Inspection robot for collecting forestry pest and disease information

Abstract

The utility model relates to the technical field of mechanical arms, and discloses an inspection robot for collecting forestry pest and disease information, which comprises a support plate, a first box body is fixedly mounted at the top of the support plate, a second box body is fixedly mounted at the top of the first box body, and a threaded sleeve is movably mounted in the second box body. Compared with the traditional inspection robot, the inspection robot disclosed by the utility model has the advantages that the gear-screw transmission is driven by the motor, so that the stable and accurate lifting of the working table top is realized, the adjusting range covers 0-1.5 m, and the inspection robot can flexibly adapt to different detection height requirements from young trees to mature trees; it is ensured that an acquisition mechanism at the tail end of the mechanical arm always keeps the optimal operation distance of 0.5-2 m from a target trunk / crown, and the accuracy of detection data is greatly improved; according to the innovative design that the first box body is embedded between the second box body and the threaded sleeve, continuous pre-tightening force is provided by utilizing structural rigidity, and a gap between gear meshing and threaded transmission is effectively eliminated.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, and more specifically, to an inspection robot used for collecting information on forestry pests and diseases. Background Art

[0002] An autonomous mobile work platform designed specifically for forestry environments, integrating a variable height support mechanism, an intelligent steady-state control system and a modular multi-sensor array; it achieves flexible movement in complex terrain through a wheeled / composite chassis, and is equipped with a robotic arm and a pan-tilt head that can actively adjust the height, breaking through the limitations of traditional fixed-height operations and dynamically adapting to the inspection needs of equipment in different forest layers; existing inspection robots mostly use a wheeled movable workbench to achieve fixed-point operation of the robotic arm, but its design has significant limitations: on the one hand, the robotic arm is limited by the fixed installation height, making it difficult to cover the full range when performing high-altitude equipment inspections, and although extending the arm length can expand the operating radius, the increased torque will cause the workbench to shake significantly during the swinging process, affecting operational accuracy and even causing safety hazards; on the other hand, the traditional workbench lacks active height adjustment capabilities, and can neither dynamically adjust the robotic arm's operating plane according to the inspection scene nor meet the cloud camera's viewing angle adaptation requirements for equipment at different heights, especially in complex spatial layout environments, where fixed-height cameras are prone to monitoring blind spots; therefore, linear movement is improved. Utility Model Content

[0003] In order to overcome the deficiencies of the prior art, the utility model provides an inspection robot for collecting information on forestry pests and diseases, which has the advantage of being easy to adjust the height of the robot arm.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a patrol robot for collecting information on forest pests and diseases, comprising a support plate, a first box body fixedly mounted on the top of the support plate, a second box body fixedly mounted on the top of the first box body, a threaded sleeve movably mounted inside the second box body, a screw rod threadedly sleeved on the internal thread of the threaded sleeve, and one end of the screw rod passes through the interior of the first box body, a driven gear is fixedly mounted on the screw rod, a motor is fixedly mounted on the top of the first box body, a driving gear is fixedly mounted on the output end of the motor, and the driving gear and the driven gear are engaged, a work surface is fixedly mounted on the top of the threaded sleeve, a three-axis robotic arm is fixedly mounted on the top of the work surface, and a collection mechanism is hinged at one end of the three-axis robotic arm.

[0005] As a preferred technical solution of the present invention, the acquisition mechanism is hinged at one end of the three-axis robotic arm, and the acquisition mechanism includes a fixed frame hinged at one end of the three-axis robotic arm, a mounting plate is movably installed inside the fixed frame, a cloud camera is fixedly installed on the top of the mounting plate, a third box is fixedly installed on the bottom of the fixed frame, a positioning hole is opened inside the mounting plate, a positioning block is movably installed inside the positioning hole, a pull rod is fixedly installed on the bottom of the positioning block, and one end of the pull rod passes through the interior of the third box, and a spring is fixedly installed between the positioning block and the third box.

[0006] As a preferred technical solution of the present invention, columns are fixedly installed around the bottom of the support plate, and universal wheels are hinged at the bottom of the columns.

[0007] As a preferred technical solution of the present invention, a push rod is fixedly installed on the right side of the support plate, and the push rod is L-shaped.

[0008] As a preferred technical solution of the present invention, a telescopic rod is fixedly installed between the support plate and the work surface, and the telescopic rod presents two shapes of the same size.

