An orchard inspection robot bracket structure

Abstract

The present invention relates to the technical field of orchard inspection equipment, and specifically to an orchard inspection robot bracket structure, comprising a connecting frame, a bearing seat fixed at the upper end of the connecting frame, a movable seat slidingly provided at the upper end of the bearing seat, a mounting platform fixed at the upper end of the movable seat, a mounting bracket fixed at the upper end of the mounting platform, a fixed seat installed on the side of the mounting bracket, a fixing groove provided on the fixing seat, an image acquisition device installed inside the fixing groove, a controller fixed at the upper end of the mounting platform, a lifting component provided between the mounting bracket and the mounting platform, and a buffer component provided on the bearing seat. The present invention opens a valve to inflate the inside of a buffer airbag during the lifting process of the fixed seat, thereby buffering the vibration when the inspection equipment is affected by uneven road surface and vibrates, reducing the jitter of the image acquisition screen caused by the vibration of the equipment and improving the acquisition clarity.

Description

Technical Field

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

[0002] The orchard inspection robot is an intelligent agricultural equipment specially tailored for the orchard environment. It can collect images of the growth conditions of fruit trees in the orchard, thereby realizing the automated monitoring and management of the fruit tree growth status, environmental parameters, and pests and diseases. With the help of Internet of Things technology and the linkage of the management platform, a digital twin model of the orchard can be constructed to provide strong data support for pest and disease warning and irrigation and fertilization decision-making, and effectively promote the development of precision agriculture and scientific research innovation. In the orchard inspection robot, the support structure is a crucial component.

[0003] The bracket structure is mainly used to install and support image acquisition equipment to realize the monitoring of the orchard, facilitate the observation of operators, and cooperate with the manipulator to complete the entire inspection work. When in use, the image acquisition equipment is placed on the upper end of the bracket so that it is at a specific height, and then cooperates with the entire robot to work. When working, the image acquisition equipment is used to collect information such as fruits, branches and leaves of fruit trees in the orchard. When bad fruits or leaves that are poorly grown due to pests are found, the bad fruits or poorly grown leaves are picked off by the claws installed on the free end of the manipulator. After the inspection is completed, it is convenient to detect the bad fruits and poorly grown leaves.

[0004] However, the ground in orchards is usually uneven, which causes the entire robot to frequently shake during the inspection process. This shaking will cause the bracket and the image acquisition device to shake together. The shaking of the image acquisition device will seriously affect the quality of the collected images, causing the image to be jittery and blurred, and it will be unable to cooperate well with the robot arm to complete the inspection work. Summary of the Invention

[0005] In response to the deficiencies of the prior art, the present invention provides an orchard inspection robot support structure that can buffer the vibrations generated by uneven road surfaces during the inspection process of the inspection equipment, thereby reducing the impact of the vibrations on the image acquisition screen.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solution: a support structure of an orchard inspection robot, comprising a connecting frame, a bearing seat fixed to the upper end of the connecting frame, a movable seat slidably provided on the upper end of the bearing seat, a mounting platform fixed to the upper end of the movable seat, a mounting bracket fixed to the upper end of the mounting platform, a fixing seat mounted on the side of the mounting bracket, a fixing slot formed on the fixing seat, an image acquisition device mounted inside the fixing slot, and a controller fixed to the upper end of the mounting platform;

[0007] The buffer assembly includes a high-pressure gas tank fixed on the side of the mounting bracket, an air outlet pipe is fixed to one end of the high-pressure gas tank close to the mounting bracket, a valve is installed on the air outlet pipe, buffer air bags are fixed at the four corners inside the support seat, a ventilation part is provided between the buffer air bag and the high-pressure gas tank, and a damping part is provided inside the buffer air bag.

[0008] The fixing seat is raised by the lifting assembly to a suitable height. During the process of the lifting assembly driving the fixing seat to rise, the valve of the gas tank can be opened, so that the high-pressure gas inside the gas tank enters the buffer airbag through the ventilation component, and at the same time, the high-pressure gas can enter the damping component.

[0009] Preferably, the lifting assembly includes a driving motor fixed to the lower end of the moving seat, the output end of the driving motor extends into the interior of 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.

