CN117506855B - Intelligent robot for soil detection - Google Patents
Intelligent robot for soil detection Download PDFInfo
- Publication number
- CN117506855B CN117506855B CN202311693768.7A CN202311693768A CN117506855B CN 117506855 B CN117506855 B CN 117506855B CN 202311693768 A CN202311693768 A CN 202311693768A CN 117506855 B CN117506855 B CN 117506855B
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- bevel gear
- screw rod
- soil
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- 238000001514 detection method Methods 0.000 title claims abstract description 122
- 239000002689 soil Substances 0.000 title claims abstract description 75
- 238000013519 translation Methods 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000012876 topography Methods 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 230000004720 fertilization Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Investigation Of Foundation Soil And Reinforcement Of Foundation Soil By Compacting Or Drainage (AREA)
Abstract
The invention relates to the technical field of soil detection, in particular to an intelligent soil detection robot, which comprises a base, wherein a crawler running device is arranged at the bottom of the base and comprises a translation mechanism, a detection mechanism and a scanning mechanism; the translation mechanism is arranged at one end of the top of the base, and the detection mechanism is arranged at the output end of the translation mechanism so as to sample and detect soil; the scanning mechanism is arranged at the other end of the top of the base to scan and guide the crawler running device to run. According to the invention, the screw rod can be separated from the soil by the reverse rotation of the first motor, the detection mode can not cause large-scale damage to the soil suddenly, and meanwhile, the soil can be guided into the detection box for real-time detection through the detection head, so that the detection efficiency of the soil is greatly improved.
Description
Technical Field
The invention relates to the technical field of soil detection, in particular to an intelligent robot for soil detection.
Background
With the continuous development of science and technology, the continuous improvement of the agricultural science and technology level is further promoted, wherein in the existing agricultural production process, soil detection is one of novel technical means, so that the condition of soil nutrient components can be further known through soil detection, the purpose of accurate fertilization can be achieved in the later fertilization process, and the yield of crops can be further improved; many soil detection devices are known in the art;
For example, chinese patent application No. CN201710749953.1 discloses a farm monitoring intelligent robot, which comprises a base plate, a driving mechanism, a control box, a lifting mechanism, a detecting device, an automatic headlight, a first hydraulic rod, a camera, a second hydraulic rod, a hydraulic pump, a drill rod, a rotating sleeve, a belt wheel and a soil component detector, wherein the driving mechanism is arranged at the lower part of the base plate and is driven by a motor; the upper part of the bottom plate is sequentially provided with a control box, a lifting mechanism and a detection device from front to back;
The patent uses the transmission of a conveyor belt to drive a rotary sleeve to rotate, a drill rod is drilled into soil, and when the drill rod is lifted, part of the soil is lifted and sent to a soil component detector for detection; however, when the 'drill rod' of the patent lifts up, the soil carried out by the 'drill rod' can cause increased damage to the ground around the drill hole, and subsequent manual filling is also needed; meanwhile, the soil brought out by the drill rod is detected by sorting, so that the quick detection of a certain detection point cannot be realized, and the detection efficiency of the detection mode is quite low.
Disclosure of Invention
The invention aims to solve the defect that the prior art is suddenly damaged in a large range, and provides an intelligent robot for detecting soil.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
The intelligent robot for soil detection is designed and comprises a base, wherein a crawler traveling device is installed at the bottom of the base, and a translation mechanism, a detection mechanism and a scanning mechanism are installed on the base; the translation mechanism is arranged at one end of the top of the base, and the detection mechanism is arranged at the output end of the translation mechanism so as to sample and detect soil; the scanning mechanism is arranged at the other end of the top of the base to scan and guide the crawler running device to run on the topography.
Further, the translation mechanism comprises a mounting frame, a screw rod, a guide rod, a first movable block, a second movable block, a detection box and a first motor; the lead screw rotates the one end of installing at the installing frame, guide bar fixed mounting at the other end of installing frame, and with lead screw parallel arrangement, first movable block screw thread is installed on the lead screw, second movable block slidable mounting is on the guide bar, detection case fixed mounting is between first movable block and second movable block, first motor fixed mounting is at the top of base, and output shaft and lead screw fixed connection.