[0009] As a preferred technical solution of the present invention, a guide sleeve is fixedly installed on the top of the support plate, a guide rod is movably installed on the outer surface of the guide sleeve, and the top of the guide rod is fixedly connected to the bottom of the work surface.

[0010] As a preferred technical solution of the present invention, a handrail is fixedly installed on the front of the mounting plate, and the outer surface of the handrail is U-shaped.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0012] 1. Compared with traditional inspection robots, the utility model realizes smooth and precise lifting of the work surface through the motor-driven gear-screw transmission, with an adjustment range of 0-1.5 meters. It can flexibly adapt to different inspection height requirements from saplings to mature trees, ensuring that the collection mechanism at the end of the robotic arm always maintains an optimal operating distance of 0.5-2 meters with the target trunk / crown, greatly improving the accuracy of detection data; the innovative design of the first box body embedded between the second box body and the threaded sleeve uses structural rigidity to provide continuous pre-tightening force, effectively eliminating the gap between gear meshing and thread transmission, and eliminating jamming and shaking during the lifting process from the root, ensuring that the robotic arm can still operate stably in complex forest terrain; the overall structure of the system is compact, the transmission efficiency is high, and it has both reliability and easy maintenance, which significantly improves the automation level of forest pest inspection.

[0013] 2. Compared with traditional inspection robots, the utility model uses the armrest as the operating fulcrum and the design of working together with both hands, which not only ensures the stability during the installation process, but also reduces the difficulty of single-person operation, and greatly improves the installation efficiency; secondly, the linkage mechanism of the pull rod, spring, and positioning block realizes the quick unlocking and self-locking function. When the positioning block is retracted into the third box, it makes room for the mounting plate. After releasing it, the spring drives the positioning block to accurately embed into the positioning hole. The entire process does not require tool assistance, and the time for a single installation is shortened to - seconds; in addition, the dual positioning design of the positioning pin and the guide groove ensures that the mounting plate and the fixed frame are precisely aligned, and cooperates with the mechanical self-locking structure to effectively resist the vibration caused by the movement of the robotic arm or wind load in the forest area, and ensures the imaging stability of the cloud camera; finally, the modular design supports rapid replacement of sensors, which significantly improves the adaptability and maintenance convenience of the equipment in forestry pest monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the front three-dimensional appearance structure of the utility model;

[0015] Figure 2 This is a schematic diagram of the three-dimensional appearance structure of the utility model from a top view;

[0016] Figure 3 This is a schematic diagram of the cross-sectional structure of the screw of the utility model;

[0017] Figure 4 This is a schematic diagram of the explosion structure of the mounting plate of the utility model;

[0018] Figure 5 It is a schematic diagram of the partial cross-section structure of the fixing frame of the utility model.

[0019] In the figure: 1. Support plate; 2. Work surface; 3. Push rod; 4. Three-axis robotic arm; 5. First box; 6. Motor; 7. Guide sleeve; 8. Guide rod; 9. Fixed frame; 10. Mounting plate; 11. Handrail; 12. Cloud camera; 13. Third box; 14. Second box; 15. Drive gear; 16. Screw; 17. Telescopic rod; 18. Threaded sleeve; 19. Driven gear; 20. Column; 21. Universal wheel; 22. Positioning hole; 23. Positioning block; 24. Pull rod; 25. Spring. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] like Figures 1 to 5 As shown, the utility model provides an inspection robot for collecting information on forestry pests and diseases, including a support plate 1, a first box body 5 is fixedly installed on the top of the support plate 1, a second box body 14 is fixedly installed on the top of the first box body 5, a threaded sleeve 18 is movably installed inside the second box body 14, the internal thread of the threaded sleeve 18 is threadedly sleeved with a screw 16, and one end of the screw 16 passes through the interior of the first box body 5, a driven gear 19 is fixedly installed on the screw 16, a motor 6 is fixedly installed on the top of the first box body 5, a driving gear 15 is fixedly installed on the output end of the motor 6, and the driving gear 15 is meshed with the driven gear 19, a work table 2 is fixedly installed on the top of the threaded sleeve 18, a three-axis robotic arm 4 is fixedly installed on the top of the work table 2, and a collection mechanism is hinged at one end of the three-axis robotic arm 4.

