阅读说明：本技术 用于温室自动作业的路轨两用底盘车 (Rail dual-purpose chassis vehicle for automatic operation of greenhouse ) 是由 王蓬勃 耿长兴 李伟 牛明强 李小林 陆旭 叶新华 于 2020-06-30 设计创作，主要内容包括：本发明涉及一种用于温室自动作业的路轨两用底盘车,包括底盘和安装在所述底盘上支撑所述底盘行走和转向的路轨行走转向机构,所述路轨行走转向机构包括主动轮组和驱动所述主动轮组转动的驱动组件,所述主动轮组包括用于在轨道上行走的轨道行走轮一和在路面上行走的路面行走轮,所述轨道行走轮一和路面行走轮同轴设置,所述路面行走轮的轮径大于所述轨道行走轮一的轮径。本发明底盘车能够同时兼容轨道和路面上的行走,且易于换轨,换轨方式更为简单。(The invention relates to a rail and rail dual-purpose chassis vehicle for automatic operation of a greenhouse, which comprises a chassis and a rail traveling steering mechanism which is arranged on the chassis and supports the chassis to travel and steer, wherein the rail traveling steering mechanism comprises a driving wheel set and a driving assembly which drives the driving wheel set to rotate, the driving wheel set comprises a first rail traveling wheel for traveling on a rail and a first road traveling wheel for traveling on a road surface, the first rail traveling wheel and the first road traveling wheel are coaxially arranged, and the wheel diameter of the first road traveling wheel is larger than that of the first rail traveling wheel. The chassis truck can be compatible with the running on the track and the road surface at the same time, the track is easy to change, and the track changing mode is simpler.)

1. The utility model provides a dual-purpose chassis car of rail for greenhouse automatic operation, includes the chassis, its characterized in that, still including installing support on the chassis the rail walking steering mechanism of chassis walking and turning to, rail walking steering mechanism includes initiative wheelset and drive initiative wheelset pivoted drive assembly, the road surface walking wheel of track walking wheel one and walking on the road surface that initiative wheelset is used for walking on the track is walked and is walked, track walking wheel one with the coaxial setting of road surface walking wheel, road surface walking wheel's wheel footpath is greater than the wheel footpath of track walking wheel one.

2. The dual-purpose chassis vehicle for the automatic operation of the greenhouse as claimed in claim 1, wherein the number of the driving wheel sets is at least two and the driving wheel sets are respectively disposed on two sides of the chassis, and each driving wheel set is provided with the driving component for driving the driving wheel set to rotate independently.

3. The dual-purpose chassis for road and rail for greenhouse automatic operation as claimed in claim 2, wherein the road walking wheel is located outside the first rail walking wheel and axially limits the driving wheel set.

4. The dual-purpose track chassis vehicle for the automatic operation of the greenhouse as claimed in claim 1, wherein the track traveling steering mechanism further comprises a driven wheel set arranged on the chassis, the driven wheel set comprises a connecting shaft and a second track traveling wheel sleeved at two ends of the connecting shaft, the wheel diameter of the second track traveling wheel is smaller than that of the road traveling wheel, and the second track traveling wheel is matched with the first track traveling wheel to drive the chassis to travel along the track.

5. The dual-purpose chassis for roads and rails for greenhouse automatic operation of claim 4, wherein the second track traveling wheel comprises a wheel body, a limiting part and a guiding arc part connecting the wheel body and the limiting part, the outer diameter of the guiding arc part is gradually increased from the wheel body to the limiting part, and the outer diameter of the limiting part is larger than or equal to the maximum outer diameter of the guiding arc part.

6. The dual-purpose track-and-rail chassis vehicle for automatic greenhouse operation as claimed in claim 1, wherein the track-and-rail steering mechanism further comprises a universal support wheel set disposed on the chassis, the universal support wheel set comprises rotatable universal support wheels, and the universal support wheels cooperate with the road traveling wheels to control the rotation and traveling of the chassis vehicle.