Further, the outside of detection case articulates there is the chamber door, the inside fixed mounting of detection case has the detection head.
Further, the detection mechanism comprises a screw rod, a sawtooth head, a screw rod shaft, a drill bit and a transmission assembly; the screw rod is rotatably arranged at the bottom of the detection box and is of a hollow structure, the sawtooth head is fixedly arranged at the bottom of the screw rod, the screw rod shaft penetrates through the screw rod and is rotatably connected with the screw rod, the drill bit is fixedly arranged at the bottom of the screw shaft and is positioned at the inner side of the sawtooth head, and the transmission assembly is arranged on the detection box so as to drive the screw rod and the screw shaft.
Further, the transmission assembly comprises a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a first gear, a second gear and a connecting shaft; the first bevel gear is fixedly arranged at the top end of the screw rod, the second bevel gear is rotatably arranged at the inner side of the detection box and meshed with the first bevel gear, the third bevel gear is coaxially and fixedly connected with the second bevel gear and is positioned at the outer side of the detection box, the fourth bevel gear is rotatably arranged at the outer side of the detection box and meshed with the third bevel gear, the first bevel gear is coaxially and fixedly connected with the fourth bevel gear, the connecting shaft piece is rotatably arranged at the top of the detection box and is fixedly connected with the screw rod shaft, and the second bevel gear is fixedly arranged at the top of the connecting shaft piece and meshed with the first bevel gear.
Further, the connecting shaft piece comprises a sleeve shaft, an inserting shaft and a limiting strip; the sleeve shaft is fixedly arranged at the top of the screw shaft, the limiting strips are fixedly arranged at the outer side of the inserting shaft, and the inserting shaft and the limiting strips are inserted into the sleeve shaft and are in sliding connection with the sleeve shaft.
Further, a first belt wheel is fixedly arranged at the top of the inserting shaft, a second belt wheel is fixedly arranged on an output shaft of the first motor, and the second belt wheel is in transmission connection with the first belt wheel through a belt.
Further, the scanning mechanism comprises a mounting box, an adjusting piece, a scanning camera and a driving piece; the driving piece fixed mounting is at the top of base, the regulating part is installed at the top of installing the case, scanning camera fixed mounting is at the output of regulating part, the driving piece is installed in installing the case inboard to drive the regulating part.
Further, the adjusting piece comprises a hollow shaft, a turntable, a mounting seat, a rotating shaft, a fifth bevel gear and a sixth bevel gear; the hollow shaft penetrates through the top wall of the mounting box and is rotationally connected with the mounting box, the rotary table is fixedly arranged at the top of the hollow shaft, the mounting seat is fixedly arranged at the top of the rotary table, one end of the rotary seat is rotationally arranged at the inner side of the mounting seat through a pin shaft, the other end of the rotary seat is fixedly connected with the scanning camera, the rotary shaft penetrates through the hollow shaft and is rotationally connected with the hollow shaft, the fifth bevel gear is fixedly arranged at the top of the rotary shaft, and the sixth bevel gear is coaxially and fixedly connected with the rotary seat and is meshed with the fifth bevel gear.
Further, the driving piece comprises a first worm wheel, a first worm, a second motor, a second worm wheel, a second worm and a third motor; the first worm gear is fixedly arranged at the bottom of the hollow shaft, the first worm is rotatably arranged at the inner side of the mounting box and meshed with the first worm gear, the second motor is fixedly arranged at the outer side of the mounting box and is fixedly connected with the output shaft and the first worm, the second worm gear is fixedly arranged at the bottom of the rotating shaft, the second worm is rotatably arranged at the inner side of the mounting box and meshed with the second worm gear, and the third motor is fixedly arranged at the outer side of the mounting box and is fixedly connected with the output shaft.
