CN205736671U - A kind of agricultural robot running gear - Google Patents
A kind of agricultural robot running gear Download PDFInfo
- Publication number
- CN205736671U CN205736671U CN201620557798.4U CN201620557798U CN205736671U CN 205736671 U CN205736671 U CN 205736671U CN 201620557798 U CN201620557798 U CN 201620557798U CN 205736671 U CN205736671 U CN 205736671U
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- China
- Prior art keywords
- spike
- rim
- rear axle
- wheel
- nut
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of agricultural robot running gear, including wheel, decelerator, motor, transverse axis, load carrying device, described load carrying device is fixedly mounted on two transverse axis of before and after, described transverse axis two ends are respectively fixedly connected with outside motor, described motor is connected with Wheel shaft through decelerator, and described wheel includes rim, main shaft, support and a spike etc., described load carrying device includes loading bracket, front axle installing hole, rear axle position adjustments hole, rear axle fixed block, rear axle installing hole etc..Crops are rolled by this utility model by the walking manner minimizing of a spike, stretch out rim length by a regulation spike, it is to avoid rim injury crops, by regulation wheel base, it is ensured that it is the position that front wheel supporting foot was trampled that Rear wheel support foot tramples position.
Description
Technical field
This utility model relates to a kind of robot field, particularly relates to a kind of agricultural robot running gear structure.
Background technology
Agricultural robot is the important latency development direction of agricultural machinery industry, can promote agricultural machinery enterprise core competitiveness, driving
Scientific and technical innovation and promotion agricultural production efficiency promote.Agricultural robot walking mechanism many employings running on wheels at present, as
ZL201410173921.8, ZL201520292819.X etc., easily roll crops, affect crop growth.
Utility model content
Utility model purpose: the purpose of this utility model is to solve deficiency of the prior art, it is provided that a kind of minimizing
The agricultural robot running gear of crops quantity is trampled by robot.
Technical scheme: a kind of agricultural robot running gear described in the utility model, including wheel, decelerator, motor,
Transverse axis, load carrying device, described load carrying device is fixedly mounted on two transverse axis of before and after, and described transverse axis two ends are respectively fixedly connected with electricity
Outside machine, described motor is connected with Wheel shaft through decelerator；
Described wheel includes rim, main shaft, support, and a spike, inner ring fixes nut and nut, described main shaft are fixed in outer ring
Being connected by support and rim are fixing, described spike fixes nut by inner ring and outer ring is fixed nut and is uniformly arranged on rim
On, described spike can fix nut by inner ring and outer ring is fixed nut regulation and stretched out the length of rim, outside described spike
Circle also have screw thread, and with the recessing of main axis parallel direction；
Described load carrying device includes loading bracket, front axle installing hole, rear axle position adjustments hole, rear axle fixed block, and rear axle is pacified
Dress hole, front fixing bolt, front fixing nut, fix nut afterwards, fix bolt afterwards, rear shaft position indicates, rear axle regulation scale and
Rear axle regulation scale, described loading bracket has front axle installing hole and rear axle position adjustments hole, and described rear shaft position is adjusted
Knothole regulates its present position built with rear axle fixed block, described rear axle fixed block by front fixing bolt and rear fixing bolt,
Described front fixing bolt and rear fixing bolt are fixed on loading bracket by front fixing nut and rear fixing nut respectively.
Further, according to farmland soil property situation, determine the quantity of the spike installed on rim, and described spike
It is symmetrically installed in pairs.
Further, according to the height of crops, stretched out the length of rim by regulation spike, thus ensure that rim is not
Crops can be rolled.
Further, described groove is also carved with scale and scale, to ensure that all spikes stretch out the length phase of rim
With.
Further, described scale and scale start to mark near one end of rim main shaft from a spike.
Further, on described load carrying device before and after wheel base scalable, to ensure that front and back wheel wheelbase is on rim
The integral multiple of the outer circumference of spike extension elongation composition.
Further, described regulate fixed block location by front fixing bolt and rear fixing bolt, thus realize
Different according to a spike extension elongation, regulate wheel base.
Further, immediately below the fixed block rear axle main shaft center of circle, it is carved with the instruction of rear shaft position, in rear axle position adjustments hole
Rear axle regulation scale and rear axle regulation scale are carved with in lower section.
