Orchard inspection robot support structure

Abstract

The invention relates to the technical field of orchard inspection equipment, in particular to an orchard inspection robot support structure which comprises a connecting frame, a bearing seat is fixed to the upper end of the connecting frame, a moving seat is slidably arranged at the upper end of the bearing seat, a mounting platform is fixed to the upper end of the moving seat, and a mounting support is fixed to the upper end of the mounting platform. A fixing seat is mounted on the side face of the mounting support, a fixing groove is formed in the fixing seat, an image collecting device is mounted in the fixing groove, a controller is fixed to the upper end of the mounting platform, a lifting assembly is arranged between the mounting support and the mounting platform, and a buffering assembly is arranged on the bearing seat. According to the invention, the valve is opened to inflate the buffer airbag in the lifting process of the fixed seat, so that vibration can be buffered when the inspection equipment vibrates due to the influence of an uneven road surface, shaking of an image acquisition picture caused by equipment vibration is reduced, and the acquisition definition is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of orchard inspection equipment, and specifically to a bracket structure for an orchard inspection robot. Background Art

[0002] An orchard inspection robot is an intelligent agricultural equipment specifically customized for the orchard environment. It can collect images of the growth conditions of fruit trees in the orchard, thereby realizing the automatic monitoring and management of the growth status of fruit trees, environmental parameters, and pests and diseases. By linking with the management platform through the Internet of Things technology, an orchard digital twin model can be constructed, providing strong data support for pest and disease early warning and irrigation and fertilization decision-making, and strongly promoting the development of precision agriculture and scientific research innovation. In an orchard inspection robot, the bracket structure is a crucial component.

[0003] The bracket structure is mainly used to install and support the image acquisition device, realize the monitoring of the orchard, facilitate the operators to observe, and cooperate with the manipulator to complete the entire inspection work. When in use, the image acquisition device is placed at the upper end of the bracket to make it at a specific height, and then it cooperates with the entire robot to work. During work, the image acquisition device collects information such as the fruits and branches of the fruit trees in the orchard. When bad fruits or leaves with poor growth affected by pests are found, the bad fruits or the leaves with poor growth are picked off by the gripper installed at the free end of the manipulator. After the inspection is completed, it is convenient to detect the bad fruits and the leaves with poor growth.

[0004] However, the orchard ground is usually uneven, which causes the entire robot to jolt frequently during the inspection process. This jolt will cause the bracket and the image acquisition device to shake together, and the shaking of the image acquisition device will seriously affect the quality of the collected images, resulting in problems such as image jitter and blurring, and it cannot cooperate well with the manipulator to complete the inspection work. Summary of the Invention

[0005] Aiming at the deficiencies of the existing technology, the present invention provides a bracket structure for an orchard inspection robot, which has the ability to buffer the vibration generated during the inspection process of the inspection equipment due to uneven road surfaces and reduce the impact of the vibration on the image acquisition screen.

[0006] To achieve the above object, the present invention provides the following technical solution: A bracket structure for an orchard inspection robot, including a connecting frame, a bearing seat is fixed at the upper end of the connecting frame, a moving seat is slidably arranged at the upper end of the bearing seat, an installation platform is fixed at the upper end of the moving seat, an installation bracket is fixed at the upper end of the installation platform, a fixing seat is installed on the side of the installation bracket, a fixing groove is opened in the fixing seat, an image acquisition device is installed inside the fixing groove, and a controller is fixed at the upper end of the installation platform; The buffer assembly includes a high-pressure gas storage tank fixed to the side of the mounting bracket. One end of the high-pressure gas storage tank close to the mounting bracket is fixed with an air outlet pipe, and a valve is installed on the air outlet pipe. Buffer air bags are fixed at the four corners inside the bearing seat. A ventilation component is arranged between the buffer air bags and the high-pressure gas storage tank, and a damping component is arranged inside the buffer air bags.

[0007] The lifting component raises the fixed seat to an appropriate height. During the process of the lifting component driving the fixed seat to rise, the valve of the gas storage tank can be opened, so that the high-pressure gas inside the gas storage tank enters the buffer air bag through the ventilation component, and at the same time, the high-pressure gas can enter the damping component.

[0008] Preferably, the lifting component includes a driving motor fixed to the lower end of the moving seat. The output end of the driving motor extends into the mounting bracket and is fixed with a lifting screw rod. The lifting screw rod is rotatably connected to the mounting bracket, and a moving block is installed on the lifting screw rod.

[0009] Preferably, a guiding groove is formed inside the mounting bracket. One end of the moving block close to the guiding groove is rotatably connected with a guiding wheel, and the surface of the guiding wheel is attached to the inner wall of the guiding groove.

[0010] Preferably, a transmission rack is fixed to the side of the moving block, and a transmission gear meshing with the transmission rack is fixed to the valve rod end of the valve.

