CN112677132B - Automatic detection robot for farm crop medicines - Google Patents
Automatic detection robot for farm crop medicines Download PDFInfo
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- CN112677132B CN112677132B CN202011526126.4A CN202011526126A CN112677132B CN 112677132 B CN112677132 B CN 112677132B CN 202011526126 A CN202011526126 A CN 202011526126A CN 112677132 B CN112677132 B CN 112677132B
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- 238000001514 detection method Methods 0.000 title claims abstract description 35
- 239000003814 drug Substances 0.000 title claims abstract description 15
- 229940079593 drug Drugs 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 44
- 230000005540 biological transmission Effects 0.000 claims abstract description 38
- 230000008878 coupling Effects 0.000 claims description 14
- 238000010168 coupling process Methods 0.000 claims description 14
- 238000005859 coupling reaction Methods 0.000 claims description 14
- 244000309464 bull Species 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 13
- 238000005070 sampling Methods 0.000 abstract description 4
- 239000002689 soil Substances 0.000 abstract description 4
- 238000004146 energy storage Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003255 drug test Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The invention discloses an automatic detection robot for farm crop drugs, which comprises a moving mechanism, a grabbing mechanism and a transportation detection mechanism, wherein the moving mechanism adopts solar energy as a driving force source and is provided with a reusable energy storage battery, a moving wheel is designed into a multi-tooth structure in consideration of the changeable soil environment of a farm, and the gripping mechanism is arranged in a staggered way to ensure good passing performance, and simultaneously adopts a transmission mode of a motor and a chain to ensure large moment required by movement to adapt to various soils, the main shaft of the gripping mechanism rotates 360 degrees in all directions, can extend and rotate in all directions and adjust the height and direction to meet the requirement of collecting and detecting samples, the mechanical hand handle is designed to be adjustable, according to the size of sampling sample can nimble adjustment, the commonality is stronger, carries detection mechanism to pass through gear drive, and accurate control ensures that sample collection back goes into the accurate location in the detecting instrument. The invention can fully automatically complete the detection work of farm crop medicines and has universality.
Description
Technical Field
The invention relates to the technical field of agricultural product drug detection, in particular to an automatic detection robot for farm crop drugs.
Background
China agricultural and sideline products are abundant in resources, and various in types, the output of the agricultural and sideline products is the top of the world for many years, along with the development of large-scale agriculture in recent years, a large amount of agricultural and sideline products can use a large amount of pesticides to improve the quality and the output of the products in the planting process, the medicine residues caused by illegal or excessive use can indirectly cause harm to human health through the effect of the environment and the food chain, the medicine detection is carried out on the agricultural and sideline products, then the important step for paying attention to the health and safety of food is carried out, the products of the current medicine detection are more and more, the sampling is mostly carried out in a laboratory after being adopted, the specimen has the risk of being secondarily polluted in the sampling transportation process, and a large amount of manpower and material resources can be consumed in the sampling transportation process, such as application number: CN201821582765.0 discloses a drug testing device, but the device can only be used in a laboratory environment.
Disclosure of Invention
To the technical problem, the automatic detection robot for the farm crop medicines comprises a moving mechanism, a grabbing mechanism and a transportation detection mechanism.
The moving mechanism includes: the device comprises a mobile driving main motor, a motor fixing plate, an auxiliary motor driven gear II, an auxiliary motor driven gear III, a reversing driving gear, a main motor driven gear II and a driven wheel; snatch the mechanism and include: the grabbing device comprises a grabbing driving motor, a grabbing rotary main gear, a grabbing rotary large gear, a primary rotary arm, a rotary fixed shaft, a guide sliding block and a manipulator; transportation detection mechanism includes: conveyer belt tensioning axle, conveyer belt rotation motor and conveyer belt drive shaft, vice belt pulley, detecting instrument, conveyer belt. The movable driving main motor is fixedly arranged on a motor fixing plate, the motor fixing plate is fixedly arranged on a rack, a secondary motor driven gear II is fixedly arranged on a secondary motor driven gear I, a secondary motor driven gear III is rotatably arranged on a movable wheel fixing frame, a reversing driving gear is rotatably arranged on the movable wheel fixing frame, a main motor driven gear II is fixedly arranged on a main motor driven gear III, a driven wheel is rotatably arranged between the movable wheel fixing frame and the rack, a grabbing driving motor is fixedly arranged on the fixing plate, a grabbing rotary main gear is fixedly arranged on the grabbing driving motor, a grabbing rotary large gear is rotatably arranged on the fixing plate, a first-level rotary arm is rotatably arranged between a second-level rotary shaft and a second-level rotary arm, a rotary fixing shaft is rotatably arranged on a third-level rotary shaft, a guide sliding block is slidably arranged on a guide sliding rail, and a manipulator is rotatably arranged on a manipulator rotary shaft, the conveyer belt tensioning axle rotates and installs in the frame, and the conveyer belt rotates motor fixed mounting in the frame, and the conveyer belt drive shaft rotates and installs in the frame, and vice belt pulley rotates and installs on the conveyer belt transmission shaft, and detecting instrument fixed mounting is on the conveyer belt, and the conveyer belt rotates and installs on conveyer belt tensioning axle and conveyer belt drive shaft and conveyer belt back shaft and conveyer belt transmission shaft.