Beneficial effect: crops are rolled by this utility model by the walking manner minimizing of a spike, are supported by regulation
Foot stretches out rim length, it is to avoid rim injury crops, by regulation wheel base, it is ensured that it is front that Rear wheel support foot tramples position
The position that wheel spike was trampled.
Accompanying drawing explanation
Fig. 1 is robot motion's structural representation of the present utility model；
Fig. 2 is car wheel structure schematic diagram of the present utility model；
Fig. 3 is supporting foot structure front view of the present utility model；
Fig. 4 is the side view of Fig. 3；
Fig. 5 is wheelspan adjustment structure schematic diagram of the present utility model.
Detailed description of the invention
Below in conjunction with concrete accompanying drawing, this utility model is described in further detail:
Fig. 1 is robot motion's structural representation of the present utility model.A kind of agricultural robot traveling method includes wheel
1, decelerator 2, motor 3, transverse axis 4, load carrying device 5.Described load carrying device 5 is fixedly mounted on two transverse axis 4 of before and after, described horizontal stroke
Axle 4 two ends are fixing connects motor 3 outside, and described motor 3 is connected with Wheel shaft through decelerator 2.According to agricultural robot effect
Difference, its respective execution mechanisms is fixed on load carrying device.When robot advances, the motor corresponding to four wheels in the same direction,
Synchronized operating, when vehicle needs to turn, can be divided into pivot turn and the turning two ways that detours.When needing pivot turn, one
The driving motor of side wheel and the driving motor of opposite side wheel are with same rotational speed, and different turns to operating.Such as turning of need to detouring
Time, turning medial wheel can be shut down or low-speed running, opposite side wheel runs up, then can realize robot detour turn
Curved.
Fig. 2 is car wheel structure schematic diagram of the present utility model.Rolling crops for reducing wheel, this utility model is adopted
It is used on wheel and a spike is uniformly installed, use and support the mode that business concern operating a porters' service is walked.Described wheel includes rim 21, main shaft 22, support
23, prop up spike 24, inner ring fixes nut 25, and nut 26 is fixed in outer ring.Described main shaft 22 is fixing with rim 21 even by support 23
Connect.Described spike 24 as required, determines installation quantity, fixes nut 25 by inner ring and outer ring is fixed nut 26 and uniformly pacified
It is contained on rim 21.Described spike 24 can fix nut 25 by inner ring and outer ring is fixed nut 26 regulation and stretched out rim 21
Length.It is uniformly distributed multiple installing hole on rim, during use, can determine that a spike installs quantity according to farmland soil property situation.For
The farmland that soil property is harder, 3 spikes of optional installation can ensure the normal walking of robot in use.For soil property relatively
Soft farmland, if any the rice field of water, 8 or 12 spikes of optional installation, can not walk to prevent robot to be absorbed in farmland.
Spike 24 is outside has screw thread, is fixing nut 25 by inner ring and to fix nut 26 tight by it in outer ring after installing hole
Gu.
Fig. 3 and Fig. 4 is supporting foot structure schematic diagram of the present utility model.Rim is stretched out long for ease of all spikes of regulation
Spending identical, its structure designs as shown in Figure 3 and Figure 4.There is screw thread 31 described spike 24 outer ring, with the parallel side of spike axis
Scale 32 and scale 33 it is carved with in recessing, groove.Described scale 33 starts to mark close to rim main shaft side from a spike,
After a spike uses a period of time outer end to be worn, still can calculate a spike easily and stretch out rim length.In use, will
Supporting foot through the installing hole on rim, need initial setting extension elongation according to crops, computational methods are by supporting
The scale size of foot outermost end deducts a spike and stretches out scale size at rim.Then screwing on, to fix nut 26 and inner ring solid in outer ring
Determine nut 25.Now, with an extension elongation propping up spike as standard, accurately adjust.
Method of adjustment fixes nut outer face correspondence scale chi for deducting outer ring with standard support foot outermost end scale size
Very little, difference is full-length.Nut outer face correspondence scale chi is fixed as certain spike outermost end scale size deducts outer ring
When very little difference is less than full-length, inner ring is fixed nut 25 and is somewhat twisted a bit toward away from rim direction, and nut 26 is fixed in outer ring
Twisting toward near rim direction, nut is fixed in regulation outer ring so that it is a spike outermost end scale size deducts outer ring and fixes outside nut
The difference of end face correspondence scale size is identical with full-length, then inner ring is fixed nut 25 tightens toward rim direction.As
Certain spike outermost end scale size deducts outer ring and fixes the difference of nut outer face correspondence scale size more than full-length
Time, outer ring is fixed nut 26 and is twisted toward away from rim direction so that it is a spike outermost end scale size deducts outer ring and fixes outside nut
The difference of end face correspondence scale size is identical with full-length, and inner ring is fixed nut 25 and tightened toward near rim direction.
