CN210793394U - Chassis structure of greenhouse picking robot - Google Patents
Chassis structure of greenhouse picking robot Download PDFInfo
- Publication number
- CN210793394U CN210793394U CN201921940858.0U CN201921940858U CN210793394U CN 210793394 U CN210793394 U CN 210793394U CN 201921940858 U CN201921940858 U CN 201921940858U CN 210793394 U CN210793394 U CN 210793394U
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- China
- Prior art keywords
- chassis
- plate
- picking robot
- motor
- greenhouse
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- Expired - Fee Related
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Abstract
The utility model relates to a chassis structure of a greenhouse picking robot, which is characterized by comprising a chassis upper plate and a chassis lower plate, wherein the chassis upper plate and the chassis lower plate are connected through a plurality of support columns, and a main controller and a battery are arranged between the chassis upper plate and the chassis lower plate; universal wheels are respectively arranged at four corners of the lower surface of the chassis lower plate, driving wheels are respectively arranged on the left side and the right side of the chassis lower plate, and the driving wheels are connected with the chassis upper plate and the chassis lower plate through corresponding shock absorption mechanisms; and the upper plate of the chassis is also provided with a laser radar. The utility model discloses simple structure is compact, with low costs, the motion efficiency is high, when meetting the obstacle, can effectively improve the robot and hinder the ability and slow down jolting of robot effectively more.
Description
Technical Field
The utility model belongs to the technical field of agricultural robot, concretely relates to robot chassis structure is picked in greenhouse.
Background
At present, wheel type, crawler type and foot type travelling mechanisms are commonly used in chassis travelling mechanisms of picking robots.
The wheel type travelling mechanism is suitable for relatively flat ground, simple in structure, stable in movement, flexible in steering and convenient to control, and is easy to jolt when travelling on the hollow ground.
The crawler-type walking mechanism is suitable for the soil ground or the rugged ground, is relatively simple, has good adaptability to the terrain, but has large friction and low movement efficiency.
The foot type walking mechanism is suitable for various ground surfaces, is suitable for complex terrain, moves flexibly, but has complex structure, high cost and great technical difficulty.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a greenhouse picking robot chassis structure aims at providing a simple structure, with low costs, the motion efficiency is high, can effectively slow down the greenhouse picking robot chassis structure who jolts.
In order to achieve the above purpose, the utility model adopts the following scheme:
a chassis structure of a greenhouse picking robot comprises an upper chassis plate and a lower chassis plate, wherein the upper chassis plate and the lower chassis plate are connected through a plurality of supporting columns, and a main controller and a battery are arranged between the upper chassis plate and the lower chassis plate; universal wheels are respectively arranged at four corners of the lower surface of the chassis lower plate, driving wheels are respectively arranged on the left side and the right side of the chassis lower plate, and the driving wheels are connected with the chassis upper plate and the chassis lower plate through corresponding shock absorption mechanisms; and the upper plate of the chassis is also provided with a laser radar.
Further, laser radar sets up on laser radar frame, laser radar frame is fixed through a plurality of copper posts on the chassis upper plate.
Further, the driving wheel is a hub motor, the hub motor is connected with a secondary controller through a corresponding motor driver, the secondary controller is connected with the main controller, and the motor driver and the secondary controller are arranged on the upper plate of the chassis; the hub motor is connected with the corresponding motor mounting plate through the corresponding motor pressing block.
Further, the motor pressing block is of a cuboid structure with four threaded holes and is connected with the corresponding motor mounting plate through four screws.
Further, the shock absorbing mechanism comprises a spring shock absorber, the upper end of the spring shock absorber is connected with a middle pull rod of the upper plate of the chassis through a corresponding shock absorbing connector and a connecting plate, the lower end of the spring shock absorber is connected with a motor mounting plate of the corresponding driving wheel through a corresponding shock absorbing connector, the motor mounting plate is connected with one end of a hinge, and the other end of the hinge is connected with a middle connecting rod of the lower plate of the chassis.
Furthermore, the left end and the right end of the lower surface of the upper plate of the chassis are respectively provided with a support rod, and the two support rods are connected through a middle pull rod.