Further, the moving mechanism also comprises a moving driving auxiliary motor, an auxiliary motor driven gear I, an auxiliary motor driving gear II, a main motor driving gear I, a main motor driving gear II, a main motor driven gear I, a main motor driven gear II, a main motor driven gear III, a moving wheel fixing frame, a storage battery, a solar panel, a driving wheel and a gear limiting block, wherein the moving driving auxiliary motor is fixedly arranged on the rack, the auxiliary motor driven gear I is rotatably arranged on the rack, the auxiliary motor driving gear I is fixedly arranged on the auxiliary motor driving gear II, the main motor driving gear I is fixedly arranged on the main motor driving gear II, the main motor driven gear I is rotatably arranged on the rack, the main motor driven gear II is fixedly arranged on the main motor driven gear III, the moving wheel fixing frame is fixedly arranged on the rack, the storage battery is fixedly arranged at the bottom of the rack, solar panel fixed mounting is at the frame top, and the action wheel rotates to be installed on removing the wheel mount, and gear stopper fixed mounting is in the frame.
Further, the grabbing mechanism also comprises a grabbing rotary pinion, a fixed plate, a first-stage rotary shaft, a second-stage rotary arm, a third-stage rotary shaft, a grabbing fixed plate, a guide sliding rail, a bearing seat, a manipulator rotary coupling, a manipulator rotary motor, a lead screw, a manipulator rotary shaft, a translation coupling and a translation driving motor, wherein the grabbing rotary pinion is rotatably installed on the fixed plate, the fixed plate is fixedly installed on the frame, the first-stage rotary shaft is fixedly installed on a grabbing rotary big gear, the second-stage rotary shaft is rotatably installed between the first-stage rotary shaft and the first-stage rotary arm, the second-stage rotary arm is rotatably installed between the first-stage rotary arm and the third-stage rotary shaft, the third-stage rotary shaft is rotatably installed on the second-stage rotary arm, the grabbing fixed plate is fixedly installed at the bottom of the rotary fixed shaft, the guide sliding rail is fixedly installed at the bottom of the grabbing fixed plate, the bearing seat is fixedly installed on the guide sliding block, the manipulator rotating shaft coupling is rotatably installed between the manipulator rotating motor and the manipulator rotating shaft, the lead screw is rotatably installed on the bearing seat, the manipulator rotating shaft is rotatably installed on the guide sliding block, the translation shaft coupling is fixedly installed on the translation driving motor, and the translation driving motor is fixedly installed at the bottom of the grabbing fixed plate.
Further, the transportation detection mechanism still includes the conveyer belt and rotates the master gear, the conveyer belt rotates from the gear, drive pulley, driven pulley, the conveyer belt back shaft, the conveyer belt transmission shaft, driving belt, belt drive gear, belt drive pinion, the conveyer belt rotates master gear fixed mounting and rotates on the motor at the conveyer belt, the conveyer belt rotates from gear revolve and installs in the frame, drive pulley rotates and installs on the conveyer belt rotates from the gear, driven pulley fixed mounting is on the conveyer belt back shaft, the conveyer belt back shaft rotates and installs in the frame, the conveyer belt transmission shaft rotates and installs in the frame, driving belt rotates and installs on drive pulley and driven pulley and secondary pulley, belt drive gear rotates and installs in the frame.