The intelligent robot for soil detection provided by the invention has the beneficial effects that:
1 、 drives the second belt wheel to rotate through the first motor, so that the first belt wheel drives the plug shaft to synchronously rotate, and the sleeve shaft drives the screw shaft and the second gear to synchronously rotate; the second gear can drive the first gear to synchronously rotate, so that the fourth bevel gear synchronously rotates, the third bevel gear and the second bevel gear synchronously rotate, the first bevel gear drives the spiral rod to rotate, the sawtooth head rotates to penetrate into soil, and the soil is guided into the inner side of the sawtooth head; the rotation of the screw shaft can guide the soil at the inner side of the saw tooth head into the detection box, and then the soil in the detection box is detected through the detection head, so that the soil fertilization amount can be judged;
2. The screw rod can be rotated and separated from the soil through the reverse rotation of the first motor, the detection mode can not cause damage on a large scale suddenly, meanwhile, the soil can be guided into the detection box to be detected in real time through the detection head, and the detection efficiency of the soil is greatly improved.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent robot for soil detection according to the present invention;
Fig. 2 is a schematic diagram of a part of a structure of the intelligent robot for soil detection according to the present invention;
fig. 3 is a schematic structural diagram of a translation mechanism of the intelligent soil detection robot provided by the invention;
fig. 4 is a schematic structural diagram of a detection mechanism of the intelligent soil detection robot provided by the invention;
fig. 5 is a schematic structural view of a connecting shaft of the intelligent soil detection robot according to the present invention;
Fig. 6 is a schematic structural diagram of a scanning mechanism of the intelligent soil detection robot according to the present invention;
Fig. 7 is a schematic structural diagram of an adjusting member of the intelligent soil detection robot according to the present invention;
fig. 8 is a schematic structural diagram of a driving member of the intelligent soil detection robot according to the present invention;
in the figure: the crawler belt traveling device 2, the translation mechanism 3, the mounting frame 31, the screw rod 32, the guide rod 33, the first movable block 34, the second movable block 35, the detection box 36, the detection head 361, the first motor 37, the first belt pulley 38, the second belt pulley 39, the box door 30, the detection mechanism 4, the screw rod 41, the saw tooth head 42, the screw shaft 43, the drill bit 44, the transmission assembly 45, the first bevel gear 451, the second bevel gear 452, the third bevel gear 453, the fourth bevel gear 454, the first gear 455, the second gear 456, the connecting shaft 457, the sleeve shaft 457, the inserting shaft 457, the limiting bar 4573, the scanning mechanism 5, the mounting box 51, the adjusting member 52, the hollow shaft 521, the turntable 522, the mounting seat 523, the rotating seat 524, the rotating shaft 525, the fifth bevel gear 526, the sixth bevel gear 527, the scanning camera 53, the driving member 54, the first worm gear 541, the first worm gear 542, the second worm gear 543, the second worm gear 545, the second worm 545, and the third motor 546.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Example 1:
Referring to fig. 1-3, the intelligent robot for soil detection comprises a base 1, wherein a crawler traveling device 2 is installed at the bottom of the base 1, and the crawler traveling device 2 is used for driving the whole device to translate, so that a detection mechanism 4 moves to a corresponding detection point to detect.
The base 1 is provided with a translation mechanism 3, a detection mechanism 4 and a scanning mechanism 5; the translation mechanism 3 is arranged at one end of the top of the base 1, and the translation mechanism 3 comprises a mounting frame 31, a screw rod 32, a guide rod 33, a first movable block 34, a second movable block 35, a detection box 36 and a first motor 37; the screw rod 32 is rotatably arranged at one end of the mounting frame 31, the guide rod 33 is fixedly arranged at the other end of the mounting frame 31 and is parallel to the screw rod 32, the first movable block 34 is arranged on the screw rod 32 in a threaded manner, the second movable block 35 is slidably arranged on the guide rod 33, the detection box 36 is fixedly arranged between the first movable block 34 and the second movable block 35, the first motor 37 is fixedly arranged at the top of the base 1, and the output shaft is fixedly connected with the screw rod 32; the outer side of the detection box 36 is hinged with a box door 30, and a detection head 361 is fixedly installed inside the detection box 36. The first motor 37 is started to rotate the screw rod 32, so that the first movable block 34 can drive the detection box 36 to move upwards or downwards in the vertical direction, and the second movable block 35 can slide on the guide rod 33, so that the detection box 36 can be kept stable all the time in the moving process; while translation of the detection box 36 may cause the detection mechanism 4 to move downwardly to sample the soil.
