A multi-functional robot for inspecting grain bins

Abstract

The present invention discloses a multifunctional robot for granary inspection, comprising a movable frame, a connecting frame and a functional arm. The functional arm is mounted below the movable frame via the connecting frame. The functional arm comprises a spraying device, a sampling manipulator, a telescopic arm 1 and a telescopic arm 2. The spraying device is fixed to one end of the telescopic arm 1, the sampling manipulator is fixed to one end of the telescopic arm 2, the other ends of the telescopic arm 1 and the telescopic arm 2 are fixedly connected, and the connection between the telescopic arm 1 and the telescopic arm 2 is mounted on the bottom of the connecting frame via a rotating shaft. The connecting frame is provided with a rotating motor that drives the rotating shaft to rotate. The device integrates temperature and humidity monitoring, local sampling, and local spraying and pest control. It has a simple structure, comprehensive functions, high inspection efficiency, a wide inspection range, and is stable and safe. It will not cause damage to grain and can reduce the consumption of medicines and protective agents in the granary. It solves the problem that traditional equipment in the grain storage link has a single function, low efficiency, and damages grain.

Description

Technical Field

[0001] The present invention relates to the technical field of warehouse management equipment, and in particular to a multifunctional robot for grain warehouse inspection. Background Art

[0002] Grain storage is an important part of the entire grain circulation field. During the storage process, inspection, analysis and handling of grain conditions are essential tasks.

[0003] Due to economic and technological constraints, granary management equipment in many parts of my country is outdated, and manual methods are still used for grain monitoring, pest control, and sampling. Due to the large size of granaries, this requires significant manpower and is inefficient. This incomplete analysis of grain conditions can delay optimal grain disposal. For example, existing grain condition monitoring instruments rely on manual sampling and testing, with limited sampling locations and the inability to conduct multi-site testing, resulting in low efficiency. For example, existing grain condition monitoring methods rely on buried temperature and humidity cables and sensors, which provide incomplete and uneconomical monitoring. For example, existing granary pest control methods often involve large-scale aluminum phosphide fumigation or spraying of protective agents, which can lead to problems such as incomplete and inaccurate pest control within the grain pile, wasteful use of agents, and corrosion of mechanical equipment. Existing granary management equipment has limited functionality. For example, the storage detection robot disclosed in Chinese Patent CN113696996B only has a grain condition detection function, and the robot's movement within the grain pile can easily damage the grain. Therefore, a multifunctional storage management device that integrates temperature and humidity monitoring, localized sampling, and localized pest control is urgently needed. Summary of the Invention

[0004] The present invention addresses the shortcomings of existing technologies by providing a multifunctional robot for granary inspection. This device integrates temperature and humidity monitoring, local sampling, and localized pesticide application and pest control. It features a simple structure, comprehensive functions, high inspection efficiency, a wide inspection range, and is stable and safe. It does not damage grain and reduces the consumption of granary pesticides and protective agents. This device addresses the problem of traditional equipment in grain storage being limited in functionality, inefficiency, and damage to grain.

[0005] In order to solve the above technical problems, the technical solution of the present invention is:

[0006] A multifunctional robot for granary inspection comprises a movable frame, a connecting frame and a functional arm, wherein the functional arm is mounted below the movable frame via the connecting frame, and comprises a spraying device, a sampling manipulator, a telescopic arm 1 and a telescopic arm 2, wherein the spraying device is fixed to one end of the telescopic arm 1, the sampling manipulator is fixed to one end of the telescopic arm 2, the other ends of the telescopic arm 1 and the telescopic arm 2 are fixedly connected, and the connection between the telescopic arm 1 and the telescopic arm 2 is mounted at the bottom of the connecting frame via a rotating shaft, and a rotating motor is provided on the connecting frame to drive the rotating shaft to rotate.