Furthermore, a secondary motor driving gear II is fixedly installed on the movable driving secondary motor, a secondary motor driven gear I is rotatably installed on the rack, a secondary motor driven gear II is fixedly installed on the secondary motor driven gear I, a main motor driving gear II is fixedly installed on the movable driving main motor, a main motor driven gear III is rotatably installed on the rack, a main motor driven gear II is fixedly installed on the main motor driven gear III, and a main motor driven gear I is rotatably installed on the rack.
Further, it installs on the fixed plate to snatch the rotation gear wheel rotation, and the one-level rotation axis rotates and installs on snatching the rotation gear wheel, and the second grade rotation axis rotates and installs on the one-level rotation axis, and the one-level swinging boom rotates and installs on the second grade rotation axis, and the second grade swinging boom rotates and installs on the one-level swinging boom, and the rotation of tertiary rotation axis is installed on the second grade swinging boom, and rotatory fixed axle rotates and installs on the tertiary rotation axis.
Further, direction slide rail fixed mounting snatchs the fixed plate bottom, and direction slider slidable mounting is on the direction slide rail, and bearing frame fixed mounting is on the direction slider, and the manipulator rotation axis rotates and installs on the direction slider, and manipulator fixed mounting is on the manipulator rotation axis, and the lead screw rotates and installs on the bearing frame, and translation driving motor fixed mounting snatchs the fixed plate bottom.
Further, the conveying belt rotating main gear is fixedly arranged on the conveying belt rotating motor, the driving belt pulley is fixedly arranged on the conveying belt driving shaft, the conveying belt rotating driven gear is fixedly arranged on the rack, and the driven belt pulley is fixedly arranged on the conveying belt supporting shaft; the auxiliary belt pulley is fixedly arranged on the transmission shaft of the conveying belt.
Compared with the prior art, the invention has the beneficial effects that: the invention realizes that the collection and detection are directly finished in the farmland, improves the detection efficiency and avoids the hidden danger that the specimen is secondarily polluted in the traditional detection and transportation process; the invention realizes the full automation of the collection of the detection samples, and can automatically collect the samples with various heights, sizes and appearances by the matching of the mechanical arm and the bionic mechanical arm; the invention realizes the universality under various farmland soil environments, and the robot can freely move under various soil qualities.
Drawings
Fig. 1 is a schematic view of the overall structure of the invention.
Fig. 2 is a partial structure diagram of the moving mechanism of the invention.
Fig. 3 is a partial structure diagram of the moving mechanism of the invention.
Fig. 4 is a partial structural schematic diagram of the gripping mechanism of the invention.
Fig. 5 is a partial structural schematic diagram of the gripping mechanism of the invention.
Fig. 6 is a partial structural schematic diagram of the gripping mechanism of the invention.
Fig. 7 is a schematic view of the inventive transport detection mechanism.
Fig. 8 is a partial structural schematic view of the transportation detection mechanism of the invention.
Reference numerals: 1-a moving mechanism; 2-a gripping mechanism; 3-a transport detection mechanism; 101-moving the driving main motor; 102-moving the driving sub motor; 103-motor fixing plate; 104-auxiliary motor driven gear I; 105-secondary motor driven gear two; 106-auxiliary motor driven gear three; 107-a first driving gear of a secondary motor; 108-a second driving gear of the auxiliary motor; 109-a primary motor drive gear one; 110-a reversing drive gear; 111-driving gear two of main motor; 112-a primary motor driven gear one; 113-main motor driven gear two; 114-main motor driven gear three; 115-a driven wheel; 116-moving wheel holders; 117-a battery; 118-a solar panel; 119-driving wheel; 120-gear stop blocks; 201-a grabbing driving motor; 202-grabbing a rotating master gear; 203-grabbing a rotating pinion; 204-a fixed plate; 205-grabbing a rotating gearwheel; 206-primary axis of rotation; 207-secondary axis of rotation; 208-a primary rotating arm; 209-secondary rotating arm; 210-a tertiary axis of rotation; 211-rotating fixed shaft; 212-grasping the fixation plate; 213-a guide rail; 214-a guide slide; 215-bearing seat; 216-a robot arm; 217-manipulator rotation coupling; 218-robot rotating motor; 219-screw rod; 220-robot rotation axis; 221-translation coupling; 222-a translation drive motor; 301-conveyor belt tensioning shaft; 302-conveyor belt rotating master gear; 303-conveyor belt rotating motor; 304-belt rotating slave gear; 305-a drive pulley; 306-conveyor belt drive shaft; 307-a driven pulley; 308-secondary pulley; 309-conveyor belt support shaft; 310-conveyor belt drive shaft; 311-a detection instrument; 312-a conveyor belt; 313-a drive belt; 314-belt drive gear; 315-Belt driven pinion.
