CN108942871B

CN108942871B - Plant protection monitoring robot that cruises

Info

Publication number: CN108942871B
Application number: CN201811050860.0A
Authority: CN
Inventors: 陈亚平
Original assignee: Anhui Lingxiang Intelligent Robot Technology Co ltd
Current assignee: Anhui Lingxiang Intelligent Robot Technology Co ltd
Priority date: 2018-09-10
Filing date: 2018-09-10
Publication date: 2022-02-11
Anticipated expiration: 2038-09-10
Also published as: CN108942871A

Abstract

The invention discloses a plant protection cruise monitoring robot, which comprises a fixed wheel, a driving wheel and a gravity supporting mechanism, wherein the inner wall of the driving wheel is axially connected with the fixed wheel through a rotating shaft, the outer wall of the rotating shaft is fixedly provided with the gravity supporting mechanism, the left end of the rotating shaft is axially connected with a worm, the inner wall of the driving wheel is connected with a guide rail in a penetrating way, the left end of the guide rail is axially connected with the fixed wheel, the right side of the fixed wheel is also axially connected with a ball screw, the axial end of the ball screw is axially connected with the rotating shaft, torque is transmitted to the driving wheel through a synchronous belt, then the driving mechanism is driven to advance, the whole body is symmetrically arranged, various interferences are reduced when the robot operates, a camera is arranged through a camera support, the growth state of a plant can be dynamically detected in real time, and the growth state of the plant can be monitored in real time and in multiple directions, the redundancy of information data is reduced, and the practicability is high.

Description

Plant protection monitoring robot that cruises

Technical Field

The invention relates to the field of cruise monitoring robots, in particular to a plant protection cruise monitoring robot.

Background

With the continuous concern of the country on the three-crop problem, the importance of implementing the village revivification strategy is more prominent, the agricultural information construction requirement is continuously improved, and in the agricultural information construction process, the plant diseases and insect pests are one of the key factors influencing the yield and quality of plant production and directly influence the national food safety and civil engineering. As a big agricultural country, the occurrence of agricultural diseases and insect pests causes huge loss to the annual crop harvest of China, and most of the current agricultural disease and insect pests control depends on manpower, the labor task is heavy, and the injury to operators is not small. To improve the disaster prevention efficiency, one important link is to acquire data of agricultural areas in real time, and based on some condition limitations of crop disaster prevention, some large machines are difficult to play main functions, and the robot application can overcome the defects.

For example, the invention patent with application number 201610462974.0 and named as a water surface environment monitoring cruise robot:

the intelligent camera shooting system has the functions of land walking, water surface walking, azimuth angle adjustment, camera fixing and shooting operation, is high in intelligent degree, convenient and flexible in azimuth angle adjustment, convenient and stable in camera fixing, high in shooting speed and quality, and solves the problems that the existing manual ship-riding shooting monitoring is high in difficulty, large in danger, poor in shooting quality and the like.

However, the existing plant protection cruise monitoring robot has the following defects:

(1) at present, in a cruise detection robot for plant protection, a traction mechanism is complex, maintenance is troublesome and practicability is poor;

(2) the existing cruising mechanism is difficult to acquire the state information of plants in real time and in all directions in the using process, so that the state information of the plants can be completely acquired by performing the cruising process for many times, the acquired information is more, and the information processing efficiency is reduced.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides the plant protection cruise monitoring robot, which can effectively solve the problems in the background art.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the utility model provides a plant protection monitoring robot that cruises, includes that the tight pulley is waited for, the driving wheel waited for and gravity supporting mechanism, the inner wall that the driving wheel was waited for is connected with the tight pulley through pivot axial, fixed mounting has gravity supporting mechanism on the outer wall of pivot, the left end axial of pivot is connected with the worm, run through connection has the guide rail on the inner wall that the driving wheel waited for, the left end and the tight pulley of guide rail are waited for axial and are connected, the right-hand member axial of guide rail is connected with the back plate, back plate fixed mounting is waited for on the tight pulley's inner wall, the right side that the tight pulley was waited for is still axially connected with ball, ball's axial end and pivot axial are connected.

