Telescopic symmetrical half main body splicing type phenotype inspection robot

Abstract

The invention relates to the field of agricultural robots, in particular to a telescopic symmetric half-body splicing type phenotype inspection robot. The invention aims to solve the problems that a traditional agricultural production mode depends on manual inspection of health conditions, soil humidity, plant diseases and insect pests and the like of crops, is low in efficiency, is easily influenced by human factors, and is difficult to ensure the accuracy and timeliness of data; and meanwhile, manual inspection needs to consume a lot of time and manpower. The device comprises two symmetrical half main bodies which are arranged in a bilateral symmetry mode, an expansion table and three symmetrical sliding rails. The two symmetrical half main bodies are movably connected through the symmetrical three-section sliding rail, the expansion table is arranged on the symmetrical three-section sliding rail, and the top of each symmetrical half main body is provided with a hole plate. The device is used for farmland crop inspection.

Description

Technical Field

[0001] The present invention relates to the field of agricultural robots, and in particular to a telescopic symmetrical half-body assembled phenotype inspection robot. Background Art

[0002] Traditional agricultural production methods rely on manual inspections of crop health, soil moisture, pests, and other issues. This approach is not only inefficient but also susceptible to human influence, making it difficult to ensure accurate and timely data. Manual inspections are time-consuming and labor-intensive, especially in large farmland environments, where their efficiency and effectiveness are further reduced. In contrast, agricultural inspection robots operate fully automatically, ensuring both efficiency and standards.

[0003] Currently, existing farmland robots at home and abroad have the following technical problems. For example, the prior art with publication number CN 116277031 A is an artificial intelligence-based inspection robot and inspection method. The robot includes a mobile base with a battery assembly and a control assembly in its inner cavity; a rotating base, provided on the upper surface of the mobile base, for adjusting the angle of a robotic arm provided on its top; a telescopic mechanism, provided at the operating end of the robotic arm; and a clamping mechanism, provided at the telescopic end of the telescopic mechanism, for clamping diseased leaves or fruits. The mobile base cannot be adjusted in width, and its scope of application is limited.

[0004] Publication No. CN 116729272 A discloses a greenhouse inspection robot comprising a lifting mechanism, a crawler mechanism, a wheeled mechanism, and a camera mechanism. The crawler mechanism is connected to the wheeled mechanism via the lifting mechanism, and the camera mechanism is connected to the crawler mechanism. This makes it difficult to carry multiple instruments for detecting health conditions, soil moisture, and pests. Therefore, a scalable, symmetrical, and modular semi-body inspection robot is proposed to address this issue. Summary of the Invention

[0005] The purpose of the present invention is to solve the problems in the existing technology that the traditional agricultural production method relies on manual inspection of crop health, soil moisture, pests and diseases, etc., which is inefficient, easily affected by human factors, and difficult to ensure the accuracy and timeliness of data; at the same time, manual inspections require a lot of time and manpower, and thus provide a retractable symmetrical semi-body assembled phenotypic inspection robot.

[0006] The technical solution adopted by the present invention to solve the above problems is: a retractable symmetrical half-body assembly-type inspection robot, comprising two symmetrically arranged symmetrical half-bodies, an expansion platform and a symmetrical slide rail; the two symmetrical half-bodies are movably connected by a symmetrical slide rail, and the expansion platform is arranged on the symmetrical slide rail; a perforated plate is provided on the top of the symmetrical half-body, and a leg motor assembly is provided on the bottom of the symmetrical half-body.

[0007] Furthermore, the symmetrical semi-main body includes two longitudinal beams, a cross beam and a connecting profile; the two longitudinal beams are connected by a cross beam, and the front and rear ends of the longitudinal beams are respectively provided with connecting profiles, and the perforated plate is installed on the longitudinal beams; a main longitudinal beam is also provided on the longitudinal beams.

[0008] Furthermore, the perforated board includes a perforated board body, and a plurality of holes are evenly arranged on the perforated board body.

[0009] Furthermore, an expansion frame is provided on the side of the symmetrical semi-body, and the expansion frame includes an outer frame and an inner frame; the outer frame and the inner frame are movably connected by a telescopic slide rail, and the inner frame is also provided with an expansion perforated plate; a positioning plate is provided on the outer frame, and a positioning pin is provided on the inner frame, and the positioning plate and the positioning pin cooperate with each other.

[0010] Furthermore, the leg motor assembly includes a leg frame, a steering motor and a shock-absorbing connecting plate; the leg frame is fixedly connected to the main longitudinal beam, and the lower part of the leg frame is movably connected to the shock-absorbing connecting plate; the leg frame is provided with a steering motor seat, the steering motor is installed on the steering motor seat, and the steering motor drives the shock-absorbing connecting plate to rotate.