The detection mechanism 4 is arranged at the output end of the translation mechanism 3; the scanning mechanism 5 is arranged at the other end of the top of the base 1 to scan and guide the crawler traveling device 2 to travel on the topography; the outer side of the detection box 36 is hinged with a box door 30, and a detection head 361 is fixedly arranged in the detection box 36; the chamber door 30 can conveniently take out the soil inside the detection chamber 36 to clean, and the detection head 361 can detect the soil inside the detection chamber 36, so that the soil fertilization amount can be judged, and the accurate fertilization to the soil can be realized.
Working principle: firstly, the scanning mechanism 5 scans the terrain, then the crawler belt travelling device 2 is controlled to move towards a soil detection point, when the detection point is reached, the first motor 37 is started to enable the screw rod 32 to rotate, the first movable block 34 drives the detection box 36 to move downwards, and therefore the detection mechanism 4 moves downwards to sample and detect the soil.
Example 2:
Referring to fig. 4 to 5, as another preferred embodiment of the present invention, the difference from embodiment 1 is that the detecting mechanism 4 includes a screw rod 41, a serration head 42, a screw shaft 43, a drill bit 44, and a transmission assembly 45; the screw rod 41 is rotatably mounted at the bottom of the detection box 36, the inside of the screw rod is of a hollow structure, the sawtooth head 42 is fixedly mounted at the bottom of the screw rod 41, the screw rod shaft 43 penetrates the screw rod 41 and is rotatably connected with the screw rod 41, the drill bit 44 is fixedly mounted at the bottom of the screw rod shaft 43 and is positioned at the inner side of the sawtooth head 42, and the transmission assembly 45 is mounted on the detection box 36 so as to drive the screw rod 41 and the screw rod shaft 43; when the detection mechanism 4 translates downwards, the sawtooth head 42 can detect the soil at the detection point, the sawtooth head 42 is driven by the screw rod 41 to rotate so as to penetrate into the soil and guide the soil into the inner side of the sawtooth head 42, and meanwhile, the screw structure of the screw rod 41 can accelerate the penetration of the soil; soil inside the saw-tooth head 42 can be guided into the inside of the detection box 36 by the rotation of the screw shaft 43, and then the soil inside the detection box 36 is detected by the detection head 361, thereby being beneficial to judging the fertilizing amount of the soil.
The transmission assembly 45 includes a first bevel gear 451, a second bevel gear 452, a third bevel gear 453, a fourth bevel gear 454, a first gear 455, a second gear 456, and a connecting shaft 457; the first bevel gear 451 is fixedly installed at the top end of the screw rod 41, the second bevel gear 452 is rotatably installed at the inner side of the detection box 36 and meshed with the first bevel gear 451, the third bevel gear 453 is fixedly connected with the second bevel gear 452 in a coaxial manner and positioned at the outer side of the detection box 36, the fourth bevel gear 454 is rotatably installed at the outer side of the detection box 36 and meshed with the third bevel gear 453, the first bevel gear 455 is fixedly connected with the fourth bevel gear 454 in a coaxial manner, the connecting shaft 457 is rotatably installed at the top of the detection box 36 and fixedly connected with the screw shaft 43, the second gear 456 is fixedly installed at the top of the connecting shaft 457 and meshed with the first gear 455, and the number of teeth of the first gear 455 is greater than that of the second gear 456; the second gear 456 can be driven to rotate by the connecting shaft 457, so that the first gear 455 rotates synchronously, the fourth bevel gear 454 rotates synchronously, the third bevel gear 453 rotates synchronously with the second bevel gear 452, the first bevel gear 451 drives the screw 41 to rotate, and the sawtooth head 42 rotates deep into the soil and guides the soil into the inner side of the sawtooth head 42; meanwhile, the screw shaft 43 is driven to rotate by the rotation of the connecting shaft 457, and the soil inside the saw-tooth head 42 can be guided into the detection box 36 by the rotation of the screw shaft 43, and then the soil inside the detection box 36 is detected by the detection head 361.
