CN220865154U - Outdoor operation chassis with independent wheel train dynamic adjustment - Google Patents
Outdoor operation chassis with independent wheel train dynamic adjustment Download PDFInfo
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- CN220865154U CN220865154U CN202322102388.3U CN202322102388U CN220865154U CN 220865154 U CN220865154 U CN 220865154U CN 202322102388 U CN202322102388 U CN 202322102388U CN 220865154 U CN220865154 U CN 220865154U
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- 230000001276 controlling effect Effects 0.000 description 2
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Abstract
The utility model relates to an outdoor operation chassis with independent wheel train dynamic adjustment, which comprises a frame, a lifting system, a traveling system and a pose control system, wherein the lower end of the frame is connected with the lifting system and used for controlling the lifting of the frame under the adjustment of the pose control system, the level of the chassis system is adjusted in real time, the bottom of the lifting system is connected with the traveling system and used for carrying the free steering and normal traveling of the whole chassis system, and each component in the pose control system is arranged in the frame. The independent wheel train of the chassis can be lifted, the level of the vehicle body can be adjusted in real time, the obstacle crossing capability of the chassis on complex terrains is improved, the chassis has high trafficability, the application cost is reduced, and the chassis can be applied to various terrains.
Description
Technical Field
The utility model relates to the technical field of inspection robots, in particular to an outdoor operation chassis truck with independent wheel train dynamic adjustment under a high-clearance scene.
Background
At present, in the agricultural field, more and more of inspection robots participate in outdoor operation, can show the manpower sparingly, improve production efficiency. In the different growth cycle of plant, the height of plant is different, therefore the realization height that the chassis of the outdoor operation chassis car of participating in outdoor operation activity is also adaptation goes up and down, satisfies the plant protection demand of different co-altitude, and current high ground clearance outdoor operation chassis in the market hardly realizes the height and goes up and down, and in high ground clearance scene, the vehicle is to specific scene, and product range of application and reuse rate are lower.
Aiming at the problems, the utility model provides the outdoor operation chassis with the independent wheel train dynamic adjustment, the height of the chassis can be lifted, the level of the vehicle body can be regulated in real time, the obstacle crossing capability of the chassis on complex terrains is improved, the chassis has high trafficability, the application cost is reduced, and the convenience with adjustable height can be applied to various actual scenes.
Disclosure of utility model
The utility model aims to solve the problems in the prior art and provides an outdoor operation chassis with an independent wheel train for dynamic adjustment.
In order to achieve the technical purpose and the technical effect, the utility model is realized by the following technical scheme:
The utility model provides an outdoor operation chassis with independent train dynamic adjustment, this chassis system includes frame, operating system, traveling system and position appearance control system, operating system is connected to the lower extreme of frame for the lift of control frame under the regulation of position appearance control system, adjust the level of chassis system in real time, traveling system is connected to operating system's bottom, is used for carrying the free steering and the normal travel of whole chassis system, each components and parts setting in the position appearance control system are in the frame.
Further, the lifting system comprises a lifting servo motor, a lifting sleeve, a supporting sleeve, a lifting screw rod and a lifting mounting plate, wherein the lifting mounting plate is fixedly connected to the frame, a machine body of the lifting servo motor and the lifting sleeve are fixedly connected to the lifting mounting plate, an output shaft of the lifting servo motor is connected through a coupling and drives the lifting screw rod to rotate, a corresponding screw rod nut seat is rotatably arranged on the lifting screw rod and fixedly connected to the supporting sleeve, and the outer side of the supporting sleeve is slidably connected to the lifting sleeve through a linear guide rail, so that the lifting servo motor drives the supporting sleeve to slide and lift in the lifting sleeve through the lifting screw rod and the corresponding screw rod nut seat.
Further, the traveling system comprises a rotary motor, a rotary support, a driving motor, a motor mounting plate and wheels, wherein the rotary support is fixedly connected with a support sleeve above the rotary support, a machine body of the rotary motor is fixedly connected in the rotary support, an output shaft of the rotary motor is connected with the motor mounting plate through a rotary turntable and drives the motor mounting plate to rotate, the machine body of the driving motor is fixedly connected on the motor mounting plate, an output shaft of the driving motor is connected with and drives a driving sprocket through a corresponding speed reducer, the driving sprocket is connected with and drives a driven sprocket to rotate through a chain, and a wheel shaft of the driven sprocket is connected with a wheel shaft of the wheels, so that the driving motor drives the wheels to rotate through a chain transmission mode.
