CN217294676U

CN217294676U - Modularized multifunctional agricultural robot platform

Info

Publication number: CN217294676U
Application number: CN202220988909.2U
Authority: CN
Inventors: 张博; 刘立超; 孙可可; 陈黎卿; 方旭; 何家勋
Original assignee: Anhui Agricultural University AHAU; Institute of Artificial Intelligence of Hefei Comprehensive National Science Center
Current assignee: Anhui Agricultural University AHAU; Institute of Artificial Intelligence of Hefei Comprehensive National Science Center
Priority date: 2022-04-22
Filing date: 2022-04-22
Publication date: 2022-08-26
Anticipated expiration: 2032-04-22

Abstract

The utility model discloses a modularized multifunctional agricultural robot platform, which belongs to the technical field of agricultural machinery; a modularized multifunctional agricultural robot platform comprises a frame, wherein the frame is of a double-layer type three-dimensional rectangular frame structure and comprises hollow aluminum pipes, solid aluminum rods and supporting clamps, the supporting clamps are arranged at four corners of the rectangular frame, and the tail ends of the hollow aluminum pipes and the solid aluminum rods are connected with the supporting clamps; the supporting clamp is also connected with a Y-shaped clamp, the Y-shaped clamp is connected with a supporting rod, and the bottom end of the supporting rod is connected with an assembled travelling mechanism; the solid aluminum rod of the frame is connected with a T-shaped clamp, and the upper layer solid aluminum rod is connected with an operation machine connecting device through the T-shaped clamp; the solid aluminum rod of lower floor is connected with the box through T type anchor clamps, has the case lid through hinge swing joint on the box, and inside fixed mounting of box has power and control mechanism. The utility model discloses be convenient for adjust modular component according to using the scene, can adapt to multiple operation environment.

Description

Modular multifunctional agricultural robot platform

Technical Field

The utility model relates to the technical field of agricultural machinery, specifically be a multi-functional agricultural robot platform of modularization.

Background

With the development of economy and science and technology in China, agricultural robots are more and more widely applied in recent years. The agricultural robot platform is used as a carrier for agricultural production operations such as field information acquisition, fruit and vegetable picking and the like of the robot, becomes a research hotspot of scientific research institutions and high-tech enterprises in China, and develops very rapidly. The agricultural robot platform can support and install various sensors, control modules and operating mechanisms, and provides important guarantee for realizing field running and completing specific field tasks.

The environment of agricultural production is complicated, and different agricultural environment and application need different agricultural robots, but, agricultural robot is designed at present and can only be operated in an agricultural environment, or accomplish certain job task, like field information acquisition, seeding, spout medicine. Therefore, the design of a modularized agricultural robot platform capable of adapting to various working environments has important significance

SUMMERY OF THE UTILITY MODEL

1. The technical problem to be solved by the utility model

An object of the utility model is to provide a can adapt to multiple operational environment, accomplish the multi-functional agricultural robot platform of modularization of job task to solve the defect that mentions in the background art.

2. Technical scheme

In order to achieve the above object, the utility model provides a following technical scheme:

a modularized multifunctional agricultural robot platform comprises a frame, wherein the frame is of a double-layer type three-dimensional rectangular frame structure and comprises hollow aluminum pipes, solid aluminum rods and supporting clamps, the hollow aluminum pipes are arranged at the front end and the rear end, the solid aluminum rods are arranged at two sides, the supporting clamps are arranged at four corners of the rectangular frame, and the tail ends of the hollow aluminum pipes and the solid aluminum rods are connected with the supporting clamps; the supporting fixture is also connected with a Y-shaped fixture, the Y-shaped fixture is connected with a supporting rod, and the bottom end of the supporting rod is connected with an assembled travelling mechanism; the solid aluminum rod of the frame is connected with a T-shaped clamp, and the solid aluminum rod on the upper layer is connected with an operation machine connecting device through the T-shaped clamp; lower floor be connected with the box through T type anchor clamps on the solid aluminium pole, there is the case lid through hinge swing joint on the box, inside fixed mounting of box has power and control mechanism.

Preferably, the supporting clamp comprises an upper clamp body and a lower clamp body, the upper clamp body is fixedly connected with the lower clamp body through a connecting rod, the upper clamp body and the lower clamp body are respectively provided with a first connecting hole and a second connecting hole, two ends of the hollow aluminum pipe are inserted into the first connecting holes in a penetrating mode, and two ends of the solid aluminum rod are inserted into the second connecting holes in a inserting mode.