[0022] The staff starts the motor 6 to drive the active driving gear 15 to rotate, driving the driven gear 19 and the screw 16 that are meshed with it to rotate synchronously; when the screw 16 rotates, the threaded sleeve 18 that is matched with its thread moves linearly along the axial direction under the guidance of the second box body 14, thereby pushing the top work table 2 to rise and fall. The work table 2 serves as the installation base of the three-axis robotic arm 4. Its height adjustment can adapt to the detection requirements of different tree heights, while ensuring that the collection mechanism at the end of the robotic arm maintains the optimal operating distance with the trunk / crown. The first box body 5 is embedded between the second box body 14 and the threaded sleeve 18, providing pre-tightening force to eliminate the transmission gap and ensure that the lifting process is smooth and without jamming.

[0023] After starting the motor 6, the driving gear 15 drives the meshing driven gear 19 and the screw 16 to rotate synchronously. When the screw 16 rotates, the threaded sleeve 18 matched with its thread moves axially in a straight line under the constraint of the guide structure of the second box body 14, thereby pushing the top work table 2 to rise and fall smoothly to adapt to the detection requirements of different tree heights, ensuring that the collection mechanism at the end of the robotic arm and the trunk / crown always maintain an optimal operating distance of 0.5-2 meters; the first box body 5 is embedded between the second box body 14 and the threaded sleeve 18, and provides pre-tightening force through structural rigidity, effectively eliminating the gap between gear meshing and thread transmission, and ensuring that the lifting process is free of jamming and vibration. Compared with traditional inspection robots, this inspection robot drives the gear-screw transmission through the motor 6. The work surface 2 can be raised and lowered smoothly and accurately, with an adjustment range of 0-1.5 meters. It can flexibly adapt to different inspection height requirements from saplings to mature trees, ensuring that the collection mechanism at the end of the robotic arm always maintains an optimal operating distance of 0.5-2 meters from the target trunk / crown, greatly improving the accuracy of the inspection data; the innovative design of the first box body 5 embedded between the second box body 14 and the threaded sleeve 18 uses structural rigidity to provide continuous preload, effectively eliminating the gap between gear meshing and thread transmission, and eliminating jamming and shaking during the lifting process from the root, ensuring that the robotic arm can still operate stably in complex forest terrain; the overall structure of the system is compact, the transmission efficiency is high, and it has both reliability and easy maintenance, which significantly improves the level of automation of forest pest inspections.

[0024] Among them, the acquisition mechanism is hinged at one end of the three-axis robotic arm 4, and the acquisition mechanism includes a fixed frame 9 hinged at one end of the three-axis robotic arm 4, and a mounting plate 10 is movably installed inside the fixed frame 9, and a cloud camera 12 is fixedly installed on the top of the mounting plate 10, and a third box body 13 is fixedly installed on the bottom of the fixed frame 9. A positioning hole 22 is opened inside the mounting plate 10, and a positioning block 23 is movably installed inside the positioning hole 22. A pull rod 24 is fixedly installed on the bottom of the positioning block 23, and one end of the pull rod 24 passes through the interior of the third box body 13, and a spring 25 is fixedly installed between the positioning block 23 and the third box body 13.

[0025] Before using the three-axis robotic arm 4, the staff needs to install the armrest 11 on the top of the fixed frame 9, hold the pull rod 24 by hand, pull the positioning block 23 downward through the pull rod 24, and squeeze the spring 25 inside the third box 13 through the positioning block 23, so that the positioning block 23 passes through the interior of the fixed frame 9 and enters the interior of the third box 13. Then, by holding the armrest 11, slowly insert the mounting plate 10 into the interior of the fixed frame 9, and move the cloud camera 12 synchronously through the mounting plate 10. When the mounting plate 10 completely enters the interior of the fixed frame 9, release the pull rod 24, and squeeze the positioning block 23 inside the third box 13 through the spring 25, so that the positioning block 23 passes through the interior of the fixed frame 9 and enters the interior of the positioning hole 22, thereby completing the installation of the cloud camera 12 at one end of the three-axis robotic arm 4.