[0011] Furthermore, a steering shaft is provided on the shock-absorbing coupling plate, and the steering shaft is rotatably connected to the leg frame; a reducer is installed on the steering motor, and the reducer is connected to the shock-absorbing coupling plate through a coupling.

[0012] Furthermore, two shock absorbers are provided on the shock-absorbing connecting plate, and a driving motor is provided between the two shock absorbers; the shock-absorbing connecting plate is rotatably connected to the leg frame through a steering shaft, and the steering shaft is connected to a coupling.

[0013] Furthermore, two battery compartments are provided on the symmetrical semi-main body, and the battery compartments are arranged close to the leg motor assembly; the battery compartment includes a battery compartment body, one end of the battery compartment body is hinged to the leg frame through a battery compartment hinge, and the other end is movably connected to the main longitudinal beam through a battery compartment pull pin, and a battery is provided inside the battery compartment body.

[0014] Furthermore, there are two symmetrical sliding rails, which are respectively arranged on the front and rear sides of the symmetrical half-body; the symmetrical sliding rails include a symmetrical rail main rail, and the left and right ends of the symmetrical rail main rail are respectively slidably connected with symmetrical rail sub-rails, and the symmetrical rail sub-rails are fixedly connected to the connecting profile; the expansion platform is fixedly connected to the symmetrical rail main rail.

[0015] Furthermore, the inspection robot also includes two sliding limit beams, which are arranged corresponding to the symmetrical slide rails; the sliding limit beam includes a sliding limit beam body, and the sliding limit beam body is provided with a plurality of quick-press screws, and the quick-press screws are provided with slider nuts, and the slider nuts are connected to the connecting profile, and the quick-press screws are used to lock the sliding limit beam body.

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

[0017] 1. The present invention adopts a symmetrical half-body assembly design. The two symmetrical half-bodies can be flexibly adjusted in spacing. The width adjustment structure is simple and reliable, with low malfunction rate and a wide range of application scenarios. The quick-release baffle used in the present invention can meet the task of lateral visual inspection of plants.

[0018] 3. The expansion frame used in the present invention has an outer frame and an inner frame connected by a slide rail, and is provided with a positioning pin to achieve telescopic adjustment of the inner frame relative to the outer frame, so as to adjust the field of view size and focal length of the lateral visual inspection equipment.

[0019] 4. The modular design of the present invention simplifies the equipment maintenance process and speeds up troubleshooting and repairs. The present invention can meet the needs of carrying a variety of equipment. Its belly, outer frame, and top all have sufficient equipment carrying space and modification potential, so it has strong versatility.

[0020] 5. The leg motor assembly of the present invention has built-in shock absorbers, which makes the inspection robot have off-road capability and cushioning performance. The present invention has omnidirectional movement ability, so it can flexibly shuttle in the field, effectively improving inspection efficiency and coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of the present invention in an adjusted narrowed state;

[0023] Figure 3 This is a schematic diagram of the symmetrical semi-main body structure of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of two symmetrical half-main bodies assembled in the present invention;

[0025] Figure 5 2. It is a schematic structural diagram of the perforated board of the present invention;

[0026] Figure 6 This is a schematic structural diagram of the side frame inner frame of the present invention in a retracted state;

[0027] Figure 7 This is a schematic structural diagram of the inner frame of the side frame of the present invention in an extended state;

[0028] Figure 8 This is a schematic diagram of the structure of the battery compartment of the present invention in an open state;

[0029] Figure 9 This is a schematic diagram of the structure of the battery compartment in the closed state of the present invention;

[0030] Figure 10 It is a schematic structural diagram of the leg assembly of the present invention;

[0031] Figure 11 This is a schematic diagram of the sliding limiting beam structure of the present invention;

[0032] Figure 12 This is a schematic diagram of a half-section structure of the intermediate baffle rod portion of the present invention;

[0033] Figure 13 This is a schematic diagram of the structure of the intermediate baffle of the present invention;

[0034] Figure 14 This is a schematic diagram of the symmetrical slide rail structure of the present invention;

[0035] Figure 15 This is a schematic diagram of the expansion platform matching hole structure of the present invention;

[0036] Figure 16 This is an axonometric diagram of the present invention in an inspection state;

[0037] Figure 17 This is a top view schematic diagram of the inspection state of the present invention;

[0038] Figure 18 It is a schematic diagram of the three-dimensional structure of the expansion frame of the present invention;

[0039] Figure 19 This is a schematic structural diagram of the positioning pin of the expansion frame of the present invention;

[0040] Figure 20 It is a schematic diagram of the three-dimensional structure of the quick-release baffle of the present invention;

[0041] Figure 21 It is a schematic diagram of the three-dimensional structure of the sliding limiting beam of the present invention;

[0042] Figure 22 This is a front axonometric view of the inspection robot of the present invention;

