Agricultural greenhouse inspection robot

Abstract

The utility model discloses an agricultural greenhouse inspection robot which comprises a walking mechanism, a lifting mechanism, a box body and monitors, the walking mechanism is connected with the lifting mechanism through a steel wire rope, the lifting mechanism is installed on the box body, and the monitors are installed on the front portion and the rear portion of the box body. The inspection robot can inspect line by line according to the planting line spacing of crops, the robot can ascend and descend in a large range, the growth condition of the crops can be detected at a short distance, the problems of long inspection distance, low accuracy and the like in the prior art are solved, and the inspection robot is a key technology for short-distance detection of the greenhouse crops.

Description

Technical Field

[0001] The utility model relates to the technical field of agriculture, in particular to an agricultural greenhouse inspection robot. Background Art

[0002] With the rapid development of agricultural modernization, agricultural greenhouses have been widely used, especially in the winter in the north, where they are the main source of meeting people's needs for fruits and vegetables.

[0003] At present, the planting and management of crops in agricultural greenhouses are basically completed manually, such as daily crop growth monitoring, pest and disease monitoring, environmental monitoring, etc. Although automatic monitoring equipment has appeared, the monitoring quality and accuracy still need to be further improved. The patent with application number 202321397926.X invented a detection device for vegetable greenhouses. The device is installed on the roof of the greenhouse, and the guide rails are arranged along the length of the greenhouse. The detection box carries the sensor and moves along the guide rails to detect the growth of greenhouse vegetables. However, the device is installed on the roof and is far away from the vegetables. It is difficult to detect the local growth of vegetables or pests and diseases at close range, and there are problems such as poor detection quality and accuracy. Summary of the invention

[0004] The purpose of the utility model is to address the deficiencies of the above-mentioned technical methods and to provide an agricultural greenhouse inspection robot that can get close to crops, achieve close-range inspection, and obtain high-quality inspection results.

[0005] The technical solution adopted by the utility model to solve the technical problem is: an agricultural greenhouse inspection robot, including a walking mechanism, a lifting mechanism, a box and a monitor, characterized in that the wire rope fixing frame of the walking mechanism is fixedly connected with the wire rope of the lifting mechanism, the seat bearing I and the seat bearing II of the lifting mechanism are fixedly installed on the box, and the monitor is installed in front and rear of the box;

[0006] The walking wheel of the walking mechanism is installed on the walking wheel shaft, one end of the walking wheel shaft is fixedly installed in the walking wheel shaft installation hole of the walking mechanism bracket, the driving gear is fixedly installed on the output shaft of the walking motor, the walking motor is fixedly installed in the walking motor installation hole of the walking mechanism bracket, and a slewing bearing is fixedly installed at one end of the wire rope fixing frame, and the slewing bearing is installed in the slewing bearing installation hole of the walking mechanism bracket;

[0007] The running wheel has a groove structure in its outer contour, the shape of the groove is adapted to the shape of the guide rail, an inner gear ring is provided on one end face of the running wheel, and the running wheel mounting hole of the running wheel is a round hole;

[0008] The walking mechanism bracket is an "L"-shaped structure, with a walking wheel shaft mounting hole and a walking motor mounting hole at the long arm end, and a slewing bearing mounting hole at the short arm end;

[0009] The steel wire rope of the lifting mechanism is in an inverted "V" shape, the steel wire rope at the cross end of the "V" shape is fixed to the steel wire rope fixing frame of the walking mechanism, the steel wire rope at the open end of the "V" shape is wound on the drum, the drum is fixedly mounted on the drum shaft, the drum shaft is supported and mounted on the box body through a seat bearing I, the worm wheel is fixedly mounted on the drum shaft, the worm is supported and mounted on the box body through a seat bearing II, the worm wheel is meshed with the worm, the lifting motor is fixedly mounted on the box body through a lifting motor bracket, and the output shaft of the lifting motor is connected to the worm through a coupling.

[0010] The beneficial effects of the utility model are as follows: the utility model is an agricultural greenhouse inspection robot, the inspection robot can inspect row by row according to the planting ridge spacing of crops, and the inspection robot adopts a hoisting mechanism composed of a drum and a wire rope to drive the box to rise and fall over a large range, which can make the monitor as close to the crops as possible for detection, realize close-range detection of the growth of crops, and solve the problems of long inspection distance, poor quality, low accuracy, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 The present invention is a schematic diagram of the installation of an agricultural greenhouse inspection robot in an agricultural greenhouse.

[0012] Figure 2 It is a schematic diagram of an agricultural greenhouse inspection robot walking along a guide rail.

