CN113400352A - Leveling mechanism of agricultural operation moving platform - Google Patents
Leveling mechanism of agricultural operation moving platform Download PDFInfo
- Publication number
- CN113400352A CN113400352A CN202110680968.3A CN202110680968A CN113400352A CN 113400352 A CN113400352 A CN 113400352A CN 202110680968 A CN202110680968 A CN 202110680968A CN 113400352 A CN113400352 A CN 113400352A
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- China
- Prior art keywords
- platform
- driving
- electric push
- moving platform
- vehicle body
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B76/00—Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Soil Working Implements (AREA)
Abstract
The invention relates to a leveling mechanism of an agricultural operation moving platform, which comprises a driving mechanism and a steering mechanism at the bottom of a vehicle body, a vehicle body leveling mechanism and a vehicle body platform, wherein the driving device adopts a chain wheel and a chain to drive a driving wheel to realize the moving operation of the vehicle body; the steering device adopts two universal wheels to realize steering; the vehicle body leveling mechanism keeps the vehicle body platform level with the ground all the time by adjusting the four electric push rods in real time, so that the influence of the undulating ground among ridges on the operation of the operation moving platform can be reduced; the invention adopts double-wheel differential drive, and the movement is more flexible; the self-balancing design of the operation platform can be adopted to cope with complex field operation, and the operation precision can be effectively improved. The inclination angle of the platform relative to the central fixed point is sensed by a double-shaft inclination sensor arranged in the middle of the picking platform, inclination information is transmitted to the single chip microcomputer, and then the lifting of the push rod is controlled.
Description
The technical field is as follows:
the invention relates to leveling of an agricultural operation mobile platform, and belongs to the technical field of intelligent agricultural machinery equipment.
Background art:
along with the development of science and technology, the intelligent degree of agricultural machinery equipment is gradually improved, the trend that the agricultural robot works instead of manual work is achieved, and the mobile platform is the basis of the agricultural robot. The agricultural robot has many successful applications, the agricultural robot and the mechanization can bring huge economic benefits to modern agriculture, and the agricultural robot has wide market prospect, but the current robot mobile platform has the defect of unstable walking in the aspect of large-scale application. The extensive research and application of the agricultural robot mobile platform can be an important way for reducing the agricultural operation cost and improving the agricultural operation efficiency, and can also be a landmark product for developing intelligent agriculture in China.
The invention content is as follows:
in order to solve the leveling problem of the agricultural robot moving platform, the invention designs the agricultural robot moving platform.
An agricultural robot moving platform comprises a steering mechanism and a driving mechanism at the bottom of the moving platform, a platform leveling mechanism and a mounting platform, wherein the steering mechanism adopts two universal wheels to realize steering; the driving mechanism adopts a chain wheel and a chain to drive a driving wheel to realize the driving of the mobile platform; the platform leveling mechanism and the mounting platform are arranged on the moving platform, four electric push rods are adopted for driving, and the mounting platform is always kept in a horizontal state on uneven road surfaces by adjusting the extension and retraction of the electric push rods.
The driving mechanism comprises a driving wheel, a driving motor, a speed reducer, a flange, a driving chain wheel, a driven chain wheel, a chain, a pin shaft and a power transmission line, wherein the driving motor drives the chain wheel and the chain to drive the driving wheel to realize the driving of the whole vehicle; the differential operation of the driving motor drives the steering of the universal wheels; the output shaft of the driving motor is connected with the input shaft of the speed reducer, the rotating speed can be reduced, the torque is improved, the driving motor is connected with the driving wheel support through the motor supporting seat, the speed reducer is connected with the driving chain wheel through a flange, the flange is connected with the driving chain wheel through a pin shaft, and the driving wheel support is connected with the platform through the mobile platform support.
The platform leveling mechanism and the mounting platform comprise electric push rods, electric push rod bases and moving platform pillars, the electric push rods are connected with the vehicle body platform, the electric push rod bases are connected with the moving platform pillars, and when the road surface is uneven, the platforms can be kept in a horizontal state all the time by adjusting the extension of the four electric push rods. The specific leveling mode is as follows: the inclination angle alpha of the vehicle body relative to an X axis and the inclination angle beta of the vehicle body relative to a Y axis are sensed through the inclination angle sensor arranged on the platform, and the lifting of the four electric push rods is controlled through the main control board.