Detailed Description
The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.
Example (b): as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7 and fig. 8, the automatic detection robot for agricultural crop drugs comprises a moving mechanism 1, a grabbing mechanism 2 and a transportation detection mechanism 3.
The moving mechanism 1 includes: the device comprises a mobile driving main motor 101, a motor fixing plate 103, a secondary motor driven gear II 105, a secondary motor driven gear III 106, a reversing driving gear 110, a main motor driven gear II 113 and a driven gear 115; the grasping mechanism 2 includes: a grabbing driving motor 201, a grabbing rotary main gear 202, a grabbing rotary large gear 205, a primary rotary arm 208, a rotary fixed shaft 211, a guide sliding block 214 and a mechanical arm 216; the conveyance detection mechanism 3 includes: a conveying belt tensioning shaft 301, a conveying belt rotating motor 303, a conveying belt driving shaft 306, an auxiliary belt pulley 308, a detection instrument 311 and a conveying belt 312; the movable driving main motor 101 is fixedly arranged on a motor fixing plate 103, the motor fixing plate 103 is fixedly arranged on a rack, a secondary motor driven gear II 105 is fixedly arranged on a secondary motor driven gear I104, a secondary motor driven gear III 106 is rotatably arranged on a movable wheel fixing frame 116, a reversing driving gear 110 is rotatably arranged on the movable wheel fixing frame 116, a main motor driven gear II 113 is fixedly arranged on a main motor driven gear III 114, a driven wheel 115 is rotatably arranged between the movable wheel fixing frame 116 and the rack, a grabbing driving motor 201 is fixedly arranged on a fixing plate 204, a grabbing rotary main gear 202 is fixedly arranged on the grabbing driving motor 201, a grabbing rotary large gear 205 is rotatably arranged on the fixing plate 204, a primary rotary arm 208 is rotatably arranged between a secondary rotary shaft 207 and a secondary rotary arm 209, a driving motor is arranged inside the secondary rotary shaft 207 to drive the primary rotary arm 208 to rotate, the rotary fixing shaft 211 is rotatably mounted on the third-stage rotary shaft 210, a rotary driving motor is arranged in the third-stage rotary shaft 210, the rotary driving shaft 211 rotates axially, the guide slider 214 is slidably mounted on the guide slide rail 213 and moves linearly, the manipulator 216 is rotatably mounted on the manipulator rotary shaft 220, the manipulator 216 rotates under the driving of the manipulator rotary motor 218, the conveyer belt tensioning shaft 301 is rotatably mounted on the rack, the conveyer belt rotary motor 303 is fixedly mounted on the rack, the conveyer belt driving shaft 306 is rotatably mounted on the rack, the secondary belt pulley 308 is rotatably mounted on the conveyer belt driving shaft 310, the detecting instrument 311 is fixedly mounted on the conveyer belt 312, the conveyer belt 312 is rotatably mounted on the conveyer belt tensioning shaft 301, the conveyer belt driving shaft 306, the conveyer belt 309 and the conveyer belt driving shaft 310, the manipulator rotary shaft 218 rotates the manipulator rotary shaft 220, thereby driving the robot 216 to rotate.
The moving mechanism 1 further comprises a moving driving auxiliary motor 102, an auxiliary motor driven gear 104, an auxiliary motor driving gear 107, an auxiliary motor driving gear 108, a main motor driving gear 109, a main motor driving gear 111, a main motor driven gear 112, a main motor driven gear 113, a main motor driven gear 114, a moving wheel fixing frame 116, a storage battery 117, a solar panel 118, a driving wheel 119 and a gear limiting block 120, wherein the moving driving auxiliary motor 102 is fixedly arranged on the rack, the auxiliary motor driven gear 104 is rotatably arranged on the rack, the auxiliary motor driving gear 107 is fixedly arranged on the auxiliary motor driving gear 108, the main motor driving gear 109 is fixedly arranged on the main motor driving gear 111, the main motor driven gear 112 is rotatably arranged on the rack, the main motor driven gear 113 is fixedly arranged on the main motor driven gear 114, and the moving wheel fixing frame 116 is fixedly arranged on the rack, the storage battery 117 is fixedly installed at the bottom of the rack, the solar panel 118 is fixedly installed at the top of the rack, the driving wheel 119 is rotatably installed on the movable wheel fixing frame 116, the gear limiting block 120 is fixedly installed on the rack, the second driving gear 108 of the auxiliary motor is in rotary motion, the first driven gear 104 of the auxiliary motor is driven to be in rotary motion through gear meshing transmission, the second driven gear 105 of the auxiliary motor is driven to be in synchronous rotary motion, and the third driven gear 106 of the auxiliary motor is driven to be in rotary motion through meshing between gears.