Furthermore, the front end and the rear end of the upper surface of the lower plate of the chassis are respectively provided with a support rod, and the two support rods are connected through a middle connecting rod.
Further, the main body parts of the chassis upper plate and the chassis lower plate are all made of aluminum plates, and the supporting rod and the middle pull rod of the chassis upper plate and the supporting rod and the middle connecting rod of the chassis lower plate are all made of aluminum profiles.
Furthermore, angle irons are respectively arranged at the joints of the support columns and the upper plate and the lower plate of the chassis to strengthen the connection.
This greenhouse picking robot chassis structure has following beneficial effect:
(1) the utility model discloses a greenhouse picking robot chassis has adopted the mechanism of moving away to avoid possible earthquakes, and simple structure when meetting the obstacle, can effectively improve the robot and hinder the ability more and slow down jolting of robot effectively.
(2) The utility model discloses an in-wheel motor, wheel weight are heavier than general wheeled robot to in-wheel motor is connected with the chassis through mechanism of moving away to avoid possible earthquakes, makes the drive wheel no matter which kind of topography can both keep in contact with ground well, produces sufficient frictional force, prevents to skid.
(3) The utility model discloses simple structure is compact, with low costs, the motion efficiency is high, can select the parameter and the kind of shock absorber spring according to greenhouse actual conditions, uses more in a flexible way.
Drawings
FIG. 1: the structure schematic diagram of the chassis structure of the greenhouse picking robot in the embodiment of the utility model;
FIG. 2: the layout of the bottom wheels in the embodiment of the utility model is shown schematically;
FIG. 3: the structure schematic diagram of the shock absorbing structure in the embodiment of the utility model;
FIG. 4: the state diagram of the chassis structure of the greenhouse picking robot in the embodiment of the utility model when passing through the pit is shown;
FIG. 5: the state diagram of the chassis structure of the greenhouse picking robot in the embodiment of the utility model when walking on a level road;
FIG. 6: the utility model discloses state schematic diagram of greenhouse picking robot chassis structure when through protruding among the embodiment.
Description of reference numerals:
1-upper plate of chassis; 11-a middle tie rod; 2-a pillar; 3-angle iron; 4-a shock absorbing mechanism; 41-spring shock absorber; 42-a shock absorber connector; 43-a connecting plate; 44-a hinge; 51-a driving wheel; 52-motor driver; 53-motor mounting plate; 54-motor briquetting; 6, a lower plate of the chassis; 61-middle connecting rod; 7-universal wheel; 8, laser radar; 91 — a master controller; 92-secondary controller; 93-battery.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
fig. 1 to fig. 6 show a specific embodiment of the chassis structure of the greenhouse picking robot of the present invention. Fig. 1 is a schematic structural view of a chassis structure of a greenhouse picking robot in the present embodiment; fig. 2 is a schematic layout view of a bottom wheel in the present embodiment; FIG. 3 is a schematic structural view of the shock absorbing structure according to the present embodiment; fig. 4 to 6 are schematic diagrams illustrating the operation of the chassis structure of the greenhouse picking robot in the embodiment.
As shown in fig. 1 and 2, the chassis structure of the greenhouse picking robot in the present embodiment includes a chassis upper plate 1 and a chassis lower plate 6, the chassis upper plate 1 and the chassis lower plate 6 are connected by a plurality of struts 2, and a main controller 91 and a battery 93 are disposed between the chassis upper plate 1 and the chassis lower plate 6; the four corners of the lower surface of the chassis lower plate 6 are respectively provided with universal wheels 7, the left side and the right side of the chassis lower plate 6 are respectively provided with driving wheels 51, and the driving wheels 51 are connected with the chassis upper plate 1 and the chassis lower plate 6 through corresponding shock absorption mechanisms 4; the chassis upper plate 1 is also provided with a laser radar 8.
Preferably, the lidar 8 is arranged on a lidar frame, which is fixed on the chassis upper plate 1 by means of several copper posts, as shown in fig. 1.
Preferably, the driving wheel 51 is a wheel hub motor, the wheel hub motor is connected with the sub-controller 92 through a corresponding motor driver 52, and the motor driver 52 and the sub-controller 92 are arranged on the chassis upper plate 1; the in-wheel motor is connected to the motor mounting plate 53 through the corresponding motor press block 54, as shown in fig. 1 and 3. In this embodiment, the sub controller 92 is connected to the main controller 91.