The connecting shaft 457 comprises a sleeve shaft 4571, an inserting shaft 4572 and a limiting bar 4573; sleeve shaft 4571 is fixedly arranged on the top of screw shaft 43, limit bar 4573 is fixedly arranged on the outer side of inserting shaft 4572, inserting shaft 4572 and limit bar 4573 are inserted into sleeve shaft 4571 and are in sliding connection with sleeve shaft 4571; the top of the inserting shaft 4572 is fixedly provided with a first belt pulley 38, the output shaft of the first motor 37 is fixedly provided with a second belt pulley 39, the second belt pulley 39 is in transmission connection with the first belt pulley 38 through a belt, the limiting strip 4573 can limit the inserting shaft 4572, relative sliding between the inserting shaft 4572 and the sleeve shaft 4571 is avoided, and synchronous rotation of the inserting shaft 4572 and the sleeve shaft 4571 in the relative sliding process can be guaranteed; the second pulley 39 is rotated by the first motor 37, so that the first pulley 38 drives the insert shaft 4572 to rotate synchronously, which causes the sleeve shaft 4571 to drive the screw shaft 43 and the second gear 456 to rotate synchronously.
Working principle: firstly, the terrain is scanned through a scanning mechanism 5, then the crawler traveling device 2 is controlled to move towards a soil detection point, and when the detection point is reached, a first motor 37 is started to enable a screw rod 32 to rotate, so that a first movable block 34 drives a detection box 36 to move downwards; simultaneously, the first motor 37 can rotate the second belt pulley 39, so that the first belt pulley 38 drives the inserting shaft 4572 to synchronously rotate, and the sleeve shaft 4571 drives the screw shaft 43 and the second gear 456 to synchronously rotate;
The second gear 456 may drive the first gear 455 to rotate synchronously, which causes the fourth bevel gear 454 to rotate synchronously, and thus causes the third bevel gear 453 and the second bevel gear 452 to rotate synchronously, and further causes the first bevel gear 451 to drive the screw 41 to rotate, which causes the serrated head 42 to rotate deep into the soil and guide the soil into the inside of the serrated head 42; the rotation of the screw shaft 43 can guide the soil inside the saw-tooth head 42 into the detection box 36, and then the soil inside the detection box 36 is detected by the detection head 361; the screw rod 41 can be rotated to be separated from the soil by the reverse rotation of the first motor 37, so that the detection mode can not cause large-scale damage to the soil suddenly, and meanwhile, the soil can be guided into the detection box 36 to be detected in real time through the detection head 361, so that the detection efficiency of the soil is greatly improved.
Example 3:
Referring to fig. 6 to 8, as another preferred embodiment of the present invention, the scanning mechanism 5 is different from embodiment 1 in that it includes a mounting box 51, an adjusting member 52, a scanning camera 53, and a driving member 54; the driving part 54 is fixedly arranged at the top of the base 1, the adjusting part 52 is arranged at the top of the mounting box 51, and the adjusting part 52 comprises a hollow shaft 521, a rotary table 522, a mounting seat 523, a rotary seat 524, a rotary shaft 525, a fifth bevel gear 526 and a sixth bevel gear 527; the hollow shaft 521 penetrates through the top wall of the mounting box 51 and is rotationally connected with the mounting box 51, the turntable 522 is fixedly arranged at the top of the hollow shaft 521, the mounting seat 523 is fixedly arranged at the top of the turntable 522, one end of the rotating seat 524 is rotationally arranged at the inner side of the mounting seat 523 through a pin shaft, the other end of the rotating seat 524 is fixedly connected with the scanning camera 53, the rotating shaft 525 penetrates through the hollow shaft 521 and is rotationally connected with the hollow shaft 521, the fifth bevel gear 526 is fixedly arranged at the top of the rotating shaft 525, and the sixth bevel gear 527 is fixedly connected with the rotating seat 524 in a coaxial manner and meshed with the fifth bevel gear 526; the turntable 522 can be rotated by the rotation of the hollow shaft 521, so that the scanning camera 53 can be adjusted in an angle in the horizontal direction, thereby increasing the scanning range of the scanning camera 53 in the horizontal direction; the fifth bevel gear 526 can be rotated by the rotating shaft 525, so that the sixth bevel gear 527 drives the rotating seat 524 to longitudinally rotate, and the scanning camera 53 synchronously longitudinally rotates, so that the longitudinal angle of the scanning camera 53 can be adjusted, and the longitudinal scanning range of the scanning camera 53 can be greatly increased.