[0011] Preferably, the ventilation component includes a diversion pipe fixed to the air outlet pipe. The diversion pipe extends into the bearing seat, and four diversion tubes are fixed to the end. The diversion tubes are fixedly connected with the buffer air bags. An exhaust pipe is fixed to the side of the buffer air bag. Solenoid valves I are fixed to both the diversion tubes and the diversion pipe, and a pressure sensor is installed inside the buffer air bag.

[0012] Preferably, the damping component includes a column fixed inside the buffer air bag. A sliding tube is slidably sleeved on the column. One end of the sliding tube away from the column is fixedly connected with the buffer air bag. An installation groove is formed inside the sliding tube, an air bag ring is fixed inside the installation groove, and a support ring is fixed on the column.

[0013] Preferably, an inlet pipe is fixed to the diversion tube. One end of the inlet pipe away from the diversion tube extends into the buffer air bag, penetrates through the sliding tube and is communicated with the air bag ring. An air release pipe is fixed to the buffer air bag. The air release pipe extends into the buffer air bag and is communicated with the air bag ring. Solenoid valves II are fixed to both the inlet pipe and the air release pipe, and a pressure sensor is arranged inside the air bag ring.

[0014] Preferably, a connecting seat is fixed to one end of the moving block away from the guide wheel. A sliding sleeve is rotatably connected inside the connecting seat. Ball bearings are fixed inside the sliding sleeve. A driving column is installed on the mounting platform. The driving column slidably penetrates through the sliding sleeve. The sliding sleeve is fixedly connected to the fixed seat. A cleaning rod is fixed to the connecting seat. A cleaning brush is fixed to the cleaning rod. A transmission member is arranged at the lower end of the driving column.

[0015] Preferably, the transmission member includes a first bevel gear fixed to the output end of the driving motor. A transmission shaft is rotatably connected to the lower end of the moving seat. A second bevel gear meshing with the first bevel gear is fixed to the transmission shaft. A first pulley is fixed to one end of the transmission shaft away from the second bevel gear. A mounting shaft is rotatably connected to the mounting platform. A second pulley is fixed to the end of the mounting shaft. The first pulley and the second pulley are connected by a transmission belt. A rotating member is arranged between the mounting shaft and the mounting platform.

[0016] Preferably, the rotating member includes a rotating shaft rotatably connected to the upper end of the mounting platform. The rotating shaft is fixedly connected to the driving column. A first bevel gear and a second bevel gear are fixed to the rotating shaft. A third bevel gear is fixed to one end of the mounting shaft away from the second pulley.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. By driving the lifting screw rod to rotate through the driving motor, and cooperating with structures such as guide wheels, the moving block drives the fixed seat and the image acquisition device to rise, so that the image acquisition device can be adjusted to a suitable height according to the height of the fruit tree. At the same time, during the rising process of the moving block, the transmission rack follows and rises, driving the transmission gear to rotate. When the transmission gear rotates, the valve is opened, so that the gas inside the high-pressure gas storage tank flows out through the air outlet pipe and finally enters the buffer airbag. After the buffer airbag is filled with air, it expands. When the air pressure sensor monitors that the air pressure inside the buffer airbag reaches the preset value, it sends a signal to the controller, thereby closing the solenoid valve I on the shunt pipe to stop the gas from entering. During the movement of the bracket following the base, due to the uneven road surface, the entire device fluctuates up and down, causing the device to vibrate. At this time, the buffer airbag is stressed, and the internal gas of the buffer airbag is compressed when it is squeezed, converting mechanical energy into gas potential energy. At the same time, the elastic deformation of the rubber material assists in absorbing energy, and the energy release is realized in cooperation with the gas expansion, so as to buffer the vibration caused by the bumpy road section, reduce the picture jitter caused by the bumpy road section, so that the image acquisition can be clearer, enabling the operator to more clearly observe the bad fruits or the branches and leaves with poor growth affected by pests, facilitating the cooperation with the manipulator to pick the bad fruits or the leaves with poor growth. And when the inspection is over, the buffer airbag can be deflated, which can effectively reduce the impact on its service life caused by the internal high-pressure state all the time; 2. During use, when high-pressure air is filled into the buffer airbag through the shunt pipe from the high-pressure gas storage tank, a part of the high-pressure air in the shunt pipe will enter the inside of the airbag ring along the intake pipe. After the airbag ring is inflated, it expands. As the gas is filled, the airbag ring expands. During the expansion process, the air pressure sensor can monitor the air pressure inside the airbag ring. When the air pressure reaches the preset value, a signal is sent to the controller, and the controller controls the solenoid valve II on the intake pipe to close and stop the inflation. During subsequent use, when the sliding pipe moves up and down, it will squeeze the airbag ring. At this time, the airbag ring can absorb the pressure received by the sliding pipe, compress the air inside it, convert mechanical energy into gas potential energy, and at the same time, the elastic deformation of the rubber material of the airbag ring itself assists in absorbing energy, thereby playing a buffering role. At the same time, the airbag ring can increase the friction between the sliding pipe and the column, form a damping effect when the sliding pipe moves up and down, can reduce the rising speed of the sliding pipe, thereby reducing the rebound speed of the buffer airbag, and further can prevent the buffer airbag from rebounding too fast and driving the entire device to rebound quickly, avoiding the jitter of the image acquisition device caused by too fast rebound, improving the buffering effect of the buffer airbag, and further improving the stability of the device. When the inspection device finishes use, open the solenoid valve II on the air release pipe to discharge the high-pressure air inside the airbag ring. By discharging the air, it can be avoided that the airbag ring is always in a high-pressure state, reducing the friction of the sliding pipe on the airbag ring when the inspection device moves during non-inspection periods, thereby accelerating the wear of the airbag ring and affecting the damping effect generated between it and the sliding pipe, and further affecting the shock absorption and buffering effect; 3. During the process of the driving motor driving the fixed seat to rise, under the action of structures such as bevel gear I and bevel gear II, the driving column rotates reciprocally. The reciprocal rotation of the driving column can make the sliding sleeve drive the fixed seat and the image acquisition device to swing. During the reciprocal swing of the image acquisition device, the position of its lens contacts the cleaning brush. Through the cleaning brush, the lens of the image acquisition device can be wiped before the inspection device conducts an inspection, so that the lens can be wiped before detection, which helps to ensure the clarity of the inspection picture, and further improves the inspection effect. And when the fixed seat is lowered after the inspection is completed, the cleaning brush can clean the lens of the image acquisition device again, sweeping away the dust attached to the lens surface during the inspection process, which is more conducive to the next use. Description of the Drawings