Furthermore, a side driving support is installed on the upper portion of the gravity supporting mechanism, a worm wheel is axially connected to the axial end of the driving support, a synchronous belt wheel is wound on the outer wall of the worm wheel through a synchronous belt, a driving wheel is axially connected to the axial end of the synchronous belt wheel, a flexible cushion pad is arranged on the lower portion of the driving wheel, and a pressure sensor is arranged on the lower portion of the flexible cushion pad.

Further, still axially be connected with the connecting rod support on the inner wall of fixed wheel resolute, the axial end of connecting rod support is connected with four-bar linkage, four-bar linkage's end is provided with combination formula observation arm.

Furthermore, the gravity supporting mechanism comprises a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are hinged together through a connecting piece, a base is fixedly installed at the left end of the first connecting rod, a guide shaft is arranged on the inner wall of the base, a lifting lug is connected to the middle of the guide shaft in a sliding mode, and the lower portion of the lifting lug is fixedly installed on the inner wall of the first connecting rod through a supporting frame.

Further, the right end axial of second connecting rod is connected with bearing base, bearing base's inside axial is connected with the bearing, bearing base's upper portion fixed mounting has the leading wheel, the lower part axial of leading wheel is connected with wire rope, be provided with the air spring on wire rope's the inner wall, wire rope's lower part is provided with the extension spring.

Further, the combined observation arm comprises a linear track mounting plate and a linear track, the left end of the linear track mounting plate is fixedly mounted at the tail end of the four-bar linkage, the linear track is arranged at the lower portion of the linear track mounting plate, a driving motor is arranged at the left end of the linear track, a first joint is axially connected to the axial end of the driving motor, a tail section joint arm is arranged at the axial end of the first joint, the tail section joint arm is arranged on the inner wall of the linear track, a second joint is axially connected to the right end of the tail section joint arm, a joint fixing support is arranged outside the second joint, and an observation roller is arranged at the rear portion of the joint fixing support.

Furthermore, the right axial end of the second joint is connected with a third joint, the right axial end of the third joint is connected with a combined joint arm, the outer wall of the combined joint arm is connected with an observation roller through a joint fixing frame, the right end of the combined joint arm is further connected with a first section of joint arm in an axial direction, the inner wall of the first section of joint arm is provided with a camera support, and the inner wall of the observation roller is provided with a circular-viewing rotating motor in a surrounding mode.

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

(1) according to the plant protection cruise monitoring robot, the torque is transmitted to the driving wheel through the synchronous belt, so that the driving mechanism advances, the whole robot is symmetrically arranged, various interferences during the operation of the robot are reduced, the pressure of a road surface on the driving wheel can be collected in real time by using the pressure sensor, and the external motor can be controlled, so that the feedback control of the driving mechanism and the supporting mechanism is realized, and the whole device is simple in structure and high in practicability;

(2) the plant protection cruise monitoring robot adopts the combined observation arm with the suspended multi-joint moving framework, is connected with the linear track pushing device at the rear end of the combined observation arm, and is provided with the camera through the camera bracket, so that the growth state of the plant can be dynamically detected in real time, the growth state of the plant can be monitored in real time and in multiple directions, the redundancy of information data is reduced, and the practicability is high.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural diagram of the gravity support mechanism of the present invention;

fig. 3 is a schematic structural diagram of the combined observation arm of the present invention.

Reference numbers in the figures:

1-fixed rotational resolute; 2-herba seu radix Phrymatis; 3-a worm; 4-a gravity support mechanism; 5-a worm gear; 6-synchronous belt; 7-a flexible cushion; 8-a pressure sensor; 9-synchronous pulley; 10-a driving wheel; 11-a back plate; 12-a ball screw; 13-a guide rail; 14-a rotating shaft; 15-a four-bar linkage; 16-a combined viewing arm; 17-observation rollers; 18-a drive carriage; 19-a link bracket;

401-a first link; 402-a second link; 403-a base; 404-a guide shaft; 405-a lifting lug; 406-a support frame; 407-bearing pedestal; 408-a bearing; 409-a guide wheel; 410-steel wire rope; 411-steel wire rope; 412-tension spring;

1601-a linear rail mounting plate; 1602-linear track; 1603-end articulated arm; 1604-driving a motor; 1605-first joint; 1606-joint fixation support; 1607-a second joint; 1608-third joint; 1609-a combined articulated arm; 1610-first segment articulated arm; 1611-a camera stand; 1612-looking around the rotating machine.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.

