Reconfigurable modular agricultural inspection robot chassis quick replacement mechanism

Abstract

The application relates to the technical field of agricultural inspection robots, in particular to a reconfigurable modular agricultural inspection robot chassis quick replacement mechanism, which comprises a chassis main body, a module butt joint assembly, a self-locking fastening assembly and a dustproof sealing assembly. The chassis main body is provided with a rectangular groove structure mounting interface, the module butt joint assembly realizes low-friction sliding cooperation through a guide sliding block, the self-locking fastening assembly realizes automatic locking through a locking pin and an elastic return piece, and the dustproof sealing assembly prevents mud and sand from entering through a sealing ring and a flow guide groove. The application can significantly improve the module replacement efficiency and environmental adaptability, the shock buffering assembly enhances the stability, the module unlocking mechanism and the detection device simplify the operation process and improve the safety, and the application is suitable for efficient inspection operation in a complex agricultural environment.

Description

Technical Field

[0001] The invention belongs to the field of agricultural intelligent equipment and robot technology, specifically a quick-change mechanism for the chassis of a reconfigurable modular agricultural inspection robot. Background Technology

[0002] In the application of agricultural inspection robots, modular design and quick-change functionality have gradually become research hotspots. Through modular design, the robot chassis can replace functional modules according to task requirements, thereby achieving multi-purpose functionality and reducing equipment costs and operational complexity. However, existing agricultural inspection robot chassis still have some shortcomings in modular switching and quick-change, affecting their efficiency and adaptability in practical applications.

[0003] A search revealed a patent with publication number CN113858190B, which proposes a control method based on a replacement platform. This method responds to requests from the robot chassis, obtains the type of the target superstructure module, and selects the corresponding clamping mechanism for disassembly and installation. This technical solution achieves a detachable connection between the superstructure module and the chassis, and selects appropriate clamping mechanisms according to different module types, demonstrating strong applicability. However, this solution relies on an external replacement platform for module replacement, increasing system complexity and dependence on external equipment. In agricultural inspection scenarios, environmental limitations may affect replacement efficiency. Furthermore, this solution does not address the design of a quick-connect structure for the chassis itself, potentially leading to insufficient alignment accuracy during module replacement, affecting the stability and reliability of the replacement process.

[0004] A search revealed a patent with publication number CN114311028B that proposes a quick-connect structure. This structure, through the cooperation of an insertion post, a socket, a locking rod, and an auxiliary side guide plate, achieves rapid connection and locking between the module and the chassis. This technical solution is suitable for scenarios such as logistics and food delivery, offering high replacement efficiency and stability. However, this solution is primarily designed for general-purpose robots and does not fully consider the specific needs of agricultural inspection scenarios, such as shock resistance and dust and water resistance in complex terrain. Furthermore, the connection structure involves the precise coordination of multiple components, potentially increasing manufacturing costs and maintenance difficulty. Additionally, in agricultural environments, it is susceptible to the effects of mud, sand, or plant debris, leading to connection failure or insecure locking.

[0005] The aforementioned problems indicate that existing agricultural inspection robot chassis still have room for improvement in terms of modular switching and rapid assembly, including high dependence on external equipment, insufficient adaptability of the assembly structure, and low reliability in complex environments. Therefore, this invention provides a reconfigurable modular agricultural inspection robot chassis rapid assembly mechanism, aiming to optimize the plug-in structure design between the chassis and functional modules, improve assembly efficiency and environmental adaptability, and simplify the operation process, thereby meeting the needs of modern agricultural inspection robots for efficient, reliable, and low-cost assembly. Summary of the Invention

[0006] This invention aims to address at least one of the technical problems existing in the prior art. To this end, this invention proposes a reconfigurable modular agricultural inspection robot chassis quick-change mechanism. By optimizing the connection structure design between the chassis and functional modules, it reduces dependence on external equipment and improves changeover efficiency and environmental adaptability.