The agricultural robot moving platform has the following beneficial effects.
In the invention, most parts adopt section bars, so the cost is low and the economy is good.
According to the invention, four electric push rods are arranged on the four supporting columns, the platform can be kept in a horizontal state all the time by adjusting the stroke length of the electric push rods so as to adjust the walking stability of the platform, and the electric push rod leveling has the advantages of capability of reciprocating linear motion of the push rods, good linearity, high leveling precision and capability of improving the operation precision of the mobile platform compared with other leveling modes.
The components (the flange and the pin shaft) can cut off power transmission by taking down the pin shaft when the electric quantity of the driving motor is not enough to drive the vehicle body to move, so that the mobile platform can be pushed to move manually.
Description of the drawings:
FIG. 1: the invention discloses a structural schematic diagram of an agricultural operation mobile platform.
FIG. 2: the invention turns to a schematic structure.
FIG. 3: the driving structure of the invention is schematically shown.
FIG. 4: the invention discloses a mobile platform support.
FIG. 5: a picking platform coordinate system.
Description of reference numerals:
1-leveling device; 2-a steering device; 3-a drive device; 4, electrically pushing the first rod; 5, an electric push rod II; 6, mounting a platform; 7-electric push rod III; 8, electrically driving a fourth push rod; 9-driving wheel support frame; 10-a driven sprocket; 11-a drive wheel; 12-a drive motor; 13-a motor support frame; 14-a reducer; 15-a reducer support frame; 16-a flange; 17-a drive sprocket; 18-a pin shaft; 19-a chain; 20-universal wheels; 21-a rotating wheel support assembly; 22-a universal wheel rotation assembly; 23-a pillar; 24-electric push rod base; 25-electric push rod upper mounting plate.
The specific implementation mode is as follows:
the present invention will be further explained in detail with reference to the drawings and the embodiments.
As shown in fig. 1, the agricultural picking people moving platform comprises a steering device 2 and a driving device 3 at the bottom of the platform, a platform leveling device 1 and a mounting platform 6, wherein the steering device 2 realizes steering by adopting differential speed of two universal wheels 19; the driving device 3 adopts a chain wheel and a chain to drive the driving wheel 11 to realize the driving of the mobile platform; the automobile body leveling 1 and the mounting platform 6 are arranged on the moving platform, four electric push rods are adopted for driving (a first electric push rod 4, a second electric push rod 5, a third electric push rod 7 and a fourth electric push rod 8), and the mounting platform 6 is always kept in a horizontal state on uneven road surfaces by adjusting the extension and retraction of the electric push rods.
The platform leveling 1 and the mounting platform 6 comprise electric push rods, electric push rod bases 24, moving platform supports 23, the bases 24 are welded and mounted on the moving platform supports 23, and when the road surface is uneven, the four electric push rods (an electric push rod I4, an electric push rod II 5, an electric push rod III 7 and an electric push rod IV 8) are adjusted to stretch out and draw back, so that the mounting platform 6 is always kept in a horizontal state. The specific leveling mode is as follows: the inclination angle alpha of the vehicle body relative to an X axis and the inclination angle beta of the vehicle body relative to a Y axis are sensed through the inclination angle sensor arranged on the platform, and the lifting of the four electric push rods is controlled through the main control board.
The driving device 3 comprises a driving wheel 11, a driving motor 12, a speed reducer 14, a flange 16, a driving sprocket 17, a driven sprocket 10 and a chain 19, wherein the driving motor 12 drives the driving sprocket 17 to rotate through the speed reducer 14 so as to drive the driven sprocket 10 to rotate, and further drives the driving wheel 11 to realize the driving of the whole vehicle; the driving sprocket 17 and the driven sprocket 10 transmit torque by meshing with the chain 19; the driving motor 12 is connected with the driving wheel support frame 9 through the motor support frame 13 through screws, an output shaft of the driving motor 12 is connected with an input shaft of the speed reducer 14, the rotating speed can be reduced, the torque can be improved, the speed reducer 14 is connected with the driving wheel support frame 9 through the speed reducer support frame 15 through screws, therefore, the supporting force of the driving motor 12 and the speed reducer 14 is improved, and the influence on the work of the mobile platform due to vibration generated by the driving motor 12 in the working process is avoided; the driving motor 12 and the speed reducer 14 are fixed through screws, the driving sprocket 17 and the speed reducer 14 are connected through a flange 16, and the connection between the flange 16 and the driving sprocket 17 is realized through a pin shaft 18.