[0026] First, firmly install the armrest 11 on the top of the fixed frame 9 as an operating fulcrum, then hold the pull rod 24 with one hand and apply force downward, the pull rod drives the positioning block 23 along the internal slide of the third box body 13 to compress the spring 25, so that the positioning block 23 is completely retracted into the third box body 13, making room for the insertion of the mounting plate 10, and the operator holds the armrest 11 with the other hand to keep the fixed frame 9 stable. At the same time, slowly push the mounting plate 10 carrying the cloud camera 12 into the fixed frame 9 along the guide groove to ensure that the mounting plate 10 is accurately aligned with the positioning pins of the fixed frame 9. When the mounting plate 10 is fully embedded, release the pull rod 24, and the compressed spring 25 immediately releases its elastic potential energy, pushing the positioning block 23 through the through hole of the fixed frame 9 and accurately embedded in the positioning hole 22 of the mounting plate 10, forming a mechanical self-locking. Compared with the traditional inspection robot, this inspection robot uses the armrest 11 as an operating fulcrum to The design of two-handed collaborative operation not only ensures stability during the installation process, but also reduces the difficulty of single-person operation, greatly improving the installation efficiency; secondly, the linkage mechanism of the pull rod 24, spring 25, and positioning block 23 realizes the quick unlocking and self-locking function. When the positioning block 23 is retracted into the third box 13, it makes room for the mounting plate 10. After loosening, the spring 25 drives the positioning block 23 to accurately embed into the positioning hole 22. The entire process does not require tool assistance, and the single installation time is shortened to 6-8 seconds; in addition, the dual positioning design of the positioning pin and the guide groove ensures that the mounting plate 10 is precisely aligned with the fixed frame 9, and cooperates with the mechanical self-locking structure to effectively resist the vibration caused by the movement of the robotic arm or wind load in the forest area, thereby ensuring the imaging stability of the cloud camera 12; finally, the modular design supports rapid replacement of sensors, which significantly improves the adaptability and maintenance convenience of the equipment in forest pest monitoring.

[0027] Among them, columns 20 are fixedly installed around the bottom of the support plate 1, and universal wheels 21 are hinged at the bottom of the columns 20.

[0028] Since the bottom of the support plate 1 is fixedly mounted with columns 20 around it, and the bottom of the columns 20 is fixedly mounted with universal wheels 21, the cooperation between the columns 20 and the universal wheels 21 facilitates the movement of the entire inspection robot.

[0029] A push rod 3 is fixedly mounted on the right side of the support plate 1 , and the push rod 3 is in an L-shape.

[0030] Since the push rod 3 is L-shaped and is located on the right side of the support plate 1, and the vertical section of the L-shaped push rod 3 can be used as a lever arm, the output force can be amplified by adjusting the ratio of the force arm length, so that when pushing the support plate 1, the vertical section of the L-shaped push rod serves as a power arm and the horizontal section serves as a resistance arm, which can easily push heavy objects.

[0031] A telescopic rod 17 is fixedly installed between the support plate 1 and the work surface 2 , and the telescopic rod 17 has two shapes of the same size.

[0032] Since the telescopic rod 17 presents two shapes of the same size on the support plate 1 and the work surface 2, it is convenient to provide stable support for the work surface 2, ensure the stability of the work surface 2 during the up and down movement, and improve the use efficiency of the work surface 2.

[0033] A guide sleeve 7 is fixedly mounted on the top of the support plate 1 , a guide rod 8 is movably mounted on the outer surface of the guide sleeve 7 , and the top of the guide rod 8 is fixedly connected to the bottom of the work surface 2 .

[0034] The guide rod 8 moves up and down inside the guide sleeve 7, thereby ensuring the stability of the work table 2 during the up and down movement, avoiding the work table 2 from shaking during the up and down movement, and improving the use efficiency of the work table 2.

[0035] A handrail 11 is fixedly mounted on the front of the mounting plate 10 , and the outer surface of the handrail 11 is U-shaped.

[0036] Since the outer surface of the armrest 11 is U-shaped on the mounting plate 10 and the U-shaped armrest 11 is ergonomic, it is convenient to hold the armrest 11 and slowly push the mounting plate 10 into the interior of the fixed frame 9, and install the fixed frame 9 through the mounting plate 10.

