35 controls a hub motor 3 in a walking wheel through a motor phase line and a motor Hall line; the steering sub-control system is characterized in that PWM, enabling, resetting, forward transmission and reverse rotation control signals are input to a steering motor sub-controller 36 through a main controller 32, and then the steering motor sub-controller 36 controls a steering motor 11 through driving signals and encoder signals; one IO pin of the main controller 32 performs switching control of the electric push rod 29.
The specific implementation manner of the embodiment is as follows: the wheel leg structure system comprises an all-in-one wheel leg structure system, a multi-load platform, a power supply system, a control system and a control system, wherein the all-in-one wheel leg structure system comprises an integrated wheel 15 with a hub motor structure, a steering motor 11, a speed reducer 10, a Z-type fixed plate 6 and the like; the power supply system comprises a lithium battery 21 system and a solar panel accessory; the multi-load platform is mainly assembled by standard aluminum materials, a section bar pore canal is reserved, and a top load is quickly built; the multi-load platform can be directly assembled on the Z-shaped fixed plate 6 and forms the omni-directional agricultural robot frame with four omni-directional wheel leg structural systems, and a screw rod lifter 19 can be additionally arranged between the multi-load platform and the Z-shaped fixed plate 6 to adjust the ground clearance of the multi-load platform. The invention has the advantages of high realizability, flexible steering, low cost, simple structure and long endurance time;
The lithium battery 21 and the solar panel 27 provide power, four wheels adopt an omni-directional structure of which the wheel 15 and the steering motor 11 are integrated into a whole through a hub motor structure, and an agricultural robot with a multi-load platform can be carried.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (3)
1. An omnidirectional agricultural robot, characterized in that: the wheel leg structure system comprises a tire (1), a spoke disc (2), a hub motor (3), a U-shaped support (4), a rotating shaft (5), a Z-shaped fixing plate (6), a bearing seat (7), a coupler (8), a motor speed reducer support (9), a speed reducer (10), a steering motor (11), an end face bearing (12), a clamp spring (13), a flat key (14) and a hub motor structure integrated wheel (15), wherein the hub motor structure integrated wheel (15) consists of the tire (1), the spoke disc (2) and a hub motor (3) as main components; the multi-load platform comprises a platform cross beam (16), corner brackets (17) and a platform longitudinal beam (18); the power supply system comprises a lithium battery system and a solar panel accessory, wherein the lithium battery system mainly comprises a lithium battery (21), a U-shaped pull belt (22), a rubber belt press belt (23), a first fixing frame (24) and an angle steel beam welding (25), and the solar panel accessory comprises a second fixing frame (26), a solar panel (27), a solar boosting controller (20), a rubber sleeve (28), an electric push rod (29), a push rod support (30) and a pin roll (31); the control system hardware comprises a main controller (32), an IO expansion board (33), a main control box (34), a walking motor sub-controller (35), a steering motor sub-controller (36) and a sub-controller bracket (37);
The wheel hub motor structure integrated wheel (15) is arranged on the inner side of the U-shaped support (4), two side ends of the wheel hub motor structure integrated wheel (15) are milled to be flat, the wheel hub motor structure integrated wheel is fixedly matched with the side face of a semi-oblong hole of the U-shaped support (4), the end face of the wheel hub motor structure integrated wheel is fastened through nuts, the steering motor (11) is arranged on the speed reducer (10), the output shaft end of the steering motor (11) is connected with the input shaft end of the speed reducer (10), the steering motor (11) is connected with the speed reducer (10) in series, and is connected with the motor speed reducer support (9) through bolts and is connected to the Z-shaped fixing plate (6) through bolts, the fixing encoder is positioned in the speed reducer (10) to realize rotating speed feedback, and the output shaft of the speed reducer (10) is in one-way output; an output shaft at the bottom of the speed reducer (10) is connected with the upper coupler (8) through a flat key and is longitudinally positioned through a jackscrew bolt, so that the output shaft of the speed reducer (10) can conveniently drive the upper coupler (8) to rotate synchronously, the upper coupler (8) and the lower coupler (8) are connected through wedge blocks in a matched mode, the upper coupler (8) can drive the lower coupler (8) to rotate, and the lower coupler (8) is connected with the upper end of the rotating shaft (5) through a flat key and is longitudinally positioned through the jackscrew bolt; the middle end of the rotating shaft (5) is provided with an end face bearing (12) and is arranged in the bearing seat (7), the lower end of an inner ring of the end face bearing (12) is matched and positioned through a shoulder of the rotating shaft (5), the lower end of an outer ring of the end face bearing (12) is matched and fixed with the shoulder of the bearing seat (7), and the upper end of the outer ring of the end face bearing (12) is matched and fixed through a clamp spring (13) for a hole of the bearing seat (7);