The grabbing mechanism 2 further comprises a grabbing rotary pinion 203, a fixed plate 204, a first-stage rotary shaft 206, a second-stage rotary shaft 207, a second-stage rotary arm 209, a third-stage rotary shaft 210, a grabbing fixed plate 212, a guide slide rail 213, a bearing seat 215, a manipulator rotary coupling 217, a manipulator rotary motor 218, a screw rod 219, a manipulator rotary shaft 220, a translation coupling 221 and a translation driving motor 222, wherein the grabbing rotary pinion 203 is rotatably arranged on the fixed plate 204, the fixed plate 204 is fixedly arranged on the rack, the first-stage rotary shaft 206 is fixedly arranged on the grabbing rotary bull gear 205, the second-stage rotary shaft 207 is rotatably arranged between the first-stage rotary shaft 206 and the first-stage rotary arm 208, the second-stage rotary arm 209 is rotatably arranged between the first-stage rotary arm 208 and the third-stage rotary shaft 210, the third-stage rotary shaft 210 is rotatably arranged on the second-stage rotary arm 209, the grabbing fixed plate 212 is fixedly arranged at the bottom of the rotary fixed shaft 211, the guide slide rail 213 is fixedly installed at the bottom of the grabbing fixed plate 212, the bearing seat 215 is fixedly installed on the guide slider 214, the manipulator rotary coupling 217 is rotatably installed between the manipulator rotary motor 218 and the manipulator rotary shaft 220, the lead screw 219 is rotatably installed on the bearing seat 215, the manipulator rotary shaft 220 is rotatably installed on the guide slider 214, the translation coupling 221 is fixedly installed on the translation driving motor 222, the translation driving motor 222 is fixedly installed at the bottom of the grabbing fixed plate 212, the grabbing driving motor 201 drives the grabbing rotary main gear 202 to rotate, the grabbing rotary pinion 203 is driven to rotate through gear meshing transmission, the grabbing rotary large gear 205 is driven to rotate, and the primary rotary shaft 206 and the grabbing rotary large gear 205 are driven to synchronously rotate in a circular manner.
The transportation detection mechanism 3 further comprises a conveying belt rotating main gear 302, a conveying belt rotating slave gear 304, a driving pulley 305, a driven pulley 307, a conveying belt supporting shaft 309, a conveying belt transmission shaft 310, a transmission belt 313, a belt transmission gear 314 and a belt transmission slave gear 315, wherein the conveying belt rotating main gear 302 is fixedly arranged on the conveying belt rotating motor 303, the conveying belt rotating slave gear 304 is rotatably arranged on the rack, the driving pulley 305 is rotatably arranged on the conveying belt rotating slave gear 304, the driven pulley 307 is fixedly arranged on the conveying belt supporting shaft 309, the conveying belt supporting shaft 309 is rotatably arranged on the rack, the conveying belt transmission shaft 310 is rotatably arranged on the rack, the transmission belt 313 is rotatably arranged on the driving pulley 305, the driven pulley 307 and the slave pulley 308, the belt transmission gear 314 is rotatably arranged on the rack, the conveying belt rotating motor 303 rotates to drive the conveying belt rotating main gear 302 to rotate, the transmission belt is driven to rotate by the gear 304 through gear engagement, the driving pulley 305 is driven to synchronously rotate, and the transmission belt supporting shaft 309 is driven to rotate by the driving pulley 305.