[0007] Preferably, the sampling robot includes a base frame, a cradle, a second gripper motor, a third gripper motor, a transmission mechanism, a track connecting frame and a transmission gripper. The base frame is a U-shaped structure, and the bottom of the base frame is fixedly connected to one end of the telescopic arm. A rotating shaft is fixedly provided on both sides of the cradle, and the rotating shaft can be rotatably mounted on the inner wall of the base frame through a rotating bearing. The power of the second gripper motor is output to the rotating shaft, and the track connecting frame is installed on the cradle. Gripper rails are extended horizontally outward on both sides of the track connecting frame, and a threaded rod 2 is installed in the gripper rail. A cavity is provided inside the cradle, and the gripper motor 3 is fixed to the bottom of the cavity of the cradle. The gripper motor 3 outputs power to the two threaded rods 2 through the transmission mechanism. The two transmission grippers arranged in a symmetrical structure can be slidably mounted on the two gripper rails through a gripper slider, and the gripper slider is provided with a threaded hole that is compatible with the threaded rod 2.

[0008] Preferably, the gripper is provided with a plurality of temperature and humidity sensors.

[0009] Preferably, the cavity inside the cradle is provided with bevel gear 2, bevel gear 1, bevel gear 3 and a hub sleeve, the hub sleeve is fixed in the cavity, the bevel gear 2 is horizontally installed on the top of the hub sleeve, the bevel gear 1 and bevel gear 3 are symmetrically installed vertically on the left and right sides of the hub sleeve, the bevel gear 1 and bevel gear 3 are both engaged with bevel gear 2, and a gripper motor 1 is fixedly installed on the cradle, the power of the gripper motor 1 is output to bevel gear 1, and the bottom of the track connecting frame is fixedly installed on the top surface of bevel gear 2.

[0010] Preferably, the transmission mechanism includes bevel gear five, bevel gear six, bevel gear four and a central shaft. The bevel gear five and bevel gear six are respectively fixedly mounted on the ends of the two threaded rods two on opposite sides. The bevel gear four is fixedly mounted on the top of the central shaft. The bevel gear four is respectively engaged with the bevel gear five and bevel gear six. The power output shaft of the gripper motor three is fixedly connected to the bottom end of the central shaft through the hub sleeve.

[0011] Preferably, the spraying device includes an adjustment mechanism, a base, a nozzle, a pump body and a medicine tank. The base is installed to one end of the second telescopic arm through the adjustment mechanism, the pump body is installed at the bottom of the base, and the nozzle and the medicine tank are installed on the pump body.

[0012] Preferably, the adjustment mechanism includes a rotating frame, a first spraying motor, a second spraying motor, a third spraying motor and a connecting rod group. The rotating frame is installed at one end of the second telescopic arm. The power of the first spraying motor is output to the rotating frame. The bottom side of the rotating frame is provided with an upper connecting seat. The top of the connecting rod group is hinged to the upper connecting seat. The top side of the base is provided with a lower connecting seat. The bottom end of the connecting rod group is hinged to the lower connecting seat. The second spraying motor is installed on the upper connecting seat, and the power is output to the top of the connecting rod group. The third spraying motor is installed on the lower connecting seat, and the power is output to the bottom of the connecting rod group.

[0013] Preferably, the movable frame includes two parallel rails, a mobile platform slidably mounted on the rails, and a platform vehicle located between the two mobile platforms, one of the mobile platforms is fixedly mounted with an I-shaped fixed frame, and the other mobile platform is fixedly mounted with two winders, one end of two conveyor belts is fixedly connected to the I-shaped fixed frame by fixing bolts, and the other ends of the two conveyor belts are respectively wound onto two winders, and the platform vehicle can be movably mounted on the two conveyor belts.

[0014] Preferably, the track includes an inner drive track and an outer guide track, and the mobile platform includes a fixed platform, a main drive motor, a main drive wheel, an anti-rollover wheel group and an anti-rollover mounting plate. The main drive motor and the main drive wheel are installed on the lower surface of the fixed platform, and the main drive motor outputs power to the main drive wheel. The main drive wheels are installed in cooperation with the inner drive track, the anti-rollover mounting plate is fixedly installed on the outer edge of the fixed platform, the anti-rollover wheel group is installed on the inner wall of the anti-rollover mounting plate, and the anti-rollover wheel group is slidably connected to the outer guide track.