Preferably, the assembled running gear is a universal wheel, and the universal wheel is fixedly connected with the bottom end of the supporting rod through a connecting bolt.

Preferably, the assembled traveling mechanism comprises a steering module and a driving module, the steering module comprises a fixing frame and a steering motor, the outer surface of the upper end of the fixing frame is fixedly connected with the bottom end of the supporting rod through a connecting bolt, and a motor front cover of the steering motor is fixedly connected to the fixing frame; the driving module comprises a supporting plate, wheels and a driving motor, the supporting plate is arranged below the steering module, the top surface of the supporting plate is fixedly connected with an output shaft of the steering motor, the driving motor is fixedly arranged at the lower end of the supporting plate, and a single wire pressing block is arranged on a rear end cover of the driving motor; the wheels are fixedly connected with an output shaft of the driving motor.

Preferably, the work tool connecting device comprises a high-position mounting frame and a cross-shaped fixture, the cross-shaped fixture is slidably mounted on the solid aluminum rod, the bottom end of the high-position mounting frame is inserted into the cross-shaped fixture, and the high-position mounting frame is fixedly mounted on the frame through the cross-shaped fixture.

Preferably, operation machines connecting device includes crossbeam and hoist mechanism, connecting bolt and T type anchor clamps fixed connection are passed through at the crossbeam both ends, hoist mechanism connects on the crossbeam, hoist mechanism is including promoting motor, slider, lead screw, support and motor cabinet, the support passes through fixing bolt and crossbeam fixed connection, motor cabinet fixed connection is on the top of support, it installs on the motor cabinet to promote motor fixed, the lead screw top and the output shaft fixed connection who promotes the motor, the bottom of lead screw is rotated and is connected on the bottom surface of support, slider screwed connection is on the lead screw, one side of slider and the perpendicular inside wall sliding contact of support, still be provided with on the slider with operation machines assorted mounting groove.

3. Advantageous effects

(1) The utility model discloses a frame comprises hollow aluminum pipe and solid aluminum pole and purpose-built supporting jig of aluminium system, can be according to the operation needs through the manual wheel tread that changes the device body of the length that changes the hollow aluminum pipe in frame front and back, can also reconfigure out the super wide version of 6 rounds as required based on basic module simultaneously, and simple to operate, the accuracy is high. The simple structure of frame adopts the aluminum product to make the whole quality of robot platform little, reduces to soil mechanical compaction, can prevent effectively that soil quality from declining, causes adverse effect to crop growth, causes the condition of crop reduction to take place.

(2) The utility model can load different types of operation machine connecting devices on the frame according to the needs, thereby carrying different operation machines such as ditching, seeding, weeding and the like through the operation machine connecting devices according to the actual operation requirements; and simultaneously, the utility model discloses an all round independent drive turns to, and mobility is strong, the flexibility is good.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic structural view of the supporting clamp of the present invention;

fig. 3 is a schematic structural view of the lifting mechanism of the present invention;

FIG. 4 is a schematic structural view of the four-wheel two-drive version of the present invention;

fig. 5 is a schematic structural view of a six-wheel widened version of the present invention;

fig. 6 is a schematic structural diagram of a four-wheel drive high frame version of the present invention;

fig. 7 is a schematic structural diagram of the two-wheel drive high frame version of the present invention.

Description of reference numerals:

1. a hollow aluminum tube; 2. a solid aluminum rod; 3. a T-shaped clamp; 4. supporting the clamp; 401. an upper clamp body; 402. a lower clamp body; 403. a connecting rod; 404. a first connection hole; 405. a second connection hole; 5. a Y-shaped clamp; 6. a support bar; 7. a fixed mount; 8. a steering motor; 9. a support plate; 10. a wheel; 11. a drive motor; 12. a box body; 13. a box cover; 14. a single wire pressing block; 15. a cross beam; 16. a hoisting motor; 17. a slider; 18. a lead screw; 19. a support; 20. a motor base; 21. a cross-shaped fixture; 22. high-order mounting bracket.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1:

referring to fig. 1-3, a modular multifunctional agricultural robot platform comprises a frame, wherein the frame is of a double-layer type three-dimensional rectangular frame structure and is composed of a hollow aluminum pipe 1, a solid aluminum rod 2 and supporting clamps 4, the hollow aluminum pipe 1 is arranged at the front end and the rear end, the solid aluminum rod 2 is arranged at two sides, the supporting clamps 4 are arranged at four corners of the rectangular frame, and the tail ends of the hollow aluminum pipe 1 and the solid aluminum rod 2 are connected with the supporting clamps 4; the supporting clamp 4 is also connected with a Y-shaped clamp 5, the Y-shaped clamp 5 is connected with a supporting rod 6, and the bottom end of the supporting rod 6 is connected with an assembled travelling mechanism; the solid aluminum rod 2 of the frame is connected with a T-shaped clamp 3, and the upper layer solid aluminum rod 2 is connected with an operation machine connecting device through the T-shaped clamp 3; the solid aluminum rod 2 of lower floor is last to be connected with box 12 through T type anchor clamps 3, has case lid 13 through hinge swing joint on the box 12, and inside fixed mounting of box 12 has power and control mechanism.

The supporting clamp 4 comprises an upper clamp body 401 and a lower clamp body 402, the upper clamp body 401 and the lower clamp body 402 are fixedly connected through a connecting rod 403, the upper clamp body 401 and the lower clamp body 402 are both provided with a first connecting hole 404 and a second connecting hole 405, two ends of the hollow aluminum tube 1 are inserted into the first connecting hole 404 in a penetrating mode, and two ends of the solid aluminum rod 2 are inserted into the second connecting hole 405 in a inserting mode.

The assembled travelling mechanism comprises a steering module and a driving module, the steering module comprises a fixing frame 7 and a steering motor 8, the outer surface of the upper end of the fixing frame 7 is fixedly connected with the bottom end of the supporting rod 6 through a connecting bolt, and a motor front cover of the steering motor 8 is fixedly connected to the fixing frame 7; the driving module comprises a supporting plate 9, wheels 10 and a driving motor 11, the supporting plate 9 is arranged below the steering module, the top surface of the supporting plate 9 is fixedly connected with an output shaft of the steering motor 8, the driving motor 11 is fixedly arranged at the lower end of the supporting plate 9, and a single wire pressing block 14 is arranged on a rear end cover of the driving motor 11; the wheel 10 is fixedly connected with an output shaft of a driving motor 11.

Operation machines connecting device includes crossbeam 15 and hoist mechanism, connecting bolt and 3 fixed connection of T type anchor clamps are passed through at crossbeam 15 both ends, hoist mechanism connects on crossbeam 15, hoist mechanism is including lifting motor 16, slider 17, lead screw 18, support 19 and motor cabinet 20, support 19 passes through fixing bolt and crossbeam 15 fixed connection, motor cabinet 20 fixed connection is on the top of support 19, lifting motor 16 fixed mounting is on motor cabinet 20, the output shaft fixed connection on lead screw 18 top and lifting motor 16, the bottom of lead screw 18 is rotated and is connected on the bottom surface of support 19, slider 17 screwed connection is on lead screw 18, one side of slider 17 and the perpendicular inside wall sliding contact of support 19, still be provided with on slider 17 with operation machines assorted mounting groove.

The frame of the modularized multifunctional agricultural robot platform provided by the embodiment is composed of an aluminum hollow aluminum pipe 1, a solid aluminum rod 2 and a special supporting clamp 4, and the wheel track of the device body can be manually changed by changing the length of the hollow aluminum pipe 1 in the front and back of the frame according to the operation requirement; in addition, the frame is simple in structure, the overall mass of the robot platform is reduced by adopting aluminum materials, the mechanical compaction of soil is reduced, the soil quality can be effectively prevented from being reduced, adverse effects on the growth of crops are avoided, and the yield reduction of the crops is caused; furthermore, the frame of the device body is connected with the operation machine tool connecting device, so that the connection and the adjustment with the operation machine tool can be conveniently completed; finally, the utility model discloses the assembled running gear of mechanism has adopted the independent drive of all round to turn to, and mobility is strong, the flexibility is good.

Example 2:

referring to fig. 4 and 7, based on embodiment 1 but with the difference that,

in the embodiment, the steering module and the driving module which are provided with independent steering and driving capabilities at the front end or the rear end of the device body are replaced by the universal wheels which can be assembled and connected with the supporting rod 6, so that the device body is changed from an original four-wheel drive mode to a two-wheel drive mode.

Example 3:

referring to fig. 5, based on the embodiments 1-2 but with the difference that,

in the embodiment, a new 'frame' is further connected and formed on the left side or the right side of the frame through the supporting clamp 4, so that a six-wheel version with an ultra-wide wheel track can be formed, and the operation efficiency of the body can be effectively improved according to actual needs.