Further, the lower end of the support sleeve is embedded and welded in the slewing bracket.
Further, a bearing seat is arranged between the axle and the hub of the wheel.
Further, the pose control system comprises a gyroscope, a vehicle-mounted controller ECU and a motor driver, wherein the gyroscope is arranged in the center of the frame and used for measuring angle fluctuation of an X plane, a Y plane and a Z plane and transmitting angle fluctuation data to the vehicle-mounted controller ECU, and the vehicle-mounted controller ECU generates driving signals according to the angle fluctuation data and controls and drives the running of the rotary motor, the lifting servo motor and the driving motor through corresponding motor drivers so as to realize steering, lifting leveling and running.
The beneficial effects of the utility model are as follows:
1. The utility model is used as a high chassis outdoor operation vehicle, can meet plant protection requirements of plants in different growth periods and different heights, and improves the short plates of mechanical chassis products in the market in high-clearance application scenes;
2. The height of the chassis can be lifted, the level of the vehicle body can be regulated in real time, the obstacle crossing capability of the chassis on complex terrains is improved, and the chassis has high maneuverability and high trafficability;
3. the function of independent wheel train regulation of the chassis reduces the application cost, and the convenience of adjustable height can be applied to various actual terrain scenes.
Drawings
FIG. 1 is a perspective view of the structure of the present utility model;
FIG. 2 is a top plan view of the structure of the present utility model;
FIG. 3 is a front elevational view of the structure of the present utility model;
FIG. 4 is a perspective view of the lift system of the present utility model;
FIG. 5 is a perspective view of the running system of the present utility model;
FIG. 6 is a diagram of the present utility model for a high plant operation;
FIG. 7 is a pitch attitude view of the present utility model;
Fig. 8 is a circuit block diagram of the present utility model.
The reference numerals in the figures illustrate: 1. a binocular camera; 2. a frame; 3. a lifting system; 4. a walking system; 5. a solar panel assembly; 6. a rotary motor; 7. a lifting servo motor; 8. lifting the sleeve; 9. a linear guide rail; 10. a swivel bracket; 11. a support sleeve; 12. lifting the screw rod; 13. a coupling; 14. a driving motor; 15. a motor mounting plate; 16. a wheel; 17. a bearing seat; 18. a driven sprocket; 19. an axle; 20. a chain; 21. a drive sprocket; 22. and lifting the mounting plate.
Detailed Description
The utility model will be described in detail below with reference to the drawings in combination with embodiments.
The utility model provides an outdoor operation chassis with independent train dynamic adjustment, as shown in fig. 1, this chassis system includes frame 2, operating system 3, traveling system 4 and position appearance control system, operating system 3 is connected to the lower extreme of frame 2 for the lift of control frame 2 under the regulation of position appearance control system, real-time adjustment chassis system's level, traveling system 4 is connected to operating system 3's bottom, is used for carrying the free steering and the normal travel of whole chassis system, each components and parts in the position appearance control system set up in frame 2. In this embodiment, as shown in fig. 2, the frame 2 has a rectangular square structure with a length 1603mm, a width 1455mm and a height 277mm, the side surface of the frame 2 is provided with a bumper strip, the top edge of one or more side surfaces is provided with a binocular camera 1, the top end surface of the frame 2 is provided with a solar panel assembly 5, and the bottom end surface of the frame 2 is connected with a lifting system 3.
As shown in fig. 4, the lifting system 3 includes a lifting servo motor 7, a lifting sleeve 8, a supporting sleeve 11, a lifting screw rod 12 and a lifting mounting plate 22, the lifting mounting plate 22 is fixedly connected on the frame 2, a machine body of the lifting servo motor 7 and the lifting sleeve 8 are fixedly connected on the lifting mounting plate 22, an output shaft of the lifting servo motor 7 is connected through a coupling 13 and drives the lifting screw rod 12 to rotate, a corresponding screw rod nut seat is rotatably arranged on the lifting screw rod 12 and fixedly connected in the supporting sleeve 11, and the outer side of the supporting sleeve 11 is slidably connected in the lifting sleeve 8 through a linear guide rail 9, so that the lifting servo motor 7 drives the supporting sleeve 11 to precisely slide and lift in the lifting sleeve 8 through the lifting screw rod 12 and the corresponding screw rod nut seat. In this embodiment, the lifting system 3 is provided with four groups, and the corresponding running system 4 is also provided with four groups, each running system 4 is provided with one set of lifting system 3, the effective stroke of the lifting screw 12 is selected to be 300mm, and the height of each lifting system 3 is kept consistent during the initial running process, so that the whole frame 2 is kept at a height of about 1.7 m.
