CN216942557U

CN216942557U - Chassis of walking device

Info

Publication number: CN216942557U
Application number: CN202122953397.4U
Authority: CN
Inventors: 任妮; 卢鑫羽; 张兵园; 张文翔; 贡宇
Original assignee: Jiangsu Academy of Agricultural Sciences
Current assignee: Jiangsu Academy of Agricultural Sciences
Priority date: 2021-11-29
Filing date: 2021-11-29
Publication date: 2022-07-12
Anticipated expiration: 2031-11-29

Abstract

The utility model relates to a chassis of a walking device.A damping position adjusting component which is rotationally connected with a main body part of the chassis is arranged at the upper end of a damping device, is limited in a transverse track of a rack and can slide along the transverse direction of the rack; the lower end of the damping device is rotationally connected with one transverse end of the walking part, and the other transverse end of the walking part is rotationally connected with the chassis width adjusting mechanism through a shockproof rotating shaft; the chassis width adjusting mechanism comprises a servo motor, a chain wheel and a rack shaft; the rack shaft comprises a rack section and a shaft section which are coaxially connected; the servo motor longitudinally transmits power to the front side and the rear side of the chassis through a chain and a chain wheel, and the chain wheel is meshed with a rack section of a transverse rack shaft to transmit the power to a shaft section of the rack shaft; the shaft section is provided with a protruding part, and the protruding part is fixedly assembled with the width adjusting mechanism so as to drive the width adjusting mechanism to move transversely; the rack shaft is coaxially disposed inside the anti-vibration rotating shaft and is rotatable relative to the anti-vibration rotating shaft.

Description

Chassis of walking device

Technical Field

The utility model relates to a walking device, in particular to a chassis of the walking device.

Background

The multi-span greenhouse is used as a facility cultivation environment widely applied in China at present, and the rapid development of the multi-span greenhouse provides new requirements for greenhouse intelligent agricultural machinery equipment. At present, various transport machines, cultivation management machines, plant protection machines and the like are arranged in the multi-span greenhouse, so that the working intensity is greatly reduced, and the labor production efficiency is improved. However, the multi-span greenhouse has different building specifications and scales, different cultivation modes and complex and various planting and agricultural requirements, so the required size of agricultural machinery equipment is different from the required operation mode. At present, equipment such as a wheeled (or rail) transport vehicle, a rail cultivation management machine, a rail plant protection machine and the like exist, and an existing chassis cannot realize two operation modes of land and rail. The prior chassis of the walking device has the following problems:

1) because the existing multi-span greenhouse tracks have different construction specifications and different track widths, the existing chassis can not be freely switched between land and track operation modes; the width of the track wheel is fixed, and the track wheel cannot be adjusted according to the change of the width of the track.

2) Under the restriction of the width of the track, the existing walking device has the defects that the steering difficulty is still large even if the chassis is driven by four wheels and rotates by four wheels because the distance between the wheels of the chassis is too small, and particularly, the functions of pivot steering and turning around are difficult to realize.

SUMMERY OF THE UTILITY MODEL

The utility model provides a chassis of a walking device according to the structure and planting characteristics of the existing multi-span greenhouse and aiming at the defects of the existing agricultural machinery and equipment of the greenhouse, and realizes turning around and convenient rail replacement among rows of the multi-span greenhouse. The chassis can be used for tasks such as multi-span greenhouse transportation, picking, field management, plant protection operation, and the like, and improves the general type and the applicability of facility intelligent agricultural machinery equipment.