[0018] Figure 1 It is a schematic diagram of the overall device of the present invention.

[0019] Figure 2 It is a schematic diagram of the first internal structure of the device of the present invention.

[0020] Figure 3 For the present invention Figure 2 The enlarged schematic diagram at position A.

[0021] Figure 4This is a schematic structural diagram of the buffer component of the present invention.

[0022] Figure 5 For the present invention Figure 4 The enlarged schematic diagram at position B in the figure.

[0023] Figure 6 This is a schematic diagram of a partial dissection of the device of the present invention.

[0024] Figure 7 This is a schematic internal structure diagram of the buffer airbag of the present invention.

[0025] Figure 8 For the present invention Figure 1 The enlarged schematic diagram at position C in the figure.

[0026] Figure 9 This is the second internal structure schematic diagram of the present invention.

[0027] Figure 10 For the present invention Figure 9 The enlarged schematic diagram at position D in the figure.

[0028] In the figure: 1. Connecting frame; 11. Bearing seat; 12. Moving seat; 2. Installation platform; 21. Installation bracket; 22. Fixed seat; 23. Fixed groove; 3. Lifting component; 31. Driving motor; 32. Lifting screw rod; 33. Moving block; 34. Guide wheel; 4. Buffer component; 41. High-pressure gas storage tank; 42. Air outlet pipe; 43. Valve; 44. Buffer airbag; 45. Ventilation component; 451. Diversion pipe; 452. Shunt pipe; 453. Exhaust pipe; 454. Solenoid valve 1; 46. Transmission rack; 47. Transmission gear; 5. Connecting seat; 51. Driving column; 52. Sliding sleeve; 53. Ball; 54. Transmission part; 541. Bevel gear 1; 542. Transmission shaft; 543. Bevel gear 2; 544. Pulley 1; 545. Installation shaft; 546. Pulley 2; 547. Transmission belt; 55. Rotating part; 551. Rotating shaft; 552. Bevel gear 1; 553. Bevel gear 2; 554. Bevel gear 3; 56. Cleaning rod; 6. Damping part; 61. Column; 62. Sliding pipe; 63. Airbag ring; 64. Support ring; 65. Air inlet pipe; 66. Air release pipe; 67. Solenoid valve 2. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. Embodiment 1

