A multifunctional intelligent inspection robot for grain storage and its inspection system

Abstract

The present invention relates to the field of mechanical arm technology of inspection robots, and specifically to a multifunctional intelligent inspection robot for grain conditions in a grain warehouse and a warehouse inspection system thereof, comprising a flying robot body, a camera fixedly mounted on the side of the flying robot body, a sampling mechanical arm mechanism for grain sample collection mounted on the bottom of the flying robot body, the sampling mechanical arm mechanism comprising a plurality of groups of splints and soft curtains for grabbing grain, the two being arranged in a staggered manner and fixedly connected between adjacent ones, the present invention adopts a plurality of groups of splints and bottom plates, the splints and bottom plates are continuously rotated during the process of being inserted into a grain warehouse, which is conducive to displacing grain and squeezing grain in the moving direction to the periphery, so that the possibility of being rigidly blocked by grain during the downward movement of the splints and bottom plates is smaller, the sampling method of the present invention is a plurality of groups of sampling, the samples are independently sealed and do not interfere with each other, the sampling positions are diversified, the sampling heights are diversified, and the detection results are more representative.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical arms of inspection robots, and in particular to a multifunctional grain storage intelligent inspection robot and a storage inspection system thereof. Background Art

[0002] Grain silo inspections are of great significance in ensuring grain quality and safety, preventing fires and accidents, optimizing inventory management, improving warehousing efficiency, compliance management, improving emergency response capabilities, and promoting continuous improvement.

[0003] For example, the patent with application publication number CN117629694A discloses a multi-depth automatic grain sampler, which realizes the rapid sampling of grain at different depths in the grain pile and ensures the accuracy of the sampled samples. The entire sampler can continuously sample different positions of the same granary, achieving high efficiency of granary sampling. However, there are still certain shortcomings.

[0004] First, in the above invention, when sampling, grains at different depths are transported upward from the inner rotating tube, that is, there will be certain interference between grain samples at different heights, and completely independent sampling is not achieved, which may have a certain impact on subsequent test results.

[0005] Second, the above invention has the same shortcoming as some sampling tubes in the prior art in that a single sampling action can only sample grains at the same position and different depths, which is not very representative. In the same granary, the various parameters of grains located in the middle and at the edge may be quite different, which means that subsequent test results may not represent the status parameters of the entire granary. The staff can make up for the above shortcomings by taking samples multiple times and at different positions, but this will increase the labor intensity of the staff and reduce the sampling efficiency. Summary of the invention

[0006] In response to the above problems, the present application provides a multifunctional intelligent grain inspection robot and its inspection system for grain storage, which solves the problem that a single sampling action in the prior art can only sample grain at the same position and different depths, which is not representative. In the same granary, the various parameters of grain located in the middle and edge positions may be quite different, which means that subsequent test results may not represent the status parameters of the entire granary. The staff can make up for the above shortcomings by taking samples multiple times and at different positions, but this will increase the labor intensity of the staff and reduce the sampling efficiency.

[0007] The technical solution of the present invention is:

[0008] A multifunctional intelligent inspection robot for grain storage conditions, comprising a flying robot body, a camera fixedly mounted on the side of the flying robot body, and a sampling mechanical arm mechanism for grain sample collection mounted at the bottom of the flying robot body, wherein the sampling mechanical arm mechanism comprises a plurality of groups of splints and soft curtains for grabbing grains, which are arranged in a staggered manner and are fixedly connected between adjacent groups;

[0009] The sampling mechanical arm mechanism also includes a bidirectional screw rod for driving the clamping plate to expand and contract, and a bottom plate is fixedly installed at the bottom of the clamping plate;

[0010] The sampling mechanical arm mechanism also includes an electric push rod for driving the clamp plate to rise and fall. A large motor is fixedly installed at the telescopic end of the electric push rod, and a large gear is fixedly installed at the output end of the large motor. A plurality of small gears for driving the clamp plate to rotate are meshed and installed on the outer side of the large gear.

[0011] Furthermore, the top of the electric push rod is fixedly installed on the bottom of the flying robot body, a mounting block is fixedly installed on the outside of the telescopic end of the electric push rod, a plurality of mounting grooves are opened on the outside of the mounting block, a mounting rod is fixedly installed inside the mounting groove by bolts, and the mounting rod is rotatably connected to the top of the pinion.