As shown in fig. 1 to 3, the invention provides a plant protection cruise monitoring robot, which comprises a fixed wheel hub 1, a driving wheel hub 2 and a gravity support mechanism 4, and is characterized in that: the inner wall of the driving wheel hub 2 is axially connected with a fixed wheel hub 1 through a rotating shaft 14, the outer wall of the rotating shaft 14 is fixedly provided with a gravity support mechanism 4, the left end of the rotating shaft 14 is axially connected with a worm 3, the inner wall of the driving wheel hub 2 is connected with a guide rail 13 in a penetrating way, the left end of the guide rail 13 is axially connected with the fixed wheel hub 1, the right end of the guide rail 13 is axially connected with a back plate 11, the back plate 11 is fixedly arranged on the inner wall of the fixed wheel hub 1, the right side of the fixed wheel hub 1 is also axially connected with a ball screw 12, the axial end of the ball screw 12 is axially connected with the rotating shaft 14, the inner wall of the fixed wheel hub 1 is also axially connected with a connecting rod support 19, the axial end of the connecting rod support 19 is connected with a four-bar mechanism 15, and the tail end of the four-bar mechanism 15 is provided with a combined observation arm 16.

In the embodiment, the cruise driving mechanism adopts a single-motor full-driving mode, 3 driving wheels are uniformly arranged at 120 degrees and comprise a worm wheel 5, a worm 3, a synchronous belt 6, a driving wheel 10 and the like; the supporting mechanism consists of a ball screw 12, a driving hub 2, a four-bar linkage mechanism 15, a pressure sensor 8 and a flexible cushion pad 7, and can realize active and passive supporting, so that the robot has certain path change adaptability; the pressure sensor 8 can realize the adjustment of traction force and the control of the supporting mechanism by matching with other mechanisms; the frame is connected and fixed actuating mechanism and supporting mechanism, and this drive mechanism that cruises can be used for carrying on nondestructive test device and operation device, detects protection, clearance and maintenance to the plant in the different environment to the growth that the guarantee plant can be better.

The upper portion of gravity supporting mechanism 4 is installed drive support 18, and the axial end of drive support 18 is connected with worm wheel 5 axially, has synchronous pulley 9 through the hold-in range 6 winding on the outer wall of worm wheel 5, and the axial end axial of synchronous pulley 9 is connected with drive wheel 10, and the lower part of drive wheel 10 is provided with flexible blotter 7, and the lower part of flexible blotter 7 is provided with pressure sensor 8.

In the embodiment, under the action of the supporting mechanism, the driving wheel 10 is tightly attached to the road surface and has stronger driving force, and the worm 3 is arranged along the central axis of the traction mechanism and is fixed on the fixed hub 1; 3 worm gears are uniformly arranged on the worm at 120 degrees; the synchronous belt wheel 9 and the worm wheel 5 are coaxial and are arranged on the fixed hub 1; synchronous pulley 9 and drive wheel 10 are connected to the hold-in range, and external motor passes through worm 3 with the moment of torsion and transmits for 3 worm wheel 5, and worm wheel 5 drives synchronous pulley 9 motion simultaneously, transmits the moment of torsion for drive wheel 10 through hold-in range 6, and then drives the mechanism and gos forward, and whole symmetrical arrangement has reduced various interferences when the robot moves.

In the present embodiment, the ball screw 12 is disposed on the rear plate 11 along the central axis of the traction mechanism; the driving hub 2 is arranged on the ball screw 12, and the guide rod passes through the driving hub 2 along with the forward or backward movement of the rotation of the ball screw 12, so that the circumferential direction of the guide rod is relatively fixed; the four-bar linkage 15 is connected with the fixed hub 1 and the driving hub 2 and moves along with the forward or backward movement of the driving hub 2; the flexible cushion pad 7 is mainly composed of a spring, an external motor drives the ball screw 12 to rotate, the driving hub 2 on the ball screw is enabled to move forwards or backwards, the four-bar linkage 15 is enabled to move, and therefore the supporting mechanism is enabled to expand or contract, the pressure sensor 8 is installed in the flexible cushion pad 7 of the top supporting mechanism, the pressure of the road surface on the driving wheel 10 can be collected in real time, the external motor can be controlled, and the feedback control over the driving mechanism and the supporting mechanism is achieved.