[0030] Please refer toFigures 1 to 6 , which is the first embodiment of the present invention, provides a technical solution: a support structure for an orchard inspection robot, including a connecting frame 1. A bearing seat 11 is fixed at the upper end of the connecting frame 1. A moving seat 12 is slidably arranged at the upper end of the bearing seat 11. An installation platform 2 is fixed at the upper end of the moving seat 12. An installation bracket 21 is fixed at the upper end of the installation platform 2. A collection box is fixed on the installation platform 2. The manipulator is detachably installed at the upper end of the installation platform 2. A gripper is installed at one end of the manipulator away from the installation platform 2. When the image acquisition device identifies rotten fruits and leaves with poor growth affected by pests, the rotten fruits and the leaves with poor growth are picked by the gripper installed at the free end of the manipulator and placed in the collection box for subsequent return for detection. A fixing seat 22 is installed on the side of the installation bracket 21. A fixing groove 23 is provided on the fixing seat 22. An image acquisition device is installed inside the fixing groove 23. A controller is fixed at the upper end of the installation platform 2. By placing the image acquisition device into the fixing groove 23 on the fixing seat 22 and fixing it with bolts, a lifting component 3 is arranged between the installation bracket 21 and the installation platform 2, and a buffer component 4 is arranged on the bearing seat 11; The buffer component 4 includes a high-pressure gas storage tank 41 fixed on the side of the installation bracket 21. An air outlet pipe 42 is fixed at one end of the high-pressure gas storage tank 41 close to the installation bracket 21. A valve 43 is installed on the air outlet pipe 42. Buffer air bags 44 are fixed at the four corners inside the bearing seat 11. After the buffer air bags 44 are filled with high-pressure gas and expand, when the whole support is jolted during movement and vibration occurs, the buffer air bags 44 are squeezed to compress the gas inside them, converting mechanical energy into gas potential energy. At the same time, the elastic deformation of the rubber material assists in absorbing energy, and the energy release is realized in cooperation with the gas expansion, so as to buffer the vibration caused by bumpy roads, reduce the picture jitter caused by bumpy roads, and improve the clarity of the collected images. A ventilation component 45 is arranged between the buffer air bags 44 and the high-pressure gas storage tank 41, and a damping component 6 is arranged inside the buffer air bags 44; The lifting component 3 raises the fixing seat 22 to a suitable height. During the process of the lifting component 3 driving the fixing seat 22 to rise, the valve 43 of the gas storage tank can be opened, so that the high-pressure gas inside the gas storage tank enters the buffer air bags 44 through the ventilation component 45, and at the same time, the high-pressure gas can enter the damping component 6.

[0031] The lifting assembly 3 includes a driving motor 31 fixed to the lower end of the moving seat 12. The output end of the driving motor 31 extends into the interior of the mounting bracket 21 and is fixed with a lifting screw rod 32. By driving the lifting screw rod 32 to rotate in the groove, the fixed seat 22 can be lifted, enabling the image acquisition device to be at an appropriate height, so as to be suitable for image acquisition of different varieties of fruits. At the same time, when the fixed seat 22 rises, the valve 43 of the high-pressure gas storage tank 41 can be opened, allowing high-pressure gas to be filled into the buffer airbag 44, thereby playing a role in shock absorption. The lifting screw rod 32 is rotatably connected to the mounting bracket 21. A moving block 33 is installed on the lifting screw rod 32. A nut seat is fixed inside the moving block 33, and the nut seat is sleeved on the lifting screw rod 32. By the cooperation of the nut seat and the lifting screw rod 32, the moving seat 12 can drive the fixed seat 22 to lift smoothly.

[0032] A guiding groove is formed inside the mounting bracket 21. One end of the moving block 33 close to the guiding groove is rotatably connected with a guiding wheel 34. When the moving block 33 moves up and down, the guiding wheel 34 rotates inside the guiding groove, playing a role in guiding and limiting. The surface of the guiding wheel 34 is in contact with the inner wall of the guiding groove.

[0033] A transmission rack 46 is fixed to the side of the moving block 33. A groove through which the transmission gear 47 can pass is formed in the inner wall of the mounting bracket 21, so that the transmission gear 47 can be engaged with the transmission rack 46. The valve rod end of the valve 43 is fixed with a transmission gear 47 engaged with the transmission rack 46. During the rising process of the moving block 33, the transmission rack 46 moves along with it, causing the transmission gear 47 to rotate forward. The rotation of the transmission gear 47 can cause the valve rod of the valve 43 to rotate, thereby opening the high-pressure gas storage tank 41 to realize the inflation of the buffer airbag 44. When the inspection is over and the fixed seat 22 is controlled to reset, the transmission rack 46 causes the transmission gear 47 to rotate in the reverse direction, thereby closing the valve 43.