[0012] Furthermore, a small motor is fixedly installed at the bottom of the pinion gear, a bidirectional lead screw is fixedly connected to the output end of the small motor, and two sliders are symmetrically threadedly connected to the outer side of the bidirectional lead screw.

[0013] Furthermore, a plurality of support bars are fixedly installed on the inner side of the bottom plate, the middle parts of the two sliders slide together and penetrate through a limit rod, and the top of the slider is fixedly installed on the outer side of the bottom shell of the small motor.

[0014] Furthermore, a detection mechanism is installed at the bottom of the large gear, and the detection mechanism includes a vortex groove, which is opened at the bottom of the large gear. A block is slidably mounted on the inner side of the vortex groove, and a stabilizing column is fixedly mounted at the bottom of the block.

[0015] Furthermore, a fixed magnet is fixedly installed on the inner side of one end of the spiral groove close to the center of the large gear, and a movable magnet is embedded and fixedly installed on one side of the clamping block close to the fixed magnet.

[0016] Furthermore, a plurality of grooves are formed on the outer side of the stabilizing column, and a detection unit is fixedly installed in the groove by bolts.

[0017] Furthermore, a plurality of movable hinge blocks are fixedly installed on the outer side of the sliding block, two fixed hinge blocks are fixedly installed on the inner side of the clamping plate, and a linkage bar is hinged between the fixed hinge blocks and the movable hinge blocks.

[0018] Furthermore, the distance between the bottom of the stabilizing column and the bottom of the large gear is greater than the distance between the bottom of the base plate and the bottom of the large gear.

[0019] The working mode of the above-mentioned multifunctional grain storage intelligent inspection robot is as follows:

[0020] S1: The flying robot patrols the grain warehouse according to the route set by the staff, and the camera is used to transmit real-time images for the staff to view.

[0021] S2: The flying robot body hovers above the granary, and the electric push rod drives the lower parts to move downward. The stabilizing column is first inserted into the granary. The stabilizing column and the detection unit move from the middle of the large gear to the edge to detect the grain parameters.

[0022] S3: Each group of bottom plates is sampled outwards in turn, and samples are taken at different positions and heights of the granary.

[0023] S4: After sampling, the large gear rotates in the opposite direction to drive the stabilizing column to move in the opposite direction and reset, and the flying robot body transports the grain sample to the designated area.

[0024] The beneficial effects of the present invention are as follows:

[0025] (1) The present invention adopts multiple groups of clamping plates and bottom plates. The clamping plates and bottom plates rotate continuously during the insertion process of the grain bin, which is conducive to displacing the grain and squeezing the grain in the moving direction to the periphery, so that the possibility of the clamping plates and bottom plates being blocked by the rigidity of the grain during the downward movement is smaller;

[0026] When the bottom plate moves down to the first set sampling height, a small motor is powered on and rotated, driving a group of clamping plates and the bottom plate to move away from each other, and the external grain can enter the inner side of the clamping plates. When the bottom plate continues to move down to the lowest point of the first set sampling height, the small motor rotates in the opposite direction, driving the clamping plates and the bottom plate to move closer to each other and reset, completing the grain sampling of one height. The bottom plate continues to move down to the second sampling height, and another small motor is powered on and rotated to complete the second sampling. The sampling method of the present invention is multi-group sampling. The samples are independently sealed and do not interfere with each other. The sampling positions and sampling heights are diversified, so that the detection results are more representative.

[0027] (2) The difference between the detection unit used in the present invention and the prior art is that the stabilizing column is inserted into the granary, and the rotation of the large motor drives the large gear and the vortex chute to rotate. Under the resistance of the grain, the stabilizing column and the detection unit move from the middle of the large gear to the edge. The detection unit detects grain parameters in a wider area in the granary, and the detection results are more representative.

[0028] (3) The present invention adopts a large gear to drive the small gear, the clamping plate, and the bottom plate to rotate, which is convenient for downward sampling operations, and can also drive the stabilizing column and the detection unit to move in the granary, so that the detection unit can detect grain parameters within a wider range. Moreover, the detection unit moves horizontally and downward at the same time, that is, the distance from the edge of the granary is changing, and the depth of insertion into the granary is changing, and they change at the same time. The movement trajectory can be regarded as a downward inclined line, thereby making the data detected by the detection unit more representative. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0030] Figure 1 A schematic diagram of the overall structure of a multifunctional grain storage intelligent inspection robot and its inspection system provided by the present invention;