[0043] Figure 23 It is a left side view of the inspection robot of the present invention;

[0044] Figure 24 is a top view of the inspection robot of the present invention;

[0045] Figure 25 This is a rear axonometric view of the inspection robot of the present invention;

[0046] In the figure, 1, symmetrical half-body; 1-1, longitudinal beam; 1-2, auxiliary longitudinal beam; 1-3, cross beam; 1-4, main longitudinal beam; 1-5, connecting profile;

[0047] 2. Perforated board; 2-1. Perforated board body; 2-2. Perforated board limit strip;

[0048] 3. Extension frame; 3-1. Outer frame; 3-2. Positioning plate; 3-3. Telescopic slide rail; 3-4. Positioning pin; 3-5. Extension perforated plate; 3-6. Inner frame;

[0049] 4. Handle; 5. Battery compartment; 5-1. Battery compartment pull pin; 5-2. Battery compartment body; 5-3. Battery compartment hinge; 6. Extension platform; 6-1. Matching hole; 6-2. Center hole;

[0050] 7. Leg motor assembly; 7-1. Leg frame; 7-2. Steering motor; 7-3. Reducer; 7-4. Steering motor seat; 7-5. Coupling; 7-6. Steering bearing seat; 7-7. Steering bearing; 7-8. Steering shaft; 7-9. Shock absorber connecting plate; 7-10. Shock absorber; 7-11. Drive motor;

[0051] 8. Sliding limit beam; 8-1. Sliding limit beam body; 8-2. Quick-press screw pad; 8-3. Quick-press screw; 8-4. Slider nut;

[0052] 9. Quick-release baffle; 9-1. Quick-release pin; 9-2. Pin handle; 9-3. Spring; 9-4. Baffle connecting block; 9-5. Pin holder; 9-6. Main rod; 9-7. Ball pin; 9-8. Limiting flange; 9-9. Limiting threaded pin; 9-10. Baffle;

[0053] 10. Symmetrical slide rail; 10-1. Symmetrical auxiliary rail; 10-2. Symmetrical main rail. DETAILED DESCRIPTION

[0054] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. The specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0055] Specific implementation method 1: Combination Figures 1 to 25This embodiment describes a retractable symmetrical half-body assembly-type inspection robot, which includes two symmetrically arranged symmetrical half-bodies 1, an extension platform 6 and a symmetrical slide rail 10; the two symmetrical half-bodies 1 are movably connected by a symmetrical slide rail 10, and the extension platform 6 is arranged on the symmetrical slide rail 10; a perforated board 2 is provided on the top of the symmetrical half-body 1, and a leg motor assembly 7 is provided on the bottom of the symmetrical half-body 1; there are two extension platforms 6, which are respectively arranged on the front and back sides of the symmetrical half-body 1.

[0056] In a preferred embodiment, the symmetrical half-body 1 comprises two longitudinal beams 1-1, a transverse beam 1-3, and a connecting profile 1-5. The two longitudinal beams 1-1 are connected by multiple transverse beams 1-3, and connecting profiles 1-5 are provided at the front and rear ends of each longitudinal beam 1-1. The perforated plate 2 is mounted on the longitudinal beams 1-1. Auxiliary longitudinal beams 1-2 are provided between the multiple transverse beams 1-3 to enhance the structural strength. A main longitudinal beam 1-4 is also provided on the longitudinal beam 1-1. The main longitudinal beam 1-4 is the core load-bearing component, and the transverse beam 1-3, connecting profile 1-5, and leg motor assembly 7 are mounted on the main longitudinal beam 1-4.

[0057] In a preferred embodiment, the perforated board 2 includes a perforated board body 2-1 and a perforated board limit bar 2-2. A plurality of holes are evenly arranged on the perforated board body 2-1. The holes are used to install equipment for inspecting health conditions, soil moisture, pests and diseases, etc. The front and rear ends of the perforated board body 2-1 are provided with perforated board limit bars 2-2. The two perforated board limit bars 2-2 are clamped at the front and rear ends of the longitudinal beam 1-1.

[0058] In a preferred embodiment, an expansion frame 3 is further provided on the side of the symmetrical half-body 1. The expansion frame 3 includes an outer frame 3-1 and an inner frame 3-6. The outer frame 3-1 and the inner frame 3-6 are slidably connected by a telescopic slide rail 3-3. The inner frame 3-6 is also provided with an expansion perforated plate 3-5. The outer frame 3-1 is provided with a positioning plate 3-2, and the inner frame 3-6 is provided with a positioning pin 3-4. The positioning plate 3-2 and the positioning pin 3-4 cooperate with each other. The main longitudinal beam 1-4 is also provided with multiple handles 4. Visual inspection equipment is installed on the inner frame 3-6. The inner frame 3-6 can be manually telescoped relative to the outer frame 3-1 to adjust the field of view of the lateral visual inspection equipment and adapt the focal length.