The utility model adopts the following technical scheme:

a chassis of a walking device comprises a frame 1, a damping device 4, a walking part 5 and a chassis width adjusting mechanism; the upper end of the damping device 4 comprises a damping position adjusting part 4-1 which is rotatably connected with the main body part of the damping device, and the damping position adjusting part 4-1 is limited in a transverse track of the rack 1 and can slide along the transverse direction of the rack 1; the lower end of the damping device 4 is rotatably connected with one transverse end of the walking part 5, and the other transverse end of the walking part 5 is rotatably connected with the chassis width adjusting mechanism through a shockproof rotating shaft; the chassis width adjusting mechanism comprises a servo motor 6-3, a chain wheel and a rack shaft 6-7; the rack shaft 6-7 comprises a rack section and a shaft section which are coaxially connected; the servo motor 6-3 longitudinally transmits power to the front side and the rear side of the chassis through a chain and a chain wheel, and the chain wheel is meshed with a rack section of the transverse rack shaft 6-7 to transmit the power to a shaft section of the rack shaft 6-7; a protruding part 6-5 is arranged on the shaft section, and the protruding part is fixedly assembled with the width adjusting mechanism so as to drive the width adjusting mechanism to move transversely; the rack shafts 6 to 7 are coaxially disposed inside the anti-vibration rotation shaft and are rotatable with respect to the anti-vibration rotation shaft.

Preferably, the damping device 4 further comprises an upper spring support 4-2, a spring 4-3, a nut 4-4 and a lower threaded support 4-5; the upper side of an upper spring support 4-2 is connected with a damping position adjusting component 4-1 through a pin shaft, a lower threaded support 4-5 is connected with the upper side of a spring 4-3, the lower side of the spring 4-3 is connected with a lower threaded support 4-5, and the relative position between the spring 4-3 and the lower threaded support 4-5 is changed through an adjusting nut 4-4, so that the length of a damping device 4 can be adjusted; the lower threaded bracket 4-5 is connected with the shock-absorbing mounting seat 3-4 of the width adjusting part 3.

Preferably, the traveling member 5 is installed below the chassis width adjusting mechanism and connected to the chassis width adjusting member through the traveling member mounting plate.

Preferably, the device also comprises a steering component, wherein the steering component is arranged above the chassis width adjusting mechanism, is connected with the chassis width adjusting mechanism through a screw, and is connected with the walking component 5 through a coupler.

Preferably, the rack 1 is formed by welding square hollow steel pipes, and the transverse track of the rack 1 is a C-shaped steel guide rail.

Furthermore, the steering component comprises a steering motor, a right-angle reducer, a reducer mounting plate and a hexagonal stud, wherein the steering motor is connected with the right-angle reducer, and the other end of the reducer is mounted on the reducer mounting plate and connected with the traveling component mounting plate.

Furthermore, the walking part comprises a walking part mounting plate, a motor connecting shaft, a pair of angular contact ball bearings which are arranged back to back, a walking part mounting plate end cover, a motor mounting seat, a hub servo motor and a track walking wheel; the walking part mounting plate is connected with the motor connecting shaft through the pair of angular contact ball bearings which are installed back to back, and the end cover of the walking part mounting plate is connected to the walking part mounting plate through a screw to limit the axial movement of the motor connecting shaft; the upper end of the motor connecting shaft is connected with the coupler, and the lower end of the motor connecting shaft is connected with the motor mounting seat through a key and is axially fixed through a screw.

Furthermore, the track traveling wheel is connected with a wheel hub servo motor wheel, the major diameter of the track traveling wheel is slightly smaller than the diameter of the wheel hub servo motor wheel, and a groove is formed between the track traveling wheel and the wheel hub servo motor wheel for track traveling; the track traveling wheel and the hub servo motor wheel are connected to a shaft and fixed on the motor mounting seat; the hub servo motor is used for the chassis to walk on land; when the track travels, the wheel hub servo motor drives the track traveling wheel, and then the chassis travels on the track.

Furthermore, the laser radar is installed in the middle of the two C-shaped steel on the front side of the rack, the height of the laser radar is the central plane of the horizontal laser line position of the laser radar parallel to the vertical direction of the planting groove, and the laser radar is used for accurately identifying the front obstacle of chassis running including the planting groove.