[0007] According to an embodiment of the present invention, a quick-change mechanism for a reconfigurable modular agricultural inspection robot chassis includes a chassis body, a module docking assembly, a self-locking fastening assembly, and a dustproof sealing assembly. The chassis body has multiple mounting interfaces. The module docking assembly includes a docking frame and a guide slider. The docking frame slides into the mounting interfaces on the chassis body via the guide slider, and the guide slider moves horizontally to align the modules. The self-locking fastening assembly includes a locking pin and an elastic reset component. The locking pin is located on the docking frame and corresponds to a locking hole on the chassis body. The elastic reset component pushes the locking pin into the locking hole to lock the module. The dustproof sealing assembly includes a sealing ring and a flow guide groove. The sealing ring is embedded in the outer edge of the docking frame, and the flow guide groove is located inside the mounting interfaces of the chassis body, guiding the discharge of mud, sand, or plant debris.

[0008] In the above technical solution, the mounting interface on the chassis body is a rectangular groove structure. The bottom of the docking frame has a protrusion structure that matches the rectangular groove. Guide sliders are provided on both sides of the protrusion structure. The guide sliders contact the inner wall of the rectangular groove through ball bearings to form a low-friction sliding fit. The horizontal movement of the docking frame is driven by external thrust. When the docking frame moves to the predetermined position, the locking pin automatically inserts into the locking hole on the chassis body under the action of the elastic reset component, completing the locking of the module. The end of the locking pin is tapered, and the entrance of the locking hole has a chamfered structure to facilitate the smooth insertion of the locking pin. The elastic reset component is a helical spring, one end of which is fixed inside the docking frame, and the other end contacts the tail of the locking pin, providing continuous thrust.

[0009] The sealing ring in the dustproof sealing assembly is made of flexible rubber with a U-shaped cross-section. It is embedded in a groove on the outer edge of the docking frame and fits tightly against the mounting interface of the chassis body. The guide channels are arranged radially along the inner side of the mounting interface of the chassis body, with their outlets located at the bottom of the chassis body. They are used to guide mud, sand, or plant debris entering the mounting interface to the outside. The width of the guide channels gradually decreases from the inlet to the outlet to accelerate the discharge of mud, sand, or plant debris.

[0010] The above technical solution has the following effects: The mounting interface on the chassis body and the protruding structure of the docking frame achieve a low-friction sliding fit through guide sliders, reducing resistance during module installation and improving alignment accuracy. The locking pin automatically inserts into the locking hole under the action of the elastic reset component, eliminating the need for additional steps and simplifying the module locking process. The combination design of the sealing ring and guide groove effectively prevents mud, sand, or plant debris from entering the mounting interface, enhancing the reliability of the mechanism in complex environments. Furthermore, the tapered end of the locking pin mates with the chamfered structure of the locking hole, ensuring that the locking pin can be quickly and accurately inserted into the locking hole, avoiding locking failure due to alignment deviations.

[0011] According to some embodiments of the present invention, a shock-absorbing buffer assembly is also included. The shock-absorbing buffer assembly includes a buffer pad and limiting posts. The buffer pad is located at the bottom of the mounting interface of the chassis body, and the limiting posts penetrate the buffer pad and contact the bottom of the docking frame. The buffer pad is made of high-density polyurethane material, which has good elasticity and wear resistance, and can absorb vibration energy when the module is subjected to impact. There are four limiting posts, evenly distributed around the buffer pad. The top of each limiting post has a spherical head that contacts the bottom of the docking frame, forming a point contact to reduce friction.

[0012] According to some embodiments of the present invention, a module unlocking mechanism is further included. The module unlocking mechanism includes an unlocking rod and a drive linkage. The unlocking rod is connected to the chassis body via a hinge point. One end of the drive linkage is hinged to the unlocking rod, and the other end is connected to the locking pin. A handle is provided at the end of the unlocking rod. By pulling the unlocking rod, the operator causes the drive linkage to disengage the locking pin from the locking hole, thereby releasing the module from its locked state. A torsion spring is provided at the hinge point of the unlocking rod, which automatically resets the unlocking rod after unlocking is completed.