[0031] Figure 2 A schematic diagram of the structure of a multifunctional intelligent inspection robot for grain conditions in a grain depot and a sampling mechanical arm mechanism of its inspection system provided by the present invention;

[0032] Figure 3 for Figure 2 A magnified image of point A;

[0033] Figure 4 A schematic diagram of the bottom structure of a multifunctional grain warehouse intelligent inspection robot and a sampling mechanical arm mechanism of its inspection system provided by the present invention;

[0034] Figure 5 for Figure 4 The enlarged view of point B;

[0035] Figure 6 A schematic diagram of the connection of the stabilizing columns of a multifunctional intelligent inspection robot for grain conditions in a grain depot and its inspection system provided by the present invention;

[0036] Figure 7 A schematic diagram of a bidirectional screw connection of a multifunctional grain warehouse intelligent inspection robot and its inspection system provided by the present invention;

[0037] Figure 8 A schematic diagram of the splint connection of a multifunctional intelligent grain inspection robot for grain storage and its storage inspection system provided by the present invention.

[0038] In the figure:

[0039] 1. Flying robot body;

[0040] 2. Sampling mechanical arm mechanism; 21. Electric push rod; 22. Mounting block; 23. Large motor; 24. Large gear; 25. Mounting slot; 26. Mounting rod; 27. Small gear; 28. Small motor; 29. ​​Bidirectional screw rod; 210. Slider; 211. Moving hinge block; 212. Limit rod; 213. Clamp; 214. Linkage bar; 215. Fixed hinge block; 216. Bottom plate; 217. Support bar; 218. Soft curtain;

[0041] 3. Detection mechanism; 31. Stabilizing column; 32. Vortex chute; 33. Detection unit; 34. Block; 35. Moving magnet; 36. Fixed magnet;

[0042] 4. Camera. DETAILED DESCRIPTION

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in combination with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0044] Embodiment 1:

[0045] As shown in Figure 1- Figure 8 As shown, the embodiment of the present invention provides a multifunctional intelligent inspection robot for grain storage, including a flying robot body 1, a camera 4 is fixedly installed on the side of the flying robot body 1, which is convenient for staff to view the real-time picture of the grain storage, and a sampling mechanical arm mechanism 2 for collecting grain samples is installed at the bottom of the flying robot body 1. The sampling mechanical arm mechanism 2 includes multiple groups of clamping plates 213 and soft curtains 218 for grabbing grains, which are staggered and fixedly connected between adjacent ones;

[0046] In this embodiment, the flying robot body 1 inspects the grain warehouse according to the route set by the staff, and the camera 4 is used to transmit real-time images for the convenience of the staff to view.

[0047] The sampling mechanical arm mechanism 2 also includes a bidirectional screw rod 29 for driving the clamping plate 213 to expand and contract, and a bottom plate 216 is fixedly installed at the bottom of the clamping plate 213;

[0048] The sampling robot arm mechanism 2 also includes an electric push rod 21 for driving the clamping plate 213 to rise and fall. A large motor 23 is fixedly installed at the telescopic end of the electric push rod 21, and a large gear 24 is fixedly installed at the output end of the large motor 23. A plurality of small gears 27 for driving the clamping plate 213 to rotate are meshed and installed on the outer side of the large gear 24.

[0049] In this embodiment, the electric push rod 21 is an electric drive device that converts the rotational motion of the motor into the linear reciprocating motion of the push rod. It can be used as an execution machine in various simple or complex process flows to achieve remote control, centralized control or automatic control. It belongs to a relatively mature existing technology and will not be described in detail herein.

[0050] Specifically, the top of the electric push rod 21 is fixedly installed on the bottom of the flying robot body 1, and a mounting block 22 is fixedly installed on the outer side of the telescopic end of the electric push rod 21. A plurality of mounting grooves 25 are opened on the outer side of the mounting block 22. A mounting rod 26 is fixedly installed inside the mounting groove 25 by bolts, and the mounting rod 26 is rotatably connected to the top of the pinion 27.

[0051] In this embodiment, the mounting rod 26 is fixed to the inner side of the mounting groove 25 by bolts, which is convenient for disassembly and installation. The staff can choose the number and position of the mounting rods 26 (i.e., sampling components) according to actual needs to adapt to different work scenarios.