[0010] Preferably, a guide groove is provided inside the mounting bracket, and one end of the moving block close to the guide groove is rotatably connected to a guide wheel, and the surface of the guide wheel is in contact with the inner wall of the guide groove.

[0011] 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 stem end of the valve.

[0012] Preferably, the ventilation component includes a guide tube fixed on the air outlet pipe, the guide tube extends into the interior of the support seat, and four diversion tubes are fixed at the end, the diversion tube is fixedly connected to the buffer airbag, an exhaust pipe is fixed on the side of the buffer airbag, and an electromagnetic valve is fixed on the diversion tube and the guide tube, and an air pressure sensor is installed inside the buffer airbag.

[0013] Preferably, the damping member includes a column fixed inside the buffer airbag, a sliding tube is provided on the column, the end of the sliding tube away from the column is fixedly connected to the buffer airbag, a mounting groove is opened inside the sliding tube, an airbag ring is fixed inside the mounting groove, and a support ring is fixed on the column.

[0014] Preferably, an air intake pipe is fixed on the diverter pipe, and the end of the air intake pipe away from the diverter pipe extends into the interior of the buffer airbag, passes through the sliding tube and is connected with the airbag ring. An air deflation pipe is fixed on the buffer airbag, and the air deflation pipe extends into the interior of the buffer airbag and is connected with the airbag ring. Solenoid valve 2 is fixed on both the air intake pipe and the air deflation pipe, and an air pressure sensor is provided inside the airbag ring.

[0015] Preferably, a connecting seat is fixed to the end of the moving block away from the guide wheel, a sliding sleeve is rotatably connected inside the connecting seat, a ball bearing is fixed inside the sliding sleeve, a driving column is installed on the mounting platform, the driving column slides through the sliding sleeve, the sliding sleeve is fixedly connected to the fixed seat, a cleaning rod is fixed on the connecting seat, a cleaning brush is fixed on the cleaning rod, and a transmission part is provided at the lower end of the driving column.

[0016] Preferably, the transmission member includes a bevel gear 1 fixed to the output end of the driving motor, the lower end of the movable seat is rotatably connected to a transmission shaft, a bevel gear 2 meshing with the bevel gear 1 is fixed on the transmission shaft, a pulley 1 is fixed to the end of the transmission shaft away from the bevel gear 2, the mounting platform is rotatably connected to a mounting shaft, a pulley 2 is fixed to the end of the mounting shaft, the pulley 1 and the pulley 2 are connected by a transmission belt, and a rotating member is provided between the mounting shaft and the mounting platform.

[0017] 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, bevel gear 1 and bevel gear 2 are fixed on the rotating shaft, and bevel gear 3 is fixed to the end of the mounting shaft away from pulley 2.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The driving motor drives the lifting screw to rotate, and the guide wheel and other structures are used to make the moving block drive 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 drives 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 outlet pipe and finally enters the buffer airbag. The buffer airbag expands after being filled with air. When the air pressure sensor detects that the air pressure inside the buffer airbag reaches the preset value, it sends a signal to the controller to close the solenoid valve on the shunt pipe so that the gas no longer enters. In the process of the bracket following the base movement, due to the uneven road surface , causing the entire equipment to fluctuate up and down, causing the device to vibrate. At this time, the cushioning airbag is subjected to force, and the cushioning airbag 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 gas expansion to realize energy release. This can buffer the vibration caused by bumpy roads and reduce the image jitter caused by bumpy roads, so that image acquisition can be clearer, allowing operators to more clearly observe bad fruits or branches and leaves that are poorly grown due to pests, making it easier to cooperate with the robot arm to pick the bad fruits or poorly grown leaves. After the inspection is completed, the cushioning airbag can be deflated, which can effectively reduce the impact of the high pressure inside the airbag on its service life.

