CN219133781U

CN219133781U - Independent suspension system of agricultural mobile robot

Info

Publication number: CN219133781U
Application number: CN202223435741.1U
Authority: CN
Inventors: 陈都; 郭耀煌; 陈家琦; 韩锋钢; 彭倩
Original assignee: Xiamen Vehicle Design & Service Co ltd
Current assignee: Xiamen Vehicle Design & Service Co ltd
Priority date: 2022-12-21
Filing date: 2022-12-21
Publication date: 2023-06-06
Anticipated expiration: 2032-12-21

Abstract

The utility model discloses an independent suspension system of an agricultural mobile robot, which comprises a frame, a bracket component and wheels, wherein the upper end of the bracket component is connected with the upper end and the lower end of the frame, and the wheels are arranged at the upper end and the lower end of the frame, and the independent suspension system is characterized in that: the support assembly comprises a cantilever, a slewing bearing, a first bearing seat and a transmission piece, wherein the outer ring of the slewing bearing is fixedly arranged at the upper end of the cantilever, the first bearing seat is fixedly arranged in the inner ring of the slewing bearing, and the transmission piece is rotationally arranged in the first bearing seat and used for installing a transmission mechanism. According to the utility model, the slewing bearing is arranged at the joint of the cantilever and the frame, the outer ring of the slewing bearing is fixed with the upper end of the cantilever, the inner ring of the slewing bearing is fixedly provided with the bearing seat, and the transmission mechanism is arranged through the bearing seat, so that when the wheel is impacted during traveling, the cantilever can swing back and forth relative to the frame, the road condition with uneven surface is adapted, and the anti-seismic performance of the agricultural robot is improved.

Description

Independent suspension system of agricultural mobile robot

Technical Field

The utility model relates to the technical field of agricultural machinery, in particular to an independent suspension system of an agricultural mobile robot.

Background

The agricultural robot is an application of the robot in agricultural production, and is a new generation unmanned automatic operation machine which can be controlled by different program software to adapt to various operations, can feel and adapt to the variety of crops or environmental changes, and has artificial intelligence such as detection (such as vision and the like) and calculation and the like. The agricultural mobile robot has excellent controllability, high traveling speed, very flexible turning, high operation speed and high operation quality, and can perform high-load agricultural operation, the popularization and application of the agricultural robot change the operation mode of the traditional agriculture, the agricultural automation, the informatization and the intellectualization are realized, the efficiency of agricultural production is effectively improved, the labor intensity of the agricultural production is reduced, and the economic benefit of agricultural products is increased.

The existing agricultural robot generally comprises a frame, a suspension, wheels and other structures, the upper end of the suspension is connected to the frame, the wheels are arranged at the lower end of the suspension, a connecting seat is arranged on the side edge of the frame, the upper end of the suspension is generally locked on the connecting seat through screws, the suspension is fixed in installation, the rigid connection mode leads to poor shock resistance of the agricultural robot, stability during uneven ground walking is poor, in order to overcome the defect, a shock absorber is arranged between the frame and the suspension, so that the shock resistance of the agricultural robot is improved, and although the shock resistance of the agricultural robot is improved to a certain extent, due to rigid connection between the frame and the suspension, the stability during uneven ground walking of the agricultural robot is still improved.

Disclosure of Invention

The utility model aims to overcome the defects of the prior art and provide an independent suspension system of an agricultural mobile robot.

In order to achieve the above purpose, the present utility model adopts the following technical scheme:

the utility model provides an agricultural mobile robot independent suspension system, includes frame, support subassembly and wheel, the upper end of support subassembly connect in frame is gone up, the lower extreme is installed the wheel, the support subassembly includes cantilever, slewing bearing, first bearing frame and driving medium, slewing bearing's outer lane set firmly in the upper end of cantilever, first bearing frame set firmly in slewing bearing's inner circle, the driving medium rotationally set up in the first bearing frame for installation drive mechanism.

Further, the independent suspension system of the agricultural mobile robot further comprises a shock absorption component, one end of the shock absorption component is connected to the frame, and the other end of the shock absorption component is connected to the cantilever.

Further, the damping component comprises an upper connecting seat, a lower connecting seat and a spring damper, wherein the upper connecting seat is fixedly arranged on the frame, the lower connecting seat is fixedly arranged on the cantilever, and two ends of the spring damper are respectively hinged to the upper connecting seat and the lower connecting seat.

Further, the transmission piece comprises a first transmission bearing and a first sleeve, the outer ring of the first transmission bearing is fixedly arranged in the first bearing seat, the first sleeve is arranged in the inner ring of the first transmission bearing, and the transmission mechanism is arranged in the first sleeve.

Further, the support assembly further comprises a second bearing seat, a second sleeve and a second transmission bearing, the second bearing seat is fixedly arranged at the lower end of the cantilever, an outer ring of the second transmission bearing is fixedly arranged in the second bearing seat, the second sleeve is arranged in an inner ring of the second transmission bearing, and the wheels are arranged in the second sleeve and driven by the transmission mechanism.