[0013] According to some embodiments of the present invention, a locating pin is provided in the mounting interface of the chassis body, and a locating hole corresponding to the locating pin is provided at the bottom of the docking frame. The diameter of the locating pin is smaller than the diameter of the locking pin, and the height of the locating pin is slightly higher than the bottom surface of the mounting interface. The cooperation between the locating pin and the locating hole further improves the alignment accuracy of the module installation, while avoiding locking failure caused by module misalignment.

[0014] According to some embodiments of the present invention, a module detection device is also included. The module detection device includes a pressure sensor and a signal processor. The pressure sensor is located at the bottom of the mounting interface of the chassis body, and the signal processor is electrically connected to the pressure sensor. The pressure sensor is used to detect the pressure applied by the docking frame during module installation. The signal processor determines whether the module is correctly installed based on the pressure value and sends the detection result to the control unit. The control unit decides whether to initiate subsequent operations based on the detection result.

[0015] According to some embodiments of the present invention, a drainage channel is provided at the bottom of the chassis body, the drainage channel being connected to a guide channel, and the outlet of the drainage channel being located on the side of the chassis body. The cross-section of the drainage channel is trapezoidal, with its width gradually increasing from the inlet to the outlet to accelerate the discharge of mud, sand, or plant debris. The inner wall of the drainage channel is coated with a waterproof coating to prevent liquid from seeping into the chassis body.

[0016] According to some embodiments of the present invention, the top of the docking frame is provided with a module interface, the shape of which matches the bottom contour of the functional module. A snap-fit ​​structure is provided on the inner side of the module interface for fixing the functional module. There are four snap-fit ​​structures, evenly distributed around the module interface. The ends of the snap-fit ​​structures are beveled to facilitate quick insertion of the functional module.

[0017] According to some embodiments of the present invention, a lubricating coating is provided inside the mounting interface of the chassis body. The lubricating coating covers the inner wall of the rectangular groove and is made of a graphite-based material, which has a low coefficient of friction and good wear resistance. The lubricating coating reduces the friction between the guide slider and the rectangular groove, thus extending the service life of the mechanism.

[0018] In summary, this invention significantly improves the reconfiguration efficiency and environmental adaptability of modular agricultural inspection robots by optimizing the connection structure design between the chassis and functional modules. The introduction of shock-absorbing and dustproof sealing components enhances the stability and reliability of the mechanism in complex terrain, while the module unlocking mechanism and module detection device further simplify the operation process and improve safety. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the connection structure between the chassis body and the docking frame in an embodiment of the present invention.

[0020] Figure 2 This is a schematic diagram of the docking frame according to an embodiment of the present invention.

[0021] Figure 3 For the present invention Figure 1 Enlarged view of point A in the middle.

[0022] Figure 4 For the present invention Figure 1Enlarged view at point B Figure 5 For the present invention Figure 1 Enlarged view of point C in the middle.

[0023] Figure 6 This is a schematic diagram of the structure of the guide slider of the present invention.

[0024] Figure 7 This is a schematic diagram of the connection structure between the drainage channel and the guide trough in an embodiment of the present invention, showing the path of mud or plant debris entering the drainage channel from the guide trough.

[0025] Figure 8 This is a schematic diagram of the interface of the top module of the docking frame according to an embodiment of the present invention.