Fig. 5 is wheelspan adjustment structure schematic diagram of the present utility model.Front axle installing hole 42 is had on described loading bracket 41
With rear axle position adjustments hole 43.In rear axle position adjustments hole 43 built with rear axle fixed block 44, rear axle fixed block 44 is by front solid
Determine bolt 46 and rear fixing bolt 49 regulates its present position.Front fixing bolt 46 and rear fixing bolt 49 are by front fixing nut
47 and rear fixing nut 48 be fixed on loading bracket 41.Immediately below the fixed block 44 rear axle main shaft center of circle, it is carved with rear shaft position
Instruction 50, is carved with rear axle regulation scale 51 and rear axle regulation scale 52, before and after observing with this below rear axle position adjustments hole 43
Wheelbase.
For reducing a spike as far as possible, crops are rolled, except reducing in the case of ensureing robot stabilized walking as far as possible
Propping up spike usage quantity is, it is also noted that ensure that Rear wheel support foot tramples the position that front wheel supporting foot was trampled, it is therefore desirable to protect
Card front and back wheel wheelbase is the integral multiple supporting step length.Supporting a length of 2 π R/n of step, n is that each wheel supporting foot installs quantity,
R is the exradius after installing a spike.Because a spike installation quantity is different, n=3 the most sometimes, or n=4......, the most really
The fixed integral multiple that front and back wheel wheelbase is set to outer circumference, i.e. wheel base S=k*2 π R(K is integer), it is ensured that wheelbase is step
Long integral multiple.Because a spike extension elongation is different, so R is a changing value, wheel base S needs according to the change of R value
Change.R=(R0+H+ Δ L), wherein R0 is rim radius, and H is that height of nut is fixed in outer ring, and Δ L is a spike outer end scale value
Subtract outer ring and fix the difference of nut end face correspondence scale value.Therefore, after adjusting a spike extension elongation, before and after's wheel shaft need to be adjusted
Away from.
Concrete, wheelspan control method, comprise the steps:
(1) after determining exradius R, being calculated wheel base S=k*2 π R(K is integer)；
(2) then by the scale value of rear axle regulation scale corresponding to rear shaft position instruction be calculated wheel base S
Relatively；
(3) if above-mentioned scale value is less than S, then fix nut after unclamping, rear fixing bolt is moved backward, mobile fixed block,
Make scale label value and the S-phase etc. of the alignment of shaft position instruction thereafter, then prop up fixed block with rear fixing bolt, after tightening, fix spiral shell
Mother, and regulate front fixing nut, before making, fixing bolt props up fixed block, completes the regulation of wheel base S；
(4) if by the scale value of rear axle regulation scale corresponding to rear shaft position instruction more than S, control method with less than S
Time control method contrary.
A kind of agricultural robot running gear of this utility model design and wheelbase control method thereof, can be applicable to farmland machine
In the walking structure design of device people, it is possible to be applied to farmland vehicle or other wish that minimizing rolls in the mobile device of area.
The above, be only preferred embodiment of the present utility model, not this utility model is made any in form
Restriction, although this utility model is disclosed above with preferred embodiment, but is not limited to this utility model, any ripe
Know professional and technical personnel, in the range of without departing from technical solutions of the utility model, when in the technology of available the disclosure above
Hold and make a little change or be modified to the Equivalent embodiments of equivalent variations, as long as without departing from technical solutions of the utility model
Hold, any simple modification, equivalent variations and modification above example made according to technical spirit of the present utility model, the most still
Belong in the range of technical solutions of the utility model.