7. The dual-purpose chassis for road and rail used in greenhouse automatic operation as claimed in any one of claims 1 to 6, wherein the chassis further comprises two sets of tracking devices respectively disposed at front and rear ends thereof, the tracking devices comprising a camera mounting plate mounted on the chassis, a camera mounted on the camera mounting plate, and two sets of compensation light sources, the camera mounting plate being inclined with respect to a horizontal plane, the compensation light sources being respectively located at both sides of the camera.

8. The dual-purpose chassis for greenhouses according to any one of claims 1 to 6, further comprising two sets of anti-collision devices at front and rear ends of the chassis, respectively, the anti-collision devices comprising anti-collision bars for protecting the front and rear ends of the chassis and an ultrasonic obstacle detection module for detecting whether an obstacle is present in a path of the chassis.

9. The rail-track dual-purpose chassis for the automatic operation of the greenhouse as claimed in any one of claims 1 to 6, wherein the chassis further comprises an industrial control module for controlling the motion state of the chassis, the industrial control module comprises an RFID module arranged at the center of the chassis, and the RFID module is matched with a radio frequency tag preset on the track of the greenhouse to send out a moving signal and matched with a radio frequency tag preset on the road surface to send out a turning signal and a moving signal.

10. The dual-purpose rail chassis for automatic greenhouse operation as claimed in claim 9, wherein the industrial control module further comprises an industrial control host, a master controller, a wireless communication module and an industrial control panel, the industrial control host is disposed on the chassis and used for data processing during movement and steering of the chassis, the wireless communication module is connected with the master controller and used for wirelessly transmitting and receiving data, and the industrial control panel is mounted on the chassis and used for manual control.

Technical Field

The invention relates to the field of agricultural robots, in particular to a rail dual-purpose chassis vehicle for automatic operation of a greenhouse.

Background

The greenhouse operation track chassis vehicle is an automatic guide chassis vehicle integrating functions of an AGV and can realize automatic running, acceleration, deceleration, turning, rail changing and fixed-point parking along a planned path. In facility agriculture, the rail car needs to adapt to two different working conditions of road surface work and rail work, the stable temperature in the greenhouse needs to be guaranteed in winter to guarantee the conditions required by plant growth and development, and the heating equipment in the greenhouse is parallel heating pipelines, so that the running track can be provided for the rail car while the heating is met, the operation stability is improved, and the production cost is reduced. Because the tracks are arranged in parallel, how to quickly and accurately realize track replacement becomes a technical bottleneck of the greenhouse chassis.

The existing rail changing modes are mainly two types: firstly, the rail car is manually intervened before entering a rail, the rail car is aligned with and pushed onto the rail to carry out operation, and after the operation is finished, the rail is manually pushed out to carry out rail changing operation; and secondly, a rail wheel lifting device is arranged at the bottom of the rail car, the rail wheels and the road wheels are vertically distributed in a staggered manner, when the rail car stops to a rail entrance, the rail wheels descend to enter the rail, and when the operation is finished and the rail car exits the rail, the rail wheels ascend and the road wheels work. The two rail changing modes have obvious defects of automation degree, manual intervention is needed, the production cost is increased, and the rail changing operation is complex and the precision is not high.

Disclosure of Invention

The invention aims to provide a rail-track dual-purpose chassis for automatic operation of a greenhouse, which is simple and rapid in rail changing mode.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a dual-purpose chassis car of rail for greenhouse automatic operation, includes the chassis and installs support on the chassis the rail walking steering mechanism of chassis walking and turning to, rail walking steering mechanism includes initiative wheelset and drive initiative wheelset pivoted drive assembly, the road surface walking wheel of track walking wheel one and walking on the road surface that initiative wheelset was used for walking on the track takes turns to, the coaxial setting of track walking wheel one and road surface walking wheel, the wheel footpath of road surface walking wheel is greater than the wheel footpath of track walking wheel one.