The gravity support mechanism 4 comprises a first connecting rod 401 and a second connecting rod 402, the first connecting rod 401 and the second connecting rod 402 are hinged together through a connecting piece, a base 403 is fixedly mounted at the left end of the first connecting rod 401, a guide shaft 404 is arranged on the inner wall of the base 403, a lifting lug 405 is slidably connected to the middle of the guide shaft 404, the lower portion of the lifting lug 405 is fixedly mounted on the inner wall of the first connecting rod 401 through a support frame 406, a bearing base 407 is axially connected to the right end of the second connecting rod 402, a bearing 408 is axially connected to the inside of the bearing base 407, a guide wheel 409 is fixedly mounted on the upper portion of the bearing base 407, a steel wire rope 410 is axially connected to the lower portion of the guide wheel 409, an air spring 411 is arranged on the inner wall of the steel wire rope 410, and a tension spring 412 is arranged on the lower portion of the steel wire rope 410.

In this embodiment, the first connecting rod 401 and the second connecting rod 402 in the gravity support mechanism 4 are placed in a collinear manner, and are connected with the spindle by using a flat key, and then are assembled on the bearing base 407 through the bearing 408, the lifting lug 405 is connected on the guide shaft and can move along the guide shaft, one end of the connecting rod is connected with the lifting lug 405 by a hinge, the other end of the connecting rod is connected with the first connecting rod 401 by a hinge, one end of the tension spring 412 and the tail end of the gas spring 411 are jointly fixed on the base 403, the steel wire rope 410 and the other end of the tension spring 412 are jointly fixed on the moving end of the gas spring 411 after passing through the guide wheel 409, the device utilizes a slider-crank mechanism to realize the transmission of auxiliary force, and utilizes the steel wire rope 410 to connect the power source and the lifting lug 405 to provide power, so the mechanism has the advantages of simple structure, wide application range, no dead point, effective reduction of the resisting moment generated by self gravity, and the like.

The combined observation arm 16 comprises a linear track mounting plate 1601 and a linear track 1602, the left end of the linear track mounting plate 1601 is fixedly mounted at the end of the four-bar linkage 15, the lower part of the linear track mounting plate 1601 is provided with the linear track 1602, the left end of the linear track 1602 is provided with a driving motor 1604, the axial end of the driving motor 1604 is axially connected with a first joint 1605, the axial end of the first joint 1605 is provided with a tail joint arm 1603, the tail joint arm 1603 is arranged on the inner wall of the linear track, the right end of the tail joint arm 1603 is also axially connected with a second joint 1607, the outside of the second joint 1607 is provided with a joint fixing bracket 1606, the rear part of the joint fixing bracket 1606 is provided with an observation roller 17, the right axial end of the second joint 1607 is connected with a third joint 1608, the right axial end of the third joint 1608 is also axially connected with a combined joint arm 1609, the outer wall of the combined joint arm 1609 is connected with the observation roller 17 through a joint fixing bracket, the right end of the combined type articulated arm 1609 is also axially connected with a first section articulated arm 1610, the inner wall of the first section articulated arm 1610 is provided with a camera support 1611, and the inner wall of the observation roller 17 is annularly provided with a circular-viewing rotating motor 1612.