[0034] The air exchange component 45 includes a diversion pipe 451 fixed on the air outlet pipe 42. The diversion pipe 451 extends into the inside of the bearing seat 11, and four shunt pipes 452 are fixed at the end. The diversion pipe 451 is slidably arranged with the moving seat 12, and it can move up and down with the moving seat 12 without affecting the diversion pipe 451. The lower end of the diversion pipe 451 is fixed to the four shunt pipes 452 through a five-way pipe. The shunt pipes 452 are fixedly connected to the buffer airbag 44. An exhaust pipe 453 is fixed on the side of the buffer airbag 44, and the exhaust pipe is used to deflate the buffer airbag 44. Solenoid valves 454 are fixed on both the shunt pipes 452 and the diversion pipe 451, and the solenoid valves 454 are fixedly connected to the bearing seat 11. When high-pressure gas is charged into the buffer airbag 44, the solenoid valve 454 on the shunt pipe 452 is in the open state, and the solenoid valve 454 on the exhaust pipe 453 is in the closed state. When the air pressure inside the buffer airbag 44 reaches the preset value, the solenoid valve 454 on the shunt pipe 452 closes to prevent high-pressure gas from entering the inside of the buffer airbag 44. When it is necessary to release the high-pressure gas inside the buffer airbag 44 after the inspection is completed, the solenoid valve 454 on the exhaust pipe 453 is opened. A pressure sensor is installed inside the buffer airbag 44, and the pressure sensor can accurately monitor the air pressure inside the buffer airbag 44. During the inflation process, when the pressure reaches the preset value, a signal is sent to the controller in time to close the solenoid valve 454 on the shunt pipe 452.

[0035] During use, the bracket is connected to a base with a mobile function. When inspecting the orchard, the imaging device is placed in the fixed groove 23, and then the driving motor 31 is turned on. The lifting screw rod 32 is driven to rotate by the driving motor 31. The rotation of the lifting screw rod 32 causes the moving block 33 to be subjected to force, and is restricted by the guide wheel 34 and the guide groove, so that the moving block 33 drives the fixed seat 22 and the image acquisition device to rise. During the rising process, the transmission rack 46 follows the rise and drives the transmission gear 47 to rotate. When the transmission gear 47 rotates, the valve stem of the valve 43 rotates, and the valve stem rotates to open the valve 43, so that the gas inside the high-pressure gas storage tank 41 flows out through the outlet pipe 42, and enters the shunt pipe 452 along the guide pipe 451, and then enters the buffer airbag 44 through the shunt pipe 452. The buffer airbag 44 expands after being filled with air. When the air pressure sensor detects that the air pressure inside the buffer airbag 44 reaches a preset value, it sends a signal to the controller, thereby closing the solenoid valve 44 on the shunt pipe 452. 54, so that the gas no longer enters. When the bracket moves with the base, the image acquisition device can collect the conditions of the fruits, branches and leaves in the orchard to realize the inspection of the orchard. When the image acquisition device identifies rotten fruits and leaves that are affected by pests and have poor growth, the rotten fruits and leaves that have poor growth are picked up by the clamp installed on the free end of the manipulator and placed in a collection box for subsequent return for inspection. During the inspection, due to the uneven road surface, the entire device fluctuates up and down, causing the device to vibrate, so that the cushioning airbag 44 is stressed, and the cushioning airbag 44 is squeezed to compress the gas inside, converting mechanical energy into gas potential energy. At the same time, the elastic deformation of the rubber material assists in absorbing energy, and cooperates with the expansion of the gas to realize energy release, thereby being able to buffer the vibration caused by the bumpy road section and reduce the picture jitter caused by the bumpy road section, so that the image acquisition can be clearer, so that the operator can more clearly observe the rotten fruits or branches and leaves that have poor growth due to pests, which is more convenient for the manipulator to pick them. Example 2

[0036] See also Figure 5 and Figure 7 , which is the second embodiment of the present invention, and this embodiment is different from the first embodiment in that: The damping member 6 includes a column 61 fixed inside the buffer airbag 44, a sliding tube 62 is slidably sleeved on the column 61, and the end of the sliding tube 62 away from the column 61 is fixedly connected to the buffer airbag 44, a mounting groove is opened inside the sliding tube 62, and an airbag ring 63 is fixed inside the mounting groove. The airbag ring 63 is inflated to increase the friction between the sliding tube 62 and the column 61, thereby forming damping, and a support ring 64 is fixed on the column 61. When the sliding tube 62 is forced to move downward, the lower end of the sliding tube 62 conflicts with the support ring 64, and the support ring 64 plays a supporting and limiting role.