[0052] Specifically, a small motor 28 is fixedly installed at the bottom of the pinion 27, a bidirectional screw rod 29 is fixedly connected to the output end of the small motor 28, two sliders 210 are symmetrically threaded on the outer side of the bidirectional screw rod 29, and the bidirectional screw rod 29 is used to convert the rotational motion of the output end of the small motor 28 into the vertical linear movement of the slider 210, a plurality of movable hinge blocks 211 are fixedly installed on the outer side of the slider 210, two fixed hinge blocks 215 are fixedly installed on the inner side of the splint 213, and a linkage bar 214 is hinged between the fixed hinge block 215 and the movable hinge block 211.

[0053] In this embodiment, the small motor 28 is powered on and rotates, driving the bidirectional screw rod 29 to rotate, and then driving the two sliders 210 to move closer to each other, so that the clamping plate 213 and the bottom plate 216 move away from each other, and the external grain can enter the inner side of the clamping plate 213. The small motor 28 rotates in the opposite direction, driving the clamping plate 213 and the bottom plate 216 to move closer to each other and reset, completing a high-height grain sampling.

[0054] Specifically, a plurality of support bars 217 are fixedly installed on the inner side of the bottom plate 216 , and a limit rod 212 is installed through the middle of the two sliders 210 to slide together and pass through the limit rod 212 to limit the movement trajectory of the sliders 210 , and the top of the slider 210 is fixedly installed on the outer side of the bottom shell of the small motor 28 .

[0055] In this embodiment, when it is necessary to sample and test the grain, the flying robot body 1 hovers above the granary, the electric push rod 21 is started, the telescopic end of the electric push rod 21 is extended, driving the lower parts to move downward, the splint 213 and the bottom plate 216 are inserted into the granary, and at this time, multiple bottom plates 216 are gathered together, and the grain cannot enter the inner side of the splint 213, and the large motor 23 is started. The rotation of the large motor 23 drives the large gear 24 and the small gear 27 to rotate, and the rotation of the small gear 27 drives the splint 213, the soft curtain 218, and the bottom plate 216 to rotate. The rotation of the bottom plate 216 is conducive to the expulsion of the grain, squeezing the grain in the moving direction to the periphery, so that the possibility of being blocked by the rigidity of the grain is smaller during the downward movement of the three. When the bottom plate 216 moves down to the first When setting the sampling height, one of the small motors 28 is powered on and rotates, driving the bidirectional screw rod 29 to rotate, and then driving the two sliders 210 to approach each other, so that the clamping plate 213 and the bottom plate 216 are away from each other, and the external grain can enter the inner side of the clamping plate 213. When the bottom plate 216 moves down to the lowest point of the first set sampling height, the small motor 28 rotates in the opposite direction, driving the clamping plate 213 and the bottom plate 216 to approach each other and reset, completing the grain sampling of one height. The bottom plate 216 continues to move down to the second sampling height, and the other small motor 28 is powered on and rotated to complete the second sampling. No more details are given. Multiple groups of samples are taken, and the samples are independently sealed and do not interfere with each other. The sampling positions and sampling heights are diversified, making the detection results more representative.

[0056] After the sampling is completed, the telescopic end of the electric push rod 21 is shortened to drive the device of the present invention to separate from the grain, and the flying robot body 1 transports the grain sample to the set area.

[0057] Embodiment 2:

[0058] The difference from the above embodiment is that a detection mechanism 3 is installed at the bottom of the large gear 24, and the detection mechanism 3 includes a vortex groove 32, and the vortex groove 32 is opened at the bottom of the large gear 24. A block 34 is slidably mounted on the inner side of the vortex groove 32, and a stabilizing column 31 is fixedly installed at the bottom of the block 34. A plurality of grooves are opened on the outer side of the stabilizing column 31, and a detection unit 33 is fixedly installed in the groove by bolts. The distance between the bottom of the stabilizing column 31 and the bottom of the large gear 24 is greater than the distance between the bottom of the bottom plate 216 and the bottom of the large gear 24.

[0059] In this embodiment, when it is necessary to sample and test the grain, the flying robot body 1 hovers above the granary, the electric push rod 21 is started, the telescopic end of the electric push rod 21 is extended, driving the lower parts to move downward, the stabilizing column 31 is first inserted into the granary, and the large motor 23 is started. The rotation of the large motor 23 drives the large gear 24 to rotate, and the large gear 24 drives the vortex chute 32 to rotate. Under the resistance of the grain, the stabilizing column 31 and the detection unit 33 move from the middle of the large gear 24 to the edge, and the detection unit 33 detects grain parameters (such as grain humidity) in a wider area in the granary, and the detection result is more representative.