Furthermore, the number of the driving wheel sets is at least two, the driving wheel sets are respectively arranged on two sides of the chassis, and each driving wheel set is provided with the driving component for driving the driving wheel set to independently rotate.

Furthermore, the road surface travelling wheel is positioned on the outer side of the first track travelling wheel and axially limits the driving wheel set.

Further, rail walking steering mechanism is still including setting up driven wheelset on the chassis, driven wheelset includes that connecting axle and cover establish the track walking wheel two at connecting axle both ends, the wheel footpath of track walking wheel two is less than the wheel footpath of road surface walking wheel, two cooperations of track walking wheel one drives the chassis is followed track walking.

Further, the second track traveling wheel comprises a wheel body, a limiting portion and a guide arc portion connected with the wheel body and the limiting portion, the outer diameter of the guide arc portion is gradually increased from the wheel body to the limiting portion, and the outer diameter of the limiting portion is larger than or equal to the maximum outer diameter of the guide arc portion.

Further, rail walking steering mechanism is still including setting up universal support wheelset on the chassis, universal support wheelset includes rotatable universal supporting wheel, universal supporting wheel cooperation road surface walking wheel control the rotation and the walking of chassis car.

Further, the chassis still including set up respectively at its front and back end two sets of device of seeking mark, seek mark device including installing camera mounting panel on the chassis, install camera and two sets of compensation light source on the camera mounting panel, the camera mounting panel is for horizontal plane slope, the compensation light source is located respectively the camera both sides.

Further, the chassis vehicle further comprises two groups of anti-collision devices which are respectively arranged at the front end and the rear end of the chassis vehicle, and each anti-collision device comprises an anti-collision strip used for protecting the front end and the rear end of the chassis vehicle and an ultrasonic obstacle detection module used for detecting whether obstacles exist in the path of the chassis vehicle.

Further, the chassis vehicle further comprises an industrial control module for controlling the motion state of the chassis vehicle, the industrial control module comprises an RFID module arranged at the center of the chassis, the RFID module is matched with a radio frequency tag preset on a track of the greenhouse to send a moving signal, and is matched with the radio frequency tag preset on the road surface to send a steering signal and a moving signal.

Furthermore, the industrial control module further comprises an industrial control host, a master controller, a wireless communication module and an industrial control panel, wherein the industrial control host is arranged on the chassis and used for data processing in the moving and steering processes of the chassis, the wireless communication module is connected with the master controller and used for wirelessly receiving and sending data, and the industrial control panel is arranged on the chassis and used for manual control.

The invention has the beneficial effects that: the track walking steering mechanism of the chassis truck is provided with a first track walking wheel and a road walking wheel which are coaxial, and the wheel diameter of the first track walking wheel is smaller than that of the road walking wheel; when needs are at the rail-engaging time, the chassis car only need go into the track for rail-engaging wheel one contacts the track, can realize it along rail-engaging, adopts above-mentioned structure to make chassis car compatible road surface and rail-engaging simultaneously, and easily trades the rail, trades the rail mode more simply.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.

Drawings

Fig. 1 is a schematic view of the overall structure of the chassis truck of the present invention.

Fig. 2 is a schematic view of the chassis of fig. 1 in another direction.

Fig. 3 is a schematic structural diagram of the chassis truck with the chassis removed.

Fig. 4 is a schematic structural view of a second track traveling wheel of the chassis truck.

Fig. 5 is a connection block diagram of the industrial control module of the chassis truck according to the present invention.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

As shown in fig. 2 and 3, a rail-mounted chassis for greenhouse automatic operation according to a preferred embodiment of the present invention includes a chassis 1, a rail-mounted steering mechanism mounted on the chassis 1, an industrial control module, and a battery (not shown). The rail walking and steering mechanism is used for supporting the chassis 1, realizing walking and steering of the chassis 1 on a road surface and walking on a rail, the industrial control module is used for controlling each motion state of the chassis vehicle, and the storage battery is used for supplying power for running of the chassis vehicle.