[0020] 2. During use, when the high-pressure air storage tank is filled with high-pressure air into the buffer airbag through the shunt pipe, a part of the high-pressure air in the shunt pipe will enter the airbag ring along the intake pipe. The airbag ring will expand after inflation. As the gas is filled, the airbag ring will expand. 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, it sends a signal to the controller. The controller controls the solenoid valve 2 on the intake pipe to close and stop inflation. In subsequent use, when the sliding tube moves up and down, it will squeeze the airbag ring. At this time, the airbag ring can absorb the pressure exerted on the sliding tube, compress the air inside it, and convert mechanical energy into gas potential energy. At the same time, the elastic deformation of the rubber material of the airbag ring itself helps absorb energy, thereby playing a buffering role. At the same time, the airbag The ring can increase the friction between the sliding tube and the column, forming a damping effect when the sliding tube moves up and down, which can reduce the rising speed of the sliding tube, thereby reducing the rebound speed of the buffer airbag, and thus can prevent the buffer airbag from rebounding too quickly and causing the entire equipment to rebound quickly, avoid the image acquisition equipment shaking caused by too fast rebound, improve the buffering effect of the buffer airbag, and further improve the stability of the equipment. When the inspection equipment is finished using, the solenoid valve 2 on the vent pipe is opened to discharge the high-pressure air inside the airbag ring. By discharging the air, the airbag ring can be prevented from being in a high-pressure state all the time, reducing the friction of the airbag ring on the sliding tube when the inspection equipment does not need to be inspected, thereby accelerating the wear of the airbag ring, affecting the damping effect between it and the sliding tube, and thus affecting the shock absorption and buffering effect;

[0021] 3. When the driving motor drives the fixed seat to rise, the driving column rotates back and forth under the action of structures such as bevel gear 1 and bevel gear 2. The reciprocating rotation of the driving column can make the sliding sleeve drive the fixed seat and the image acquisition device to swing. During the reciprocating swing of the image acquisition device, the lens position of the image acquisition device contacts the cleaning brush. The cleaning brush can be used to wipe the lens of the image acquisition device before the inspection, so that the lens can be wiped before the inspection, which helps to ensure the clarity of the inspection picture and thus improve the inspection effect. When the fixed seat is lowered after the inspection, the cleaning brush can clean the lens of the image acquisition device again to sweep away the dust attached to the lens surface during the inspection, which is more conducive to the next use. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is an overall schematic diagram of the device of the present invention.

[0023] Figure 2 Schematic diagram of the first internal structure of the device of the present invention.

[0024] Figure 3 For the present invention Figure 2 Enlarged schematic diagram of point A in the middle.

[0025] Figure 4 Schematic diagram of the structure of the buffer assembly of the present invention.

[0026] Figure 5 For the present invention Figure 4 Enlarged schematic diagram of point B in the middle.

[0027] Figure 6 It is a partial dissected schematic diagram of the device of the present invention.

[0028] Figure 7 Schematic diagram of the internal structure of the cushioning airbag of the present invention.

[0029] Figure 8 For the present invention Figure 1 Enlarged schematic diagram at point C in the middle.

[0030] Figure 9 This is a schematic diagram of the second internal structure of the present invention.

[0031] Figure 10 For the present invention Figure 9 Enlarged schematic diagram at point D in the middle.

[0032] In the figure: 1. Connecting frame; 11. Bearing seat; 12. Moving seat; 2. Mounting platform; 21. Mounting bracket; 22. Fixed seat; 23. Fixed slot; 3. Lifting assembly; 31. Driving motor; 32. Lifting screw; 33. Moving block; 34. Guide wheel; 4. Buffer assembly; 41. High-pressure gas tank; 42. Exhaust pipe; 43. Valve; 44. Buffer airbag; 45. Ventilation element; 451. Guide pipe; 452. Diverter 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 one; 542, transmission shaft; 543, bevel gear two; 544, pulley one; 545, mounting shaft; 546, pulley two; 547, transmission belt; 55, rotating part; 551, rotating shaft; 552, bevel gear one; 553, bevel gear two; 554, bevel gear three; 56, cleaning rod; 6, damping part; 61, column; 62, sliding tube; 63, airbag ring; 64, support ring; 65, intake pipe; 66, exhaust pipe; 67, solenoid valve two. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention. Example 1