A secondary motor driving gear II 108 is fixedly arranged on the movable driving secondary motor 102, a secondary motor driven gear I104 is rotatably arranged on the frame, a secondary motor driven gear II 105 is fixedly arranged on a secondary motor driven gear I104, a main motor driving gear II 111 is fixedly arranged on the movable driving main motor 101, a main motor driven gear III 114 is rotatably arranged on the frame, a main motor driven gear II 113 is fixedly arranged on a main motor driven gear III 114, a main motor driven gear I112 is rotatably arranged on the frame, the movable driving main motor 101 rotates to drive the main motor driving gear II 111 to rotate, the third driven gear 114 of the main motor is driven to rotate through gear transmission, the first driven gear 112 of the main motor rotates to drive the reversing driving gear 110 to rotate, the direction of movement of the robot is achieved by controlling the direction of rotation of the reversing drive gear 110 by moving the main drive motor 101 forward and backward.
Snatch rotatory gear wheel 205 and rotate and install on fixed plate 204, one-level rotation axis 206 rotates and installs on snatching rotatory gear wheel 205, second grade rotation axis 207 rotates and installs on one-level rotation axis 206, one-level swinging boom 208 rotates and installs on second grade rotation axis 207, second grade swinging boom 209 rotates and installs on one-level swinging boom 208, tertiary rotation axis 210 rotates and installs on second grade swinging boom 209, rotatory fixed axle 211 rotates and installs on tertiary rotation axis 210, 207 internally mounted has drive rotating motor, it is rotary motion to drive one-level swinging boom 208 through the motor rotation, there is the rotary motion motor inside second grade swinging boom 209, drive second grade swinging boom 209 and do rotary motion, there is the rotary drive motor inside tertiary rotation axis 210, drive tertiary rotation axis 210 and rotatory fixed axle 211 and do rotary motion.
The guide slide rail 213 is fixedly installed at the bottom of the grabbing fixing plate 212, the guide slide block 214 is slidably installed on the guide slide rail 213, the bearing seat 215 is fixedly installed on the guide slide block 214, the manipulator rotating shaft 220 is rotatably installed on the guide slide block 214, the manipulator 216 is fixedly installed on the manipulator rotating shaft 220, the screw rod 219 is rotatably installed on the bearing seat 215, the translation driving motor 222 is fixedly installed at the bottom of the grabbing fixing plate 212, the manipulator rotating motor 218 performs a rotating motion, and the manipulator rotating shaft 220 performs a rotating motion to drive the manipulator 216 to perform a rotating motion by taking the manipulator rotating shaft 220 as a circle center under the transmission of the manipulator rotating coupler 217.
The belt-rotating main gear 302 is fixedly mounted on the belt-rotating motor 303, the drive pulley 305 is fixedly mounted on the belt-driving shaft 306, the belt-rotating driven gear 304 is fixedly mounted on the frame, and the driven pulley 307 is fixedly mounted on the belt-supporting shaft 309. The secondary belt pulley 308 is fixedly installed on the transmission shaft 310 of the transmission belt, the transmission belt rotating motor 303 rotates to drive the transmission belt rotating main gear 302 to rotate, the transmission belt is driven by the gear to rotate from the gear 304 to rotate, the driving belt pulley 305 is synchronously driven to rotate, and the transmission belt support shaft 309 and the transmission shaft 310 of the transmission belt are driven to rotate under the action of the transmission belt 313.