[0037] The working principle and use process of this utility model:

[0038] The staff starts the motor 6 to drive the active driving gear 15 to rotate, driving the driven gear 19 and the screw 16 that are meshed with it to rotate synchronously; when the screw 16 rotates, the threaded sleeve 18 that is matched with its thread moves linearly along the axial direction under the guidance of the second box body 14, thereby pushing the top work table 2 to rise and fall. The work table 2 serves as the installation base of the three-axis robotic arm 4. Its height adjustment can adapt to the detection requirements of different tree heights, while ensuring that the collection mechanism at the end of the robotic arm maintains the optimal operating distance with the trunk / crown. The first box body 5 is embedded between the second box body 14 and the threaded sleeve 18, providing pre-tightening force to eliminate the transmission gap and ensure that the lifting process is smooth and without jamming.

[0039] Before using the three-axis robotic arm 4, the staff needs to install the armrest 11 on the top of the fixed frame 9, hold the pull rod 24 by hand, pull the positioning block 23 downward through the pull rod 24, and squeeze the spring 25 inside the third box 13 through the positioning block 23, so that the positioning block 23 passes through the interior of the fixed frame 9 and enters the interior of the third box 13. Then, by holding the armrest 11, slowly insert the mounting plate 10 into the interior of the fixed frame 9, and move the cloud camera 12 synchronously through the mounting plate 10. When the mounting plate 10 completely enters the interior of the fixed frame 9, release the pull rod 24, and squeeze the positioning block 23 inside the third box 13 through the spring 25, so that the positioning block 23 passes through the interior of the fixed frame 9 and enters the interior of the positioning hole 22, thereby completing the installation of the cloud camera 12 at one end of the three-axis robotic arm 4.

[0040] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0041] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A patrol robot for collecting information on forest pests and diseases, comprising a support plate (1), characterized in that: A first box body (5) is fixedly mounted on the top of the support plate (1), a second box body (14) is fixedly mounted on the top of the first box body (5), a threaded sleeve (18) is movably mounted inside the second box body (14), a screw rod (16) is threadedly sleeved on the inside of the threaded sleeve (18), and one end of the screw rod (16) passes through the interior of the first box body (5), a driven gear (19) is fixedly mounted on the screw rod (16), a motor (6) is fixedly mounted on the top of the first box body (5), a driving gear (15) is fixedly mounted on the output end of the motor (6), and the driving gear (15) is meshed with the driven gear (19), a work surface (2) is fixedly mounted on the top of the threaded sleeve (18), a three-axis robotic arm (4) is fixedly mounted on the top of the work surface (2), and a collection mechanism is hinged on one end of the three-axis robotic arm (4).

2. The inspection robot for collecting forestry pest information according to claim 1, characterized in that: The acquisition mechanism is hinged at one end of the three-axis robotic arm (4), and the acquisition mechanism includes a fixed frame (9) hinged at one end of the three-axis robotic arm (4), a mounting plate (10) is movably installed inside the fixed frame (9), a cloud camera (12) is fixedly installed on the top of the mounting plate (10), a third box (13) is fixedly installed on the bottom of the fixed frame (9), a positioning hole (22) is opened inside the mounting plate (10), a positioning block (23) is movably installed inside the positioning hole (22), a pull rod (24) is fixedly installed on the bottom of the positioning block (23), and one end of the pull rod (24) passes through the inside of the third box (13), and a spring (25) is fixedly installed between the positioning block (23) and the third box (13).

3. The inspection robot for collecting forestry pest information according to claim 1, characterized in that: Columns (20) are fixedly installed around the bottom of the support plate (1), and universal wheels (21) are hinged at the bottom of the columns (20).

4. The inspection robot for collecting forestry pest information according to claim 1, characterized in that: A push rod (3) is fixedly mounted on the right side of the support plate (1), and the push rod (3) is in an L-shaped shape.

5. The inspection robot for collecting forestry pest information according to claim 1, characterized in that: A telescopic rod (17) is fixedly installed between the support plate (1) and the work surface (2), and the telescopic rod (17) presents two shapes of the same size.

6. The inspection robot for collecting forestry pest information according to claim 1, characterized in that: A guide sleeve (7) is fixedly mounted on the top of the support plate (1), a guide rod (8) is movably mounted on the outer surface of the guide sleeve (7), and the top of the guide rod (8) is fixedly connected to the bottom of the work surface (2).

7. The inspection robot for collecting forestry pest information according to claim 2, characterized in that: A handrail (11) is fixedly mounted on the front of the mounting plate (10), and the outer surface of the handrail (11) is in a U-shape.

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