[0034] See also Figures 1 to 6 , which is the first embodiment of the present invention, provides a technical solution: a support structure of an orchard inspection robot, including a connecting frame 1, a supporting seat 11 is fixed on the upper end of the connecting frame 1, a movable seat 12 is slidably provided on the upper end of the supporting seat 11, a mounting platform 2 is fixed on the upper end of the movable seat 12, a mounting bracket 21 is fixed on the upper end of the mounting platform 2, a collection box is fixed on the mounting platform 2, a manipulator is detachably mounted on the upper end of the mounting platform 2, and a gripper is mounted on the end of the manipulator away from the mounting platform 2. When the image acquisition device identifies rotten fruit and leaves that have grown poorly due to pests, The rotten fruits and poorly grown leaves are picked off by the gripper installed on the free end of the manipulator and placed in a collection box for subsequent return for inspection. A fixing seat 22 is installed on the side of the mounting bracket 21. A fixing slot 23 is opened on the fixing seat 22. An image acquisition device is installed inside the fixing slot 23. A controller is fixed on the upper end of the mounting platform 2. The image acquisition device is placed in the fixing slot 23 on the fixing seat 22 and fixed with bolts. A lifting component 3 is provided between the mounting bracket 21 and the mounting platform 2, and a buffer component 4 is provided on the bearing seat 11.

[0035] The buffer assembly 4 includes a high-pressure gas tank 41 fixed to the side of the mounting bracket 21. An air outlet pipe 42 is fixed to one end of the high-pressure gas tank 41 close to the mounting bracket 21. A valve 43 is installed on the air outlet pipe 42. Buffer air bags 44 are fixed to the four corners of the support base 11. The buffer air bags 44 are filled with high-pressure gas and expand. When the entire bracket is bumped during movement, when vibration occurs, the buffer air bag 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 achieve energy release, thereby buffering the vibration caused by the bumpy road section, reducing the image jitter caused by the bumpy road section, and improving the clarity of the captured image. A ventilation component 45 is provided between the buffer air bag 44 and the high-pressure gas tank 41, and a damping component 6 is provided inside the buffer air bag 44;

[0036] The fixing seat 22 is raised by the lifting assembly 3 to a suitable height. During the process of the lifting assembly 3 driving the fixing seat 22 to rise, the valve 43 of the gas tank can be opened, so that the high-pressure gas inside the gas tank enters the buffer airbag 44 through the ventilation component 45, and at the same time, the high-pressure gas can enter the damping component 6.

[0037] 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 32. The driving motor 31 drives the lifting screw 32 to rotate the groove, so that the fixed seat 22 can be raised, and the image acquisition device can be at a suitable height, which is 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 to allow high-pressure gas to be filled into the buffer airbag 44, thereby playing a shock-absorbing role. The lifting screw 32 is rotatably connected to the mounting bracket 21, and a moving block 33 is installed on the lifting screw 32. A nut seat is fixed inside the moving block 33, and the nut seat is sleeved on the lifting screw 32. The nut seat cooperates with the lifting screw 32 to enable the moving seat 12 to drive the fixed seat 22 to rise and fall smoothly.

[0038] A guide groove is provided inside the mounting bracket 21, and the movable block 33 is rotatably connected to a guide wheel 34 at one end close to the guide groove. When the movable block 33 moves up and down, the guide wheel 34 rotates inside the guide groove to guide and limit the position, and the surface of the guide wheel 34 fits against the inner wall of the guide groove.

[0039] A transmission rack 46 is fixed to the side of the moving block 33, and a groove is provided on the inner wall of the mounting bracket 21 for allowing a transmission gear 47 to pass through, so that the transmission gear 47 can mesh with the transmission rack 46. A transmission gear 47 meshing with the transmission rack 46 is fixed to the valve stem end of the valve 43. During the lifting process of the moving block 33, the transmission rack 46 follows the movement, causing the transmission gear 47 to rotate forward. The rotation of the transmission gear 47 can cause the valve stem of the valve 43 to rotate, thereby opening the high-pressure gas tank 41 and realizing the inflation of the buffer airbag 44. When the inspection is completed and the control fixed seat 22 is reset, the transmission rack 46 causes the transmission gear 47 to rotate in the opposite direction, thereby closing the valve 43.