[0037] An air inlet pipe 65 is fixed on the flow dividing pipe 452. One end of the air inlet pipe 65 far from the flow dividing pipe 452 extends into the inside of the buffer airbag 44, penetrates through the sliding pipe 62 and is communicated with the airbag ring 63. When high-pressure air is introduced into the flow dividing pipe 452, a part of the high-pressure air will enter the inside of the airbag ring 63 along the air inlet pipe 65. After the airbag ring 63 is inflated, during subsequent use, when the sliding pipe 62 moves up and down, the sliding pipe 62 and the column 61 will squeeze the airbag ring 63. The airbag ring 63 can increase the friction force between the sliding pipe 62 and the column 61, thereby forming a damping effect, which can reduce the rising speed of the sliding pipe 62, thus reducing the rebound speed of the buffer airbag 44, and further improving the stability of the device. An air discharge pipe 66 is fixed on the buffer airbag 44. Both the air inlet pipe 65 and the air discharge pipe 66 are flexible pipes. The air discharge pipe 66 extends into the inside of the buffer airbag 44 and penetrates through the support ring 64 to be communicated with the airbag ring 63. Solenoid valves II 67 are fixed on both the air inlet pipe 65 and the air discharge pipe 66. The solenoid valves II 67 are fixedly connected to the bearing seat 11. A pressure sensor is arranged inside the airbag ring 63. When filling air into the inside of the airbag ring 63, the solenoid valve II 67 on the air inlet pipe 65 is in an open state, and the solenoid valve II 67 on the air discharge pipe 66 is in a closed state. As the gas is filled, the airbag ring 63 expands. During the expansion process, the pressure sensor can monitor the air pressure inside the airbag ring 63. When the air pressure reaches the preset value, a signal is sent to the controller, and the controller controls the solenoid valve II 67 on the air inlet pipe 65 to close and stop inflation. When deflation is required, the solenoid valve II 67 on the air discharge pipe 66 is opened, so that the high-pressure air inside the airbag ring 63 is discharged. By discharging the air, it can be avoided that the airbag ring 63 is always in a high-pressure state, reducing the friction of the sliding pipe 62 on the airbag ring 63 during the movement of the inspection equipment when no inspection is required, thereby accelerating the wear of the airbag ring 63 and affecting the damping effect generated between it and the sliding pipe 62, and further affecting the shock absorption and buffering effect.

[0038] During use, when high-pressure air is filled into the inside of the buffer airbag 44 through the shunt pipe 452 by the high-pressure gas storage tank 41, the second electromagnetic valve 67 on the air inlet pipe 65 is in the open state, and the second electromagnetic valve 67 on the air discharge pipe 66 is in the closed state. Then, a part of the high-pressure air in the shunt pipe 452 will enter the inside of the airbag ring 63 along the air inlet pipe 65. After the airbag ring 63 is inflated, it expands. As the gas is filled, the airbag ring 63 expands. During the expansion process, the air pressure sensor can monitor the air pressure inside the airbag ring 63. When the air pressure reaches the preset value, a signal is sent to the controller, and the controller controls the second electromagnetic valve 67 on the air inlet pipe 65 to close and stop inflation. During subsequent use, when the sliding pipe 62 moves up and down, the sliding pipe 62 and the column 61 will squeeze the airbag ring 63. At this time, the airbag ring 63 can increase the friction force between the sliding pipe 62 and the column 61, thereby forming a damping effect, which can reduce the rising speed of the sliding pipe 62, and thus reduce the rebound speed of the buffer airbag 44, avoiding the jitter of the image acquisition device caused by too fast rebound, and further improving the stability of the device. When the inspection device is used up, the second electromagnetic valve 67 on the air discharge pipe 66 is opened, so that the high-pressure air inside the airbag ring 63 is discharged. By discharging the air, it is possible to prevent the airbag ring 63 from being in a high-pressure state all the time, reducing the friction of the sliding pipe 62 on the airbag ring 63 when the inspection device moves during non-inspection, thereby accelerating the wear of the airbag ring 63 and affecting the damping effect generated between it and the sliding pipe 62, and further affecting the shock absorption and buffering effect.

[0039] The remaining structures are the same as those in Embodiment 1. Embodiment 3

[0040] Please refer to Figure 3 、 Figure 8 、 Figure 9 、 Figure 10 , which is the third embodiment of the present invention. The difference between this embodiment and the first and second embodiments is: A connecting seat 5 is fixed at one end of the moving block 33 away from the guide wheel 34. A sliding sleeve 52 is rotatably connected inside the connecting seat 5. A ball 53 is fixed inside the sliding sleeve 52. A driving column 51 is installed on the installation platform 2. The driving column 51 slidably penetrates through the sliding sleeve 52. The sliding sleeve 52 is fixedly connected with the fixed seat 22. The balls 53 are evenly distributed in four columns. Four chutes adapted to the balls 53 are formed on the driving column 51. When the driving column 51 rotates, the balls 53 and the chutes play a limiting role. A cleaning rod 56 is fixed on the connecting seat 5. A cleaning brush is fixed on the cleaning rod 56. A transmission member 54 is arranged at the lower end of the driving column 51. The driving column 51 is driven to rotate through the transmission member 54, so that the sliding sleeve 52 drives the fixed seat 22 to rotate, so that the lens of the image acquisition device contacts the cleaning brush, so that the lens can be wiped, the clarity of the lens can be maintained, and the picture clarity can be improved.