Further, the transmission mechanism is arranged in the cantilever and is respectively connected with the first sleeve and the second sleeve, and the transmission mechanism adopts a chain wheel and chain mechanism.

Further, a plurality of reinforcing rib plates are arranged on the peripheral side of the second bearing, and the reinforcing rib plates are fixed with the side wall of the cantilever.

Further, the cantilever comprises a shell and a first access cover, the shell is of a hollow structure, a first opening is formed in the opposite side of the shell on the first bearing seat, and the first access cover is detachably and fixedly arranged on the side wall of the shell and closes the first opening.

Further, the cantilever also comprises a second access cover, the shell is provided with a second opening at the opposite side of the second bearing, and the second access cover is detachably and fixedly arranged on the side wall of the shell and seals the second opening.

Further, the cantilever also comprises a third access cover, a third opening is formed in the middle of the shell, the third access cover is detachably and fixedly arranged on the side wall of the shell, and the third opening is closed.

After the technical scheme is adopted, compared with the background technology, the utility model has the following advantages:

1. according to the utility model, the slewing bearing is arranged at the joint of the cantilever and the frame, the outer ring of the slewing bearing is fixed with the upper end of the cantilever, the inner ring of the slewing bearing is fixedly provided with the bearing seat, and the transmission mechanism is arranged through the bearing seat, so that when the wheel is impacted during traveling, the cantilever can swing back and forth relative to the frame, the road condition with uneven surface is adapted, and the anti-seismic performance of the agricultural robot is improved.

2. According to the utility model, the damping component is arranged between the frame and the cantilever, and the damping effect is achieved through the damping component, so that the stability of the agricultural robot during walking on uneven road conditions is further improved.

3. The detachable first access cover, the detachable second access cover and the detachable third access cover are respectively arranged on the side edge of the shell, so that the later-stage overhaul and maintenance are greatly facilitated.

Drawings

FIG. 1 is a schematic perspective view of the present utility model;

FIG. 2 is an exploded view of the present utility model;

FIG. 3 is a cross-sectional view of a bracket assembly of the present utility model;

FIG. 4 is a schematic illustration of one of the configurations of the bracket assembly and shock absorbing assembly of the present utility model;

FIG. 5 is an exploded view of the bracket assembly and shock absorbing assembly of the present utility model;

FIG. 6 is a schematic diagram of a second embodiment of the bracket assembly and shock absorbing assembly of the present utility model.

Reference numerals illustrate:

a frame 100;

bracket assembly 200, cantilever 210, housing 211, first access cover 212, second access cover 213, third access cover 214, slewing bearing 220, outer race 221 of slewing bearing, inner race 222 of slewing bearing, first bearing housing 230, transmission 240, first transmission bearing 241, first sleeve 242, second bearing housing 250, stiffener plate 251, second sleeve 260, second transmission bearing 270;

a wheel 300;

shock assembly 400, upper connector 410, lower connector 420, and spring shock 430;

a transmission 500.

Detailed Description

The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model. In addition, it should be noted that:

the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and to simplify the description, and do not denote or imply that the apparatus or elements of the present utility model must have a particular orientation, and thus should not be construed as limiting the utility model.

When an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the utility model will be understood by those skilled in the art according to the specific circumstances.

Examples

Referring to fig. 1 to 3, the utility model discloses an independent suspension system for an agricultural mobile robot, which comprises a frame 100, a bracket assembly 200, wheels 300 and a shock absorbing assembly 400, wherein the upper end of the bracket assembly 200 is connected to the upper end and the lower end of the frame 100, the wheels 300 are installed at the upper end and the lower end of the bracket assembly 200, the bracket assembly 200 comprises a cantilever 210, a slewing bearing 220, a first bearing seat 230 and a transmission member 240, an outer ring 221 of the slewing bearing is fixedly arranged at the upper end of the cantilever 210, the first bearing seat 230 is fixedly arranged in an inner ring 222 of the slewing bearing, in the embodiment, the outer ring and the inner ring of the slewing bearing 220 are preferably locked by screws, and the transmission member 240 is rotatably arranged in the first bearing seat 230 and is used for installing a transmission mechanism 500.

As shown in fig. 2, 4 and 6, one end of the shock absorbing assembly 400 is connected to the frame 100, the other end is connected to the cantilever 210, in this embodiment, the shock absorbing assembly 400 includes an upper connecting seat 410, a lower connecting seat 420 and a spring shock absorber 430, the upper connecting seat 410 is fixedly arranged on the frame 100, the lower connecting seat 420 is fixedly arranged on the cantilever 210, and two ends of the spring shock absorber 430 are respectively hinged to the upper connecting seat 410 and the lower connecting seat 420.

As shown in fig. 2 to 4, the transmission member 240 includes a first transmission bearing 241 and a first sleeve 242, an outer ring of the first transmission bearing 241 is fixedly disposed in the first bearing seat 230, the first sleeve 242 is disposed in an inner ring of the first transmission bearing 241, and the transmission mechanism 500 is mounted in the first sleeve 242.