[0040] The ventilation component 45 includes a guide tube 451 fixed on the air outlet pipe 42, the guide tube 451 extends into the interior of the supporting seat 11, and four shunt tubes 452 are fixed at the end. The guide tube 451 is slidably arranged with the movable seat 12, and can not affect the guide tube 451 when the movable seat 12 moves up and down. The lower end of the guide tube 451 is fixed to the four shunt tubes 452 through a five-way tube, and the shunt tube 452 is fixedly connected to the buffer airbag 44. An exhaust pipe 453 is fixed on the side of the buffer airbag 44. The exhaust pipe is used to deflate the buffer airbag 44. A solenoid valve 454 is fixed on the shunt tube 452 and the guide tube 451. The solenoid valve 454 is fixedly connected to the supporting seat 11, and high pressure is injected into the buffer airbag 44. When gas is filled, 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 cushioning airbag 44 reaches a preset value, the solenoid valve 454 on the shunt pipe 452 is closed to prevent the high-pressure gas from entering the cushioning airbag 44. When the high-pressure gas inside the cushioning airbag 44 needs to be released after the inspection is completed, the solenoid valve 454 on the exhaust pipe 453 is opened. An air pressure sensor is installed inside the cushioning airbag 44. The air pressure sensor can accurately monitor the air pressure inside the cushioning airbag 44. When the pressure reaches the preset value during the inflation process, a signal is sent to the controller in time to close the solenoid valve 454 on the shunt pipe 452.

[0041] During use, the bracket is connected to a base with a mobile function. When inspecting the orchard, the imaging device is placed inside the fixed slot 23, and then the driving motor 31 is turned on. The driving motor 31 drives the lifting screw 32 to rotate. The rotation of the lifting screw 32 causes the moving block 33 to be subjected to force and is restricted by the guide wheel 34 and the guide slot, 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 air bag 44 through the shunt pipe 452. The buffer air bag 44 expands after being filled with air. When the air pressure sensor detects that the air pressure inside the buffer air bag 44 reaches the 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. In the process of the bracket following the movement of the base, the fruit, branches and leaves in the orchard can be collected by the image acquisition device 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 are picked off by the grippers installed on the free end of the manipulator and placed in a collection box for subsequent return for inspection. During the inspection process, 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 are affected by pests and have poor growth, which is more convenient for the manipulator to pick them. Example 2

[0042] See also Figure 5 and Figure 7 , which is the second embodiment of the present invention. This embodiment is different from the first embodiment in that:

[0043] The damping member 6 includes a column 61 fixed inside the buffer airbag 44, and a sliding tube 62 is slidably sleeved on the column 61. The end of the sliding tube 62 away from the column 61 is fixedly connected to the buffer airbag 44. A mounting groove is provided 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. 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.

[0044] 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 interior of the buffer airbag 44, passes through the sliding pipe 62 and is connected to the airbag ring 63. When high-pressure air is introduced into the shunt pipe 452, a part of the high-pressure air will flow along the air inlet pipe 65 into the interior of the airbag ring 63. The airbag ring 63 expands after being inflated. In 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, and the airbag ring 63 can increase the friction between the sliding pipe 62 and the column 61. Friction, thereby forming a damping effect, can reduce the rising speed of the sliding tube 62, thereby reducing the rebound speed of the cushioning airbag 44, and thus improving the stability of the equipment. A deflation pipe 66 is fixed on the cushioning airbag 44, and the air inlet pipe 65 and the deflation pipe 66 are both hoses. The deflation pipe 66 extends into the interior of the cushioning airbag 44, and passes through the support ring 64 and is connected to the airbag ring 63. Solenoid valve 2 67 is fixed on the air inlet pipe 65 and the deflation pipe 66. The solenoid valve 2 67 is fixedly connected to the bearing seat 11, and an air pressure sensor is provided inside the airbag ring 63. When air is filled into the airbag ring 63, the solenoid valve 2 67 on the air inlet pipe 65 is in the open state, and the solenoid valve 2 67 on the air release pipe 66 is in the closed state. 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, it sends a signal to the controller. The controller controls the solenoid valve 2 67 on the air inlet pipe 65 to close and stop inflation. When deflation is required, the solenoid valve 2 67 on the air release pipe 66 is opened to discharge the high-pressure air inside the airbag ring 63. By discharging the air, the airbag ring 63 can be prevented from being in a high-pressure state all the time, and the friction of the inspection equipment moving the airbag ring 63 by the sliding tube 62 when no inspection is required is reduced, thereby accelerating the wear of the airbag ring 63, affecting the damping effect between it and the sliding tube 62, and then affecting the shock absorption and buffering effect.