A driving member 54 is installed inside the installation case 51 to drive the adjusting member 52; the driver 54 includes a first worm gear 541, a first worm 542, a second motor 543, a second worm gear 544, a second worm 545, and a third motor 546; the first worm gear 541 is fixedly mounted at the bottom of the hollow shaft 521, the first worm 542 is rotatably mounted at the inner side of the mounting box 51 and is meshed with the first worm gear 541, the second motor 543 is fixedly mounted at the outer side of the mounting box 51, the output shaft is fixedly connected with the first worm gear 542, the second worm gear 544 is fixedly mounted at the bottom of the rotating shaft 525, the second worm 545 is rotatably mounted at the inner side of the mounting box 51 and is meshed with the second worm gear 544, the third motor 546 is fixedly mounted at the outer side of the mounting box 51, and the output shaft is fixedly connected with the second worm gear 545.
The working principle is that the first worm 542 rotates by starting the second motor 543, so that the first worm wheel 541 drives the hollow shaft 521 to synchronously rotate, the rotation of the hollow shaft 521 can rotate the turntable 522, the scanning camera 53 can perform angle adjustment in the horizontal direction, and the scanning range of the scanning camera 53 in the horizontal direction is increased;
By starting the third motor 546 to rotate the second worm 545, the second worm wheel 544 drives the rotating shaft 525 to rotate synchronously, the rotating shaft 525 can drive the fifth bevel gear 526 to rotate, the sixth bevel gear 527 drives the rotating seat 524 to rotate longitudinally, the scanning camera 53 rotates longitudinally synchronously, and further, the longitudinal angle adjustment of the scanning camera 53 can be realized, and the longitudinal scanning range of the scanning camera 53 can be greatly increased.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (5)
1. The intelligent robot for soil detection is characterized by comprising a translation mechanism (3), a detection mechanism (4) and a scanning mechanism (5); the translation mechanism (3) is arranged at one end of the top of the base (1), and the detection mechanism (4) is arranged at the output end of the translation mechanism (3) so as to sample and detect soil; the scanning mechanism (5) is arranged at the other end of the top of the base (1) to scan and guide the crawler traveling device (2) to travel on the topography and the terrain;
The translation mechanism (3) comprises a mounting frame (31), a screw rod (32), a guide rod (33), a first movable block (34), a second movable block (35), a detection box (36) and a first motor (37); the screw rod (32) is rotatably arranged at one end of the mounting frame (31), the guide rod (33) is fixedly arranged at the other end of the mounting frame (31) and is parallel to the screw rod (32), the first movable block (34) is arranged on the screw rod (32) in a threaded mode, the second movable block (35) is slidably arranged on the guide rod (33), the detection box (36) is fixedly arranged between the first movable block (34) and the second movable block (35), and the first motor (37) is fixedly arranged at the top of the base (1) and is fixedly connected with the screw rod (32) through an output shaft;
The detection mechanism (4) comprises a screw rod (41), a sawtooth head (42), a screw shaft (43), a drill bit (44) and a transmission assembly (45); the screw rod (41) is rotatably arranged at the bottom of the detection box (36) and is of a hollow structure, the sawtooth head (42) is fixedly arranged at the bottom of the screw rod (41), the screw rod shaft (43) penetrates through the screw rod (41) and is rotatably connected with the screw rod (41), the drill bit (44) is fixedly arranged at the bottom of the screw rod shaft (43) and is positioned at the inner side of the sawtooth head (42), and the transmission assembly (45) is arranged on the detection box (36) so as to drive the screw rod (41) and the screw rod shaft (43);