Example 4:

referring to fig. 6 to 7, based on embodiments 1 to 3, but with a difference,

this embodiment is connected with high-order mounting bracket 22 through cross anchor clamps 21 fixed mounting in frame top, and this design is applicable to and highly higher operation machines's combination uses, through this design, better reinforcing the utility model discloses an application scope.

The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the modified concept of the present invention within the technical scope disclosed in the present invention.

Claims

1. A modularized multifunctional agricultural robot platform is characterized by comprising a frame, wherein the frame is of a double-layer type three-dimensional rectangular frame structure and comprises hollow aluminum pipes (1), solid aluminum rods (2) and supporting clamps (4), the hollow aluminum pipes (1) are arranged at the front end and the rear end, the solid aluminum rods (2) are arranged at two sides, the supporting clamps (4) are arranged at four corners of the rectangular frame, and the tail ends of the hollow aluminum pipes (1) and the solid aluminum rods (2) are connected with the supporting clamps (4); the supporting clamp (4) is also connected with a Y-shaped clamp (5), the Y-shaped clamp (5) is connected with a supporting rod (6), and the bottom end of the supporting rod (6) is connected with an assembled travelling mechanism; the solid aluminum rod (2) of the frame is connected with a T-shaped clamp (3), and the upper layer of the solid aluminum rod (2) is connected with an operation machine connecting device through the T-shaped clamp (3); lower floor be connected with box (12) through T type anchor clamps (3) on solid aluminium pole (2), there is case lid (13) through hinge swing joint on box (12), the inside fixed mounting of box (12) has power and control mechanism.

2. The modular multifunctional agricultural robot platform of claim 1, wherein the supporting clamp (4) comprises an upper clamp body (401) and a lower clamp body (402), the upper clamp body (401) and the lower clamp body (402) are fixedly connected through a connecting rod (403), the upper clamp body (401) and the lower clamp body (402) are respectively provided with a first connecting hole (404) and a second connecting hole (405), two ends of the hollow aluminum tube (1) are inserted in the first connecting hole (404) in a penetrating manner, and two ends of the solid aluminum rod (2) are inserted in the second connecting hole (405).

3. The modular multifunctional agricultural robot platform according to claim 1, characterized in that the assembled running gear is a universal wheel, and the universal wheel is fixedly connected with the bottom end of the support rod (6) through a connecting bolt.

4. The modular multifunctional agricultural robot platform according to claim 1, wherein the assembled walking mechanism comprises a steering module and a driving module, the steering module comprises a fixing frame (7) and a steering motor (8), the outer surface of the upper end of the fixing frame (7) is fixedly connected with the bottom end of the supporting rod (6) through a connecting bolt, and the motor front cover of the steering motor (8) is fixedly connected to the fixing frame (7); the driving module comprises a supporting plate (9), wheels (10) and a driving motor (11), the supporting plate (9) is arranged below the steering module, the top surface of the supporting plate (9) is fixedly connected with an output shaft of the steering motor (8), the driving motor (11) is fixedly arranged at the lower end of the supporting plate (9), and a single wire pressing block (14) is arranged on a rear end cover of the driving motor (11); the wheels (10) are fixedly connected with an output shaft of the driving motor (11).

5. The modular multifunctional agricultural robot platform according to claim 1, wherein the work implement attachment means comprises a high mount (22) and a cross clamp (21), the cross clamp (21) is slidably mounted on the solid aluminum rod (2), the bottom end of the high mount (22) is inserted into the cross clamp (21), and the high mount (22) is fixedly mounted on the frame by means of the cross clamp (21).

6. The modular multifunctional agricultural robot platform of claim 1, wherein the working tool connecting device comprises a cross beam (15) and a lifting mechanism, both ends of the cross beam (15) are fixedly connected with the T-shaped clamp (3) through connecting bolts, the lifting mechanism is connected to the cross beam (15), the lifting mechanism comprises a lifting motor (16), a sliding block (17), a lead screw (18), a bracket (19) and a motor base (20), the bracket (19) is fixedly connected with the cross beam (15) through a fixing bolt, the motor base (20) is fixedly connected to the top end of the bracket (19), the lifting motor (16) is fixedly installed on the motor base (20), the top end of the lead screw (18) is fixedly connected with an output shaft of the lifting motor (16), and the bottom end of the lead screw (18) is rotatably connected to the bottom surface of the bracket (19), slider (17) threaded connection is on lead screw (18), one side of slider (17) and the perpendicular inside wall sliding contact of support (19), still be provided with on slider (17) with operation machines assorted mounting groove.