阅读说明：本技术 一种带有升降手的农业机器人平台及其工作方法 (Agricultural robot platform with lifting hand and working method thereof ) 是由 秦振华 于 2019-12-03 设计创作，主要内容包括：本发明公开了一种带有升降手的农业机器人平台及其工作方法,包括舵轮、底盘和升降机构,舵轮滑动连接于底盘的底面以适应地面环境,升降机构可移动地连接底盘的顶面；升降机构包括多个,多个升降机构的升降运动同步,其中,升降机构能够沿底盘的第一方向往复运动。本发明使用特殊的升降和移动构件,扩大农业机器人平台适应范围。(The invention discloses an agricultural robot platform with a lifting hand and a working method thereof, wherein the agricultural robot platform comprises a steering wheel, a chassis and a lifting mechanism, the steering wheel is connected to the bottom surface of the chassis in a sliding manner so as to adapt to the ground environment, and the lifting mechanism is movably connected with the top surface of the chassis; the lifting mechanisms comprise a plurality of lifting mechanisms, the lifting motions of the lifting mechanisms are synchronous, and the lifting mechanisms can reciprocate along the first direction of the chassis. The invention uses special lifting and moving components to enlarge the application range of the agricultural robot platform.)

1. An agricultural robot platform with a lifting hand is characterized by comprising a steering wheel, a chassis and a lifting mechanism, wherein the steering wheel is connected to the bottom surface of the chassis in a sliding manner so as to adapt to the ground environment, and the lifting mechanism is movably connected to the top surface of the chassis; the lifting mechanisms comprise a plurality of lifting mechanisms, the lifting motions of the lifting mechanisms are synchronous, and the lifting mechanisms can reciprocate along the first direction of the chassis.

2. An agricultural robot platform with a lifting hand according to claim 1, wherein the steering wheels comprise an even number, the even number of steering wheels being arranged in two rows on the bottom surface of the chassis; each row of steering wheels is respectively connected with a first rod piece and a second rod piece, and the screw rod mechanism penetrates through the first rod piece and the second rod piece.

3. An agricultural robot platform with a lifting hand according to claim 2, characterized in that the steering wheels comprise four steering wheels, which are arranged in a rectangular shape on the bottom side of the chassis.

4. An agricultural robot platform with a lifting hand according to claim 1, wherein the steering wheel comprises a wheel body, a first motor, a second motor, a bracket and a steering gear set, the first motor is connected with and drives the wheel body to rotate, the wheel body is rotatably connected with the bracket, the bracket is connected with the steering gear set, and the second motor is connected with the steering gear set.

5. An agricultural robot platform with a lifting hand according to claim 1, characterized in that the chassis is plate-shaped; the bottom of the lifting mechanism is provided with a sliding block, and the sliding block is matched with the guide rail.

6. An agricultural robot platform with a lifting hand according to claim 1, wherein the guide rails comprise two, each connected to a lifting mechanism.

7. An agricultural robot platform with a lifting hand according to claim 1, wherein the lifting mechanism comprises a first rod member, a second rod member, a gear set and a telescopic rod, the first rod member and the second rod member are connected through the gear set, the bottom of the first rod member is hinged with the sliding block, and the first rod member is further connected with the sliding block through the telescopic rod.

8. An agricultural robot platform with a lifting hand of claim 7 wherein the first bar and the second bar are further connected by a frame, the gear train being located inside the frame.

9. An agricultural robot platform with a lifting hand according to claim 8, wherein one side of the frame body is hinged with a first bar and the other side of the frame body is hinged with a second bar; the gear set comprises a first gear and a second gear, the first gear is connected with a first rod piece at the tooth surface of the first gear, the second gear is connected with a second rod piece at the gear of the second gear, and the first gear is meshed with the second gear.

10. A method of operating an agricultural robot platform with a lifting hand, characterized in that an agricultural robot platform with a lifting hand according to any of claims 1' 9 is used, and when said agricultural robot platform with a lifting hand is moving straight, a plurality of steering wheels fixed to said chassis are all kept in a direction parallel to the current direction of travel; when the agricultural robot platform with the lifting hand turns on site, and when the platform turns on site, the plurality of steering wheels rotate to the direction needing to be steered; when the agricultural robot platform with the lifting hand moves laterally, the steering wheels all turn to the direction vertical to the direction when the agricultural robot platform moves straight.

Technical Field

The invention relates to the field of agricultural robots, in particular to an agricultural robot platform with a lifting hand and a working method of the agricultural robot platform.

Background

China is a big agricultural country, particularly in recent years, the development of facility agriculture, intelligent agriculture gradually becomes the trend of agricultural development in China, the intelligent motion platform is widely applied in the industrial field at present, the production efficiency is improved to a great extent, the intelligent motion platform is developing towards a high-precision direction, but the intelligent motion platform is lack of research and application in the agricultural field at present.

At present, as an intelligent motion platform for facility agriculture, the following centralized mainstream schemes are provided, the first mainstream scheme is that a crawler-type motion chassis is adopted, the Zhejiang industry university publication number is CN208016373U discloses a mechanical device for intelligently picking mangosteen, the adopted chassis driving mode is a crawler, a hand picking part is an articulated manipulator, the Hubei industry university publication number is CN208402413U discloses an agricultural robot for precision seeding, the chassis is driven by the crawler, the inventor believes that the crawler chassis has the defects of low relative speed, low efficiency, large motion noise, large power consumption and the like, so the crawler chassis is generally applied to heavy load occasions, the efficiency of the articulated manipulator can be improved to a great extent in the working process, but the joint is more, the error accumulation exists in the motion process, the control is relatively complex, and the price is higher; the second main scheme is that a wheel type motion chassis, a composite mobile robot is disclosed as a Shantou university publication No. CN108942862A, the chassis adopts a four-wheel drive wheel type structure, hands are joint manipulators, and a China center-engineering and honest intelligent equipment limited company publication No. CN 207939233U discloses an explosion-proof wheel type inspection robot explosion-proof automatic charging device. When the four-wheel drive motion platform turns on site, the rotation center is the geometric center, so that large friction exists, and phenomena such as severe vibration or accelerated wear of tires are easy to occur. Meanwhile, the inventor also thinks that the current agricultural intelligent motion platform lacks a targeted consideration for ridges.