[0015] Preferably, the connecting frame includes a telescopic device and an inverted U-shaped arm tube, the top of the inverted U-shaped arm tube is fixedly installed with the bottom end of the telescopic device, the top of the telescopic device is fixedly installed on the platform vehicle, the connection between the telescopic arm one and the telescopic arm two is installed on the bottom of the inverted U-shaped arm tube through a rotating shaft, the telescopic device includes an outer tube, a telescopic motor, a threaded rod one and an internal threaded column, the telescopic motor is fixedly installed in the outer tube, one end of the threaded rod one is fixedly connected to the output end of the telescopic motor, the internal threaded column is sleeved into the outer tube, and a threaded hole threadedly connected to the threaded rod one is provided at the center of the internal threaded column, the top of the outer tube is fixedly installed on the platform vehicle, and the top of the inverted U-shaped arm tube is fixedly installed on the bottom end of the internal threaded column.

[0016] The present invention has the following characteristics and beneficial effects:

[0017] Using the above technical solution, a grain silo inspection device was designed. Its transfer platform is easy to disassemble and assemble, and the inspection range covers the entire surface of the silo. It does not come into contact with the grain surface during movement, which does not affect the grain quality. Its arm-type working unit contains a two-section telescopic structure, which allows for a deep detection depth. The alternating use of sampling and spraying manipulators saves structural space, is versatile, and highly efficient. The sampling manipulator has three degrees of freedom, and the spraying manipulator has four degrees of freedom. The sampling and spraying detection range is wide and the sampling and spraying detection is accurate. This solves the problems of manual grain condition detection in warehouses and the time-consuming and labor-intensive manual sampling. The innovative use of spraying inside the grain pile can save the use of grain protectants, prevent the breeding of pests inside the grain pile, and prevent waste caused by large-scale spraying and corrosion of equipment in the warehouse. It solves the problems of warehouse management equipment with single functions, difficult assembly, high costs, and low efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the granary inspection device of the present invention.

[0020] Figure 2 It is a schematic diagram of the structure of the mobile platform in the present invention.

[0021] Figure 3 It is a schematic structural diagram of the telescopic device in the present invention.

[0022] Figure 4 This is a schematic diagram of the sampling robot structure in the present invention.

[0023] Figure 5 This is a schematic diagram of the internal bevel gear structure of the sampling robot in the present invention.

[0024] Figure 6 This is a schematic diagram of the structure of the pesticide spraying robot in the present invention.

[0025] In the figure, 1. Sampling manipulator; 1-1. Telescopic arm 1; 1-2. Base frame; 1-3. Gripper motor 2; 1-4. Rocking frame; 1-5. Gripper track; 1-6. Temperature and humidity sensor; 1-7. Transmission gripper; 1-8. Track connecting frame; 1-9. Gripper slider; 1-10. Threaded rod 2; 1-11. Bevel gear 5; 1-12. Bevel gear 4; 1-13. Bevel gear 6; 14. Bevel gear 2; 1-15. Bevel gear 1; 1-16. Hub sleeve; 1-17. Gripper motor 3; 1-18. Bevel gear 3; 1-19. Center shaft; 1-20. Gripper motor 1; 2. Rotating motor; 3. Spraying device; 3-1. Telescopic arm 2; 3-2. Spraying motor 1; 3-3. Rotating frame; 3-4. Spraying motor 2; 3-5, connecting rod group; 3-6, spraying motor three; 3-7, medicine tank; 3-8, pump body; 3-9, spray head; 3-10, base; 4, rotating shaft; 5, inverted U-shaped arm tube; 6, track; 7, mobile platform; 7-1, fixed platform; 7-2, main drive motor; 7-3, main drive wheel; 7-4, anti-rollover wheel group; 7-5, anti-rollover mounting plate; 8, I-shaped fixed frame; 9, laser aligner; 10, fixing bolt; 11, telescopic device; 11-1, outer cylinder; 11-2, telescopic motor; 11-3, threaded rod one; 11-4, internal threaded column; 12, driving wheel group; 13, driving motor one; 14, platform car; 15, conveyor belt; 16, reel; 17, reel motor; 18, camera. DETAILED DESCRIPTION