[0045] During use, when the high-pressure air storage tank 41 fills the buffer airbag 44 with high-pressure air through the shunt pipe 452, the solenoid valve 2 67 on the air inlet pipe 65 is in the open state, and the solenoid valve 2 67 on the air release pipe 66 is in the closed state. Then, a part of the high-pressure air from the shunt pipe 452 will enter the airbag ring 63 along the air inlet pipe 65. The airbag ring 63 expands after being inflated. 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. The controller controls the solenoid valve 2 67 on the air inlet pipe 65 to close and stop inflation. In subsequent use, when the sliding tube 62 moves up and down, the sliding tube 62 and the column 61 will The airbag ring 63 is squeezed. At this time, the airbag ring 63 can increase the friction between the sliding tube 62 and the column 61, thereby forming a damping effect, which can reduce the rising speed of the sliding tube 62, thereby reducing the rebound speed of the buffer airbag 44, avoiding the shaking of the image acquisition equipment caused by too fast rebound, and thus improving the stability of the equipment. When the inspection equipment is finished using, the solenoid valve 2 67 on the air release pipe 66 is opened to discharge the high-pressure air inside the airbag ring 63. By discharging the air, the airbag ring 63 can be prevented from being in a high-pressure state all the time, reducing the friction of the airbag ring 63 by the sliding tube 62 when the inspection equipment moves when no inspection is needed, thereby accelerating the wear of the airbag ring 63, affecting the damping effect generated between it and the sliding tube 62, and thus affecting the shock absorption and buffering effect.

[0046] The remaining structures are the same as those of Example 1. Example 3

[0047] See also Figure 3 、 Figure 8 、 Figure 9 、 Figure 10 , which is the third embodiment of the present invention. This embodiment is different from the first and second embodiments in that:

[0048] The end of the moving block 33 away from the guide wheel 34 is fixed with a connecting seat 5, and a sliding sleeve 52 is rotatably connected to the connecting seat 5, and a ball 53 is fixed inside the sliding sleeve 52. A driving column 51 is installed on the mounting platform 2, and the driving column 51 slides through the sliding sleeve 52, and the sliding sleeve 52 is fixedly connected to the fixed seat 22, and the ball 53 is evenly distributed in four rows. Four sliding grooves adapted to the ball 53 are opened on the driving column 51. When the driving column 51 rotates, the ball 53 and the sliding groove play a limiting role. A cleaning rod 56 is fixed on the connecting seat 5, and a cleaning brush is fixed on the cleaning rod 56. A transmission member 54 is provided at the lower end of the driving column 51, which drives the driving column 51 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, maintaining the clarity of the lens, and thus improving the clarity of the picture.

[0049] The transmission member 54 includes a bevel gear 1 541 fixed to the output end of the driving motor 31, and the lower end of the movable seat 12 is rotatably connected to the transmission shaft 542, and the transmission shaft 542 is fixed with a bevel gear 2 543 meshing with the bevel gear 1 541. The rotation of the bevel gear 1 541 drives the bevel gear 2 543 to rotate, converting the vertical driving force of the driving motor 31 into a lateral driving force, providing something for the rotation of the driving column 51, and the transmission shaft 542 is fixed with a pulley 1 544 at one end away from the bevel gear 2 543, and the mounting shaft 545 is rotatably connected to the mounting platform 2, and the end of the mounting shaft 545 is fixed with a pulley 2 546, and the pulley 1 544 and the pulley 2 546 are connected by a transmission belt 547. A rotating member 55 is provided between the mounting shaft 545 and the mounting platform 2, and the transmission shaft 542 drives the pulley 1 544 to rotate, and then the pulley 2 546 is rotated under the action of the transmission belt 547, thereby causing the mounting shaft 545 to rotate, providing power for the subsequent rotation of the driving column 51.