Disclosure of Invention

Aiming at the defects of the existing agricultural robot platform, the invention aims to provide the agricultural robot platform with the lifting hand, which uses special lifting and moving components to enlarge the application range of the agricultural robot platform.

The invention aims at providing an agricultural robot platform with a lifting hand.

The invention also provides a working method of the agricultural robot platform with the lifting hand.

In order to realize the purpose, the invention discloses the following technical scheme:

in a first aspect, the invention discloses an agricultural robot platform with a lifting hand, which comprises a steering wheel, a chassis and a lifting mechanism, wherein the steering wheel is connected to the bottom surface of the chassis in a sliding manner so as to adapt to the ground environment, and the lifting mechanism is movably connected with the top surface of the chassis; the lifting mechanisms comprise a plurality of lifting mechanisms, the lifting motions of the lifting mechanisms are synchronous, and the lifting mechanisms can reciprocate along the first direction of the chassis.

Further, the steering wheels comprise an even number, and the even number of steering wheels are divided into two rows and arranged on the bottom surface of the chassis; each row of steering wheels is respectively connected with a first rod piece and a second rod piece, and the screw rod mechanism penetrates through the first rod piece and the second rod piece.

Further, the steering wheels comprise four steering wheels which are arranged on the bottom side of the chassis in a rectangular shape.

Furthermore, the steering wheel comprises a wheel body, a first motor, a second motor, a support and a steering gear set, the first motor is connected with and drives the wheel body to rotate, the wheel body is rotatably connected with the support, the support is connected with the steering gear set, and the second motor is connected with the steering gear set.

Further, the chassis is plate-shaped; the bottom of the lifting mechanism is provided with a sliding block, and the sliding block is matched with the guide rail.

Further, the guide rail includes two, and every guide rail all connects a elevating system.

Furthermore, elevating system includes first member, second member, gear train and telescopic link, and first member, second member pass through the gear train and connect, and the articulated slider in bottom of first member, first member still passes through telescopic link and connects the slider.

Further, the first rod piece and the second rod piece are connected through a frame body, and the gear set is located on the inner side of the frame body.

Furthermore, one side of the frame body is hinged with a first rod piece, and the other side of the frame body is hinged with a second rod piece; the gear set comprises a first gear and a second gear, the first gear is connected with a first rod piece at the tooth surface of the first gear, the second gear is connected with a second rod piece at the gear of the second gear, and the first gear is meshed with the second gear.

On the other hand, the invention also discloses a working method of the agricultural robot platform with the lifting hand, when the agricultural robot platform with the lifting hand is used for moving straight, a plurality of steering wheels fixed on the chassis all keep the direction parallel to the current moving direction; when the agricultural robot platform with the lifting hand turns on site, and when the platform turns on site, the plurality of steering wheels rotate to the direction needing to be steered; when the agricultural robot platform with the lifting hand moves laterally, the steering wheels all turn to the direction vertical to the direction when the agricultural robot platform moves straight.

Compared with the prior art, the invention has the following beneficial effects:

1) according to the invention, the wheel type chassis is used, and the steering wheel is used as power, so that the wheel type chassis has low power consumption and strong maneuverability, has small friction in the movement process, has small damage to the ground and the tire, can enhance the integration level of the whole scheme by using the steering wheel, and simplifies the whole structure.

2) In the invention, the steering wheel is used as a power and motion mechanism, so that various motions of a common intelligent platform can be realized, and omnidirectional motions (straight motion, in-situ turning, lateral movement and movement in any direction) can be realized.

3) In the invention, the lifting mechanism part adopts a structure different from that of the traditional scissor-type lifting frame, the lifting of the bearing platform part with large stroke can be realized only by one electric push rod, and the bearing platform always keeps the translational motion parallel to the chassis in the lifting process.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.

FIG. 1 is a schematic view of the overall structure of embodiment 1,

FIG. 2 is a schematic view showing the overall structure of embodiment 2,

fig. 3 is a schematic view of a steering wheel in embodiment 1 or embodiment 2.

In the figure, 11, a first rod, 12, a second rod, 13, a frame, 14, a first hinge, 15, a slider, 16, a first gear, 17, a second gear, 18, a second hinge, 21, a first guide rail, 22, a second guide rail, 23, a third motor, 31, a first side rod, 32, a second side rod, 33, a screw rod, 34, a motor connected with the screw rod, 4, a steering wheel, 41, a first motor, 42, a second motor, 43, a bracket, 44, a wheel body, 45, a steering gear set, 5 and a chassis.

Detailed Description

It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

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 specific orientation, be constructed and operated in a specific orientation, and thus, are not to be construed as limiting the present invention, and furthermore, the terms "first", "second", "third", etc., are only used for descriptive purposes and are not intended to indicate or imply relative importance.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

As described in the background art, the present invention is directed to an agricultural robot platform with a lifting hand, which uses special lifting and moving members to expand the application range of the agricultural robot platform, and will now be further described with reference to the accompanying drawings and embodiments.