The invention relates to a two-wheeled agricultural robot chassis which is suitable for being used in a greenhouse with a limited movement range and has the advantages of being compact in structure, convenient to install and easy to control. The chassis comprises a chassis frame, a driving module connecting plate, a front steering driving module and a rear steering driving module. The front steering driving module comprises an integrated joint, a tire support, a hub motor, an auxiliary wheel assembly and a force sensor. The auxiliary wheel assembly comprises a motor, a gear, a lead screw and other components and is installed on the tire support. According to the design of the chassis, a ball screw, a ball screw nut, a direct-current brushless motor and a multi-dimensional force sensor are particularly used, so that efficient power and accurate force measurement are provided. Besides a damping rubber block installed between the force sensor and the tire support, the chassis is further provided with a damping assembly, the damping assembly comprises a guide rod, a spring, a lengthened linear bearing and the like, the components are connected through a sensor connecting plate, and the stability of the robot in the moving process is effectively improved.
本发明指的是一种两轮农业机器人底盘,适用于运动范围受限的温室大棚内,具有结构紧凑,安装方便,控制简单的优点。该底盘包括底盘框架、驱动模组连接板、前转向驱动模组、后转向驱动模组。前转向驱动模组包括一体化关节、轮胎支架、轮毂电机、辅助轮组件和力传感器。其中辅助轮组件包括电机、齿轮、丝杆等部件,安装在轮胎支架上。这种底盘设计还特别使用了滚珠丝杆及滚珠丝杆螺母、直流无刷电机和多维力传感器,以提供高效动力和精确力量测量。除了在力传感器与轮胎支架之间安装了减震橡胶块,底盘还配备了减震组件,包括导向杆、弹簧和加长直线轴承等,这些部件通过传感器连接板连接,有效提升了机器人运动过程的稳定性。
Two-wheeled agricultural robot chassis
一种两轮农业机器人底盘
2024-08-27
Patent
Electronic Resource
Chinese