Furthermore, an industrial camera is mounted on the lower side of the laser radar, the axis direction of the industrial camera lens is downward, and the industrial camera lens can rotate; the ground of the multi-span greenhouse, the chassis running track and the track traveling wheels are set to be three different colors which are easy to distinguish; coating the two ends of the rail with another color; when the industrial camera identifies the two ends of the track and the chassis running track, the two ends of the track and the chassis running track are compared with the angle and the position of the track running wheel, the identified relative position information is transmitted to the controller, the controller sends out an instruction to control the steering component and the running component, the chassis running angle and direction are corrected, and the chassis running track and the track running wheel are automatically aligned.

The utility model has the beneficial effects that:

1) the land walking and the rail walking share one set of driving mechanism, and the unevenness of the ground can be overcome in a land driving state by arranging the four-wheel independent damping device, so that the ground gripping performance of the tire is improved; resonance between the chassis and the chassis can be reduced when the chassis runs on a track;

2) when the hubs rotate to the transverse positions, the distance between the transverse pair of hubs on the chassis can be adjusted through the chassis width adjusting mechanism, and the original turning and turning capacity of the four-wheel-drive four-turn chassis is enhanced by enlarging the distance;

3) the relative position of the track traveling wheels and the track is detected through the industrial camera, and the automatic switching of two traveling modes of the track and the land is realized through the control of the steering component and the traveling component by the controller.

Drawings

Fig. 1 is a perspective view of a chassis of a walking device.

Fig. 2 is a front view of the chassis of the walking device.

Fig. 3 is a perspective view of the frame.

Fig. 4 is a schematic view of a steering member.

Fig. 5 is a schematic view of a width adjustment member.

Fig. 6 is a perspective view of the shock absorbing device.

Fig. 7 is a perspective view of the traveling member.

Fig. 8 is an exploded view of the walking member.

Fig. 9 is a bottom view of the running gear chassis.

Fig. 10 is a bottom view of the chassis of the running gear when the running member is rotated to the preliminary pivot steering.

Fig. 11 is a front view of the chassis width adjustment mechanism.

Fig. 12 is a top view of the chassis width adjustment mechanism.

Fig. 13 is a partial detail view of fig. 11.

Fig. 14 is a bottom view of the chassis width adjustment mechanism adjusted to a first position during normal travel.

Fig. 15 is a front view corresponding to fig. 14.

Fig. 16 is a front view of the running gear chassis (with the chassis width at a minimum) with the wheel hub in the wheel hub attitude ready for adjustment of the chassis width.

Fig. 17 is a bottom view corresponding to fig. 15.

Fig. 18 is a bottom view of the running gear chassis (chassis width is maximum at this time) with the wheel hub in the wheel hub attitude ready for chassis width adjustment.

Fig. 19 is a schematic view of a rack shaft and a rack bushing thereon.

In the figure, 1, a frame, 1-1, 25 multiplied by 25mm square hollow steel pipes, 1-2, C-shaped steel guide rails, 1-3, a width adjusting part mounting seat and 1-4 laser radar mounting seats are arranged; 2. the device comprises a steering component, 2-1, a speed reducer mounting plate, 2-2, a hexagonal stud, 2-3, a right-angle speed reducer, 2-4 and a servo motor; 3. 3-1 parts of width adjusting components, 3-2 parts of damping mounting seats and adjusting supports; 4. 4-1 of a damping device, 4-2 of a damping position adjusting component, 4-3 of a spring upper support, 4-4 of a spring, 4-5 of an adjusting nut and a lower threaded support; 5. a traveling member; 5-1 parts of a walking component mounting plate, 5-2 parts of an upper side angular contact ball bearing, 5-3 parts of a motor connecting shaft, 5-4 parts of a lower side angular contact ball bearing, 5-5 parts of a shaft end cover, 5-6 parts of a screw, 5-7 parts of a motor mounting seat, 5-8 parts of a gasket, 5-9 parts of a motor connecting shaft end screw, 5-10 parts of a nut, 5-11 parts of a hub servo motor, 5-12 parts of a track walking wheel, 5-13 parts of a deep groove ball bearing, 5-14 parts of a walking wheel end cover, 5-15 parts of an end cover screw, 5-16 parts of a track walking wheel positioning screw; 6-1 parts of vertical gear shafts, 6-2 parts of chains, 6-3 parts of servo motors, 6-4 parts of width adjusting mechanism mounting seats, 6-5 parts of adjusting cams, 6-6 parts of racks, 6-7 parts of rack shafts, 6-8 parts of rack shaft sleeves; 7. a laser radar; 8. an industrial camera;