[0060] Specifically, a fixed magnet 36 is fixedly installed on the inner side of one end of the spiral groove 32 close to the center of the large gear 24 , and a movable magnet 35 is embedded and fixedly installed on one side of the clamping block 34 close to the fixed magnet 36 .

[0061] In this embodiment, after sampling is completed, the large gear 24 rotates in the opposite direction to drive the stabilizing column 31 to move in the opposite direction and reset, and the movable magnet 35 and the fixed magnet 36 attract each other, so that the stabilizing column 31 is relatively stable during the subsequent flight of the flying robot body 1.

[0062] The above-mentioned multifunctional grain storage intelligent inspection robot's warehouse inspection system works as follows:

[0063] S1: The flying robot body 1 inspects the grain warehouse according to the route set by the staff, and the camera 4 is used to transmit real-time images for the staff to view.

[0064] S2: The flying robot body 1 hovers above the granary, the electric push rod 21 drives the lower parts to move downward, the stabilizing column 31 is first inserted into the granary, and the stabilizing column 31 and the detection unit 33 move from the middle of the large gear 24 to the edge to detect the grain parameters.

[0065] S3: Each group of bottom plates 216 is expanded outwards in turn to take samples, and samples are taken at different positions and heights of the granary.

[0066] S4: After the sampling is completed, the large gear 24 rotates in the opposite direction to drive the stabilizing column 31 to move in the opposite direction and reset, and the flying robot body 1 transports the food sample to the designated area.

[0067] How it works:

[0068] The flying robot body 1 inspects the grain warehouse according to the route set by the staff, and the camera 4 is used to transmit real-time images for the staff to view.

[0069] When it is necessary to sample and test the grain, the flying robot body 1 hovers above the granary, starts the electric push rod 21, and the telescopic end of the electric push rod 21 extends, driving the lower parts to move downward, the stabilizing column 31 is first inserted into the granary, and then the clamping plate 213 and the bottom plate 216 are inserted into the granary. At this time, multiple bottom plates 216 are gathered together, and the grain cannot enter the inner side of the clamping plate 213. The large motor 23 is started, and the large motor 23 rotates to drive the large gear 24 and the small gear 27 to rotate. The large gear 24 drives the vortex chute 32 to rotate. Under the resistance of the grain, the stabilizing column 31 and the detection unit 33 move from the middle of the large gear 24 to the edge. The detection unit 33 detects the grain parameters (such as grain humidity) in a wider area in the granary, and the detection result is more representative;

[0070] The rotation of the pinion 27 drives the clamping plate 213, the soft curtain 218, and the bottom plate 216 to rotate. The rotation of the bottom plate 216 is conducive to displacing the grain, squeezing the grain in the moving direction to the periphery, so that the three are less likely to be blocked by the rigidity of the grain during the downward movement. When the bottom plate 216 moves down to the first set sampling height, one of the small motors 28 is powered on and rotates, driving the bidirectional screw rod 29 to rotate, and then driving the two sliders 210 to move closer to each other, so that the clamping plate 213 and the bottom plate 216 move away from each other, and the external grain can enter the inner side of the clamping plate 213. When the bottom plate 216 moves down to the lowest point of the first set sampling height, the small motor 28 rotates in the opposite direction, driving the clamping plate 213 and the bottom plate 216 to move closer to each other and reset, completing the grain sampling of one height, and the bottom plate 216 continues to move down to the second sampling height, and the other small motor 28 is powered on and rotates to complete the second sampling. No more details are given. Multiple groups of sampling, samples are independently sealed and do not interfere with each other, and the sampling positions and sampling heights are diversified, making the detection results more representative.

[0071] After the sampling is completed, the large gear 24 rotates in the opposite direction to drive the stabilizing column 31 to move in the opposite direction and reset, and the movable magnet 35 and the fixed magnet 36 attract each other, so that during the subsequent flight of the flying robot body 1, the stabilizing column 31 is relatively stable, the large motor 23 stops rotating, and the telescopic end of the electric push rod 21 shortens to drive the device of the present invention to separate from the food, and the flying robot body 1 transports the food sample to the set area.

[0072] The staff can choose the number and position of the installation rods 26 (ie, sampling components) according to actual needs to adapt to different work scenarios.