The rail walking steering mechanism comprises driving wheel sets 2 and driving components 3 for driving the driving wheel sets 2 to rotate, the number of the driving wheel sets 2 is two or more than two, in the embodiment, the driving wheel sets are preferably two, the driving wheel sets are respectively arranged on two sides of the chassis 1, and the number of the driving components 3 is two and the driving wheel sets 2 are respectively used for controlling the difference. The driving wheel set 2 comprises a first track traveling wheel 21 and a first road traveling wheel 22 which are coaxially arranged, the wheel diameter of the first road traveling wheel 22 is larger than that of the first track traveling wheel 21, a heating pipeline (namely a track) is paved on the ground surface, when the vehicle walks on the road surface, the first road traveling wheel 22 with the large wheel diameter is directly contacted with the ground, and the first track traveling wheel 21 with the small wheel diameter is suspended and is not contacted with the ground. Road surface walking wheel 22 can be located the inboard or the outside of track walking wheel 21, and in this embodiment technical scheme, preferably, road surface walking wheel 22 is located the outside of track walking wheel 21 for when track walking wheel 21 drives chassis 1 along the track walking, road surface walking wheel 22 can restrict driving wheel group 2 axial displacement. Preferably, the road surface walking wheel 22 is coated with a glue layer or an encapsulation structure, so that the frictional resistance between the road surface walking wheel 22 and the road surface can be increased, and the operation stability is improved.

The driving assembly 3 comprises a driving shaft 31 and a chain wheel transmission part for driving the driving shaft 31 to rotate, a track travelling wheel I21 and a road travelling wheel 22 are coaxially sleeved on the driving shaft 31, and the driving shaft 31 is assembled on the chassis 1 through a bearing with a seat 32. The sprocket assembly 33 includes a first sprocket 331 fitted around the driving shaft 31, a second sprocket 332 connected to an output end of the driving element 34, and a chain (not shown) wrapped around the first sprocket 331 and the second sprocket 332. By rotating the driving element 34, the second chain wheel 332 and the chain can be driven to rotate, and then the first chain wheel 331 and the driving shaft 31 are driven to rotate, so that the first track traveling wheel 21 and the road traveling wheel 22 can rotate. In this embodiment, the driving element 34 may specifically adopt a speed reducer to cooperate with a driving motor to realize transmission, the speed reducer and the driving motor are mounted on the chassis 1 through a supporting plate, and the driving element 34 can drive the chassis to move forward and backward. As a preferred embodiment, the speed reducer adopts a speed reduction ratio of 1:25, the driving motor uses a 48V dc servo motor, and the operation of the driving motor is controlled by a driver (not shown) which is mounted on the chassis 1.

The rail walking steering mechanism adopts two groups of driving wheel sets 2 which are independently driven, and realizes the pivot steering and walking steering of the chassis 1 through the differential speed of the two wheel sets. The driving wheel set 2 integrates road traveling wheels and track traveling wheels, the track traveling wheels 21 with different wheel diameters and the road traveling wheels 22 are coaxially arranged, the road traveling wheels 22 serve as driving wheels to drive the chassis 1 to walk and turn on the road, the track traveling wheels 21 serve as driving wheels to drive the chassis 1 to walk on the track, and therefore rail replacement is easy and the rail replacement mode is simple.