Claims (4)
1. The utility model provides a farmland crops medicine automated inspection robot, includes moving mechanism (1), snatchs mechanism (2), transportation detection mechanism (3), its characterized in that:
the moving mechanism (1) comprises: the motor comprises a mobile driving main motor (101), a motor fixing plate (103), a secondary motor driven gear II (105), a secondary motor driven gear III (106), a reversing driving gear (110), a main motor driven gear II (113) and a driven wheel (115);
the grabbing mechanism (2) comprises: a grabbing driving motor (201), a grabbing rotary main gear (202), a grabbing rotary large gear (205), a primary rotary arm (208), a rotary fixed shaft (211), a guide sliding block (214) and a manipulator (216);
the transportation detection mechanism (3) comprises: a conveyor belt tensioning shaft (301), a conveyor belt rotating motor (303), a conveyor belt driving shaft (306), an auxiliary belt pulley (308), a detection instrument (311) and a conveyor belt (312);
the movable driving main motor (101) is fixedly arranged on a motor fixing plate (103), the motor fixing plate (103) is fixedly arranged on a rack, a secondary motor driven gear II (105) is fixedly arranged on a secondary motor driven gear I (104), a secondary motor driven gear III (106) is rotatably arranged on a movable wheel fixing frame (116), a reversing driving gear (110) is rotatably arranged on the movable wheel fixing frame (116), a main motor driven gear II (113) is fixedly arranged on a main motor driven gear III (114), a driven wheel (115) is rotatably arranged between the movable wheel fixing frame (116) and the rack, a grabbing driving motor (201) is fixedly arranged on a fixing plate (204), a grabbing rotary main gear (202) is fixedly arranged on a grabbing driving motor (201), a grabbing rotary gear wheel (205) is rotatably arranged on the fixing plate (204), a first-stage rotary arm (208) is rotatably arranged between a second-stage rotary shaft (207) and a second-stage rotary arm (209), the rotary fixing shaft (211) is rotatably arranged on the three-stage rotating shaft (210), the guide sliding block (214) is slidably arranged on the guide sliding rail (213), the manipulator (216) is rotatably arranged on the manipulator rotating shaft (220), the conveying belt tensioning shaft (301) is rotatably arranged on the rack, the conveying belt rotating motor (303) is fixedly arranged on the rack, the conveying belt driving shaft (306) is rotatably arranged on the rack, the auxiliary belt pulley (308) is rotatably arranged on the conveying belt transmission shaft (310), the detection instrument (311) is fixedly arranged on the conveying belt (312), and the conveying belt (312) is rotatably arranged on the conveying belt tensioning shaft (301), the conveying belt driving shaft (306), the conveying belt support shaft (309) and the conveying belt transmission shaft (310);
the moving mechanism (1) further comprises a moving driving auxiliary motor (102), an auxiliary motor driven gear I (104), an auxiliary motor driving gear I (107), an auxiliary motor driving gear II (108), a main motor driving gear I (109), a main motor driving gear II (111), a main motor driven gear I (112), a main motor driven gear II (113), a main motor driven gear III (114), a moving wheel fixing frame (116), a storage battery (117), a solar panel (118), a driving wheel (119) and a gear limiting block (120), wherein the moving driving auxiliary motor (102) is fixedly arranged on the rack, the auxiliary motor driven gear I (104) is rotatably arranged on the rack, the auxiliary motor driving gear I (107) is fixedly arranged on the auxiliary motor driving gear II (108), the main motor driving gear I (109) is fixedly arranged on the main motor driving gear II (111), and the main motor driven gear I (112) is rotatably arranged on the rack, a second main motor driven gear (113) is fixedly arranged on a third main motor driven gear (114), a moving wheel fixing frame (116) is fixedly arranged on the rack, a storage battery (117) is fixedly arranged at the bottom of the rack, a solar panel (118) is fixedly arranged at the top of the rack, a driving wheel (119) is rotatably arranged on the moving wheel fixing frame (116), and a gear limiting block (120) is fixedly arranged on the rack;
a secondary motor driving gear II (108) is fixedly arranged on a movable driving secondary motor (102), a secondary motor driven gear I (104) is rotatably arranged on the rack, a secondary motor driven gear II (105) is fixedly arranged on the secondary motor driven gear I (104), a main motor driving gear II (111) is fixedly arranged on a movable driving main motor (101), a main motor driven gear III (114) is rotatably arranged on the rack, a main motor driven gear II (113) is fixedly arranged on the main motor driven gear III (114), and a main motor driven gear I (112) is rotatably arranged on the rack;
the transportation detection mechanism (3) further comprises a conveying belt rotating main gear (302), a conveying belt rotating driven gear (304), a driving belt pulley (305), a driven belt pulley (307), a conveying belt supporting shaft (309), a conveying belt transmission shaft (310), a transmission belt (313), a belt transmission gear (314) and a belt transmission auxiliary gear (315), wherein the conveying belt rotating main gear (302) is fixedly arranged on the conveying belt rotating motor (303), the conveying belt rotating driven gear (304) is rotatably arranged on the rack, the driving belt pulley (305) is rotatably arranged on the conveying belt rotating driven gear (304), the driven belt pulley (307) is fixedly arranged on the conveying belt supporting shaft (309), the conveying belt supporting shaft (309) is rotatably arranged on the rack, the conveying belt transmission shaft (310) is rotatably arranged on the rack, the transmission belt (313) is rotatably arranged on the driving belt pulley (305), the driven belt pulley (307) and the auxiliary belt pulley (308), the belt transmission gear (314) is rotatably arranged on the frame;
the conveying belt rotating main gear (302) is fixedly arranged on a conveying belt rotating motor (303), the driving belt pulley (305) is fixedly arranged on a conveying belt driving shaft (306), the conveying belt rotating driven gear (304) is fixedly arranged on the rack, the driven belt pulley (307) is fixedly arranged on a conveying belt supporting shaft (309), and the auxiliary belt pulley (308) is fixedly arranged on a conveying belt transmission shaft (31).