In this embodiment, the combined observation arm 16 is a suspended multi-joint moving structure, and is connected to a pushing device of the linear track 1602 at the rear end thereof, and a camera is mounted on the camera support 1611, so as to dynamically detect the growth state of the plant in real time, and the combined joint arm 1609 is formed by sequentially connecting 8 to 10 sections of joint arms in series through rotary joints, wherein the first section of joint arm 1610 has 2 spatial rotation degrees of freedom in the horizontal and vertical directions, the last section of joint arm 1603 has 1 spatial sliding degree of freedom in the horizontal direction, and the rest of the joint arms have 1 spatial rotation degree of freedom in the horizontal direction.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a plant protection monitoring machines people that cruises, includes fixed wheel hub (1), drive wheel hub (2) and gravity supporting mechanism (4), its characterized in that: the inner wall of the driving hub (2) is axially connected with a fixed hub (1) through a rotating shaft (14), a gravity supporting mechanism (4) is fixedly installed on the outer wall of the rotating shaft (14), the left end of the rotating shaft (14) is axially connected with a worm (3), a guide rail (13) is connected to the inner wall of the driving hub (2) in a penetrating mode, the left end of the guide rail (13) is axially connected with the fixed hub (1), the right end of the guide rail (13) is axially connected with a rear plate (11), the rear plate (11) is fixedly installed on the inner wall of the fixed hub (1), the right side of the fixed hub (1) is also axially connected with a ball screw (12), and the axial end of the ball screw (12) is axially connected with the rotating shaft (14);

the gravity supporting mechanism (4) comprises a first connecting rod (401) and a second connecting rod (402), the first connecting rod (401) and the second connecting rod (402) are hinged together through a connecting piece, a base (403) is fixedly mounted at the left end of the first connecting rod (401), a guide shaft (404) is arranged on the inner wall of the base (403), a lifting lug (405) is connected to the middle of the guide shaft (404) in a sliding mode, and the lower portion of the lifting lug (405) is fixedly mounted on the inner wall of the first connecting rod (401) through a supporting frame (406).

2. A plant protection cruise monitoring robot according to claim 1, characterized in that: drive support (18) are installed on the upper portion of gravity supporting mechanism (4), the axial end axial of drive support (18) is connected with worm wheel (5), synchronous pulley (9) have been twined through hold-in range (6) on the outer wall of worm wheel (5), the axial end axial of synchronous pulley (9) is connected with drive wheel (10), the upper portion of drive wheel (10) is provided with flexible blotter (7), the upper portion of flexible blotter (7) is provided with pressure sensor (8).

3. A plant protection cruise monitoring robot according to claim 1, characterized in that: still axially connected with connecting rod support (19) on the inner wall of fixed wheel hub (1), the axial end of connecting rod support (19) is connected with four-bar linkage (15), the end of four-bar linkage (15) is provided with combination formula observation arm (16).

4. A plant protection cruise monitoring robot according to claim 1, characterized in that: the right-hand member axial of second connecting rod (402) is connected with bearing base (407), the inside axial of bearing base (407) is connected with bearing (408), the upper portion fixed mounting of bearing base (407) has leading wheel (409), the lower part axial of leading wheel (409) is connected with wire rope (410), be provided with air spring (411) on the inner wall of wire rope (410), the lower part of wire rope (410) is provided with extension spring (412).

5. A plant protection cruise monitoring robot according to claim 3, characterized in that: the combined observation arm (16) comprises a linear track mounting plate (1601) and a linear track (1602), the left end of the linear track mounting plate (1601) is fixedly mounted at the tail end of the four-bar linkage mechanism (15), a linear track (1602) is arranged at the lower part of the linear track mounting plate (1601), a driving motor (1604) is arranged at the left end of the linear track (1602), the axial end of the driving motor (1604) is axially connected with a first joint (1605), the axial end of the first joint (1605) is provided with a tail joint arm (1603), the end section articulated arm (1603) is arranged on the inner wall of the linear track, a second joint (1607) is axially connected to the right end of the end section articulated arm (1603), a joint fixing support (1606) is arranged outside the second joint (1607), an observation roller (17) is arranged at the rear part of the joint fixing support (1606).

6. A plant protection cruise monitoring robot according to claim 5, characterized in that: the right side axial end of second joint (1607) is connected with third joint (1608), the right side axial of third joint (1608) is connected with combination formula articulated arm (1609), be connected with observation gyro wheel (17) through the joint mount on the outer wall of combination formula articulated arm (1609), the right-hand member of combination formula articulated arm (1609) still axial is connected with first section articulated arm (1610), be provided with camera support (1611) on the inner wall of first section articulated arm (1610), it is provided with all around rotating electrical machines (1612) to survey on the inner wall of gyro wheel (17).