Preferably, the motor pressing block 54 is a rectangular parallelepiped structure with four screw holes, and the motor pressing block 54 is connected to the corresponding motor mounting plate 53 by four screws, as shown in fig. 3.
Preferably, the suspension mechanism 4 includes a spring suspension 41, the upper end of the spring suspension 41 is connected to the middle tie rod 11 of the chassis upper plate 1 through a corresponding suspension connector 42 and a connecting plate 43, the lower end of the spring suspension 41 is connected to a motor mounting plate 53 of a corresponding driving wheel 51 through a corresponding suspension connector 42, the motor mounting plate 53 is connected to one end of a hinge 44, and the other end of the hinge 44 is connected to a middle connecting rod 61 of the chassis lower plate 6, as shown in fig. 3.
Preferably, the left end and the right end of the lower surface of the chassis upper plate 1 are respectively provided with a support rod, and the two support rods are connected through a middle pull rod 11.
Preferably, the front end and the rear end of the upper surface of the chassis lower plate 6 are respectively provided with a support rod, and the two support rods are connected through a middle connecting rod 61.
In this embodiment, the main body portions of the chassis upper plate 1 and the chassis lower plate 6 are made of aluminum plates, and the support rods and the middle pull rods 11 of the chassis upper plate 1 and the support rods and the middle connecting rods 61 of the chassis lower plate 6 are made of aluminum profiles. The aluminum plate is light in weight and easy to process; the aluminum profile is compact in structure and high in strength.
Preferably, the joints of the pillars 2 with the chassis upper plate 1 and the chassis lower plate 6 are respectively provided with angle irons 3 to reinforce the joints, as shown in fig. 1.
In this embodiment, four support columns 2 are made of aluminum profiles. The four universal wheels 7 are arranged symmetrically in the front-rear direction and the left-right direction, and the two driving wheels 51 are respectively driven independently and are arranged at the front-rear symmetrical centers of the four universal wheels 7.
In operation, when a pit is encountered, the driving wheel 51 rotates downwards around the hinge 44 under the action of the spring damper 41, the driving wheel 51 is lowered to keep contact with the ground, and the compression amount of the spring of the damper is reduced, as shown in fig. 4; in the event of a bump, drive wheel 51 will rotate upward about hinge 44 under the action of spring damper 41, and drive wheel 51 will rise to maintain contact with the ground and the amount of damper spring compression will increase, as shown in FIG. 6. When the robot chassis is in a flat ground working state, the driving wheels 51 and the universal wheels 7 are in the same plane and are kept in contact with the ground, as shown in fig. 5. The utility model discloses can slow down the condition that the robot jolted effectively. When the relative position of the drive wheel 51 is lowered, the amount of compression of the spring is reduced; when the relative position of the driving wheel 51 is raised, the compression amount of the spring is increased; but the spring is still under compression when drive wheel 51 bottoms out.
In the chassis running process of the robot, the main controller 91 issues a laser radar scanning instruction and a running instruction, the laser radar 8 receives the scanning instruction and starts scanning the surrounding environment, the sub-controller 92 receives the running instruction and outputs PWM (pulse-width modulation) waves to the motor driver 52 to control the running speed, each hub motor is independently controlled, and the sub-controller 92 controls the steering of the left driving wheel 51 and the right driving wheel 51 to realize the left turning and the right turning of the chassis. When the two motors rotate forwards, the chassis moves forwards and straightly; when the two motors are reversed, the chassis moves backwards and straightly; the motor on the left side of the chassis rotates forwards, the motor on the right side of the chassis rotates backwards, and the chassis rotates forwards right; the motor on the left side of the chassis rotates reversely, the motor on the right side of the chassis rotates positively, and the chassis rotates leftwards and moves forwards.
The utility model discloses a greenhouse picking robot chassis has adopted the mechanism of moving away to avoid possible earthquakes, and simple structure when meetting the obstacle, can effectively improve the robot and hinder the ability more and slow down jolting of robot effectively.