[0026] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0027] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0028] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0029] The present invention provides a multifunctional robot for granary inspection, such as Figure 1 As shown, it includes a movable frame, a connecting frame and a functional arm, and the functional arm is installed under the movable frame through the connecting frame. The functional arm includes a spraying device 3, a sampling manipulator 1, a telescopic arm 1-1 and a telescopic arm 2 3-1. The spraying device 3 is fixed at one end of the telescopic arm 2 3-1, and the sampling manipulator 1 is fixed at one end of the telescopic arm 1-1. The other ends of the telescopic arm 1 and the telescopic arm 2 are fixedly connected. The connection between the telescopic arm 1 and the telescopic arm 2 is installed at the bottom of the connecting frame through a rotating shaft 4. The connecting frame is provided with a rotating motor 2 that drives the rotating shaft to rotate.

[0030] As you can imagine, granaries used to store grain are typically very large, making the installation of movable racks within them extremely difficult and labor-intensive. Consequently, any functional equipment installed on the racks is very limited in functionality and cannot be replaced based on usage needs. Therefore, in this embodiment, two telescopic arms are used to mount a spraying device and a sampling manipulator, respectively. A rotary motor drives the arms to rotate, enabling both spraying and sampling operations as needed.

[0031] Furthermore, the movable frame includes two parallel rails 6, a mobile platform 7 slidably mounted on the rails 6, and a platform vehicle 14 located between the two mobile platforms 7. The two rails 6 are fixedly mounted on the top of the granary. Specifically, an I-shaped fixed frame 8 is fixedly mounted on one of the mobile platforms 14, and two reels 16 are fixedly mounted on the other mobile platform. The mobile platform is also provided with two reel motors 17 that respectively drive the two reels 16 to rotate. One end of two conveyor belts 15 is fixedly connected to the I-shaped fixed frame by fixing bolts 10, and the other ends of the two conveyor belts 15 are respectively wound onto two reels, which are rotated by the reels to tighten the conveyor belts. At this time, the two conveyor belts are arranged in parallel. The platform vehicle can be movably mounted on the two conveyor belts. Specifically, the platform vehicle has two sliding frames mounted on two conveyor belts at each end. These frames are equipped with drive wheels 12 and a drive motor 13 that outputs power to the drive wheels. Each sliding frame has two rows of drive wheels, one above the other, with the conveyor belt located between them. One of the sliding frames is also equipped with a camera 18 for monitoring the real-time status of the granary.

[0032] In the above technical solution, the spraying device 3 and the sampling manipulator 1 can be moved to any position by moving the mobile stand 7 and the platform vehicle. In addition, the conveyor belt is tightened by the reel, and the conveyor belt length can be adjusted according to the situation on site when installing the movable frame.

[0033] In the above embodiment, during operation, the mobile platform is symmetrically placed on tracks installed on the walls of the warehouse. The laser aligner 9 calibrates the positions of the two platforms, ensuring alignment left and right, top and bottom. Both reel motors 17 rotate forward, ensuring that the length of the conveyor belt 15 is greater than the width of the warehouse. The left and right wheel cavities of the platform trolley 14 are respectively threaded through the conveyor belt 15. The other end of the conveyor belt 15 is inserted into the two slots of the I-shaped bracket 8 and secured with fixing bolts 10. The two reel motors 17 rotate in reverse, keeping the conveyor belt 15 taut. Drive motor 13 on the platform trolley is activated, moving the platform trolley to its initial starting position. The main drive motor and auxiliary drive motor control the movement of the entire transfer platform in the x-axis direction. Drive motor 13 controls the movement of the platform trolley in the y-axis direction, ensuring that the platform trolley's range of motion covers the entire warehouse plane. The platform trolley is equipped with a camera 18, which can capture the real-time status of the grain pile to be monitored and the precise location of the monitoring sample. The target detection model is used to determine the number of grain types in the pile, and the results are fed back to the artificial front-end platform.