[0026] The attached figures are labeled as follows: 1. Chassis main body; 2. Docking frame; 3. Rectangular groove; 4. Guide slider; 5. Locking pin; 6. Elastic reset component; 7. Locking hole; 8. Sealing ring; 9. Flow guide groove; 10. Buffer pad; 11. Limiting post; 12. Unlocking rod; 13. Drive linkage; 14. Positioning pin; 15. Positioning hole; 16. Drainage channel; 17. Module interface; 18. Buckle structure. Detailed Implementation

[0027] This invention relates to a quick-change mechanism for a reconfigurable modular agricultural inspection robot chassis, the detailed structure and operating principle of which are as follows. The chassis body 1, as the core component of the entire mechanism, has multiple rectangular slots 3. These rectangular slots 3 are used to connect with the bottom protrusions of the docking frame 2. Guide sliders 4 are provided on both sides of the bottom of the docking frame 2. The guide sliders 4 contact the inner wall of the rectangular slots 3 through ball bearings, forming a low-friction sliding fit. The design of the guide sliders 4 allows the docking frame 2 to move freely in the horizontal direction, thereby achieving module alignment. When an external thrust is applied to the docking frame 2, the guide sliders 4 slide along the inner wall of the rectangular slots 3 until the docking frame 2 reaches the predetermined position. At this time, the locking pin 5 in the self-locking fastening assembly automatically inserts into the locking hole 7 on the chassis body 1 under the action of the elastic reset member 6, completing the module locking. The end of the locking pin 5 is tapered, and the entrance of the locking hole 7 has a chamfered structure. This design ensures that the locking pin 5 can be quickly and accurately inserted into the locking hole 7, avoiding locking failure due to alignment deviation.

[0028] The dustproof sealing assembly includes a sealing ring 8 and a guide channel 9. The sealing ring 8 is embedded in the outer edge groove of the docking frame 2, fitting tightly against the mounting interface of the chassis body 1 to prevent mud, sand, or plant debris from entering the mounting interface. The guide channel 9 is arranged radially inside the mounting interface of the chassis body 1, with its outlet located at the bottom of the chassis body 1, to guide mud, sand, or plant debris entering the mounting interface to the outside. The width of the guide channel 9 gradually decreases from the inlet to the outlet to accelerate the discharge of mud, sand, or plant debris. The sealing ring 8 is made of flexible rubber material with a U-shaped cross-section. This design ensures sealing performance while also providing a certain degree of elasticity and adaptability, effectively handling minor displacements between the docking frame 2 and the chassis body 1.

[0029] The seismic buffer assembly consists of a buffer pad 10 and limiting posts 11. The buffer pad 10 is located at the bottom of the mounting interface of the chassis body 1, and the limiting posts 11 penetrate the buffer pad 10 and contact the bottom of the docking frame 2. The buffer pad 10 is made of high-density polyurethane material, which has good elasticity and wear resistance, and can absorb vibration energy when the module is impacted, thereby protecting the module and the chassis body 1 from damage. There are four limiting posts 11, which are evenly distributed around the buffer pad 10. The top of the limiting post 11 is provided with a spherical head, which makes point contact with the bottom of the docking frame 2, reducing friction and limiting the docking frame 2 to prevent it from shifting too much in the horizontal direction.

[0030] The module unlocking mechanism includes an unlocking rod 12 and a drive link 13. The unlocking rod 12 is connected to the chassis body 1 via a hinge point. One end of the drive link 13 is hinged to the unlocking rod 12, and the other end is connected to the locking pin 5. A handle is provided at the end of the unlocking rod 12. By pulling the unlocking rod 12, the operator causes the drive link 13 to disengage the locking pin 5 from the locking hole 7, thereby releasing the module from its locked state. A torsion spring is provided at the hinge point of the unlocking rod 12. The torsion spring automatically resets the unlocking rod 12 after unlocking, ensuring that the unlocking rod 12 always remains in its initial position for easy subsequent operation.