[0041] The transmission member 54 includes a first bevel gear 541 fixed to the output end of the driving motor 31. A transmission shaft 542 is rotatably connected to the lower end of the moving seat 12. A second bevel gear 543 meshing with the first bevel gear 541 is fixed on the transmission shaft 542. The rotation of the first bevel gear 541 drives the rotation of the second bevel gear 543, converting the vertical driving force of the driving motor 31 into a horizontal driving force to provide power for the rotation of the driving column 51. One end of the transmission shaft 542 away from the second bevel gear 543 is fixed with a first pulley 544. A mounting shaft 545 is rotatably connected to the mounting platform 2. A second pulley 546 is fixed to the end of the mounting shaft 545. The first pulley 544 and the second pulley 546 are connected by a transmission belt 547. A rotating member 55 is arranged between the mounting shaft 545 and the mounting platform 2. The transmission shaft 542 drives the first pulley 544 to rotate, and then under the action of the transmission belt 547, the second pulley 546 rotates, so that the mounting shaft 545 rotates, providing power for driving the driving column 51 to rotate subsequently.

[0042] The rotating member 55 includes a rotating shaft 551 rotatably connected to the upper end of the mounting platform 2. The rotating shaft 551 is fixedly connected to the driving column 51. A first bevel gear 552 and a second bevel gear 553 are fixed on the rotating shaft 551. The tooth surfaces of the first bevel gear 552 and the second bevel gear 553 correspond to each other, facilitating the transmission of the third bevel gear 554. A third bevel gear 554 is fixed to one end of the mounting shaft 545 away from the second pulley 546. The teeth of the third bevel gear 554 are one-third of a circle. When the third bevel gear 554 rotates, when the teeth of the third bevel gear 554 contact the first bevel gear 552, they do not contact the second bevel gear 553. At this time, the rotation of the first bevel gear 552 drives the driving column 51 to rotate forward. When the teeth of the third bevel gear 554 contact the second bevel gear 553, they do not contact the first bevel gear 552. At this time, the rotation of the first bevel gear 552 drives the driving column 51 to rotate in the reverse direction, so that the driving column 51 rotates reciprocally, cooperating with the cleaning brush to realize the wiping of the lens of the image acquisition device.

[0043] During use, when the driving motor 31 drives the fixed seat 22 to rise, the driving motor 31 drives the first bevel gear 541 to rotate. The rotation of the first bevel gear 541 drives the second bevel gear 543 to rotate, causing the transmission shaft 542 to rotate. Driven by the rotating shaft 551, the transmission shaft 542 drives the first pulley 544 to rotate. Then, under the action of the transmission belt 547, the second pulley 546 rotates, thereby causing the mounting shaft 545 to rotate. The rotation of the mounting shaft 545 causes the third bevel gear 554 to rotate. When the teeth of the third bevel gear 554 contact the first bevel gear 552, they do not contact the second bevel gear 553. At this time, the rotation of the first bevel gear 552 drives the driving column 51 to rotate forward. When the teeth of the third bevel gear 554 contact the second bevel gear 553, they do not contact the first bevel gear 552. At this time, the rotation of the first bevel gear 552 drives the driving column 51 to rotate in the reverse direction, thereby causing the driving column 51 to rotate reciprocally. The reciprocal rotation of the driving column 51 can cause the sliding sleeve 52 to drive the fixed seat 22 and the image acquisition device to swing. During the reciprocal swing of the image acquisition device, the position of its lens contacts the cleaning brush. The cleaning brush can wipe the lens of the image acquisition device before the inspection device conducts an inspection, which helps to ensure the clarity of the inspection image and improve the inspection effect. Moreover, when the fixed seat 22 is lowered after the inspection, the cleaning brush can clean the lens of the image acquisition device again, sweeping away the dust attached to the lens surface during the inspection, which is more conducive to the next use.

[0044] The remaining structures are the same as those of Embodiments 1 and 2.

[0045] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An orchard inspection robot support structure, including a connecting frame (1), characterized in that: A carrier seat (11) is fixed to the upper end of the connecting frame (1). A moving seat (12) is slidably arranged on the upper end of the carrier seat (11). An installation platform (2) is fixed to the upper end of the moving seat (12). An installation bracket (21) is fixed to the upper end of the installation platform (2). A fixed seat (22) is installed on the side of the installation bracket (21). A fixing groove (23) is formed in the fixed seat (22). An image acquisition device is installed inside the fixing groove (23). A controller is fixed to the upper end of the installation platform (2). A lifting assembly (3) is arranged between the installation bracket (21) and the installation platform (2). A buffer assembly (4) is arranged on the carrier seat (11). The buffer assembly (4) includes a high-pressure gas storage tank (41) fixed to the side of the installation bracket (21). An air outlet pipe (42) is fixed to one end of the high-pressure gas storage tank (41) close to the installation bracket (21). A valve (43) is installed on the air outlet pipe (42). Buffer air bags (44) are fixed to the four corners inside the carrier seat (11). An air exchange component (45) is arranged between the buffer air bags (44) and the high-pressure gas storage tank (41). A damping component (6) is arranged inside the buffer air bags (44). The lifting assembly (3) raises the fixed seat (22) to a suitable height. During the process of the lifting assembly (3) driving the fixed seat (22) to rise, the valve (43) of the gas storage tank can be opened, so that the high-pressure gas inside the gas storage tank enters the buffer air bags (44) through the air exchange component (45), and at the same time, the high-pressure gas can enter the damping component (6).