[0013] Figure 3 The present invention is a structural diagram of an agricultural greenhouse inspection robot.

[0014] Figure 4 The present invention is a structural diagram of the walking mechanism of an agricultural greenhouse inspection robot.

[0015] Figure 5 The present invention is a structural diagram of the walking wheels of an agricultural greenhouse inspection robot.

[0016] Figure 6 The present invention is a structural diagram of a walking mechanism support of an agricultural greenhouse inspection robot.

[0017] Figure 7 The present invention is a structural diagram of the lifting mechanism of an agricultural greenhouse inspection robot.

[0018] Figure 8 It is a schematic diagram of the wire rope of an agricultural greenhouse inspection robot.

[0019] In the figure, 1, agricultural greenhouse; 2, track system; 3, inspection robot; 2-1, guide rail bracket; 2-2, guide rail; 3-1, walking mechanism; 3-2, lifting mechanism; 3-3, box; 3-4, monitor; 3-1-1, walking wheel; 3-1-2, walking wheel shaft; 3-1-3, driving gear; 3-1-4, walking motor; 3-1-5, walking mechanism bracket; 3-1-6, slewing bearing; 3-1-7, wire rope fixing bracket; 3-2-1, wire rope; 3-2-2, worm gear; 3-2-3, drum shaft; 3-2-4, Roller; 3-2-5, bearing seat I; 3-2-6, worm; 3-2-7, bearing seat II; 3-2-8, coupling; 3-2-9, lifting motor bracket; 3-2-10, lifting motor; 3-1-1-1 groove structure; 3-1-1-2, inner gear ring; 3-1-1-3, travel wheel mounting hole; 3-1-5-1, travel wheel axle mounting hole; 3-1-5-2, travel motor mounting hole; 3-1-5-3, slewing bearing mounting hole; 3-2-1-1, "V" shaped cross end; 3-2-1-2, "V" shaped open end. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. In the description of the utility model, it should be noted that the terms "Ⅰ" and "Ⅱ" are only used to distinguish the various components and do not represent the front and back order. The orientation or position relationship indicated by the terms "upper", "lower", "front", "back", "two ends", "one end", "the other end" and the like are based on the orientation or position relationship shown in the drawings. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model. For ordinary technicians in this field, the specific meanings of the above terms in the utility model can be understood according to specific circumstances.

[0021] For specific embodiments, refer to the attached Figures 1 to 8 , an agricultural greenhouse inspection robot, comprising a walking mechanism 3-1, a lifting mechanism 3-2, a box 3-3 and a monitor 3-4, characterized in that the wire rope fixing frame 3-1-7 of the walking mechanism 3-1 is fixedly connected with the wire rope 3-2-1 of the lifting mechanism 3-2, the seat bearing I 3-2-5 and the seat bearing II 3-2-7 of the lifting mechanism 3-2 are fixedly installed on the box 3-3, the two walking mechanisms 3-1 and the two lifting mechanisms 3-2 respectively constitute two hanging arms, and the monitor 3-4 is installed in front and behind the box 3-3;

[0022] The walking wheel 3-1-1 of the walking mechanism 3-1 is installed on the walking wheel shaft 3-1-2, one end of the walking wheel shaft 3-1-2 is fixedly installed in the walking wheel shaft mounting hole 3-1-5-1 of the walking mechanism bracket 3-1-5, the driving gear 3-1-3 is fixedly installed on the output shaft of the walking motor 3-1-4, the walking motor 3-1-4 is fixedly installed in the walking motor mounting hole 3-1-5-2 of the walking mechanism bracket 3-1-5, and a slewing bearing 3-1-6 is fixedly installed at one end of the wire rope fixing frame 3-1-7, and the slewing bearing 3-1-6 is installed in the slewing bearing mounting hole 3-1-5-3 of the walking mechanism bracket 3-1-5;

[0023] The outer contour of the running wheel 3-1-1 is a groove structure 3-1-1-1, the shape of the groove is adapted to the shape of the guide rail of the track system 2, an inner gear ring 3-1-1-2 is provided on one end face of the running wheel 3-1-1, and the running wheel mounting hole 3-1-1-3 of the running wheel 3-1-1 is a round hole;

[0024] The walking mechanism bracket 3-1-5 is an "L"-shaped structure, with a walking wheel shaft mounting hole 3-1-5-1 and a walking motor mounting hole 3-1-5-2 at the long arm end, and a slewing bearing mounting hole 3-1-5-3 at the short arm end;