[0031] The mounting interface of the chassis body 1 is also equipped with a positioning pin 14, and the bottom of the docking frame 2 is provided with a positioning hole 15 corresponding to the positioning pin 14. The diameter of the positioning pin 14 is smaller than the diameter of the locking pin 5, and the height of the positioning pin 14 is slightly higher than the bottom surface of the mounting interface. The cooperation between the positioning pin 14 and the positioning hole 15 further improves the alignment accuracy of the module installation, while avoiding locking failure due to module misalignment. The design of the positioning pin 14 also plays a guiding role during the module installation process, ensuring that the docking frame 2 can be moved quickly and accurately to the predetermined position.

[0032] The module detection device includes a pressure sensor and a signal processor. The pressure sensor is located at the bottom of the mounting interface on the chassis body 1, and the signal processor is electrically connected to the pressure sensor. The pressure sensor detects the pressure applied by the docking frame 2 during module installation. The signal processor determines whether the module is correctly installed based on the pressure value and sends the detection result to the control unit. The control unit decides whether to initiate subsequent operations based on the detection result, such as starting an inspection task or prompting the operator to reinstall the module. The pressure sensor not only improves the reliability of module installation but also enables real-time monitoring of the module's installation status, ensuring the stable operation of the inspection robot in complex environments.

[0033] A drainage channel 16 is provided at the bottom of the chassis body 1, and the drainage channel 16 is connected to the guide channel 9. The outlet of the drainage channel 16 is located on the side of the chassis body 1. The drainage channel 16 has a trapezoidal cross-section, and its width gradually increases from the inlet to the outlet to accelerate the discharge of mud, sand, or plant debris. The inner wall of the drainage channel 16 is coated with a waterproof coating to prevent liquid from seeping into the chassis body 1, thereby protecting the chassis body 1 and its internal components from moisture erosion. The design of the drainage channel 16 can effectively cope with muddy or wet conditions common in agricultural environments, improving the environmental adaptability of the mechanism.

[0034] The top of the docking frame 2 is provided with a module interface 17. The shape of the module interface 17 matches the bottom contour of the functional module. A snap-fit ​​structure 18 is provided on the inner side of the module interface 17 to secure the functional module. There are four snap-fit ​​structures 18, evenly distributed around the module interface 17. The ends of the snap-fit ​​structures 18 are beveled to facilitate quick insertion of the functional module. The design of the snap-fit ​​structure 18 simplifies the installation process of the functional module while ensuring that the functional module will not loosen or fall off during operation.

[0035] The mounting interface of the chassis body 1 is also equipped with a lubricating coating, which covers the inner wall of the rectangular groove 3. The lubricating coating is made of graphite-based material, which has a low coefficient of friction and good wear resistance. The lubricating coating reduces the friction between the guide slider 4 and the rectangular groove 3, extending the service life of the mechanism. The lubricating coating not only improves the smoothness of module installation but also reduces maintenance costs, ensuring that the mechanism maintains stable performance during long-term use.

[0036] The connection relationships and cooperation methods among the aforementioned components together constitute the complete technical solution of this invention. In practical applications, the operator first aligns the bottom protrusion of the docking frame 2 with the rectangular groove 3 on the chassis body 1, and pushes the docking frame 2 along the rectangular groove 3 using external thrust. When the docking frame 2 moves to the predetermined position, the locking pin 5 automatically inserts into the locking hole 7 under the action of the elastic reset member 6, completing the locking of the module. If the module needs to be replaced, the operator only needs to pull the unlocking rod 12, which drives the locking pin 5 out of the locking hole 7 through the drive linkage 13, thereby releasing the locked state of the module. Throughout the process, the dustproof sealing component and the shock-absorbing buffer component play protective and stabilizing roles, respectively, ensuring the reliable operation of the mechanism in complex environments.

[0037] To enable those skilled in the art to fully understand and implement this invention, the specific implementation principle of this invention will be further explained below in conjunction with a specific application scenario.