[0034] Further configuration of this embodiment, such as Figure 2As shown, the track includes an inner drive track and an outer guide track, and the mobile platform includes a fixed platform 7-1, a main drive motor 7-2, a main drive wheel 7-3, an anti-rollover wheel group 7-4 and an anti-rollover mounting plate 7-5. The main drive motor and the main drive wheel are installed on the lower surface of the fixed platform, and the main drive motor outputs power to the main drive wheel, and the main drive wheel is installed in conjunction with the inner drive track.

[0035] Specifically, in this embodiment, the main drive wheel is a gear, and the inner drive track matched therewith is provided with saw teeth that mesh with the main drive wheel. Such an arrangement makes the mobile platform move more stably on the track.

[0036] In addition, the anti-rollover mounting plate is fixedly mounted on the outer edge of the fixed platform, the anti-rollover wheel set is mounted on the inner wall of the anti-rollover mounting plate, and the anti-rollover wheel set is slidably connected to the outer guide rail.

[0037] In this embodiment, the anti-rollover mounting plate has a U-shaped structure, while the outer guide track has an inverted U-shaped structure. One side of the anti-rollover mounting plate is inserted into the outer guide track. Furthermore, a horizontal rolling groove is provided on the inner wall of the outer guide track. The anti-rollover wheel assembly is mounted on the outer wall of one side of the anti-rollover mounting plate and is rotatably connected to the rolling groove. This arrangement not only provides an effective guide function, but also effectively limits the mobile platform, preventing it from deviating from the track.

[0038] Further configuration of this embodiment, such as Figure 1 As shown, the connecting frame includes a telescopic device 11 and an inverted U-shaped arm tube 5. The bottom end of the telescopic device 11 is fixedly mounted on the top of the inverted U-shaped arm tube 5, and the top end of the telescopic device 11 is fixedly mounted on a platform vehicle 14. The connection between the telescopic arm 1-1 and the telescopic arm 2 3-1 is mounted on the bottom of the inverted U-shaped arm tube via a rotating shaft 4. Therefore, during sampling or spraying operations, the length of the telescopic device can be extended or shortened according to actual needs, thereby adjusting the height position of the spraying device or sampling manipulator, ultimately achieving precise spraying or sampling operations. It can be imagined that the rotation of the rotating shaft 4 is driven by the rotating motor 2.

[0039] Further, such as Figure 3As shown, the telescopic device includes an outer cylinder 11-1, a telescopic motor 11-2, a threaded rod 11-3, and an internal threaded column 11-4. Specifically, the interior of the outer cylinder 11-1 is a cylindrical cavity, and a circular mounting platform is provided at the top of the cylindrical cavity. The telescopic motor is fixed to the mounting platform, and its output shaft passes through the center hole of the mounting platform and is fixedly connected to the top of the threaded rod 1, thereby driving the threaded rod 1 to rotate. In addition, the internal threaded column is arranged in the cylindrical cavity and below the mounting platform, and the radial outer wall of the internal threaded column is provided with a limit bar, which is parallel to the threaded rod 1. The inner wall of the outer cylinder is provided with a limit groove corresponding to the limit bar, thereby limiting the horizontal rotation of the internal threaded column. A threaded hole is provided at the center of the internal threaded column, which is threadedly connected to the threaded rod 1. The top of the outer cylinder is fixedly mounted on a platform vehicle, and the top of the inverted U-shaped arm cylinder is fixedly mounted on the bottom end of the internal threaded column. Therefore, the operation of the telescopic motor drives the rotation of the threaded rod 1, thereby driving the internal threaded column to move up and down.

[0040] It should be noted that, in this embodiment, the structures of the telescopic arm 1 - 1 and the telescopic arm 2 3 - 1 are the same as the structure of the telescopic device.