The utility model discloses an in-wheel motor, wheel weight are heavier than general wheeled robot to in-wheel motor is connected with the chassis through mechanism of moving away to avoid possible earthquakes, makes the drive wheel no matter which kind of topography can both keep in contact with ground well, produces sufficient frictional force, prevents to skid.
The utility model discloses simple structure, with low costs, motion efficiency are high, can select the parameter and the kind of shock absorber spring according to greenhouse actual conditions, use more in a flexible way.
The present invention has been described in detail with reference to the accompanying drawings, and it is obvious that the present invention is not limited by the above embodiments, and various improvements of the method concept and the technical solution of the present invention can be made without modification, or the present invention can be directly applied to other occasions without modification, and is within the protection scope of the present invention.
Claims (9)
1. A chassis structure of a greenhouse picking robot is characterized by comprising an upper chassis plate and a lower chassis plate, wherein the upper chassis plate and the lower chassis plate are connected through a plurality of support columns, and a main controller and a battery are arranged between the upper chassis plate and the lower chassis plate; universal wheels are respectively arranged at four corners of the lower surface of the chassis lower plate, driving wheels are respectively arranged on the left side and the right side of the chassis lower plate, and the driving wheels are connected with the chassis upper plate and the chassis lower plate through corresponding shock absorption mechanisms; and the upper plate of the chassis is also provided with a laser radar.
2. The greenhouse picking robot chassis structure of claim 1, wherein the lidar is disposed on a lidar frame that is secured to the chassis upper plate by a plurality of copper posts.
3. The chassis structure of the greenhouse picking robot as claimed in claim 1, wherein the driving wheels are hub motors, the hub motors are connected with a sub-controller through corresponding motor drivers, the sub-controller is connected with the main controller, and the motor drivers and the sub-controller are arranged on the upper plate of the chassis; the hub motor is connected with the corresponding motor mounting plate through the corresponding motor pressing block.
4. The chassis structure of the greenhouse picking robot as claimed in claim 3, wherein the motor press block is a rectangular parallelepiped structure with four threaded holes, and the motor press block is connected with the corresponding motor mounting plate by four screws.
5. The chassis structure of the greenhouse picking robot as claimed in any one of claims 1 to 4, wherein the shock absorbing mechanism comprises a spring shock absorber, the upper end of the spring shock absorber is connected with the middle pull rod of the upper chassis plate through a corresponding shock absorbing connector and a connecting plate, the lower end of the spring shock absorber is connected with the motor mounting plate of the corresponding driving wheel through a corresponding shock absorbing connector, the motor mounting plate is connected with one end of a hinge, and the other end of the hinge is connected with the middle connecting rod of the lower chassis plate.
6. The chassis structure of the greenhouse picking robot as claimed in claim 1, wherein the left and right ends of the lower surface of the upper plate of the chassis are respectively provided with a support rod, and the two support rods are connected through a middle pull rod.
7. The chassis structure of the greenhouse picking robot as claimed in claim 1, wherein the front and rear ends of the upper surface of the chassis lower plate are respectively provided with a support rod, and the two support rods are connected through a middle connecting rod.
8. The chassis structure of the greenhouse picking robot as claimed in claim 1, 2, 3, 4, 6 or 7, wherein the main body parts of the upper and lower chassis plates are made of aluminum plates, and the support and middle pull rods of the upper chassis plate and the support and middle connecting rods of the lower chassis plate are made of aluminum profiles.
9. The greenhouse picking robot chassis structure as claimed in claim 1, 2, 3, 4, 6 or 7, characterized in that the connection of the pillars with the chassis upper plate and the chassis lower plate is provided with angle irons to reinforce the connection, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921940858.0U CN210793394U (en) | 2019-11-12 | 2019-11-12 | Chassis structure of greenhouse picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921940858.0U CN210793394U (en) | 2019-11-12 | 2019-11-12 | Chassis structure of greenhouse picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210793394U true CN210793394U (en) | 2020-06-19 |
Family
ID=71245089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921940858.0U Expired - Fee Related CN210793394U (en) | 2019-11-12 | 2019-11-12 | Chassis structure of greenhouse picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210793394U (en) |
-
2019
- 2019-11-12 CN CN201921940858.0U patent/CN210793394U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20200619 Termination date: 20201112 |