[0073] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multifunctional intelligent inspection robot for grain storage conditions, comprising a flying robot body (1), a camera (4) fixedly mounted on the side of the flying robot body (1), and a sampling mechanical arm mechanism (2) for collecting grain samples mounted on the bottom of the flying robot body (1), characterized in that: The sampling mechanical arm mechanism (2) comprises a plurality of groups of clamping plates (213) and soft curtains (218) for grabbing food, which are arranged in a staggered manner and are fixedly connected between adjacent ones; The sampling mechanical arm mechanism (2) further comprises a bidirectional screw rod (29) for driving the clamping plate (213) to expand and contract, and a bottom plate (216) is fixedly mounted on the bottom of the clamping plate (213); The sampling mechanical arm mechanism (2) further comprises an electric push rod (21) for driving the clamping plate (213) to move up and down, a large motor (23) being fixedly mounted on the telescopic end of the electric push rod (21), a large gear (24) being fixedly mounted on the output end of the large motor (23), and a plurality of small gears (27) for driving the clamping plate (213) to rotate being meshed and mounted on the outer side of the large gear (24); A detection mechanism (3) is installed at the bottom of the large gear (24), the detection mechanism (3) comprising a vortex chute (32), the vortex chute (32) being arranged at the bottom of the large gear (24), a clamping block (34) being slidably mounted on the inner side of the vortex chute (32), and a stabilizing column (31) being fixedly mounted at the bottom of the clamping block (34); A plurality of grooves are formed on the outer side of the stabilizing column (31), and a detection unit (33) is fixedly installed in the groove by means of bolts; A small motor (28) is fixedly mounted at the bottom of the pinion gear (27); an output end of the small motor (28) is fixedly connected to a bidirectional screw rod (29); and two sliders (210) are symmetrically threadedly connected to the outer side of the bidirectional screw rod (29).

2. A multifunctional grain storage intelligent inspection robot as claimed in claim 1, characterized in that: The top of the electric push rod (21) is fixedly mounted on the bottom of the flying robot body (1); a mounting block (22) is fixedly mounted on the outside of the telescopic end of the electric push rod (21); a plurality of mounting grooves (25) are provided on the outside of the mounting block (22); a mounting rod (26) is fixedly mounted inside the mounting groove (25) by bolts; and the mounting rod (26) is rotatably connected to the top of a pinion gear (27).

3. A multifunctional grain storage intelligent inspection robot as claimed in claim 2, characterized in that: A plurality of support bars (217) are fixedly mounted on the inner side of the bottom plate (216); the middle parts of the two sliders (210) slide together and penetrate through the limit rod (212); and the tops of the sliders (210) are fixedly mounted on the outer side of the bottom shell of the small motor (28).

4. A multifunctional grain storage intelligent inspection robot as claimed in claim 3, characterized in that: A fixed magnet (36) is fixedly mounted on the inner side of one end of the vortex chute (32) close to the center of the large gear (24), and a movable magnet (35) is embedded and fixedly mounted on one side of the clamping block (34) close to the fixed magnet (36).

5. A multifunctional grain storage intelligent inspection robot as claimed in claim 4, characterized in that: A plurality of movable hinge blocks (211) are fixedly mounted on the outer side of the slider (210), two fixed hinge blocks (215) are fixedly mounted on the inner side of the clamping plate (213), and a linkage bar (214) is hinged between the fixed hinge blocks (215) and the movable hinge blocks (211).

6. A multifunctional grain storage intelligent inspection robot as claimed in claim 5, characterized in that: The distance between the bottom of the stabilizing column (31) and the bottom of the large gear (24) is greater than the distance between the bottom of the bottom plate (216) and the bottom of the large gear (24).

7. A multifunctional grain storage intelligent inspection robot inspection system as claimed in claim 6, characterized in that: The working mode of the warehouse patrol system is as follows: S1: The flying robot body (1) patrols the grain warehouse according to the route set by the staff, and the camera (4) is used to transmit real-time images for the staff to view; S2: The flying robot body (1) hovers above the granary, the electric push rod (21) drives the lower parts to move downward, the stabilizing column (31) is first inserted into the granary, and the stabilizing column (31) and the detection unit (33) move from the middle of the large gear (24) to the edge to detect the grain parameters; S3: Each group of bottom plates (216) is expanded outwards in turn to take samples, and samples are taken at different positions and heights of the granary; S4: After the sampling is completed, the large gear (24) rotates in the reverse direction to drive the stabilizing column (31) to move in the reverse direction and reset, and the flying robot body (1) transports the grain sample to the designated area.

Images