Preferably, the driving wheel set 2 is located at a middle position of the chassis 1, thereby enabling more flexible steering. In addition, the rail walking steering mechanism still includes driven wheelset 4, and in this embodiment, driven wheelset 4 quantity is two sets of and sets up respectively at the front end and the rear end of chassis 1 to cooperate driving wheel group 2 to support chassis 1. In other embodiments, the driven wheel set 4 can be added or deleted according to actual needs. The driven wheel set 4 comprises a connecting shaft 41 and two track traveling wheels 42 sleeved at two ends of the connecting shaft 41, and the connecting shaft 41 is also assembled on the chassis 1 through the pedestal bearing 32. The second track travelling wheel 42 is used as a driven wheel to match with the first track travelling wheel 21 to drive the chassis 1 to travel along a track in the greenhouse. In order to reduce the abrasion to the second track traveling wheels 42, the wheel diameters of the second track traveling wheels 42 are also smaller than that of the road traveling wheels 22, so that when the road traveling wheels 22 travel on the road, the second track traveling wheels 42 are suspended and do not contact the ground, and the abrasion is reduced. Referring to fig. 4, the second track traveling wheel 42 includes a wheel body 421, a limiting portion 422 and a guiding arc portion 423 connecting the wheel body 421 and the limiting portion 422, the outer diameter of the guiding arc portion 423 gradually increases from the wheel body 421 to the limiting portion 422, and the outer diameter of the limiting portion 422 is greater than or equal to the maximum outer diameter of the guiding arc portion 423. When the chassis vehicle rotates from the ground to the track to travel, the track traveling wheel II 42 touches the track, and the posture of the chassis vehicle is guided and finely adjusted through the guide arc part 423, so that the chassis 1 can accurately drive into the track; meanwhile, when the chassis runs on the track, the limiting part 422 has the same action as the road walking wheel 22, and both limit the chassis moving outwards along the axial direction of the driving shaft 31 is formed, so that the chassis can stably run on the track without deviating. Preferably, the wheel body 421, the stopper portion 422 and the guide arc portion 423 are integrally formed for convenience of production.

As shown in fig. 2 and fig. 3, the rail traveling steering mechanism further includes two sets of universal support wheel sets 5, and in this embodiment, the universal support wheel sets 5 are symmetrically disposed on two sides of the driving wheel set 2 respectively to support the chassis 1 in cooperation with the driving wheel set 2. In other embodiments, the supporting wheel sets 5 can be added or deleted according to actual needs. The universal support wheel set 5 comprises a universal wheel base 51 fixed on the chassis 1 and a universal support wheel 52 rotatably installed on the universal wheel base 51, and the universal support wheel 52 is used for assisting in supporting the chassis vehicle, so that the chassis vehicle can rotate and walk more flexibly.

As a preferred embodiment, in order to ensure that the chassis vehicle travels according to the predetermined track specification, the chassis vehicle further includes two sets of tracking devices 6 respectively disposed at the front end and the rear end thereof. The tracking device 6 includes a camera mounting plate 61 mounted on the chassis 1, a camera 62 mounted on the camera mounting plate 61, and two sets of compensating light sources 63. The camera mounting plate 61 is inclined with respect to the horizontal plane, preferably at an angle of 30 ° in this embodiment, to ensure that the reflection after the light supplement does not interfere with the camera 62. Preferably, the compensating light sources 63 are annular light sources and are respectively located at two sides of the camera 62, and the compensating light sources are supplemented with white light. When the tracking device 6 works, the camera 62 is used for acquiring image information of a ground navigation band, different working conditions are suitable for acquiring a stable and reliable map, the compensation light sources 63 on two sides are simultaneously turned on during working, and the annular light sources on two sides of the camera 62 can fully supplement light to the camera 62.

In addition, as shown in fig. 1, the chassis vehicle further includes a protective cover 7 covering the chassis 1, the protective cover 7 includes a protective plate 71 located around the chassis 1 and a top plate 72 located on the top of the chassis 1 and connected to the protective plate 71, and a space for installing respective executive components when the chassis vehicle is matched with different executive components (such as executive components for realizing routing inspection, pesticide spraying, picking, transportation and the like in a greenhouse) is formed in the protective cover 7. The chassis vehicle formed by assembly has low gravity center and compact structure, and is suitable for load-bearing running in greenhouse environment with narrow space.