[0059] In a preferred embodiment, the leg motor assembly 7 includes a leg frame 7-1, a steering motor 7-2 and a shock-absorbing connecting plate 7-9; the leg frame 7-1 is fixedly connected to the main longitudinal beam 1-4, and the lower part of the leg frame 7-1 is movably connected to the shock-absorbing connecting plate 7-9; the leg frame 7-1 is provided with a steering motor seat 7-4, and the steering motor 7-2 is installed on the steering motor seat 7-4, and the steering motor 7-2 drives the shock-absorbing connecting plate 7-9 to rotate.

[0060] In a preferred embodiment, a steering shaft 7-8 is provided on the shock-absorbing connecting plate 7-9, and the steering shaft 7-8 is rotationally connected to the leg frame 7-1; a reducer 7-3 is installed on the steering motor 7-2, and the reducer 7-3 is connected to the shock-absorbing connecting plate 7-9 through a coupling 7-5.

[0061] In a preferred embodiment, two shock absorbers 7-10 are provided on the shock-absorbing connecting plate 7-9, and a driving motor 7-11 is installed between the two shock absorbers 7-10; the shock-absorbing connecting plate 7-9 is rotatably connected to the leg frame 7-1 through a steering shaft 7-8, and the steering shaft 7-8 is connected to the coupling 7-5.

[0062] In a preferred embodiment, two battery compartments 5 are further provided on the symmetrical semi-main body 1, and the battery compartments 5 are arranged close to the leg motor assembly 7; the battery compartment 5 includes a battery compartment body 5-2, one end of the battery compartment body 5-2 is hinged to the leg frame 7-1 through a battery compartment hinge 5-3, and the other end is movably connected to the main longitudinal beam 1-4 through a battery compartment pull pin 5-1, and a battery is provided inside the battery compartment body 5-2.

[0063] In a preferred embodiment, there are two symmetrical slide rails 10, which are respectively arranged on the front and rear sides of the symmetrical half-body 1; the symmetrical slide rail 10 includes a symmetrical rail main rail 10-2, and the left and right ends of the symmetrical rail main rail 10-2 are respectively slidably connected with a symmetrical rail sub-rail 10-1, and the symmetrical rail sub-rail 10-1 is fixedly connected to the connecting profile 1-5; the expansion platform 6 is fixedly connected to the symmetrical rail main rail 10-2.

[0064] In a preferred embodiment, the inspection robot further includes two sliding limit beams 8, which are arranged corresponding to the symmetrical slide rails 10. The sliding limit beam 8 includes a sliding limit beam body 8-1, on which a plurality of quick-pressing screws 8-3 are provided. The quick-pressing screws 8-3 are provided with slider nuts 8-4, which are connected to the connecting profile 1-5. The quick-pressing screws 8-3 are used to lock the sliding limit beam body 8-1. A quick-pressing screw pad 8-2 is provided on the sliding limit beam body 8-1, and the quick-pressing screws 8-3 are arranged on the upper portion of the quick-pressing screw pad 8-2.

[0065] Specific implementation method 2: Combination Figures 1 to 25To illustrate this embodiment, in this embodiment, the leg motor assembly 7 includes a leg frame 7-1, a steering motor 7-2, a shock-absorbing connecting plate 7-9 and wheels; the leg frame 7-1 is fixedly connected to the main longitudinal beam 1-4, and the lower part of the leg frame 7-1 is movably connected to the shock-absorbing connecting plate 7-9, and the shock-absorbing connecting plate 7-9 is installed with wheels; the leg frame 7-1 is provided with a steering motor seat 7-4, and the steering motor 7-2 is installed on the steering motor seat 7-4, and the steering motor 7-2 drives the shock-absorbing connecting plate 7-9 to rotate.

[0066] In a preferred embodiment, a steering shaft 7-8 is provided on the shock-absorbing connecting plate 7-9, and the steering shaft 7-8 is rotationally connected to the leg frame 7-1; a reducer 7-3 is installed on the steering motor 7-2, and the reducer 7-3 is connected to the shock-absorbing connecting plate 7-9 through a coupling 7-5.

[0067] In a preferred embodiment, the shock-absorbing coupling plate 7-9 is provided with two shock absorbers 7-10, with a drive motor 7-11 mounted between the two shock absorbers 7-10, and the drive motor 7-11 drives the wheels; the shock-absorbing coupling plate 7-9 is rotatably connected to the leg frame 7-1 via a steering shaft 7-8, and the steering shaft 7-8 is connected to a coupling 7-5. The leg frame 7-1 is provided with a steering bearing seat 7-6, and a steering bearing 7-7 is mounted within the steering bearing seat 7-6. The steering shaft 7-8 is rotatably connected to the leg frame 7-1 via the steering bearing 7-7.