2. The automatic detection robot for farm crop medicines according to claim 1, characterized in that: the grabbing mechanism (2) further comprises a grabbing rotary pinion (203), a fixing plate (204), a first-stage rotary shaft (206), a second-stage rotary shaft (207), a second-stage rotary arm (209), a third-stage rotary shaft (210), a grabbing fixing plate (212), a guide sliding rail (213), a bearing seat (215), a manipulator rotary coupling (217), a manipulator rotary motor (218), a screw rod (219), a manipulator rotary shaft (220), a translation coupling (221) and a translation driving motor (222), wherein the grabbing rotary pinion (203) is rotatably arranged on the fixing plate (204), the fixing plate (204) is fixedly arranged on the rack, the first-stage rotary shaft (206) is fixedly arranged on the grabbing rotary bull gear (205), the second-stage rotary shaft (207) is rotatably arranged between the first-stage rotary shaft (206) and the first-stage rotary arm (208), and the second-stage rotary arm (209) is rotatably arranged between the first-stage rotary arm (208) and the third-stage rotary shaft (210), three-level rotation axis (210) rotates and installs on second grade swinging boom (209), snatch fixed plate (212) fixed mounting in rotatory fixed axle (211) bottom, direction slide rail (213) fixed mounting snatchs fixed plate (212) bottom, bearing frame (215) fixed mounting is on direction slider (214), manipulator rotation coupling (217) rotate and install between manipulator rotating electrical machines (218) and manipulator rotation axis (220), lead screw (219) rotate and install on bearing frame (215), manipulator rotation axis (220) rotate and install on direction slider (214), translation coupling (221) fixed mounting is on translation driving motor (222), translation driving motor (222) fixed mounting is snatching fixed plate (212) bottom.
3. The automatic detection robot for farm crop medicines according to claim 1, characterized in that: the grabbing rotary large gear (205) is rotatably installed on the fixing plate (204), the first-stage rotary shaft (206) is rotatably installed on the grabbing rotary large gear (205), the second-stage rotary shaft (207) is rotatably installed on the first-stage rotary shaft (206), the first-stage rotary arm (208) is rotatably installed on the second-stage rotary shaft (207), the second-stage rotary arm (209) is rotatably installed on the first-stage rotary arm (208) through a stepping motor, the third-stage rotary shaft (210) is rotatably installed on the second-stage rotary arm (209) through the stepping motor, and the rotary fixing shaft (211) is rotatably installed on the third-stage rotary shaft (210) through the stepping motor.
4. The automatic detection robot for farm crop medicines according to claim 1, characterized in that: the guide sliding rail (213) is fixedly installed at the bottom of the grabbing fixing plate (212), the guide sliding block (214) is slidably installed on the guide sliding rail (213), the bearing seat (215) is fixedly installed on the guide sliding block (214), the manipulator rotating shaft (220) is rotatably installed on the guide sliding block (214), the manipulator (216) is fixedly installed on the manipulator rotating shaft (220), the screw rod (219) is rotatably installed on the bearing seat (215), and the translation driving motor (222) is fixedly installed at the bottom of the grabbing fixing plate (212).
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| CN202011526126.4A CN112677132B (en) | 2020-12-22 | 2020-12-22 | Automatic detection robot for farm crop medicines |
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| CN202011526126.4A CN112677132B (en) | 2020-12-22 | 2020-12-22 | Automatic detection robot for farm crop medicines |
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| CN113735200A (en) * | 2021-08-23 | 2021-12-03 | 庞汪良 | Automatic mixing arrangement that adds of marine sewage medicament |
| CN114136692A (en) * | 2021-11-30 | 2022-03-04 | 四川省水利科学研究院 | Concrete quality detection device for hydraulic engineering construction |
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