[0041] The present invention is further configured as follows: Figure 4 and Figure 5 As shown, the sampling manipulator 1 includes a base frame 1-2, a cradle 1-4, a second gripper motor 1-3, a third gripper motor 1-17, a transmission mechanism, a track connecting frame 1-8, and a transmission gripper 1-7. The base frame has a U-shaped structure, with the bottom of the base frame fixedly connected to one end of the telescopic arm 1. Rotating shafts are fixedly provided on both sides of the cradle, and the rotating shafts are rotatably mounted on the inner wall of the base frame via rotating bearings. The power of the second gripper motor is output to the rotating shafts. As can be expected, the U-shaped base frame provides space for the swing of the cradle 1-4.

[0042] Furthermore, the track connecting frame is installed on the cradle, and gripper tracks 1-5 are horizontally extended outward on both sides of the track connecting frame. Threaded rod 2 1-10 is installed in the gripper track 1-5. A cavity is provided inside the cradle 1-4. The gripper motor 3 1-17 is fixed at the bottom of the cavity of the cradle 1-4. The gripper motor 3 1-17 outputs power to the two threaded rods 2 1-10 through a transmission mechanism. The two transmission grippers 1-7 arranged in a symmetrical structure are slidably installed on the two gripper tracks through a gripper slider 1-9, and the gripper slider is provided with a threaded hole that is compatible with the threaded rod 2.

[0043] Specifically, the gripper motor 3 outputs power to the threaded rod 2 through the transmission mechanism. The rotation of the threaded rod 2 causes the gripper slider 1-9 to move left and right, and the two transmission grippers installed on the gripper slider cooperate to achieve gripping and releasing.

[0044] It should be noted that the gripper track has a convex U-shaped structure with a strip-shaped opening at the top for the movement of the gripper slider. As can be expected, the gripper track has a rotational limit function for the gripper slider. Furthermore, the cradle specifically refers to a cubic mounting frame. Since the gripper motor driving the sampling is fixed within the cradle, the entire sampling robot can swing as the cradle swings, making sampling more flexible left and right.

[0045] Furthermore, the transmission mechanism includes bevel gear five 1-11, bevel gear six 1-13, bevel gear four 1-12 and a central shaft 1-19, the bevel gear five and bevel gear six are respectively fixedly mounted on the ends of the two threaded rods two opposite sides, the bevel gear four is fixedly mounted on the top of the central shaft, the bevel gear four is respectively engaged with bevel gear five and bevel gear six, and the power output shaft of the gripper motor three is fixedly connected to the bottom end of the central shaft through the hub sleeve.

[0046] The transmission mechanism has a simple structure and can achieve synchronous transmission.

[0047] Furthermore, the transmission gripper is provided with a plurality of temperature and humidity sensors 1-6. By providing the temperature and humidity sensors, temperature and humidity data can be sampled simultaneously during the sampling process, which can effectively improve the safety of granary management.

[0048] A further arrangement of this embodiment is that the cavity inside the cradle is provided with bevel gear 2 1-14, bevel gear 1 15, bevel gear 3 1-18 and hub sleeve 1-16, the hub sleeve 1-16 is fixed in the cavity, the bevel gear 2 is horizontally mounted on the top of the hub sleeve, the bevel gear 1 and bevel gear 3 are symmetrically mounted vertically on the left and right sides of the hub sleeve, the bevel gear 1 and bevel gear 3 are both engaged with bevel gear 2, a gripper motor 1-20 is fixedly mounted on the cradle, the power of the gripper motor 1 is output to bevel gear 1, and the bottom of the track connecting frame is fixedly mounted on the top surface of bevel gear 2.

[0049] It should be noted that the hub sleeve 1-16 has an inverted T-shaped structure, and the three ends are cylindrical structures. Bevel gear 2 1-14, bevel gear 1 1-15, and bevel gear 3 1-18 are rotatably mounted on the hub sleeve through rotating bearings and mesh with each other. Driven by the gripper motor 1, bevel gear 2 1-14, bevel gear 1 1-15, and bevel gear 3 1-18 rotate synchronously, and the track connecting frame is fixedly mounted on the top surface of bevel gear 2. Therefore, the transmission gripper that ultimately realizes gripper sampling will also realize horizontal rotation. It can be imagined that by extending and retracting the telescopic arm 1-1, swinging the cradle, and rotating the track connecting frame, sampling operations at any position can be finally realized.

