The invention discloses a leg and foot connecting device of a multi-foot striding type high-trafficability traction robotic cattle. A foot connecting device (1) is mounted at the lower end of a supporting leg (24) and comprises a stainless steel ball head (11), a stainless steel ball head seat (12), a ball cover (13), an equal-pitch compression spring (14), a foot (15), a rubber track (16), a corrugated rubber dustproof sleeve (17) and the like; and a leg connecting device (2) is installed on leg lifting mechanisms (3) of the multi-foot striding type high-trafficability traction robotic cattle, the leg lifting mechanisms are installed at the front end and the rear end of an upper sliding block and the front end and the rear end of a lower sliding block, the leg connecting device (2) comprises a supporting leg connecting rod (21), a connecting plate (22), Q235 U-bolts (23), a supporting leg (24), anti-sliding teeth (25), a cross beam (26) and the like, the supporting leg (24) is locked and fixed to the connecting plate (22) through the two Q235 U-bolts (23), the anti-sliding teeth (25) are used for bearing the supporting force of the supporting leg (24), when the ground changes in a fluctuating mode, the ball joints can be used for rotating by a certain angle, the feet (15) can have enough ground contact area when walking on the uneven ground, compaction damage of the feet to soil is reduced, stability of the whole machine is ensured, the span and the ground clearance between the left supporting leg and the right supporting leg can be adjusted by dragging the robotic cattle according to the row spacing and the height of crops, and damage to the crops when the robotic cattle is dragged for field operation is reduced.
本发明公开了一种多足跨步式高通过性牵引机器牛的腿足连接装置,其中足连接装置(1)安装在支撑腿(24)的下端,包括一个不锈钢球头(11)、不锈钢球头座(12)、球盖(13)、等节距压缩弹簧簧(14)、足(15)、橡胶履(16)、波纹橡胶防尘套(17)等;腿连接装置(2)安装在多足跨步式高通过性牵引机器牛的抬腿机构(3)上,抬腿机构安装在上、下滑块的前后两端,腿连接装置(2)包括支撑腿支撑腿连接杆(21)、连接板(22)、Q235骑马螺栓(23)、支撑腿(24)、防滑移牙齿(25)、横梁(26)等,支撑腿(24)通过两条Q235骑马螺栓(23)锁扣固定在连接板(22)上,利用防滑移牙齿(25)承受支撑腿(24)的支撑力,遇地面高低起伏变化时,本发明可以利用球关节转动一定角度,使足(15)在不平的地面行走时也有足够的接地面积,减少足对土壤的压实破坏,确保整机的稳定,根据农作物的行距与高度牵引机器牛可以调节左右支撑腿之间的跨度和地隙,减少牵引机器牛进行田间作业时对农作物的损伤。
Leg and foot connecting device of multi-foot striding type high-trafficability traction robotic cattle
一种多足跨步式高通过性牵引机器牛的腿足连接装置
2021-09-24
Patent
Electronic Resource
Chinese
Multi-foot striding type high-traffic-ability traction robotic cattle
European Patent Office | 2021
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