Claims (8)
1. an agricultural robot running gear, it is characterised in that: include wheel (1), decelerator (2), motor (3), transverse axis
(4), load carrying device (5), described load carrying device (5) is fixedly mounted on two transverse axis (4) of before and after, and described transverse axis (4) two ends are divided
Gu Ding not connect motor (3) outside, described motor (3) is connected with Wheel shaft through decelerator (2)；
Described wheel (1) includes rim (21), main shaft (22), support (23), a spike (24), and inner ring fixes nut (25) and outward
The fixing nut (26) of circle, described main shaft (22) is connected by support (23) and rim (21) are fixing, and described spike (24) is passed through
Inner ring fixes nut (25) and outer ring is fixed nut (26) and is uniformly arranged on rim (21), and described spike (24) can be by interior
The fixing nut (25) of circle and outer ring are fixed nut (26) regulation and are stretched out the length of rim (21), and described spike (24) outer ring also has
Screw thread (31), and with main shaft (22) parallel direction recessing；
Described load carrying device (5) includes loading bracket (41), front axle installing hole (42), and rear axle position adjustments hole (43), rear axle is solid
Determine block (44), rear axle installing hole (45), front fixing bolt (46), front fixing nut (47), fix nut (48) afterwards, fix spiral shell afterwards
Bolt (49), rear shaft position instruction (50), rear axle regulation scale (51) and rear axle regulation scale (52), on described loading bracket (41)
Having front axle installing hole (42) and rear axle position adjustments hole (43), described rear axle position adjustments hole (43) is solid built with rear axle
Determining block (44), described rear axle fixed block (44) regulates its present position by front fixing bolt (46) and rear fixing bolt (49),
Described front fixing bolt (46) and rear fixing bolt (49) are fixed by front fixing nut (47) and rear fixing nut (48) respectively
On loading bracket (41).
A kind of agricultural robot running gear the most according to claim 1, it is characterised in that: according to farmland soil property situation,
Determine the quantity at the upper spike (24) installed of rim (21), and described spike (24) is symmetrically installed in pairs.
A kind of agricultural robot running gear the most according to claim 1, it is characterised in that: according to the height of crops,
Stretched out the length of rim (21) by regulation spike (24), thus ensure that rim (21) will not roll crops.
A kind of agricultural robot running gear the most according to claim 1, it is characterised in that: also it is carved with mark on described groove
Chi (32) and scale (33) are identical to ensure the length that all spikes (24) stretch out rim (21).
A kind of agricultural robot running gear the most according to claim 4, it is characterised in that: described scale (32) and scale
(33) mark is started from a spike (24) near one end of rim main shaft (22).
A kind of agricultural robot running gear the most according to claim 1, it is characterised in that: on described load carrying device (5)
Before and after wheel base scalable, to ensure that front and back wheel wheelbase is an excircle for upper spike (24) extension elongation composition of rim (21)
Long integral multiple.
A kind of agricultural robot running gear the most according to claim 1, it is characterised in that: described by front fixing bolt
(46) and rear fixing bolt (49) regulation fixed block (44) location, thus realize according to spike (24) extension elongation not
With, regulate wheel base.
A kind of agricultural robot running gear the most according to claim 1, it is characterised in that: fixed block (44) rear axle master
Immediately below the axle center of circle, it is carved with rear shaft position instruction (50), is carved with rear axle regulation scale in lower section, rear axle position adjustments hole (43)
(51) and rear axle regulation scale (52).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620557798.4U CN205736671U (en) | 2016-06-12 | 2016-06-12 | A kind of agricultural robot running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620557798.4U CN205736671U (en) | 2016-06-12 | 2016-06-12 | A kind of agricultural robot running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205736671U true CN205736671U (en) | 2016-11-30 |
Family
ID=57361226
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620557798.4U Expired - Fee Related CN205736671U (en) | 2016-06-12 | 2016-06-12 | A kind of agricultural robot running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205736671U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105946462A (en) * | 2016-06-12 | 2016-09-21 | 江苏工程职业技术学院 | Traveling device of agricultural robot and wheel track adjusting method |
| CN108327812A (en) * | 2018-03-23 | 2018-07-27 | 重庆大学 | A kind of more walking manner leg-wheel robots |
-
2016
- 2016-06-12 CN CN201620557798.4U patent/CN205736671U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105946462A (en) * | 2016-06-12 | 2016-09-21 | 江苏工程职业技术学院 | Traveling device of agricultural robot and wheel track adjusting method |
| CN105946462B (en) * | 2016-06-12 | 2018-04-10 | 江苏工程职业技术学院 | A kind of agricultural robot running gear and wheelspan adjusting method |
| CN108327812A (en) * | 2018-03-23 | 2018-07-27 | 重庆大学 | A kind of more walking manner leg-wheel robots |
| CN108327812B (en) * | 2018-03-23 | 2020-08-25 | 重庆大学 | Multi-walking-mode wheel-leg robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161130 Termination date: 20180612 |