[0025] The steel wire rope 3-2-1 of the lifting mechanism 3-2 is in an inverted "V" shape, the "V"-shaped cross end 3-2-1-1 of the steel wire rope 3-2-1 is fixed to the steel wire rope fixing frame 3-1-7 of the walking mechanism 3-1, the "V"-shaped open end 3-2-1-2 of the steel wire rope 3-2-1 is wound on the drum 3-2-4, and the drum 3-2-4 is fixedly installed on the drum shaft 3-2-3, and the drum shaft 3-2-3 is connected to the drum shaft 3-2-3 through the seat bearing I 3-2 -5 support is installed on the box body 3-3, the worm wheel 3-2-2 is fixedly installed on the drum shaft 3-2-3, the worm 3-2-6 is supported and installed on the box body 3-3 through the seat bearing II, the worm wheel 3-2-2 is meshed with the worm 3-2-6, the lifting motor 3-2-10 is fixedly installed on the box body 3-3 through the lifting motor bracket 3-2-9, and the output shaft of the lifting motor 3-2-10 is connected to the worm 3-2-6 through the coupling 3-2-8.

[0026] Referring to all the attached drawings, the working process of an agricultural greenhouse inspection robot is:

[0027] The guide rails of the track system 2 are arranged along the direction of the crop rows. The travel motor 3-1-4 of the travel mechanism 3-1 rotates to drive the driving gear 3-1-3 to rotate, and the driving gear 3-1-3 is meshed with the inner gear ring 3-1-1-2 to drive the travel wheel 3-1-1 to rotate. When the travel wheels 3-1-1 of the two booms roll in the same direction along the guide rails of the track system 2 at the same time, the travel mechanism 3-1 drives the inspection robot 3 to move forward and backward along the guide rails of the track system 2, so that the inspection robot 3 can inspect the crops row by row in the agricultural greenhouse 1; the lifting motor 3-2-1 of the lifting mechanism 3-2 0 rotates, and drives the worm 3-2-6 to rotate through the coupling 3-2-8. The worm 3-2-6 meshes with the worm wheel 3-2-2, driving the worm wheel 3-2-2 to rotate, and drives the drum 3-2-4 to rotate through the drum shaft 3-2-3, so that the wire rope 3-2-1 is wound around the drum 3-2-4 or released from the drum 3-2-4. When the wire ropes 3-2-1 of the two booms are wound around the drum 3-2-4 or released from the drum 3-2-4 at the same time, the box 3-3 of the inspection robot 3 will rise and fall smoothly, thereby driving the monitor 4-4 to perform inspection operations along the height direction of the crops.

[0028] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An agricultural greenhouse inspection robot, comprising a walking mechanism, a lifting mechanism, a box and a monitor, characterized in that The wire rope fixing frame of the walking mechanism is fixedly connected with the wire rope of the lifting mechanism, the seat bearing I and the seat bearing II of the lifting mechanism are fixedly installed on the box body, and the monitor is installed in the front and rear of the box body.

2. The agricultural greenhouse inspection robot according to claim 1, characterized in that The walking wheel of the walking mechanism is installed on the walking wheel axle, one end of the walking wheel axle is fixedly installed in the walking wheel axle mounting hole of the walking mechanism bracket, the driving gear is fixedly installed on the output shaft of the walking motor, the walking motor is fixedly installed in the walking motor mounting hole of the walking mechanism bracket, a slewing bearing is fixedly installed at one end of the wire rope fixing frame, and the slewing bearing is installed in the slewing bearing mounting hole of the walking mechanism bracket; the walking wheel has a groove structure in the outer contour, the shape of the groove is adapted to the shape of the guide rail of the track system, an inner gear ring is provided on one side end face of the walking wheel, and the walking wheel mounting hole of the walking wheel is a round hole; the walking mechanism bracket is an "L"-shaped structure, the long arm end is provided with a walking wheel axle mounting hole and a walking motor mounting hole, and the short arm end is provided with a slewing bearing mounting hole.

3. The agricultural greenhouse inspection robot according to claim 2 is characterized in that The steel wire rope of the lifting mechanism is in an inverted "V" shape, the steel wire rope at the cross end of the "V" shape is fixed to the steel wire rope fixing frame of the walking mechanism, the steel wire rope at the open end of the "V" shape is wound on the drum, the drum is fixedly mounted on the drum shaft, the drum shaft is supported and mounted on the box body through a seat bearing I, the worm wheel is fixedly mounted on the drum shaft, the worm is supported and mounted on the box body through a seat bearing II, the worm wheel is meshed with the worm, the lifting motor is fixedly mounted on the box body through a lifting motor bracket, and the output shaft of the lifting motor is connected to the worm through a coupling.

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