[0050] The rotating member 55 includes a rotating shaft 551 which is rotatably connected to the upper end of the mounting platform 2. The rotating shaft 551 is fixedly connected to the driving column 51. Bevel gear 1 552 and bevel gear 2 553 are fixed on the rotating shaft 551. The tooth surfaces of bevel gear 1 552 and bevel gear 2 553 correspond to each other, which facilitates the transmission of bevel gear 3 554. Bevel gear 3 554 is fixed to the end of the mounting shaft 545 away from the pulley 2 546. The teeth of bevel gear 3 554 are one-third of a circle. When bevel gear 3 554 rotates, the teeth of bevel gear 3 554 contact bevel gear 1 552 but not contact bevel gear 2 553. At this time, the rotation of bevel gear 1 552 drives the driving column 51 to rotate forward. When the teeth of bevel gear 3 554 contact bevel gear 2 553, they do not contact bevel gear 1 552. At this time, the rotation of bevel gear 1 552 drives the driving column 51 to rotate in the opposite direction, thereby causing the driving column 51 to rotate back and forth, and cooperate with the cleaning brush to wipe the lens of the image acquisition device.

[0051] During use, when the driving motor 31 drives the fixing seat 22 to rise, the driving motor 31 drives the bevel gear 1 541 to rotate, and the rotation of the bevel gear 1 541 drives the bevel gear 2 543 to rotate, so that the transmission shaft 542 rotates, and the rotating shaft 551 drives, and the transmission shaft 542 drives the pulley 1 544 to rotate, and then the pulley 2 546 is rotated under the action of the transmission belt 547, so that the installation shaft 545 rotates, and the rotation of the installation shaft 545 causes the bevel gear 3 554 to rotate. When the teeth of the bevel gear 3 554 contact the bevel gear 1 552, they do not contact the bevel gear 2 553. At this time, the rotation of the bevel gear 1 552 drives the driving column 51 to rotate forward, and the teeth of the bevel gear 3 554 are in contact with the bevel gear 2 553. When it touches, it does not contact with the bevel gear 552. At this time, the bevel gear 552 rotates to drive the driving column 51 to rotate in the opposite direction, so that the driving column 51 rotates back and forth. The reciprocating rotation of the driving column 51 can make the sliding sleeve 52 drive the fixing seat 22 and the image acquisition device to swing. During the reciprocating swing of the image acquisition device, the lens position of the image acquisition device is in contact with the cleaning brush. The cleaning brush can be used to wipe the lens of the image acquisition device before the inspection, which helps to ensure the clarity of the inspection picture and improve the inspection effect. After the inspection is completed, when the fixing seat 22 is lowered, the cleaning brush can clean the lens of the image acquisition device again to sweep away the dust attached to the lens surface during the inspection, which is more conducive to the next use.

[0052] The remaining structures are the same as those of Examples 1 and 2.

[0053] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A support structure for an orchard inspection robot, comprising a connecting frame (1), characterized in that: A bearing seat (11) is fixed to the upper end of the connecting frame (1), a movable seat (12) is slidably provided on the upper end of the bearing seat (11), a mounting platform (2) is fixed to the upper end of the movable seat (12), a mounting bracket (21) is fixed to the upper end of the mounting platform (2), a fixing seat (22) is installed on the side of the mounting 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 to the upper end of the mounting platform (2), a lifting assembly (3) is provided between the mounting bracket (21) and the mounting platform (2), and a buffer assembly (4) is provided on the bearing seat (11); The buffer assembly (4) includes a high-pressure gas tank (41) fixed to the side of the mounting bracket (21), an air outlet pipe (42) is fixed to one end of the high-pressure gas tank (41) close to the mounting 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), a ventilation member (45) is provided between the buffer air bag (44) and the high-pressure gas tank (41), and a damping member (6) is provided inside the buffer air bag (44); The fixing seat (22) is raised by the lifting assembly (3) to a suitable height. When the lifting assembly (3) drives 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 airbag (44) through the ventilation member (45), and at the same time, the high-pressure gas can enter the damping member (6).