Detailed Description

The utility model is further described with reference to the following figures and specific examples.

Example (b):

as shown in fig. 1 and 2: the dual-purpose four-wheel-drive four-rotation electric chassis for the rails in the greenhouse mainly comprises a rack 1, a steering component 2, a width adjusting component 3, a damping device 4, a walking component 5, a control box 6, a laser radar 7 and an industrial camera 8. The chassis meets the installation requirements of tasks such as transportation, picking, field management, plant protection operation and the like by arranging the frame.

As shown in figure 3, a frame 1 is formed by welding 25 x 25mm square hollow steel pipes 1-1, C-shaped steel guide rails 1-2 are welded at the bottoms of the steel pipes on the upper side of a chassis, and width adjusting component mounting seats 1-3 are welded at the middle lower part of the chassis. One side of each width adjusting component 3 is connected to a width adjusting component mounting seat 1-3 through a pin shaft 3-1, and each width adjusting component 3 is correspondingly provided with three width adjusting component mounting seats 1-3; twelve width adjusting part mounting seats 1-3 are welded on the frame 1, and the other side of the frame 1 is connected with a damping device 4.

As shown in figure 4, the steering component 2 is composed of a servo motor 2-4, a right-angle reducer 2-3, a reducer mounting plate 2-1, a hexagon stud 2-2 and the like, wherein the servo motor 2-4 is connected with the right-angle reducer 2-3 through a screw, the other end of the right-angle reducer 2-3 is mounted on the reducer mounting plate 2-1 through a screw, and is connected with a walking component mounting plate 5-1 through a hexagon stud.

As shown in FIG. 5, the width adjusting part 3 is composed of a shock absorbing mounting base 3-1, an adjusting bracket 3-2 and a width adjusting mechanism mounting base 3-3; wherein the adjusting bracket 3-2 is formed by welding square hollow steel pipes with the diameter of 25mm by 25mm, and a long slotted hole is formed in the left and right directions of the chassis; the adjusting mechanism mounting seat 3-3 is welded on the adjusting bracket 3-2. The chassis width adjustment is divided into a change in the position of the width adjustment member 3 relative to the frame 1 and a change in the position of the width adjustment member 3 relative to the steering member 2 and the traveling member 5.

As shown in FIG. 6, the damping device 4 comprises a damping position adjusting part 4-1, an upper spring bracket 4-2, a spring 4-3, a nut 4-4 and a lower threaded bracket 4-5. Wherein the damping position adjusting part 4-1 is arranged in C-shaped steel 1-2 welded on the chassis and can slide left and right; the upper side of an upper spring support 4-2 is connected with a damping position adjusting component 4-1 through a pin shaft, the lower side 4-5 of the upper spring support is connected with the upper side of a spring 4-3, the lower side of the spring 4-3 is connected with a lower threaded support 4-5, and the relative position between the spring 4-3 and the lower threaded support 4-5 is changed through an adjusting nut 4-4; the length of the damping device 4 can be adjusted, and the damping requirements of the chassis under different loads are met; the lower side threaded support 4-5 is connected with the damping mounting seat 3-4.