The transmission assembly (45) comprises a first bevel gear (451), a second bevel gear (452), a third bevel gear (453), a fourth bevel gear (454), a first gear (455), a second gear (456) and a connecting shaft (457); the first bevel gear (451) is fixedly arranged at the top end of the screw rod (41), the second bevel gear (452) is rotatably arranged at the inner side of the detection box (36) and is meshed with the first bevel gear (451), the third bevel gear (453) is fixedly connected with the second bevel gear (452) coaxially and is positioned at the outer side of the detection box (36), the fourth bevel gear (454) is rotatably arranged at the outer side of the detection box (36) and is meshed with the third bevel gear (453), the first gear (455) is fixedly connected with the fourth bevel gear (454) coaxially, the connecting shaft (457) is rotatably arranged at the top of the detection box (36) and is fixedly connected with the screw shaft (43), and the second gear (456) is fixedly arranged at the top of the connecting shaft (457) and is meshed with the first gear (455);
The connecting shaft piece (457) comprises a sleeve shaft (4571), a plug shaft (4572) and a limit stop (4573); the sleeve shaft (4571) is fixedly arranged at the top of the screw shaft (43), the limiting strip (4573) is fixedly arranged at the outer side of the inserting shaft (4572), and the inserting shaft (4572) and the limiting strip (4573) are both inserted into the sleeve shaft (4571) and are in sliding connection with the sleeve shaft (4571);
The top of the plug shaft (4572) is fixedly provided with a first belt wheel (38), the output shaft of the first motor (37) is fixedly provided with a second belt wheel (39), and the second belt wheel (39) is connected with the first belt wheel (38) through belt transmission.
2. The intelligent robot for soil detection according to claim 1, wherein a box door (30) is hinged to the outer side of the detection box (36), and a detection head (361) is fixedly installed inside the detection box (36).
3. The intelligent robot for soil detection according to claim 2, wherein the scanning mechanism (5) comprises a mounting box (51), an adjusting member (52), a scanning camera (53) and a driving member (54); the driving piece (54) is fixedly arranged at the top of the base (1), the adjusting piece (52) is arranged at the top of the mounting box (51), the scanning camera (53) is fixedly arranged at the output end of the adjusting piece (52), and the driving piece (54) is arranged at the inner side of the mounting box (51) so as to drive the adjusting piece (52).
4. A soil detection intelligent robot according to claim 3, wherein the adjusting member (52) comprises a hollow shaft (521), a turntable (522), a mounting seat (523), a rotating seat (524), a rotating shaft (525), a fifth bevel gear (526) and a sixth bevel gear (527); hollow shaft (521) runs through the roof of install bin (51) and rotates with install bin (51) to be connected, carousel (522) fixed mounting is at the top of hollow shaft (521), mount pad (523) fixed mounting is at the top of carousel (522), the one end of rotating seat (524) is rotated through the round pin axle and is installed the inboard at mount pad (523), the other end and the scanning camera (53) fixed connection of rotating seat (524), pivot (525) run through hollow shaft (521) and rotate with hollow shaft (521) to be connected, fifth bevel gear (526) fixed mounting is at the top of pivot (525), sixth bevel gear (527) and rotate the coaxial fixed connection of seat (524) and mesh with fifth bevel gear (526).
5. The intelligent soil testing robot of claim 4, wherein the drive (54) comprises a first worm gear (541), a first worm (542), a second motor (543), a second worm gear (544), a second worm (545), and a third motor (546); the first worm wheel (541) is fixedly arranged at the bottom of the hollow shaft (521), the first worm (542) is rotatably arranged at the inner side of the mounting box (51) and is meshed with the first worm wheel (541), the second motor (543) is fixedly arranged at the outer side of the mounting box (51) and is fixedly connected with the output shaft and the first worm (542), the second worm wheel (544) is fixedly arranged at the bottom of the rotating shaft (525), the second worm (545) is rotatably arranged at the inner side of the mounting box (51) and is meshed with the second worm wheel (544), and the third motor (546) is fixedly arranged at the outer side of the mounting box (51) and is fixedly connected with the second worm (545).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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