2. The support 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 interior of the mounting bracket (21) and is fixed with a lifting screw (32), the lifting screw (32) is rotatably connected to the mounting bracket (21), and a moving block (33) is installed on the lifting screw (32).

3. The support structure of an orchard inspection robot according to claim 2, characterized in that: A guide groove is provided inside the mounting bracket (21), and one end of the moving block (33) close to the guide groove is rotatably connected to a guide wheel (34), and the surface of the guide wheel (34) is in contact with the inner wall of the guide groove.

4. The support structure of an orchard inspection robot according to claim 2, characterized in that: A transmission rack (46) is fixed to the side of the moving block (33), and a transmission gear (47) meshing with the transmission rack (46) is fixed to the valve stem end of the valve (43).

5. The support structure of an orchard inspection robot according to claim 1, characterized in that: The ventilation component (45) includes a guide tube (451) fixed on the air outlet pipe (42), the guide tube (451) extends into the interior of the support seat (11), and four diversion tubes (452) are fixed at the end thereof, the diversion tubes (452) are fixedly connected to the buffer airbag (44), an exhaust pipe (453) is fixed to the side of the buffer airbag (44), and a solenoid valve (454) is fixed on both the diversion tube (452) and the guide tube (451), and an air pressure sensor is installed inside the buffer airbag (44).

6. The support structure of an orchard inspection robot according to claim 5, characterized in that: The damping member (6) comprises a column (61) fixed inside the cushioning airbag (44); a sliding tube (62) is slidably sleeved on the column (61); an end of the sliding tube (62) away from the column (61) is fixedly connected to the cushioning airbag (44); a mounting groove is provided inside the sliding tube (62); an airbag ring (63) is fixed inside the mounting groove; and a support ring (64) is fixed on the column (61).

7. The support structure of an orchard inspection robot according to claim 6, characterized in that: An air intake pipe (65) is fixed on the shunt pipe (452), and one end of the air intake pipe (65) away from the shunt pipe (452) extends into the interior of the buffer airbag (44), passes through the sliding pipe (62), and is connected to the airbag ring (63). An air release pipe (66) is fixed on the buffer airbag (44), and the air release pipe (66) extends into the interior of the buffer airbag (44) and is connected to the airbag ring (63). Solenoid valve 2 (67) is fixed on both the air intake pipe (65) and the air release pipe (66), and an air pressure sensor is provided inside the airbag ring (63).

8. The support structure of an orchard inspection robot according to claim 2, characterized in that: A connecting seat (5) is fixed to 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 mounting platform (2), the driving column (51) slides 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), and a transmission member (54) is provided at the lower end of the driving column (51).

9. The support structure of an orchard inspection robot according to claim 8, characterized in that: The transmission member (54) includes a bevel gear 1 (541) fixed to the output end of the drive motor (31); the lower end of the movable seat (12) is rotatably connected to a transmission shaft (542); a bevel gear 2 (543) meshing with the bevel gear 1 (541) is fixed on the transmission shaft (542); a pulley 1 (544) is fixed at one end of the transmission shaft (542) away from the bevel gear 2 (543); a mounting shaft (545) is rotatably connected to the mounting platform (2); a pulley 2 (546) is fixed at the end of the mounting shaft (545); the pulley 1 (544) and the pulley 2 (546) are connected via a transmission belt (547); and a rotating member (55) is provided between the mounting shaft (545) and the mounting platform (2).

10. The support structure of an orchard inspection robot according to claim 9, characterized in that: The rotating member (55) includes a rotating shaft (551) rotatably connected to the upper end of the mounting platform (2), the rotating shaft (551) being fixedly connected to the driving column (51), a bevel gear 1 (552) and a bevel gear 2 (553) being fixed on the rotating shaft (551), and a bevel gear 3 (554) being fixed on the end of the mounting shaft (545) away from the pulley 2 (546).

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