[0038] Before the agricultural inspection robot can perform its tasks, the functional modules must first be quickly installed onto the chassis body 1. The operator aligns the bottom protrusion of the docking frame 2 with the rectangular groove 3 on the chassis body 1 and applies external force to push the docking frame 2 along the rectangular groove 3. At this time, the guide slider 4 forms a low-friction engagement with the inner wall of the rectangular groove 3 through ball bearings, ensuring that the docking frame 2 can move smoothly. When the docking frame 2 approaches the predetermined position, the positioning pin 14 contacts the positioning hole 15 at the bottom of the docking frame 2 and guides it to precise alignment until the docking frame 2 is fully in the predetermined position. During this process, the positioning pin 14 is slightly higher than the bottom surface of the mounting interface, and its diameter is smaller than that of the locking pin 5. This design allows the positioning pin 14 to prioritize the guiding function, effectively avoiding locking failure due to initial alignment deviation.

[0039] Once the docking frame 2 reaches the predetermined position, the self-locking fastening assembly activates. The elastic reset element 6 pushes the locking pin 5 to automatically insert into the locking hole 7 on the chassis body 1, completing the module locking. The tapered end of the locking pin 5 engages with the chamfered structure at the entrance of the locking hole 7, ensuring that the locking pin 5 can be quickly and accurately inserted into the locking hole 7. This design not only simplifies the operation steps but also significantly improves the reliability of module locking. Simultaneously, the pressure sensor detects the pressure applied by the docking frame 2 and transmits the signal to the signal processor. The signal processor determines whether the module is correctly installed based on a preset pressure threshold and feeds the result back to the control unit. If the installation is correct, the control unit initiates subsequent operations; if the installation fails, it prompts the operator to readjust the position of the docking frame 2.

[0040] After the module is installed, the dustproof sealing assembly and the shock-absorbing assembly work together to meet the challenges of complex agricultural environments. The sealing ring 8 is embedded in the outer groove of the docking frame 2, fitting tightly against the mounting interface of the chassis body 1 to prevent mud or plant debris from entering the mounting interface. If a small amount of mud or plant debris does enter, the guide channel 9 directs it to the drainage channel 16. The width of the guide channel 9 gradually decreases from the inlet to the outlet, while the drainage channel 16 has a trapezoidal cross-section and its width gradually increases from the inlet to the outlet. This structural design significantly accelerates the discharge of mud or plant debris. Furthermore, the inner wall of the drainage channel 16 is coated with a waterproof layer to further prevent liquid from seeping into the chassis body 1, thus protecting the chassis body 1 and its internal components from moisture erosion.

[0041] The shock-absorbing components play a crucial role in the module's operation. The buffer pad 10, made of high-density polyurethane material, possesses excellent elasticity and wear resistance, absorbing vibration energy when the module is subjected to impact, thus protecting the module and chassis body 1 from damage. The limiting post 11 penetrates the buffer pad 10 and contacts the bottom of the docking frame 2. Its spherical head at the top forms a point contact with the docking frame 2, reducing friction and limiting the docking frame 2 to prevent excessive horizontal displacement. This design ensures stable operation of the module in complex terrain.

[0042] When a functional module needs to be replaced, the operator pulls the unlocking lever 12, which drives the locking pin 5 out of the locking hole 7 via the drive linkage 13, thereby releasing the module from its locked state. A torsion spring is installed at the hinge point of the unlocking lever 12, automatically resetting it after unlocking to maintain its initial position for easy subsequent operation. After unlocking, the operator can easily remove the docking frame 2 and install the new functional module. The snap-fit ​​structure 18 further simplifies the installation process of the functional module; its beveled end facilitates quick insertion while ensuring the module does not loosen or fall off during operation.

[0043] A lubricating coating, made of graphite-based material, covers the inner wall of the rectangular groove 3, exhibiting a low coefficient of friction and excellent wear resistance. This coating reduces friction between the guide slider 4 and the rectangular groove 3, extending the mechanism's service life and improving the smoothness of module installation. This design lowers maintenance costs and ensures stable performance of the mechanism during long-term use.

