CN214604420U - Automatic inspection robot for plant factory - Google Patents
Automatic inspection robot for plant factory Download PDFInfo
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- CN214604420U CN214604420U CN202120766734.6U CN202120766734U CN214604420U CN 214604420 U CN214604420 U CN 214604420U CN 202120766734 U CN202120766734 U CN 202120766734U CN 214604420 U CN214604420 U CN 214604420U
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- 238000007689 inspection Methods 0.000 title claims abstract description 14
- 238000001816 cooling Methods 0.000 claims abstract description 5
- 230000035939 shock Effects 0.000 claims description 11
- 229910000831 Steel Inorganic materials 0.000 claims description 8
- 239000010959 steel Substances 0.000 claims description 8
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 238000012423 maintenance Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 4
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 238000013016 damping Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 239000006096 absorbing agent Substances 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 230000008635 plant growth Effects 0.000 description 1
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Abstract
The utility model relates to an automatic inspection robot for plant factories, which comprises a head shell, a lower shell, a base and a traveling mechanism; the lower shell is fixedly connected to the tower type supporting frame body, the tower type supporting frame body comprises an upper layer structure, a middle layer structure and a lower layer structure, the battery is placed on the uppermost layer, the controller is placed in the middle layer structure, the side face of the controller is fixedly connected with a cooling fan, the bottom layer structure is provided with a chassis, a traveling mechanism is fixedly connected to the chassis, and the head shell is fixedly connected to the top of the tower type supporting frame body; the automatic inspection robot for the plant factory can replace a part of manual monitoring in the plant factory to work, automatically advance according to a set route and record related data in the plant factory, and meanwhile, the walking safety and stability in the working process can be guaranteed.
Description
Technical Field
The utility model relates to an agricultural machine automation field, especially an automatic robot of patrolling and examining of plant factory.
Background
The plant factory is a high-efficiency agricultural system for realizing annual continuous production of crops by controlling high-precision environment in facilities, and is characterized in that the temperature, humidity, illumination and CO for the growth of plants are controlled by a computer2The concentration, the nutrient solution and other environmental conditions are automatically controlled, so that the plants in the facility can be produced in a labor-saving way without or with little restriction of natural conditions. The utility model provides a be along with the society is constantly advancing and the cultivation mode of a crops that progressively promotes at plant factory, all need artifical scene to the monitoring of environmental condition in the mill, vegetation state etc. to accomplish at present stage, in order to improve plant factory automation control level, reduces labour cost, reduces the too much influence of external environment to the vegetation in-process, the utility model provides a can replace the automatic robot of patrolling and examining of plant factory of daily artificial monitoring work.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that an automatic robot of patrolling and examining of plant factory is provided, its purpose is exactly the partial work of replacing artifical monitoring in the plant factory, realizes advancing and take notes relevant data according to set route in the plant factory is inside automatic, can guarantee to walk safety, stability in the course of the work simultaneously.
In order to solve the technical problem, the utility model discloses a realize according to following mode: the utility model relates to an automatic inspection robot for plant factories, which comprises a head shell, a lower shell, a base and a traveling mechanism; the lower shell is fixedly connected to the tower type supporting frame body, the tower type supporting frame body comprises an upper layer structure, a middle layer structure and a lower layer structure, the battery is placed on the uppermost layer, the controller is placed in the middle layer structure, the side face of the controller is fixedly connected with a cooling fan, the bottom layer structure is provided with a chassis, a traveling mechanism is fixedly connected to the chassis, and the head shell is fixedly connected to the top of the tower type supporting frame body; the walking mechanism comprises a walking shell support fixedly connected to the upper end of the chassis, the walking shell support is of a hollow shell structure with an open bottom, support arms are symmetrically hinged to two sides in the shell, walking wheels are connected to the tail ends of the support arms on each side, a driving motor is fixedly connected to the lower end of each support arm, the power output end of the driving motor is fixed to the center of each walking wheel, a rubber shock absorption column is fixedly connected to each support arm, and the rubber shock absorption column is located in a space between the upper portion of each support arm and the lower portion of the walking shell support; a laser scanner is fixedly connected to the middle position behind the chassis; a camera is arranged in front of the head shell, and a display screen is arranged below the camera; an ultrasonic ranging sensor and an emergency stop switch are arranged behind the lower shell.
The support arm is hinged with the walking shell support through a central shaft and can rotate along the central shaft; the central shaft is arranged at the end part of one end of the support arm far away from the walking wheel.
Generating devices are arranged on two sides of the head shell.
The base front end is provided with the switch and the interface that charges.
The rear of base is provided with the arc recess, and the tank bottom position department of arc recess is provided with the slotted hole, and laser scanner fixed position on the chassis is located slotted hole position department.
The walking wheel is positioned at the front end of the bottom of the base, and the rear end of the bottom of the base is symmetrically provided with two universal wheels.