Specifically, the pin shaft 18 has the effect that when the driving motor 12 consumes too much electric power in the field and is not enough to drive the vehicle body to advance, the driving torque of the moving platform is too large, the moving platform cannot move in the field depending on manpower, so the pin shaft 18 can be taken down, the power connection between the driving motor 12 and the driving chain wheel 17 is isolated, the moving platform can be moved by manpower at the moment, and the driving wheel support 9 is connected with the vehicle body platform 6 through the leveling mechanism 1.
Rectangular steel is selected for the material of platform pillar 23, passes through welded connection with electric putter base 24, installs on drive wheel supports 9, can increase the bearing capacity when moving platform during operation.
The working principle of the invention is as follows:
the height of the platform main body can be integrally raised or reduced by the mobile platform, and the electric push rod structure can be adjusted according to terrain conditions so as to ensure the level of the platform main body, thereby ensuring the operation precision of the information acquisition sensor taking the platform as a carrier and the agricultural robot mobile platform. When the whole height needs to be adjusted in the operation, 4 independent angle sensors sense the angle needing to be adjusted, the main control board calculates the height needing to be adjusted and controls the rising or falling of 4 electric push rods, and therefore the independent adjustment of the heights of the 4 leg mechanisms is achieved.
Assuming that the length and the width of the platform are a, L is the original length of the push rod, adopting a central point immobility method to establish an OXYZ rectangular coordinate system by the picking platform, and obtaining the following result after the movable platform rotates around XY axes in space:
support point P in moving platform coordinate system1，P2，P3，P4The coordinates are:
the length of the push rod rising or falling relative to the central point is:
the foregoing is considered as illustrative of the preferred embodiments of the invention and it is understood that the invention is not limited thereto but may be embodied with various modifications within the spirit and scope of the invention.
Claims (4)
1. An agricultural operation moving platform comprises a steering device and a driving device at the bottom of a vehicle body, a platform leveling mechanism and an installation platform, wherein the steering device adopts two rotating wheels to realize steering; the driving device adopts a chain wheel and a chain to drive a driving wheel to realize the driving of the mobile platform; the platform leveling mechanism and the mounting platform are arranged on the moving platform, four electric push rods are adopted for driving, and the mounting platform is always kept in a horizontal state on uneven road surfaces by adjusting the stroke length of the electric push rods.
2. The agricultural operation moving platform according to claim 1, wherein the driving mechanism comprises a driving wheel, a driving motor, a speed reducer, a flange, a driving sprocket, a driven sprocket, a chain, and a pin shaft, the driving motor drives the driving wheel to walk through the sprocket and the chain, the driving motor rotates in a differential speed to steer the universal wheel, the driving sprocket is connected with the speed reducer through the flange, the flange is connected with the driving sprocket through the pin shaft, the driving motor is connected with the speed reducer to reduce the rotating speed and increase the torque, the driving motor is connected with the speed reducer, the driving motor is connected with a driving wheel support through a motor support seat, and the driving wheel support is connected with the mounting platform through a moving platform support.
3. The agricultural operation moving platform of claim 1, wherein the platform leveling mechanism and the moving platform comprise an electric push rod, an electric push rod base and a moving platform support, the electric push rod base is mounted on the moving platform support, and the electric push rod is connected with the mounting platform through an upper mounting plate.