[0068] In this embodiment, when the distance between the two symmetrical half-bodies 1 is converted, the quick-press screw 8-3 on the sliding limit beam 8 is unlocked to unlock the sliding limit beam 8 and unlock the symmetrical slide rail 10. The steering motor 7-2 is rotated to make the drive wheels face the left and right sides of the vehicle body, and then the vehicle body is widened by controlling the movement of the drive motor 7-11 or manually pulling the handle 4 to widen the vehicle body, thereby adjusting the width.

[0069] The quick-press screw 8-3 used in this embodiment is conventional, and is a standard component or a component known to those skilled in the art. Its structure and principle are readily apparent to those skilled in the art from technical manuals. The drive motor 7-11 used in this embodiment to drive the wheel is conventional, and is a hub motor directly mounted on the tire. A motorcycle wheel drive structure is preferred.

[0070] Other components and connection relationships are the same as those in the first embodiment.

[0071] Specific implementation method three: Combination Figures 1 to 25 To illustrate this embodiment, in this embodiment, the quick-release baffle 9 includes a quick-release pin 9-1, a pin handle 9-2, a spring 9-3, a baffle connecting block 9-4, a pin seat 9-5, a main rod 9-6, a steel ball pin 9-7, a limit flange 9-8, a limit threaded pin 9-9 and a baffle 9-10;

[0072] A plurality of baffle connecting blocks 9-4 are provided on the main rod 9-6, and baffles 9-10 are installed on the baffle connecting blocks 9-4;

[0073] One end of the main rod 9-6 is fixedly connected to a pin seat 9-5, which is movably connected to a quick-release pin 9-1. A spring 9-3 is provided between the pin seat 9-5 and the quick-release pin 9-1. The quick-release pin 9-1, the spring 9-3 and the pin seat 9-5 are all arranged inside the main rod 9-6. A pin handle 9-2 is also provided on the quick-release pin 9-1. The end of the quick-release pin 9-1 is plugged into the center hole 6-2 on the expansion platform 6.

[0074] A limiting flange 9-8 is provided at the other end of the main rod 9-6, and the limiting flange 9-8 is locked on the matching hole 6-1 on another extension platform 6 through a limiting threaded pin 9-9. A steel ball pin 9-7 is provided between the main rod 9-6 and the limiting flange 9-8, and a spring is provided on the steel ball pin 9-7. A plurality of radial through holes are provided on the main rod 9-6, and the steel ball pin 9-7 passes through the through holes. When adjusting the angle of the main rod 9-6, the steel ball pin 9-7 is pulled out of the through hole in the original position, and the main rod 9-6 is rotated to drive the adjustment baffle 9-10 to the appropriate angle, and then the steel ball pin 9-7 is inserted into the through hole at the appropriate position to fix the main rod 9-6. The baffle 9-10 can also adjust the angle through the limiting flange 9-8. There are multiple sets of matching holes 6-1 on the expansion platform 6. Remove the limiting threaded pin 9-9 and install the limiting flange 9-8 on another set of matching holes 6-1 to adjust the angle. The angle range of the baffle 9-10 is 10 degrees, 5 degrees and 1 degree, etc.

[0075] In this embodiment, inspection cameras are set on the inner sides of two relatively arranged inner frames 3-6 when the plants are inspected from the side. When the inspection robot inspects two rows of crops at the same time, the baffles 9-10 are adjusted to a suitable angle. The baffles 9-10 are set between the two rows of crops. The baffles 9-10 are the observation background plates of the inspection cameras, which prevent the camera from collecting images from being interfered with by other plants in the environment, thereby improving the inspection quality and meeting the task of lateral inspection of plants.

[0076] Other components and connection relationships are the same as those in the first embodiment.

[0077] Specific implementation method four: Combination Figures 1 to 25 This embodiment describes a telescopic symmetrical main body assembly type inspection robot, comprising two symmetrical half bodies 1, two perforated boards 2, two expansion frames 3, four handles 4, four battery compartments 5, two expansion platforms 6, four leg motor assemblies 7, two sliding limit beams 8, a quick-release baffle 9, and two symmetrical slide rails 10;

[0078] In a preferred embodiment, each of the symmetrical semi-bodies 1 includes a longitudinal beam 1-1, an auxiliary longitudinal beam 1-2, a cross beam 1-3, a main longitudinal beam 1-4, and a connecting profile 1-5, and all parts are fixedly connected; after one of the symmetrical semi-bodies 1 is horizontally rotated 180 degrees, the two are assembled together to form a retractable structure, thereby realizing the width adjustment function of the phenotypic inspection robot.

[0079] In a preferred embodiment, the perforated board 2 includes a perforated board body 2 - 1 and a perforated board limiting bar 2 - 2 ; the perforated board 2 can be adsorbed on the symmetrical half body 1 by magnets.