As shown in fig. 3 and 5, the running system 4 includes a rotary motor 6, a rotary support 10, a driving motor 14, a motor mounting plate 15 and wheels 16, the rotary support 10 is fixedly connected with a supporting sleeve 11 above the rotary support 10, a machine body of the rotary motor 6 is fixedly connected in the rotary support 10, an output shaft of the rotary motor 6 is connected through a rotary turntable and drives the motor mounting plate 15 to rotate, in this embodiment, the rotary motor 6 and the rotary turntable adopt rotary turntable direct current speed reducing motors, the running system 4 is ensured to realize 360 degrees of free rotation, the machine body of the driving motor 14 is fixedly connected on the motor mounting plate 15, an output shaft of the driving motor 14 is connected through a corresponding speed reducer and drives a driving sprocket 21, the driving sprocket 21 is connected through a chain 20 and drives a driven sprocket 18 to rotate, and a wheel shaft of the driven sprocket 18 is connected on a wheel shaft 19 of the wheels 16, so that the driving motor 14 drives the wheels 16 to rotate in a chain transmission manner, and the diameter of the wheels 16 is 500mm, thereby achieving higher obstacle surmounting capability.
The lower end of the support sleeve 11 is embedded and welded in the slewing bracket 10.
A bearing seat 17 is provided between the axle 19 and the hub of the wheel 16.
As shown in fig. 8, the pose control system includes a gyroscope, a vehicle-mounted controller ECU and a motor driver, where the gyroscope is disposed in the center of the frame 2 and is used to measure angle fluctuation of the X, Y and Z planes and transmit the angle fluctuation data to the vehicle-mounted controller ECU, and the vehicle-mounted controller ECU generates a driving signal according to the angle fluctuation data and controls the operation of the swing motor 6, the lift servo motor 7 and the driving motor 14 through corresponding motor drivers so as to implement steering, lift leveling and running.
The following is illustrative of different scenarios:
In the normal plane running process, signals acquired by a gyroscope are sent to an ECU (electronic control unit) through an I/O interface circuit, fluctuation of the gyroscope is 0-10 degrees in a sampling period, the plane running is judged, the ECU calls corresponding parameters and sends the corresponding parameters to a corresponding motor in a lifting system 3 through a CAN (controller area network) bus to drive a lifting servo motor 7 to act, a frame 2 is lowered to the lowest position through the lifting system 3, the lifting servo motor 7 is connected with a lifting screw rod 12 through a coupler 13, the bottom of the lifting screw rod 12 is arranged on a supporting sleeve 11 through a screw nut seat, the lifting screw rod 12 pushes the supporting sleeve 11 to move downwards, a linear guide rail 9 and a corresponding sliding block structure are correspondingly arranged between the supporting sleeve 11 and the lifting sleeve 8 and used for relatively accurately sliding, at the moment, the center of gravity of the whole chassis is moved downwards independently, when the lifting adjustment is finished, a self-locking function CAN be realized because the lifting screw rod 12 is used for transmission, and the ECU calls corresponding parameters and sends the corresponding parameters to the corresponding motor in a walking system 4 through the CAN bus to drive, and the rotating speed of the driving motor 14 is controlled to be 4km/h, namely the whole chassis CAN independently run independently, the lifting system CAN run, the four-plant plants CAN be lifted up and run, and the four plant groups are kept high by the lifting system 2 when the ECU is set up and the four plant lifting system 2 is kept high by the lifting plant lifting system 3 as shown in figure 6. The same control logic, when the fluctuation of the gyroscope is outside 10 ° in the sampling period, is non-planar running, because in the embodiment, because four groups of lifting systems 3 are arranged, the gyroscope detects which position is at a low position, so that the lifting system 3 controlling that position is driven to lift the frame 2 of the position, or which position is at a high position, so that the lifting system 3 controlling that position is driven to lower the frame 2 of the position, the same time can be performed, so that the frame 2 is kept in a relatively horizontal state all the time, namely, the gyroscope is matched with the lifting system 3 to level, as shown in fig. 7, since the working chassis is on an inclined plane, the left side position of the frame 2 in fig. 7 is at a low position, and leveling is needed, and at the moment, only the vehicle-mounted controller ECU controls the lifting system 3 at the left side to lift the frame 2 of the position and/or the right side lifting system 3 to lower the frame 2 of the high position can realize leveling.