And a maintenance panel which is detachably and fixedly connected with the lower shell is arranged in front of the lower shell.
The tower type support frame body is a three-layer structure formed by fixedly connecting a plurality of longitudinally arranged support steel frames and horizontally arranged steel plates.
The utility model discloses an actively the effect: the utility model relates to a plant factory automatic inspection robot, it realizes the robot to the visual identification analysis of surrounding environment through the camera based on VSLAM principle to plan the movement track with this, the camera can also realize simultaneously that the robot records the target of patrolling and examining, the record and the analysis of the later stage of being convenient for; the ultrasonic ranging module can assist the robot in perceiving and judging the distance of the obstacle in the surrounding environment, so that the robot is prevented from colliding with the obstacle in the running process; the main structure of the robot supports the steel frame and the steel plate through the supporting type, a stable operation platform is provided, the bottom walking mechanism of the robot is provided with the damping device, the whole structure is convenient to operate, and the robot is stable and efficient.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the exploded structure of the present invention;
fig. 3 is a schematic view of the overall structure of the present invention;
fig. 4 is a schematic view of the internal structure of the present invention;
fig. 5 is a schematic structural diagram of the traveling mechanism of the present invention.
In the figure, a head shell 1, a camera 2, a display screen 3, a sound generating device 4, a lower shell 5, a base 6, a travelling mechanism 7, a switch 8, a charging interface, a battery 9, a tower-type supporting frame 10, a cooling fan 11, a controller 12, a laser scanner 13, an ultrasonic distance measuring sensor 14, an emergency stop switch 15, a travelling shell support 16, a travelling wheel 17, a chassis 18, a rubber shock column 19, a support arm 20, a central shaft 21, a driving motor 22, a universal wheel 23, an arc-shaped groove 24 and a maintenance panel 25 are arranged.
Detailed Description
As shown in fig. 1 to 5, the automatic inspection robot for plant factories of the present invention comprises a head casing (1), a lower casing (5), a base (6) and a traveling mechanism (7); the lower shell (5) is fixedly connected to a tower type supporting frame body (10), the tower type supporting frame body (10) comprises an upper layer structure, a middle layer structure and a lower layer structure, a battery (9) is placed on the uppermost layer, a controller (12) is placed on the middle layer structure, a cooling fan (11) is fixedly connected to the side face of the controller (12), a chassis (18) is arranged on the lowermost layer structure, a travelling mechanism (7) is fixedly connected to the chassis (18), and the head shell (1) is fixedly connected to the top of the tower type supporting frame body (10); the walking mechanism (7) comprises a walking shell support (16) fixedly connected to the upper end of a chassis (18), the walking shell support (16) is of a hollow shell structure with an open bottom, support arms (20) are symmetrically hinged to two sides in the shell, the tail end of each support arm (20) is connected with a walking wheel (17), the lower end of each support arm (20) is fixedly connected with a driving motor (22), the power output end of each driving motor (22) is fixed to the center of each walking wheel (17), a rubber shock absorption column (19) is fixedly connected to each support arm (20), and the rubber shock absorption column (19) is located in a space between the upper portion of each support arm (20) and the lower portion of the walking shell support (16); a laser scanner (13) is fixedly connected to the middle position behind the chassis (18); a camera (2) is arranged in front of the head shell (1), and a display screen (3) is arranged below the camera (2); an ultrasonic ranging sensor (14) and an emergency stop switch (15) are arranged behind the lower shell (5).
The support arm (20) is hinged with the walking shell support (16) through a central shaft (21) and can rotate along the central shaft (21); the central shaft (21) is arranged at one end part of the support arm (20) far away from the travelling wheel (17).
The head shell (1) is provided with sounding devices (4) on two sides, and the sounding devices can give out alarms to remind workers.
The front end of the base (6) is provided with a switch and a charging interface (8).
An arc-shaped groove (24) is formed in the rear of the base (6), a groove hole is formed in the position of the bottom of the arc-shaped groove (24), and the fixed position of the laser scanner (13) on the chassis (18) is located in the position of the groove hole.
The walking wheels (17) are positioned at the front end of the bottom of the base (6), and two universal wheels (23) are symmetrically arranged at the rear end of the bottom of the base (6).
And a maintenance panel (25) which is detachably and fixedly connected with the lower shell (5) is arranged in front of the lower shell (5).
The tower type supporting frame body (10) is a three-layer structure formed by fixedly connecting a plurality of longitudinally arranged supporting steel frames and horizontally arranged steel plates.