[0050] Further configuration of this embodiment, such as Figure 6As shown, the spraying device 3 includes an adjusting mechanism, a base 3-10, a nozzle 3-9, a pump body 3-8 and a medicine tank 3-7. The base 3-10 is installed to one end of the telescopic arm 2 3-1 through the adjusting mechanism, the pump body 3-8 is installed at the bottom of the base, and the nozzle and the medicine tank are installed on the pump body.

[0051] Specifically, the adjustment mechanism includes a rotating frame 3-3, spraying motor 1 3-2, spraying motor 2 3-4, spraying motor 3 3-6, and a connecting rod group 3-5. The rotating frame is mounted on one end of telescopic arm 2. The power of the spraying motor 1 is output to the rotating frame. The bottom side of the rotating frame is provided with an upper connecting seat. The top end of the connecting rod group is hinged to the upper connecting seat. The top side of the base is provided with a lower connecting seat. The bottom end of the connecting rod group is hinged to the lower connecting seat. The connecting rod group consists of two parallel connecting rods. The spraying motor 2 is mounted on the upper connecting seat and its power is output to the top of the connecting rod group. The spraying motor 3 is mounted on the lower connecting seat and its power is output to the bottom of the connecting rod group. The spraying nozzles 3-9 are radially distributed, providing a wide spraying range. The spraying manipulator has four degrees of freedom, flexible steering, and a wide spraying range.

[0052] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions, and variations of these embodiments, including components, without departing from the principles and spirit of the present invention are still within the scope of protection of the present invention.

Claims

1. A multifunctional robot for granary inspection, characterized in that: It includes a movable frame, a connecting frame and a functional arm, the functional arm is installed below the movable frame through the connecting frame, the functional arm includes a spraying device, a sampling manipulator, a telescopic arm 1 and a telescopic arm 2, the spraying device is fixed to one end of the telescopic arm 2, the sampling manipulator is fixed to one end of the telescopic arm 1, the other ends of the telescopic arm 1 and the telescopic arm 2 are fixedly connected, the connection between the telescopic arm 1 and the telescopic arm 2 is installed at the bottom of the connecting frame through a rotating shaft, and a rotating motor that drives the rotating shaft to rotate is provided on the connecting frame. The sampling robot includes a base frame, a cradle, a second gripper motor, a third gripper motor, a transmission mechanism, a track connecting frame and a transmission gripper. The base frame is a U-shaped structure, and the bottom of the base frame is fixedly connected to one end of the telescopic arm. A rotating shaft is fixedly provided on both sides of the cradle, and the rotating shaft can be rotatably mounted on the inner wall of the base frame through a rotating bearing. The power of the second gripper motor is output to the rotating shaft, and the track connecting frame is installed on the cradle. Gripper rails are extended horizontally outward on both sides of the track connecting frame, and a threaded rod 2 is installed in the gripper rail. A cavity is provided inside the cradle, and the gripper motor 3 is fixed to the bottom of the cavity of the cradle. The gripper motor 3 outputs power to the two threaded rods 2 through the transmission mechanism. The two transmission grippers arranged in a symmetrical structure can be slidably mounted on the two gripper rails through a gripper slider, and the gripper slider is provided with a threaded hole that is compatible with the threaded rod 2.

2. The multifunctional robot for granary inspection according to claim 1, characterized in that: The transmission and gripping hand is provided with a plurality of temperature and humidity sensors.

3. The multifunctional robot for granary inspection according to claim 1, characterized in that: The cavity inside the cradle is provided with bevel gear 2, bevel gear 1, bevel gear 3 and a hub sleeve, the hub sleeve is fixed in the cavity, the bevel gear 2 is horizontally installed on the top of the hub sleeve, the bevel gear 1 and bevel gear 3 are symmetrically installed vertically on the left and right sides of the hub sleeve, the bevel gear 1 and bevel gear 3 are both engaged with bevel gear 2, the cradle is fixedly mounted with a gripper motor 1, the power of the gripper motor 1 is output to the bevel gear 1, and the bottom of the track connecting frame is fixedly mounted on the top surface of the bevel gear 2.