As a preferred embodiment, in order to prevent the chassis vehicle from being damaged by the impact, the chassis vehicle further includes two sets of anti-collision devices 8 respectively disposed at the front end and the rear end of the protection cover 7. The anti-collision device 8 comprises two anti-collision strips 81 and an ultrasonic fault detection module (not shown), the number of the anti-collision strips 81 is two, and the anti-collision strips are arranged at the front end and the rear end of the protective cover 7, preferably, in the embodiment, the anti-collision strips 81 adopt a circular arc-shaped structure, so that the impact force can be effectively dispersed, and the impact influence is minimized. In addition, the bumper strip 81 is shielded outside the camera 62, which can provide a relatively closed view space for the camera 62, and improve the tracking stability.

The ultrasonic fault detection module comprises ultrasonic probes 82 which are respectively installed at the front end and the rear end of the chassis 1, and the ultrasonic probes 82 are arranged close to the bumper strips 81. The ultrasonic probe 82 is used for detecting whether an obstacle exists in the moving path of the chassis 1 or not and sending a signal to the ultrasonic fault detection module, so that the starting and stopping of the chassis vehicle are controlled. In this embodiment, the front and back both sides of chassis car all are provided with two ultrasonic transducer 82 to can realize diversified detection, improve detection range. When the anti-collision device 8 works, when a barrier appears in the walking process of the chassis vehicle, the ultrasonic probe 82 detects the distance between the ultrasonic probe 82 and the barrier, voice prompt is carried out according to the distance between the barrier to prompt that the front of the vehicle is blocked, the vehicle stops when the distance is too close, when the ultrasonic probe 82 fails, the anti-collision strip 81 plays a final protection role, and the anti-collision strip 81 collides with the barrier to stop. Through using crashproof strip 81 and ultrasonic transducer 82 jointly to increase chassis car driving stability, improved factor of safety.

As shown in fig. 5, the industrial control module includes an industrial control host 201, a master 202, a wireless communication module 203, an RFID module 204, and an industrial control panel 205. The wireless communication module 203 is connected to the main controller 202 and is used for transmitting and receiving data wirelessly. The RFID module 204 is mounted at the center of the chassis 1, and cooperates with a radio frequency tag (not shown) preset on a greenhouse rail to send a moving signal, and cooperates with a radio frequency tag preset on a road surface to send a turning signal and a moving signal, and in order to shield an interference signal, the RFID module 204 is mounted on an RFID anti-metal plate (not shown) which is mounted on the chassis 1 by bolts. The industrial control panel 205 is arranged on the protective cover 7 at one end of the chassis 1, and a main switch button, an emergency stop switch button, a UCB socket, a status light, a charging interface and the like which are connected with the main controller 202 are arranged on the industrial control panel 205; data processing and action control in the walking and steering process of the chassis are completed by the industrial personal computer 201 and the main controller 202 in a coordinated mode, and in order to enable the industrial personal computer 201 to be insulated, the industrial personal computer 201 can be installed on a PVC plate (not shown), and the PVC plate is installed on the chassis 1 through bolts.

In summary, the following steps: the rail-track dual-purpose chassis vehicle can quickly and stably run and steer under two environments of a road surface and a track, is easy to change the track, has a simple rail changing mode, a compact structure and a lower gravity center, and is suitable for load running in a greenhouse with a narrow space; the chassis vehicle can complete the operations of routing inspection, pesticide spraying, picking, transportation and the like in the greenhouse by depending on different execution components, thereby really realizing unmanned automatic operation in the greenhouse;

according to the rail dual-purpose chassis vehicle, the double driving wheel sets are driven independently, and the chassis travels and turns through the differential speed of two wheels; the track traveling wheels I with different wheel diameters and the road traveling wheels are coaxially arranged, the road traveling wheels serve as driving wheels to drive the chassis to walk and turn on the road, the track traveling wheels serve as driving wheels, the track traveling wheels serve as driven wheels to drive the chassis to walk on the track, the track is easy to change, and the track changing mode is simple.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.