[0080] In a preferred embodiment, each expansion frame 3 includes an outer frame 3-1, a positioning plate 3-2, four telescopic slide rails 3-3, a positioning pin 3-4, an expansion perforated plate 3-5 and an inner frame 3-6. The outer frame 3-1 and the inner frame 3-6 are hingedly connected by the four telescopic slide rails 3-3.

[0081] In a preferred embodiment, the battery compartment 5 includes a battery compartment pull pin 5-1, a battery compartment body 5-2, and a battery compartment hinge 5-3, and the battery compartment is opened and closed by pulling the battery compartment pull pin 5-1.

[0082] In a preferred embodiment, each leg motor assembly 7 includes a leg frame 7-1, a steering motor 7-2, a speed reducer 7-3, a steering motor seat 7-4, a coupling 7-5, a steering bearing seat 7-6, a steering bearing 7-7, a steering shaft 7-8, a shock-absorbing coupling plate 7-9, two shock absorbers 7-10, and a drive motor 7-11. The steering shaft 7-8 is coaxially connected to the steering motor 7-2 via a coupling 7-5. Each expansion frame 3 is fixedly connected to two leg motor assemblies 7.

[0083] In a preferred embodiment, the sliding limit beam 8 is connected to two symmetrical half-bodies 1 at the front and rear. Each sliding limit beam body 8-1 is connected to the connecting profile 1-5 via four quick-release screws 8-3 and four slider nuts 8-4. The slider nuts 8-4, fixed to the connecting profile, limit the opening and closing range; the quick-release screws 8-3 provide a width-locking function for the robot. Pins are also provided between the sliding limit beam body 8-1 and the connecting profile 1-5, allowing the connecting profile 1-5 to slide along the sliding limit beam body 8-1.

[0084] In a preferred embodiment, the quick-release baffle 9 includes a quick-release pin 9-1, a pin handle 9-2, a spring 9-3, a baffle connecting block 9-4, a pin seat 9-5, a main rod 9-6, a steel ball pin 9-7, a limiting flange 9-8, a limiting threaded pin 9-9 and a baffle 9-10; the passive angle floating range of the quick-release baffle 9 is determined by the matching hole 6-1 of the hinged extension platform 6 selected by the position of the steel ball pin 9-7 and the limiting threaded pin 9-9.

[0085] In a preferred embodiment, the two symmetrical slide rail sub-rails 10-1 are respectively fixedly connected to the connecting profiles 1-5 of the two symmetrical half-bodies; each symmetrical slide rail main rail 10-2 is fixedly connected to the expansion platform 6, and the symmetrical slide rail 10 has a self-locking lock to achieve robot width locking. The two slide rail sub-rails 10-1 of the symmetrical slide rail 10 can be opened and closed synchronously. The symmetrical slide rail 10 is a prior art, and the model adopts universal standard parts or components known to those skilled in the art. Its structure and principle are all known to those skilled in the art through the technical manual. Preferably, the steering motor 7-2 and the drive motor 7-11 use a stepper motor or a servo motor to achieve the synchronous movement of the two slide rail sub-rails 10-1 through the control system, thereby controlling the synchronous opening and closing of the two symmetrical half-bodies 1.

[0086] Other components and connection relationships are the same as those in the first embodiment.

[0087] Specific implementation method five: Combination Figures 1 to 25 This embodiment is described in conjunction with the attached Figure 1 To the attached Figure 11 Description: A retractable symmetrical main body assembly-type inspection robot includes two symmetrical half-bodies 1, two perforated plates 2, two expansion frames 3, four handles 4, four battery compartments 5, two expansion platforms 6, four leg motor assemblies 7, two sliding limit beams 8, a quick-release baffle 9 and two symmetrical slide rails 10.

[0088] As attached Figure 3 As shown, the symmetrical half bodies each include a longitudinal beam 1-1, an auxiliary longitudinal beam 1-2, a transverse beam 1-3, a main longitudinal beam 1-4, and a connecting profile 1-5, and all parts are fixedly connected.

[0089] As attached Figure 4 As shown, after one of the symmetrical half bodies 1 is horizontally rotated 180 degrees, the two are assembled together to form a retractable structure, thereby realizing the width adjustment function of the phenotypic inspection robot.

[0090] As attached Figure 5 As shown, the perforated board 2 includes a perforated board body 2-1 and a perforated board limiting block 2-2; the perforated board 2 can be adsorbed on the symmetrical half body 1 by magnets.

[0091] As attached Figure 6 To the attached Figure 7 As shown, each expansion frame 3 includes an outer frame 3-1, a positioning plate 3-2, four telescopic slide rails 3-3, a positioning pin 3-4, an expansion perforated plate 3-5 and an inner frame 3-6. The outer frame 3-1 and the inner frame 3-6 are hinged by the four telescopic slide rails 3-3.