As shown in fig. 1, 7, and 8, the traveling member 5 is mounted below the width adjustment member 3 and is connected to the width adjustment member 3 by a traveling member mounting plate 5-1; the steering component 2 is arranged above the width adjusting component 3, is connected with the width adjusting component 3 through a screw and is connected with the walking component 5 through a coupler.

As shown in figure 8, the walking component 5 comprises a walking component mounting plate 5-1, an upper side angular contact ball bearing 5-2, a motor connecting shaft 5-3, a lower side angular contact ball bearing 5-4, a shaft end cover 5-5, a screw 5-6, a motor mounting seat 5-7, a gasket 5-8, a motor connecting shaft end screw 5-9, a hub servo motor shaft nut 5-10, a hub servo motor 5-11, a track walking wheel 5-12, a deep groove ball bearing 5-13, a walking wheel end cover 5-14, an end cover screw 5-15 and a track walking wheel positioning screw 5-16. The walking part mounting plate 5-1 is connected with the motor connecting shaft 5-3 through a pair of angular contact ball bearings 5-2 and 5-4 which are installed back to back, and the shaft end cover 5-5 is connected to the walking part mounting plate 5-1 through a screw 5-6 and used for limiting the axial movement of the motor connecting shaft 5-3; the upper end of the motor connecting shaft 5-3 is connected with an output shaft of a right-angle speed reducer 2-3 in the steering component 2 through a coupler, and the lower end of the motor connecting shaft is connected with a motor mounting seat 5-7 through a key and is axially fixed through a screw 5-9.

The track traveling wheel 5-12 is connected with the hub servo motor wheel 5-11 through a nut 5-10, the major diameter of the track traveling wheel 5-12 is slightly smaller than the diameter of the hub servo motor wheel 5-11, and a groove is formed between the track traveling wheel 5-12 and the hub servo motor wheel 5-11 and used for track traveling; the track traveling wheels 5-12 and the hub servo motor wheels 5-11 are connected on a shaft and fixed on the motor mounting seats 5-7 through nuts 5-10. The wheel hub servo motors 5-11 are used for walking on the land of the chassis; when the track runs, the wheel hub servo motor 5-11 drives the track running wheel 5-12, and then the chassis runs on the track.

The laser radar 7 is arranged on the laser radar mounting seats 1-4, and the height of the laser radar is that the position of a horizontal laser line is superposed with the central plane of the planting groove in the vertical direction; the front obstacle of the chassis including the planting groove is accurately identified.

The industrial camera 8 is arranged at the lower side of the laser radar mounting seat 1-4, the axial direction of the lens of the industrial camera 8 is downward, and the lens of the industrial camera can rotate; the ground of the multi-span greenhouse, the chassis running track and the track traveling wheels are set to be three different colors which are easy to distinguish; coating the two ends of the rail into another color; when the industrial camera identifies the two ends of the track and the chassis travelling track, the angles and the positions of the two ends of the track and the chassis travelling track are compared, the identified relative position information is transmitted to the control box 6, the control box 6 sends an instruction to control the steering component 2 and the travelling component 5, the chassis travelling angle and the direction are corrected, and the chassis travelling track and the track travelling track are automatically aligned.

As shown in fig. 9, when the wheel hub motors of the chassis are parallel to each other and the end faces of the wheels are horizontal to the front and rear direction of the chassis, the chassis can travel linearly; as shown in fig. 10, the chassis can achieve in-situ steering when the chassis hub motor wheel rotates until its mounting axis converges to a point of intersection. When the chassis hub motor wheels are parallel to each other and vertical to the front and back directions of the chassis, the relative translation of the chassis can be realized; the end face of the hub motor on the rear side of the chassis is kept horizontal to the front and rear direction of the chassis, and the front wheel is inclined at a certain angle, so that Ackerman steering can be realized.