The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (6)
1. The utility model provides an outdoor operation chassis with independent train dynamic adjustment, its characterized in that includes frame (2), operating system (3), traveling system (4) and position appearance control system, operating system (3) are connected to the lower extreme of frame (2) for control the lift of frame (2) under the regulation of position appearance control system, adjust the level of chassis system in real time, traveling system (4) are connected to the bottom of operating system (3) for take the free steering and the normal travel of whole chassis system, each components and parts setting in position appearance control system are in frame (2).
2. The outdoor operation chassis with independent wheel train dynamic adjustment according to claim 1, characterized in that the lifting system (3) comprises a lifting servo motor (7), a lifting sleeve (8), a supporting sleeve (11), a lifting screw rod (12) and a lifting mounting plate (22), the lifting mounting plate (22) is fixedly connected on a frame (2), a machine body of the lifting servo motor (7) and the lifting sleeve (8) are fixedly connected on the lifting mounting plate (22), an output shaft of the lifting servo motor (7) is connected through a coupler (13) and drives the lifting screw rod (12) to rotate, a corresponding screw rod nut seat is rotatably arranged on the lifting screw rod (12) and fixedly connected in the supporting sleeve (11), and the outer side of the supporting sleeve (11) is slidably connected in the lifting sleeve (8) through a linear guide rail (9), so that the lifting servo motor (7) slides and lifts in the lifting sleeve (8) through the lifting screw rod (12) and the corresponding screw rod nut seat.
3. The outdoor operation chassis with independent wheel train dynamic adjustment according to claim 2, characterized in that the traveling system (4) comprises a rotary motor (6), a rotary support (10), a driving motor (14), a motor mounting plate (15) and wheels (16), the rotary support (10) is fixedly connected with a supporting sleeve (11) above the rotary support, a machine body of the rotary motor (6) is fixedly connected in the rotary support (10), an output shaft of the rotary motor (6) is connected with the driving motor mounting plate (15) through a rotary turntable to rotate, a machine body of the driving motor (14) is fixedly connected with the motor mounting plate (15), an output shaft of the driving motor (14) is connected with and drives a driving sprocket (21) through a corresponding speed reducer, the driving sprocket (21) is connected with and drives a driven sprocket (18) to rotate through a chain (20), and an axle (19) of the driven sprocket (18) is connected with an axle (19) of the wheels (16) to enable the driving motor (14) to drive the wheels (16) to rotate through a chain transmission mode.
4. An outdoor work chassis with independent wheel train dynamic adjustment according to claim 3, characterized in that the lower end of the support sleeve (11) is embedded and welded in a swivel bracket (10).
5. An outdoor work chassis with independent wheel train dynamic adjustment according to claim 3, characterized in that a bearing seat (17) is provided between the axle (19) and the hub of the wheel (16).
6. An outdoor work chassis with independent wheel train dynamic adjustment according to claim 3, characterized in that the attitude control system comprises a gyroscope, an onboard controller ECU and a motor drive, wherein the gyroscope is arranged in the center of the frame (2) for measuring the angle fluctuation of the X, Y, Z plane and transmitting the angle fluctuation data to the onboard controller ECU, which generates drive signals according to the angle fluctuation data and controls the operation of the drive swing motor (6), the lift servo motor (7) and the drive motor (14) through corresponding motor drive to realize steering, lift leveling and running.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322102388.3U CN220865154U (en) | 2023-08-07 | 2023-08-07 | Outdoor operation chassis with independent wheel train dynamic adjustment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322102388.3U CN220865154U (en) | 2023-08-07 | 2023-08-07 | Outdoor operation chassis with independent wheel train dynamic adjustment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220865154U true CN220865154U (en) | 2024-04-30 |
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ID=90819005
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322102388.3U Active CN220865154U (en) | 2023-08-07 | 2023-08-07 | Outdoor operation chassis with independent wheel train dynamic adjustment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220865154U (en) |
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2023
- 2023-08-07 CN CN202322102388.3U patent/CN220865154U/en active Active
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