[0092] As attached Figure 8To the attached Figure 9 As shown, the battery compartment 5 includes a battery compartment pull pin 5-1, a battery compartment body 5-2, and a battery compartment hinge 5-3. The battery compartment 5 can be opened and closed by pulling the battery compartment pull pin 5-1.

[0093] As attached Figure 10 As shown, each leg motor assembly 7 includes a leg frame 7-1, a steering motor 7-2, a reducer 7-3, a steering motor seat 7-4, a coupling 7-5, a steering bearing seat 7-6, a steering bearing 7-7, a steering shaft 7-8, a shock-absorbing coupling plate 7-9, two shock absorbers 7-10, and a drive motor 7-11. The steering shaft 7-8 is coaxially connected to the steering motor 7-2 via a coupling 7-5. Each expansion frame 3 is fixedly connected to two leg motor assemblies 7.

[0094] As attached Figure 11 As shown, the sliding limit beams 8 are connected to the two symmetrical half-bodies 1 at the front and rear. Each sliding limit beam 8 is connected to the connecting profile 1-5 via four quick-release screws 8-3 and four slider nuts 8-4. The slider nuts 8-4, which fix the position of the connecting profile 1-5, can limit the opening and closing range of the connecting profile 1-5. The quick-release screws 8-3 can realize the width locking function of the robot.

[0095] As attached Figure 12 To the attached Figure 13 As shown, the quick-release baffle includes a quick-release pin 9-1, a pin handle 9-2, a spring 9-3, a baffle connecting block 9-4, a pin seat 9-5, a main rod 9-6, a steel ball pin 9-7, a limiting flange 9-8, a limiting threaded pin 9-9 and a baffle 9-10; the passive angle floating range of the quick-release baffle 9 is controlled by the position of the steel ball pin 9-7 and the limiting threaded pin 9-9, and the limiting threaded pin 9-9 is connected to the matching hole 6-1 at different positions on the expansion platform 6 to control the range of motion of the baffle 9-10, as shown in the attached figure. Figure 15 shown.

[0096] As attached Figure 14 As shown, the two symmetrical slide rail auxiliary rails 10-1 are respectively fixedly connected to the connecting profiles 1-5 of the two symmetrical half-bodies 1; each symmetrical slide rail main rail 10-2 is fixedly connected to the expansion platform 6, and the symmetrical slide rail 10 has a self-locking lock to achieve robot width locking, and the symmetrical slide rail 10 with a self-locking lock adopts the existing technology.

[0097] When the symmetrical slide rail 10 and the quick-press screw 8-3 of the phenotypic inspection robot are both unlocked, the width of the vehicle body can be adjusted by manual operation; when any one of them is locked, the width of the vehicle body can be locked.

[0098] Working principle of the present invention:

[0099] The present invention is a telescopic symmetrical half-body assembled phenotype inspection robot. Figure 1 The narrowed state shown is similar to that shown in the attached Figure 2 To switch between the widening states shown, the quick-release screw 8-3 on the sliding limit beam 8 is released to unlock the sliding limit beam 8, simultaneously unlocking the symmetrical slide rails 10. The steering motor 7-2 is then rotated to direct the drive wheels toward the left and right sides of the vehicle body. The width is then adjusted by controlling the movement of the drive motor 7-11 to pull the symmetrical half-body 1, or manually pulling the handle 4 to pull the symmetrical half-body 1. When the width is adjusted to the desired position, the quick-release screw 8-3 is tightened to lock it, or the symmetrical slide rails 10 are locked. The steering motor 7-2 then adjusts the drive wheel direction to resume the forward working state, completing the width adjustment.

[0100] The telescopic symmetrical half-body assembled phenotype inspection robot has an inner frame 3-6 of the expansion frame 3 as shown in the attached figure. Figure 6 The retracted state shown is the same as the attached Figure 7 When switching between the extended states shown, press down the positioning pin 3-4, move the inner frame 3-6 to the appropriate position, adjust the positioning plate 3-2, the positioning plate 3-2 and the outer frame 3-1 are hinged, and a plurality of holes are provided on the positioning plate 3-2. Finally, release the positioning pin 3-4 and insert it into the corresponding hole in the positioning plate to complete the fixation.

[0101] Other components and connection relationships are the same as those in the first embodiment.

[0102] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A telescopic symmetrical half-body assembled phenotypic inspection robot, characterized by: The inspection robot comprises two symmetrically arranged half bodies (1), an expansion platform (6) and a symmetrical slide rail (10); The two symmetrical half bodies (1) are movably connected via a symmetrical slide rail (10), and the expansion platform (6) is arranged on the symmetrical slide rail (10); a perforated plate (2) is arranged on the top of the symmetrical half body (1), and a leg motor assembly (7) is arranged on the bottom of the symmetrical half body (1).