The implementation of the function of relative translation of the chassis is explained in detail below:

referring to fig. 6, 11-19, the upper end of the damping device 4 comprises a damping position adjusting component 4-1 rotatably connected with the main body part thereof, and the damping position adjusting component 4-1 is limited in the transverse track of the frame 1 and can slide along the transverse direction of the frame 1; the lower end of the damping device 4 is rotatably connected with one transverse end of the walking part 5, and the other transverse end of the walking part 5 is rotatably connected with the chassis width adjusting mechanism through a shockproof rotating shaft; the chassis width adjusting mechanism comprises a servo motor 6-3, a chain wheel and a rack shaft 6-7; the rack shaft 6-7 comprises a rack section and a shaft section which are coaxially connected; the servo motor 6-3 longitudinally transmits power to the front side and the rear side of the chassis through a chain and a chain wheel, and the chain wheel is meshed with a rack section of the transverse rack shaft 6-7 to transmit the power to a shaft section of the rack shaft 6-7; a protruding part 6-5 is arranged on the shaft section, as shown in fig. 19, the protruding part 6-5 is fixedly assembled with the width adjusting mechanism, and then the width adjusting mechanism is driven to move transversely; the rack shaft 6-7 is coaxially disposed inside the anti-vibration rotating shaft and is rotatable with respect to the anti-vibration rotating shaft.

When this a dual-purpose four-wheel drive of track changes electronic chassis specifically uses in greenhouse, including the following aspect:

1. in the working process of the chassis, when the chassis walks on land, the chassis linear walking is realized by the same-speed and same-direction rotation of the four hub motor wheels; through the difference of the steering angles of the four-steering servo motor, a plurality of steering and advancing modes such as in-situ rotation, translation, oblique movement, Ackerman steering and the like of the chassis are realized.

2. In the running process of the chassis, when the chassis passes through a road section with uneven road surface, the four wheel hub motor wheels can be ensured to be in a landing state through the four wheel independent damping devices; the relative position of the chassis relative to the multi-span greenhouse and the planting groove is determined through the laser radar, and the autonomous navigation of the chassis is realized.

3. In the greenhouse with different line spacings, the chassis can be adjusted by the width of the chassis, so that the chassis is universal under the planting modes with different line spacings.

4. The ground of the multi-span greenhouse, the chassis running track and the track traveling wheels are set to be three different colors which are easy to distinguish; and the two ends of the rail are painted with another color. When the chassis track switches, when the industry camera discerned track both ends and the orbital colour of chassis traveling, compare with the angle and the position of track walking wheel, the relative position information who will discern is given the controller, and the controller sends instruction control steering part and running part, and angle and direction are gone to the chassis and are revised, realize that the chassis is gone the track and is gone the automatic work of going to the track of track walking wheel.

While the preferred embodiments of the present invention have been described, those skilled in the art will appreciate that various changes and modifications can be made therein without departing from the spirit and scope of the utility model as defined by the appended claims.

Claims

1. A running gear chassis, its characterized in that:

comprises a frame (1), a damping device (4), a walking part (5) and a chassis width adjusting mechanism;

the upper end of the damping device (4) comprises a damping position adjusting component (4-1) which is rotatably connected with the main body part of the damping device, and the damping position adjusting component (4-1) is limited in a transverse track of the rack (1) and can slide along the transverse direction of the rack (1); the lower end of the damping device (4) is rotatably connected with one transverse end of the walking part (5), and the other transverse end of the walking part (5) is rotatably connected with the chassis width adjusting mechanism through a shockproof rotating shaft;

the chassis width adjusting mechanism comprises a servo motor (6-3), a chain wheel and a rack shaft (6-7);

the rack shaft (6-7) comprises a rack section and a shaft section which are coaxially connected; the servo motor (6-3) longitudinally transmits power to the front side and the rear side of the chassis through a chain and a chain wheel, and the chain wheel is meshed with a rack section of the transverse rack shaft (6-7) and transmits the power to a shaft section of the rack shaft (6-7); the shaft section is provided with a protruding part (6-5), and the protruding part is fixedly assembled with the width adjusting mechanism so as to drive the width adjusting mechanism to move transversely;

the rack shaft (6-7) is coaxially arranged inside the shockproof rotating shaft and can rotate relative to the shockproof rotating shaft.