The lithium battery (21) is arranged in the first fixing frame (24) at the lower side, and is fixedly connected with the first fixing frame (24) through a U-shaped pull belt (22) and a rubber belt pressing belt (23) by bolts; the first fixing frame (24) is fixed on the angle steel beam welding joint (25) through bolts, and two ends of the angle steel beam welding joint (25) are fixedly connected with the Z-shaped fixing plate (6) of the omnidirectional wheel leg structure system through bolts; the solar panel accessory comprises a second fixing frame (26), a solar panel (27), a solar boosting controller (20), a rubber sleeve (28), an electric push rod (29), a push rod support (30) and a pin shaft (31), wherein the fixed solar panel (27) and the rubber sleeve (28) are fixed on a multi-load platform through bolts, one end of the foldable solar panel (27) is connected with the fixed solar panel (27) through a rotary hinge and can rotate around the hinge, the back of the foldable solar panel (27) is connected with the second fixing frame (26) through bolts, the extending end of the electric push rod (29) is connected with the second fixing frame (26) through the pin shaft (31), the other end of the electric push rod is connected with the push rod support (30) through the pin shaft (31), and the push rod support (30) is fixedly connected with the side face of the multi-load platform through bolts; the generating capacity of the solar panel (27) is that the lithium battery (21) is charged through the solar boost controller (20);
The main controller (32) and the IO expansion board (33) are integrally fixed in the main control box (34), the main control box (34) is connected to the multi-load platform through bolts, the walking motor sub-controller (35) and the steering motor sub-controller (36) are fixed on the sub-controller bracket (37) through bolts, and the sub-controller bracket (37) is connected to the multi-load platform through bolts;
The main controller (32) is responsible for image acquisition preprocessing, system flow control and interface display, and the IO expansion board (33) provides various peripheral control and communication interfaces for the system, including IO, serial ports and PWM; the walking sub-control system is characterized in that a main controller (32) inputs control signals of a rotating handle A, a learning line, reversing, an electronic brake, three gears and soft start to a walking motor sub-controller (35), and the walking motor sub-controller (35) controls a hub motor (3) in a walking wheel through a motor phase line and a motor Hall line; the steering sub-control system is characterized in that PWM, enabling, resetting, forward transmission and reverse rotation control signals are input to a steering motor sub-controller (36) through a main controller (32), and then the steering motor sub-controller (36) controls a steering motor (11) through driving signals and encoder signals; and one IO pin of the main controller (32) is used for controlling the switch of the electric push rod (29).
2. An omnidirectional agricultural robot as recited in claim 1, wherein: the lower end of the rotating shaft (5) is connected with the U-shaped bracket (4) through a bolt and is positioned in a matched manner through a spigot; the bearing seat (7) is connected with the Z-shaped fixing plate (6) through bolts; the wheel leg structure of the omni-directional wheel leg structure rotates forwards or reversely by controlling the forward and reverse rotation of the wheel hub motor (3); the steering motor (11) is controlled to rotate positively and negatively, so that the steering of the wheel (15) with the hub motor structure is controlled, and the omni-directional wheel leg structure agricultural robot is adopted, and finally the forward or backward movement and the steering of the agricultural robot are controlled.
3. An omnidirectional agricultural robot as recited in claim 1, wherein: the multi-load platform is fixedly connected with the Z-shaped fixing plates (6) of the four omnidirectional wheel leg structural systems through corner brackets (17) and bolts, and also can be fixed on the Z-shaped fixing plates (6) through the corner brackets (17) and bolts by optionally installing a screw rod lifter (19), and the platform cross beam (16) and the platform longitudinal beam (18) are fixedly connected through the corner brackets (17) and bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211278173.0A CN115465358B (en) | 2022-10-19 | 2022-10-19 | Omnidirectional agricultural robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211278173.0A CN115465358B (en) | 2022-10-19 | 2022-10-19 | Omnidirectional agricultural robot |
Publications (2)
| Publication Number | Publication Date |
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| CN115465358A CN115465358A (en) | 2022-12-13 |
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| CN114701565A (en) * | 2022-05-27 | 2022-07-05 | 北京理工大学 | Four-wheel steering independent wheel steering driving device and control method thereof |
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| CN102407892A (en) * | 2011-08-02 | 2012-04-11 | 王伟 | Conopodium type paddy field walking machine and medicine spraying device using same |
| WO2018103365A1 (en) * | 2016-12-09 | 2018-06-14 | 惠州真骐科技发展有限公司 | Control system of bicycle capable of phugoid motion and method for moving same |
| CN106926712A (en) * | 2017-03-28 | 2017-07-07 | 银西兰 | New energy electric caravan |
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| CN213323321U (en) * | 2020-08-12 | 2021-06-01 | 上海龙创汽车设计股份有限公司 | Wire-controlled chassis platform applied to unmanned full-freedom steering |
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