4. The multifunctional robot for granary inspection according to claim 3 is characterized in that: The transmission mechanism includes bevel gear five, bevel gear six, bevel gear four and a central shaft. The bevel gear five and bevel gear six are respectively fixedly mounted on the ends of the two threaded rods two opposite sides. The bevel gear four is fixedly mounted on the top of the central shaft. The bevel gear four is respectively engaged with the bevel gear five and bevel gear six. The power output shaft of the gripper motor three is fixedly connected to the bottom end of the central shaft through the hub sleeve.

5. The multifunctional robot for granary inspection according to claim 1, characterized in that: The spraying device includes an adjustment mechanism, a base, a nozzle, a pump body and a medicine tank. The base is installed to one end of the second telescopic arm through the adjustment mechanism, the pump body is installed at the bottom of the base, and the nozzle and the medicine tank are installed on the pump body.

6. The multifunctional robot for granary inspection according to claim 5, characterized in that: The adjusting mechanism includes a rotating frame, a first spraying motor, a second spraying motor, a third spraying motor and a connecting rod group. The rotating frame is installed at one end of the second telescopic arm. The power of the first spraying motor is output to the rotating frame. The bottom side of the rotating frame is provided with an upper connecting seat. The top end of the connecting rod group is hinged to the upper connecting seat. The top side of the base is provided with a lower connecting seat. The bottom end of the connecting rod group is hinged to the lower connecting seat. The second spraying motor is installed on the upper connecting seat, and the power is output to the top of the connecting rod group. The third spraying motor is installed on the lower connecting seat, and the power is output to the bottom of the connecting rod group.

7. The multifunctional robot for granary inspection according to claim 1, characterized in that: The movable frame includes two parallel rails, a mobile platform slidably mounted on the rails, and a platform vehicle located between the two mobile platforms. An I-shaped fixed frame is fixedly mounted on one of the mobile platforms, and two winders are fixedly mounted on the other mobile platform. One end of the two conveyor belts is fixedly connected to the I-shaped fixed frame by fixing bolts, and the other ends of the two conveyor belts are respectively wound onto the two winders. The platform vehicle can be movably mounted on the two conveyor belts.

8. The multifunctional robot for granary inspection according to claim 7, characterized in that: The track includes an inner drive track and an outer guide track, and the mobile platform includes a fixed platform, a main drive motor, a main drive wheel, an anti-rollover wheel group and an anti-rollover mounting plate. The main drive motor and the main drive wheel are installed on the lower surface of the fixed platform, and the main drive motor outputs power to the main drive wheel. The main drive wheels are mounted on the inner drive track in cooperation, and the anti-rollover mounting plate is fixedly mounted on the outer edge of the fixed platform, and the anti-rollover wheel group is mounted on the inner wall of the anti-rollover mounting plate. The anti-rollover wheel group is slidably connected to the outer guide track.

9. The multifunctional robot for granary inspection according to claim 7, characterized in that: The connecting frame includes a telescopic device and an inverted U-shaped arm tube, the top of the inverted U-shaped arm tube is fixedly installed with the bottom end of the telescopic device, the top of the telescopic device is fixedly installed on the platform vehicle, the connection between the telescopic arm 1 and the telescopic arm 2 is installed at the bottom of the inverted U-shaped arm tube through a rotating shaft, the telescopic device includes an outer tube, a telescopic motor, a threaded rod 1 and an internal threaded column, the telescopic motor is fixedly installed in the outer tube, one end of the threaded rod 1 is fixedly connected to the output end of the telescopic motor, the internal threaded column is sleeved into the outer tube, and a threaded hole threadedly connected to the threaded rod 1 is provided at the center of the internal threaded column, the top of the outer tube is fixedly installed on the platform vehicle, and the top of the inverted U-shaped arm tube is fixedly installed on the bottom end of the internal threaded column.

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