The utility model discloses an automatic robot of patrolling and examining of plant factory, the visual identification analysis of robot to the surrounding environment is realized through camera (2) that the front end set up in the course of the work to plan the motion trail with this, the motion trail can be sent to the controller (12) of robot through the mode of wireless transmission according to established route, after the robot moved to predetermined target, camera (2) can realize patrolling and examining the target and take notes, and can send the record to the control room in real time, be convenient for record and analysis; the robot can sense and judge the distance of the obstacle in the surrounding environment by arranging the ultrasonic ranging module at the rear part, and flexibly turns by matching with the travelling wheels (17) and the universal wheels (23) on the travelling mechanism (7), so that the robot is prevented from colliding with the obstacle in the running process; bottom running gear (7) of robot major structure has set up damping device, damping device realizes the shock attenuation effect through support arm (20) and rubber shock absorber post (19) that can rotate, when meetting unevenness's road surface, vibrations appear in running gear (7), support arm (20) drive walking wheel (17), driving motor (22) rotate, rubber shock absorber post (19) will take place to warp and play certain shock attenuation effect this moment, can stabilize the camera (2) etc. electrical control components and parts that set up on the robot, make its work not disturbed.
Claims (8)
1. The utility model provides an automatic robot of patrolling and examining of plant factory which characterized in that: comprises a head shell, a lower shell, a base and a traveling mechanism; the lower shell is fixedly connected to the tower type supporting frame body, the tower type supporting frame body comprises an upper layer structure, a middle layer structure and a lower layer structure, the battery is placed on the uppermost layer, the controller is placed in the middle layer structure, the side face of the controller is fixedly connected with a cooling fan, the bottom layer structure is provided with a chassis, a traveling mechanism is fixedly connected to the chassis, and the head shell is fixedly connected to the top of the tower type supporting frame body; the walking mechanism comprises a walking shell support fixedly connected to the upper end of the chassis, the walking shell support is of a hollow shell structure with an open bottom, support arms are symmetrically hinged to two sides in the shell, walking wheels are connected to the tail ends of the support arms on each side, a driving motor is fixedly connected to the lower end of each support arm, the power output end of the driving motor is fixed to the center of each walking wheel, a rubber shock absorption column is fixedly connected to each support arm, and the rubber shock absorption column is located in a space between the upper portion of each support arm and the lower portion of the walking shell support; a laser scanner is fixedly connected to the middle position behind the chassis; a camera is arranged in front of the head shell, and a display screen is arranged below the camera; an ultrasonic ranging sensor and an emergency stop switch are arranged behind the lower shell.
2. The automatic inspection robot for plant factories according to claim 1, characterized in that: the support arm is hinged with the walking shell support through a central shaft and can rotate along the central shaft; the central shaft is arranged at the end part of one end of the support arm far away from the walking wheel.
3. The automatic inspection robot for plant factories according to claim 1, characterized in that: generating devices are arranged on two sides of the head shell.
4. The automatic inspection robot for plant factories according to claim 1, characterized in that: the base front end is provided with the switch and the interface that charges.
5. The automatic inspection robot for plant factories according to claim 1, characterized in that: the rear of base is provided with the arc recess, and the tank bottom position department of arc recess is provided with the slotted hole, and laser scanner fixed position on the chassis is located slotted hole position department.
6. The automatic inspection robot for plant factories according to claim 1, characterized in that: the walking wheel is positioned at the front end of the bottom of the base, and the rear end of the bottom of the base is symmetrically provided with two universal wheels.
7. The automatic inspection robot for plant factories according to claim 1, characterized in that: and a maintenance panel which is detachably and fixedly connected with the lower shell is arranged in front of the lower shell.
8. The automatic inspection robot for plant factories according to claim 1, characterized in that: the tower type support frame body is a three-layer structure formed by fixedly connecting a plurality of longitudinally arranged support steel frames and horizontally arranged steel plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120766734.6U CN214604420U (en) | 2021-04-15 | 2021-04-15 | Automatic inspection robot for plant factory |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120766734.6U CN214604420U (en) | 2021-04-15 | 2021-04-15 | Automatic inspection robot for plant factory |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214604420U true CN214604420U (en) | 2021-11-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120766734.6U Active CN214604420U (en) | 2021-04-15 | 2021-04-15 | Automatic inspection robot for plant factory |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214604420U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114434467A (en) * | 2022-03-23 | 2022-05-06 | 南方电网电力科技股份有限公司 | Lightweight remote control inspection robot |
-
2021
- 2021-04-15 CN CN202120766734.6U patent/CN214604420U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114434467A (en) * | 2022-03-23 | 2022-05-06 | 南方电网电力科技股份有限公司 | Lightweight remote control inspection robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Kexin (Tianjin) Ecological Agricultural Technology Co.,Ltd. Assignor: TIANJIN AGRICULTURAL University Contract record no.: X2023980050040 Denomination of utility model: A Plant Factory Automatic Inspection Robot Granted publication date: 20211105 License type: Common License Record date: 20231204 |