[0044] In summary, the connections and coordination methods among the aforementioned components together constitute the complete technical solution of this invention. In practical applications, this quick-change mechanism significantly improves changeover efficiency and environmental adaptability by optimizing the connection structure design between the chassis and functional modules. The introduction of shock-absorbing and dustproof sealing components enhances the stability and reliability of the mechanism in complex terrain, while the module unlocking mechanism and module detection device further simplify the operation process and improve safety.

Claims

1. A quick-change mechanism for the chassis of a reconfigurable modular agricultural inspection robot, characterized in that, include: The chassis body (1) is provided with multiple rectangular grooves (3); The docking frame (2) has a raised structure at the bottom that matches the rectangular groove (3). Guide sliders (4) are provided on both sides of the raised structure. The guide sliders (4) contact the inner wall of the rectangular groove (3) through ball bearings. The self-locking fastening assembly includes a locking pin (5) and an elastic reset member (6). The locking pin (5) is located on the docking frame (2) and corresponds to the locking hole (7) on the chassis body (1). The elastic reset member (6) is used to push the locking pin (5) into the locking hole (7). The dustproof sealing assembly includes a sealing ring (8) and a guide groove (9). The sealing ring (8) is embedded in the outer edge of the docking frame (2), and the guide groove (9) is located inside the mounting interface of the chassis body (1).

2. The reconfigurable modular agricultural inspection robot chassis quick-change mechanism according to claim 1, characterized in that, It also includes a shock-absorbing buffer assembly, which includes a buffer pad (10) and a limiting post (11). The buffer pad (10) is located at the bottom of the mounting interface of the chassis body (1), and the limiting post (11) passes through the buffer pad (10) and contacts the bottom of the docking frame (2).

3. The reconfigurable modular agricultural inspection robot chassis quick-change mechanism according to claim 1, characterized in that, It also includes a module unlocking mechanism, which includes an unlocking rod (12) and a drive link (13). The unlocking rod (12) is connected to the chassis body (1) through a hinge point. One end of the drive link (13) is hinged to the unlocking rod (12), and the other end is connected to the locking pin (5).

4. The reconfigurable modular agricultural inspection robot chassis quick-change mechanism according to claim 1, characterized in that, The mounting interface of the chassis body (1) is provided with a positioning pin (14), and the bottom of the docking frame (2) is provided with a positioning hole (15) corresponding to the positioning pin (14).

5. The reconfigurable modular agricultural inspection robot chassis quick-change mechanism according to claim 1, characterized in that, It also includes a module detection device, which includes a pressure sensor and a signal processor. The pressure sensor is located at the bottom of the mounting interface of the chassis body (1), and the signal processor is electrically connected to the pressure sensor.

6. The reconfigurable modular agricultural inspection robot chassis quick-change mechanism according to claim 1, characterized in that, The bottom of the chassis body (1) is provided with a drainage channel (16), which is connected to the guide channel (9). The outlet of the drainage channel (16) is located on the side of the chassis body (1).

7. The reconfigurable modular agricultural inspection robot chassis quick-change mechanism according to claim 1, characterized in that, The top of the docking frame (2) is provided with a module interface (17), and the inner side of the module interface (17) is provided with a snap-fit ​​structure (18).

8. The reconfigurable modular agricultural inspection robot chassis quick-change mechanism according to claim 1, characterized in that, The mounting interface of the chassis body (1) is provided with a lubricating coating, which covers the inner wall of the rectangular groove (3).

9. The reconfigurable modular agricultural inspection robot chassis quick-change mechanism according to claim 3, characterized in that, A torsion spring is provided at the hinge point of the unlocking lever (12), which is used to automatically reset the unlocking lever (12) after unlocking is completed.

10. The reconfigurable modular agricultural inspection robot chassis quick-change mechanism according to claim 2, characterized in that, There are four limiting posts (11), which are evenly distributed around the buffer pad (10), and the top of the limiting posts (11) is provided with a spherical head.

Images