4. Length of rising or falling of push rod:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110680968.3A CN113400352A (en) | 2021-06-18 | 2021-06-18 | Leveling mechanism of agricultural operation moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110680968.3A CN113400352A (en) | 2021-06-18 | 2021-06-18 | Leveling mechanism of agricultural operation moving platform |
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| Publication Number | Publication Date |
|---|---|
| CN113400352A true CN113400352A (en) | 2021-09-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110680968.3A Pending CN113400352A (en) | 2021-06-18 | 2021-06-18 | Leveling mechanism of agricultural operation moving platform |
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| Country | Link |
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| CN (1) | CN113400352A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114747555A (en) * | 2022-03-10 | 2022-07-15 | 南京农业大学 | Automatic navigation pesticide application system and method for greenhouse solanaceous vegetables |
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| CN103072664A (en) * | 2011-10-25 | 2013-05-01 | 上海坚振金属制品厂 | Electric bicycle with centrally arranged motor |
| CN104782326A (en) * | 2015-05-08 | 2015-07-22 | 山东农业大学 | Intelligent agricultural robot moving platform |
| AR099940A1 (en) * | 2015-04-01 | 2016-08-31 | Castro Salinas Moisés | COLUMN LEVELING SYSTEM |
| CN108032928A (en) * | 2018-01-11 | 2018-05-15 | 西华大学 | Lifting steering mechanism and agricultural robot moving platform |
| CN109122646A (en) * | 2018-10-31 | 2019-01-04 | 湖南农业大学 | A kind of double leveling electronic fog machines of high-clearance of vehicle frame spray boom based on vertical lift |
| CN109484514A (en) * | 2019-01-09 | 2019-03-19 | 湖南农业大学 | A kind of telescopic farm work machine people's platform of four-wheel independent steering driving |
| CN109760009A (en) * | 2019-02-28 | 2019-05-17 | 华南农业大学 | Across Gansu Province shifting agriculture robot of adjusting ground clearance height and front and rear, left and right inclination angle |
| CN110653803A (en) * | 2019-08-15 | 2020-01-07 | 燕山大学 | Six-freedom-degree parallel posture adjusting platform suitable for low space |
| CN111247083A (en) * | 2017-08-21 | 2020-06-05 | 建筑机器人有限责任公司 | Building element lifting enhancer |
| CN112319605A (en) * | 2020-12-11 | 2021-02-05 | 贵州航天智慧农业有限公司 | Mobile platform with steering and lifting functions and using method |
-
2021
- 2021-06-18 CN CN202110680968.3A patent/CN113400352A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103072664A (en) * | 2011-10-25 | 2013-05-01 | 上海坚振金属制品厂 | Electric bicycle with centrally arranged motor |
| AR099940A1 (en) * | 2015-04-01 | 2016-08-31 | Castro Salinas Moisés | COLUMN LEVELING SYSTEM |
| CN104782326A (en) * | 2015-05-08 | 2015-07-22 | 山东农业大学 | Intelligent agricultural robot moving platform |
| CN111247083A (en) * | 2017-08-21 | 2020-06-05 | 建筑机器人有限责任公司 | Building element lifting enhancer |
| CN108032928A (en) * | 2018-01-11 | 2018-05-15 | 西华大学 | Lifting steering mechanism and agricultural robot moving platform |
| CN109122646A (en) * | 2018-10-31 | 2019-01-04 | 湖南农业大学 | A kind of double leveling electronic fog machines of high-clearance of vehicle frame spray boom based on vertical lift |
| CN109484514A (en) * | 2019-01-09 | 2019-03-19 | 湖南农业大学 | A kind of telescopic farm work machine people's platform of four-wheel independent steering driving |
| CN109760009A (en) * | 2019-02-28 | 2019-05-17 | 华南农业大学 | Across Gansu Province shifting agriculture robot of adjusting ground clearance height and front and rear, left and right inclination angle |
| CN110653803A (en) * | 2019-08-15 | 2020-01-07 | 燕山大学 | Six-freedom-degree parallel posture adjusting platform suitable for low space |
| CN112319605A (en) * | 2020-12-11 | 2021-02-05 | 贵州航天智慧农业有限公司 | Mobile platform with steering and lifting functions and using method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114747555A (en) * | 2022-03-10 | 2022-07-15 | 南京农业大学 | Automatic navigation pesticide application system and method for greenhouse solanaceous vegetables |
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Application publication date: 20210917 |