2. The telescopic symmetrical half-body assembled phenotype inspection robot according to claim 1, characterized in that: The symmetrical half body (1) comprises two longitudinal beams (1-1), a transverse beam (1-3) and a connecting profile (1-5); The two longitudinal beams (1-1) are connected via a cross beam (1-3); the front and rear ends of the longitudinal beam (1-1) are respectively provided with connecting profiles (1-5); the perforated plate (2) is mounted on the longitudinal beam (1-1); and the longitudinal beam (1-1) is also provided with a main longitudinal beam (1-4).

3. The telescopic symmetrical half-body assembled phenotype inspection robot according to claim 1, characterized in that: The perforated plate (2) comprises a perforated plate body (2-1), and a plurality of holes are evenly arranged on the perforated plate body (2-1).

4. The telescopic symmetrical half-body assembled phenotype inspection robot according to claim 1, characterized in that: An expansion frame (3) is further provided on the side of the symmetrical half body (1), and the expansion frame (3) comprises an outer frame (3-1) and an inner frame (3-6); The outer frame (3-1) and the inner frame (3-6) are movably connected via a telescopic slide rail (3-3), and an extended perforated plate (3-5) is further provided on the inner frame (3-6); A positioning plate (3-2) is provided on the outer frame (3-1), a positioning pin (3-4) is provided on the inner frame (3-6), and the positioning plate (3-2) and the positioning pin (3-4) cooperate with each other.

5. The telescopic symmetrical half-body assembled phenotype inspection robot according to claim 1, characterized in that: The leg motor assembly (7) comprises a leg frame (7-1), a steering motor (7-2) and a shock-absorbing connecting plate (7-9); The leg frame (7-1) is fixedly connected to the main longitudinal beam (1-4), and the lower part of the leg frame (7-1) is movably connected to a shock-absorbing connecting plate (7-9); The leg frame (7-1) is provided with a steering motor seat (7-4), the steering motor (7-2) is mounted on the steering motor seat (7-4), and the steering motor (7-2) drives the shock-absorbing connecting plate (7-9) to rotate.

6. The telescopic symmetrical half-body assembled phenotype inspection robot according to claim 5, characterized in that: A steering shaft (7-8) is provided on the shock-absorbing connecting plate (7-9), and the steering shaft (7-8) is rotatably connected to the leg frame (7-1); A speed reducer (7-3) is installed on the steering motor (7-2), and the speed reducer (7-3) is connected to a shock-absorbing connecting plate (7-9) via a coupling (7-5).

7. The telescopic symmetrical half-body assembled phenotype inspection robot according to claim 5, characterized in that: Two shock absorbers (7-10) are arranged on the shock-absorbing connecting plate (7-9), and a driving motor (7-11) is arranged between the two shock absorbers (7-10); The shock-absorbing connecting plate (7-9) is rotatably connected to the leg frame (7-1) via a steering shaft (7-8), and the steering shaft (7-8) is connected to a coupling (7-5).

8. The telescopic symmetrical half-body assembled phenotype inspection robot according to claim 1, characterized in that: The symmetrical half-body (1) is further provided with two battery compartments (5), and the battery compartments (5) are arranged near the leg motor assembly (7); the battery compartment (5) comprises a battery compartment body (5-2), one end of the battery compartment body (5-2) is hinged to the leg frame (7-1) via a battery compartment hinge (5-3), and the other end is movably connected to the main longitudinal beam (1-4) via a battery compartment pin (5-1), and a battery is arranged inside the battery compartment body (5-2).

9. The telescopic symmetrical half-body assembled phenotype inspection robot according to claim 1, characterized in that: There are two symmetrical slide rails (10), which are respectively arranged on the front and rear sides of the symmetrical half body (1); The symmetrical slide rail (10) comprises a symmetrical rail main rail (10-2), the left and right ends of the symmetrical rail main rail (10-2) are respectively slidably connected to symmetrical rail auxiliary rails (10-1), and the symmetrical rail auxiliary rail (10-1) is fixedly connected to a connecting profile (1-5); The expansion platform (6) is fixedly connected to the symmetrical rail main rail (10-2).

10. The telescopic symmetrical half-body assembled phenotype inspection robot according to claim 1, characterized in that: The inspection robot further comprises two sliding limit beams (8), wherein the sliding limit beams (8) and the symmetrical slide rails (10) are arranged correspondingly; The sliding limiting beam (8) comprises a sliding limiting beam body (8-1), a plurality of quick-pressing screws (8-3) are provided on the sliding limiting beam body (8-1), a slider nut (8-4) is provided on the quick-pressing screws (8-3), the slider nut (8-4) is connected to the connecting profile (1-5), and the quick-pressing screws (8-3) are used to lock the sliding limiting beam body (8-1).

Images