2. The walking device chassis of claim 1, wherein: the damping device (4) further comprises an upper spring support (4-2), a spring (4-3), a nut (4-4) and a lower threaded support (4-5); the upper side of the upper spring support (4-2) is connected with the damping position adjusting component (4-1) through a pin shaft, the lower threaded support (4-5) is connected with the upper side of the spring (4-3), the lower side of the spring (4-3) is connected with the lower threaded support (4-5), and the relative position between the spring (4-3) and the lower threaded support (4-5) is changed through an adjusting nut (4-4), so that the length of the damping device (4) can be adjusted; the lower side provided with a thread support (4-5) is connected with a damping mounting seat (3-4) of the width adjusting part (3).

3. The walking device chassis of claim 1, wherein: the walking part (5) is installed below the chassis width adjusting mechanism and is connected to the chassis width adjusting part through a walking part installing plate.

4. The walking device chassis of claim 3, wherein: the steering component is arranged above the chassis width adjusting mechanism, is connected with the chassis width adjusting mechanism through a screw and is connected with the walking component (5) through a coupler.

5. The walking device chassis of claim 1, wherein: the rack (1) is formed by welding square hollow steel pipes, and the transverse track of the rack (1) is a C-shaped steel guide rail.

6. The running gear chassis of claim 4, wherein: the steering component comprises a steering motor, a right-angle reducer, a reducer mounting plate and a hexagonal stud, wherein the steering motor is connected with the right-angle reducer, and the other end of the reducer is mounted on the reducer mounting plate and connected with the walking component mounting plate.

7. The running gear chassis of claim 4, wherein: the walking part comprises a walking part mounting plate, a motor connecting shaft, a pair of angular contact ball bearings which are mounted back to back, a walking part mounting plate end cover, a motor mounting seat, a hub servo motor and a track walking wheel; the walking part mounting plate is connected with the motor connecting shaft through the pair of angular contact ball bearings which are installed back to back, and the end cover of the walking part mounting plate is connected to the walking part mounting plate through a screw to limit the axial movement of the motor connecting shaft; the upper end of the motor connecting shaft is connected with the coupler, and the lower end of the motor connecting shaft is connected with the motor mounting seat through a key and is axially fixed through a screw.

8. The walking device chassis of claim 7, wherein: the track traveling wheel is connected with the wheel hub servo motor wheel, the major diameter of the track traveling wheel is smaller than the diameter of the wheel hub servo motor wheel, and a groove is formed between the track traveling wheel and the wheel hub servo motor wheel and used for track traveling; the track traveling wheel and the hub servo motor wheel are connected to a shaft and fixed on the motor mounting seat; the hub servo motor is used for the chassis to walk on land; when the rail travels, the wheel hub servo motor drives the rail traveling wheels, and then the chassis travels on the rail.

9. The running gear chassis of claim 5, wherein: still include lidar, lidar installs frame front side two C shaped steel intermediate positions highly are the central plane that lidar level laser line position is on a parallel with the vertical direction of planting groove for the place ahead barrier that chassis including planting the groove traveles is accurately discerned.

10. The walking device chassis of claim 9, wherein: the industrial camera is mounted on the lower side of the laser radar, the axis direction of the industrial camera lens is downward, and the industrial camera lens can rotate; the ground of the multi-span greenhouse, the chassis running track and the track traveling wheels are set to be three different colors which are easy to distinguish; coating the two ends of the rail into another color; when the industrial camera identifies the two ends of the track and the chassis running track, the two ends of the track and the chassis running track are compared with the angle and the position of the track running wheel, the identified relative position information is transmitted to the controller, the controller sends an instruction to control the steering component and the running component, the chassis running angle and the chassis running direction are corrected, and the chassis running track and the track running wheel are automatically aligned.