2. The bracket structure of an orchard inspection robot according to claim 1, characterized in that: The lifting assembly (3) includes a driving motor (31) fixed to the lower end of the moving seat (12). The output end of the driving motor (31) extends into the installation bracket (21) and is fixed with a lifting lead screw (32). The lifting lead screw (32) is rotationally connected to the installation bracket (21). A moving block (33) is installed on the lifting lead screw (32).

3. The bracket structure of an orchard inspection robot according to claim 2, wherein: A guiding groove is formed inside the installation bracket (21). A guiding wheel (34) is rotationally connected to one end of the moving block (33) close to the guiding groove. The surface of the guiding wheel (34) is attached to the inner wall of the guiding groove.

4. The bracket structure of an orchard inspection robot according to claim 2, wherein: A transmission rack (46) is fixed to the side of the moving block (33). A transmission gear (47) meshing with the transmission rack (46) is fixed to the valve rod end of the valve (43).

5. The support structure of an orchard inspection robot according to claim 1, characterized in that: The air exchange component (45) includes a diversion pipe (451) fixed to the air outlet pipe (42). The diversion pipe (451) extends into the carrier seat (11) and four shunt pipes (452) are fixed to the end. The shunt pipes (452) are fixedly connected to the buffer air bags (44). An exhaust pipe (453) is fixed to the side of the buffer air bags (44). Electromagnetic valves I (454) are fixed to both the shunt pipes (452) and the diversion pipe (451). A pressure sensor is installed inside the buffer air bags (44).

6. The support structure of an orchard inspection robot according to claim 5, characterized in that: The damping member (6) includes a column (61) fixed inside the buffer airbag (44). A sliding tube (62) is sleeved on the column (61) in a sliding manner. One end of the sliding tube (62) away from the column (61) is fixedly connected to the buffer airbag (44). An installation groove is formed inside the sliding tube (62), and an airbag ring (63) is fixed inside the installation groove. A support ring (64) is fixed on the column (61).

7. The bracket structure of an orchard inspection robot according to claim 6, characterized in that: An air inlet pipe (65) is fixed on the shunt pipe (452). One end of the air inlet pipe (65) away from the shunt pipe (452) extends into the buffer airbag (44), penetrates through the sliding tube (62), and is communicated with the airbag ring (63). An air outlet pipe (66) is fixed on the buffer airbag (44). The air outlet pipe (66) extends into the buffer airbag (44) and is communicated with the airbag ring (63). Solenoid valves II (67) are fixed on both the air inlet pipe (65) and the air outlet pipe (66). A pressure sensor is arranged inside the airbag ring (63).

8. The bracket structure of an orchard inspection robot according to claim 2, wherein: One end of the moving block (33) away from the guide wheel (34) is fixed with a connecting seat (5). A sliding sleeve (52) is rotatably connected inside the connecting seat (5). A ball (53) is fixed inside the sliding sleeve (52). A driving column (51) is installed on the installation platform (2). The driving column (51) slidably penetrates through the sliding sleeve (52). The sliding sleeve (52) is fixedly connected to the fixed seat (22). A cleaning rod (56) is fixed on the connecting seat (5). A cleaning brush is fixed on the cleaning rod (56). A transmission member (54) is arranged at the lower end of the driving column (51).

9. The bracket structure of an orchard inspection robot according to claim 8, wherein: The transmission member (54) includes a bevel gear I (541) fixed to the output end of the driving motor (31). A transmission shaft (542) is rotatably connected to the lower end of the moving seat (12). A bevel gear II (543) meshing with the bevel gear I (541) is fixed on the transmission shaft (542). A pulley I (544) is fixed at one end of the transmission shaft (542) away from the bevel gear II (543). An installation shaft (545) is rotatably connected to the installation platform (2). A pulley II (546) is fixed at the end of the installation shaft (545). The pulley I (544) and the pulley II (546) are connected by a transmission belt (547). A rotating member (55) is arranged between the installation shaft (545) and the installation platform (2).

10. The bracket structure of an orchard inspection robot according to claim 9, wherein: The rotating member (55) includes a rotating shaft (551) rotatably connected to the upper end of the installation platform (2). The rotating shaft (551) is fixedly connected to the driving column (51). A bevel gear I (552) and a bevel gear II (553) are fixed on the rotating shaft (551). A bevel gear III (554) is fixed at one end of the installation shaft (545) away from the pulley II (546).

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