As shown in fig. 2, 3 and 6, the bracket assembly 200 further includes a second bearing seat 250, a second sleeve 260 and a second transmission bearing 270, the second bearing seat 250 is fixedly arranged at the lower end of the cantilever 210, an outer ring of the second transmission bearing 270 is fixedly arranged in the second bearing seat 250, the second sleeve 260 is arranged in an inner ring of the second transmission bearing 270, and the wheel 300 is mounted in the second sleeve 260 and driven by the transmission mechanism 500.

In this embodiment, the transmission mechanism 500 is disposed in the cantilever 210 and is respectively connected to the first sleeve 242 and the second sleeve 260, the transmission mechanism 500 adopts a sprocket chain mechanism, the transmission mechanism 500 can transmit the power in the frame 100 to the wheels, so as to realize the driving of the wheels, a plurality of reinforcing rib plates 251 are disposed on the peripheral side of the second bearing 250, and the reinforcing rib plates 251 are fixed with the side wall of the cantilever 210, so as to strengthen the stability of the second bearing seat 250.

As shown in fig. 3, fig. 4 and fig. 6, the cantilever 210 includes a housing 211, a first access cover 212, a second access cover 213 and a third access cover 214, the housing 211 is of a hollow structure, the housing 211 is provided with a first opening on opposite sides of the first bearing seat 230, the first access cover 212 is detachably fixed on a side wall of the housing 211 and seals the first opening, the housing 211 is provided with a second opening on opposite sides of the second bearing seat 250, the second access cover 213 is detachably fixed on a side wall of the housing 211 and seals the second opening, a third opening is provided in the middle of the housing 211, and the third access cover 214 is detachably fixed on a side wall of the housing 211 and seals the third opening. In this embodiment, the first access cover 212, the second access cover 213, and the third access cover 214 are preferably detachably fastened by screws.

The present utility model is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present utility model are intended to be included in the scope of the present utility model. Therefore, the protection scope of the present utility model should be subject to the protection scope of the claims.

Claims

1. The utility model provides an agricultural mobile robot independent suspension system, includes frame, bracket component and wheel, the upper end of bracket component connect in the frame is gone up, the lower extreme is installed wheel, its characterized in that: the support assembly comprises a cantilever, a slewing bearing, a first bearing seat and a transmission piece, wherein the outer ring of the slewing bearing is fixedly arranged at the upper end of the cantilever, the first bearing seat is fixedly arranged in the inner ring of the slewing bearing, and the transmission piece is rotationally arranged in the first bearing seat and used for installing a transmission mechanism.

2. An agricultural mobile robot independent suspension system according to claim 1, wherein: the bicycle frame further comprises a damping component, one end of the damping component is connected to the bicycle frame, and the other end of the damping component is connected to the cantilever.

3. An agricultural mobile robot independent suspension system according to claim 2, wherein: the damping component comprises an upper connecting seat, a lower connecting seat and a spring damper, wherein the upper connecting seat is fixedly arranged on the frame, the lower connecting seat is fixedly arranged on the cantilever, and two ends of the spring damper are respectively hinged to the upper connecting seat and the lower connecting seat.

4. An agricultural mobile robot independent suspension system according to claim 1, wherein: the transmission piece comprises a first transmission bearing and a first sleeve, wherein the outer ring of the first transmission bearing is fixedly arranged in the first bearing seat, the first sleeve is arranged in the inner ring of the first transmission bearing, and the transmission mechanism is arranged in the first sleeve.

5. An agricultural mobile robot independent suspension system according to claim 4, wherein: the support assembly further comprises a second bearing seat, a second sleeve and a second transmission bearing, the second bearing seat is fixedly arranged at the lower end of the cantilever, an outer ring of the second transmission bearing is fixedly arranged in the second bearing seat, the second sleeve is arranged in an inner ring of the second transmission bearing, and the wheels are arranged in the second sleeve and driven by the transmission mechanism.

6. An agricultural mobile robot independent suspension system according to claim 5, wherein: the transmission mechanism is arranged in the cantilever and is respectively connected with the first sleeve and the second sleeve, and the transmission mechanism adopts a chain wheel and chain mechanism.

7. An agricultural mobile robot independent suspension system according to claim 6, wherein: a plurality of reinforcing rib plates are arranged on the periphery of the second bearing, and the reinforcing rib plates are fixed with the side wall of the cantilever.

8. An agricultural mobile robot independent suspension system according to claim 6, wherein: the cantilever comprises a shell and a first access cover, wherein the shell is of a hollow structure, a first opening is formed in the opposite side of the shell on the first bearing seat, and the first access cover is detachably and fixedly arranged on the side wall of the shell and is used for sealing the first opening.

9. An agricultural mobile robot independent suspension system according to claim 8, wherein: the cantilever also comprises a second access cover, the shell is provided with a second opening at the opposite side of the second bearing, and the second access cover is detachably and fixedly arranged on the side wall of the shell and closes the second opening.

10. An agricultural mobile robot independent suspension system according to claim 9, wherein: the cantilever also comprises a third access cover, a third opening is formed in the middle of the shell, the third access cover is detachably and fixedly arranged on the side wall of the shell, and the third opening is closed.