CN217751451U

CN217751451U - Greenhouse plant disease inspection robot

Info

Publication number: CN217751451U
Application number: CN202221587690.1U
Authority: CN
Inventors: 周伟波; 孙承波
Original assignee: Zhuhai Tianyi Automation Equipment Co ltd
Current assignee: Zhuhai Tianyi Automation Equipment Co ltd
Priority date: 2022-06-23
Filing date: 2022-06-23
Publication date: 2022-11-08
Anticipated expiration: 2032-06-23

Abstract

The utility model discloses a greenhouse plant disease inspection robot, which relates to the technical field of inspection robots and specifically comprises a square shell, wherein a rotating shell is rotatably connected at the four corners of the top of the square shell, a cavity is arranged inside the rotating shell, a rotating gear is fixedly connected inside the cavity, a bar-shaped through hole is arranged in the middle of the rotating gear, a vertical bar is fixedly connected with the bar-shaped through hole, the top of the vertical bar is rotatably connected with the top of the inner wall of the square shell through the rotating gear, the bottom of the vertical bar is rotatably connected with a first roller through the square shell, and a control gear is rotatably connected inside the square shell; the utility model discloses a control gear and swing pinion utilize control gear to drive swing pinion rotatory to drive first gyro wheel with swing pinion fixed connection's vertical strip and turn to, realize the change of device moving direction, the robot removes the direction removal that can set for along first gyro wheel immediately, has solved the problem of robot turning difficulty.

Description

Greenhouse plant disease inspection robot

Technical Field

The utility model relates to a patrol and examine the robot technical field, specifically be a greenhouse plant disease patrols and examines robot.

Background

Along with the development of agricultural science and technology, more and more anti-season food materials appear, and the appearance of these food materials is all can not leave the greenhouse and cultivate, and the greenhouse provides suitable growing environment for the plant, but only has the environment to be not enough, and greenhouse plant also need patrol and examine the robot and carry out inspection often and guarantee that the plant can grow healthily.

However, the existing inspection robot is usually four-wheel, the four-wheel inspection robot needs to realize the differential speed of the four wheels to realize the turning of the whole robot, the four wheels have the same rotating speed, the inspection robot keeps moving straight, the radian of the turning of the robot is determined by the speed difference of the wheels, the four wheels are usually selected to be respectively provided with a motor for the differential speed control of the rollers, and the four-wheel drive turning is realized, but the four-wheel drive has complex operation and high manufacturing cost, and the turning of the inspection robot is difficult because the four-wheel drive is not used.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model provides a greenhouse plant disease patrols and examines robot possesses advantages such as robot turn is simple, has solved the problem of robot turn difficulty.

The utility model discloses a greenhouse plant disease inspection robot, including square shell, square shell top four corners department rotates and is connected with the rotating shell, the inside cavity and the inside fixedly connected with rotating gear of cavity that is equipped with of rotating shell, the rotating gear middle part is equipped with bar through-hole and the vertical strip of bar through-hole fixedly connected with, vertical strip top is passed rotating gear and is rotated with square shell inner wall top and be connected, vertical strip bottom is passed square shell and is rotated and be connected with first gyro wheel, the inside rotation of square shell is connected with the control gear, square shell bottom fixedly connected with mobile device, square shell top fixedly connected with inspection device.

The rotating gear is driven to rotate through controlling the gear to rotate, the rotating gear drives the vertical strip to rotate immediately, the first idler wheel at the bottom of the vertical strip rotates immediately along with the vertical strip, the moving direction of the moving device is guided at the moment, and the turning operation of the device is achieved.

As a further improvement, the control gear diameter is smaller than the rotary gear, the first motor of the inside fixedly connected with of square shell, first motor output end is connected with the control gear rotation.

Be less than the swing pinion through the control gear, can make the swing pinion driven rotatory angle littleer by the control gear, the rotation angle of vertical strip and first gyro wheel is more careful promptly, and the rotation of device is more careful.

As a further improvement of the utility model, the mobile device is including second motor and driving shaft, square shell is passed at the driving shaft both ends, driving shaft one end fixedly connected with initiative gyro wheel, the one end that initiative gyro wheel was kept away from to the driving shaft is rotated and is connected with the differential gyro wheel.

One end of each of two ends of the driving shaft is rotatably connected with the differential roller, one end of each of the two ends of the driving shaft is fixedly connected with the driving roller, the driving roller needs to rotate along with the driving shaft, and the differential roller does not need to rotate along with the two ends of the driving shaft, so that the speed difference required by the driving roller and the differential roller when the device rotates is achieved.

As the utility model discloses a further improvement, second motor and the inside fixed connection of square shell, second motor output end fixedly connected with first gear, driving shaft middle part fixedly connected with second gear, first gear and second gear intermeshing.

The first gear is driven to rotate by the rotation of the second motor, the first gear drives the second gear to rotate immediately, and the second gear drives the driving shaft and the driving roller to rotate, so that the device moves.

As the utility model discloses a further improvement, inspection device gathers the camera including leading navigation camera, three degree of freedom arms and disease, three degree of freedom arm bottom and square shell fixed connection, the one end fixed connection that square shell was kept away from to camera and three degree of freedom arms is gathered to the disease, leading navigation camera and square shell fixed connection.

Real-time monitoring when the device moves is achieved through the front navigation camera, and then the disease collection camera is driven to move through the three-degree-of-freedom mechanical arm, so that the greenhouse plant inspection effect is achieved.

As a further improvement, the inside power that supplies first motor, second motor, leading navigation camera, three degree of freedom arms and disease collection camera work that is equipped with of square shell.

Through the inside power that is equipped with of square shell, can make the removal of device need not external wire, and be more convenient.

Compared with the prior art, the beneficial effects of the utility model are as follows:

1. the utility model discloses a control gear and rotating gear utilize control gear to drive rotating gear rotatory to turn to with rotating gear fixed connection's vertical strip drive first gyro wheel, realize the change of device moving as a whole direction, when mobile device drives the robot and removes immediately, all can set for good direction along first gyro wheel and remove, solved the problem of robot turning difficulty.

2. The utility model discloses a driving shaft both ends one end is rotated and is connected the differential gyro wheel, and one end fixed connection initiative gyro wheel, it is also rotatory that the driving shaft must be followed to the initiative gyro wheel, and the differential gyro wheel need not to follow the rotation at driving shaft both ends to realize initiative gyro wheel and differential gyro wheel required speed difference when the device is rotatory.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic side sectional view of the present invention;

FIG. 2 is a schematic view of the top-down structure of the present invention;

FIG. 3 is a schematic view of the structure at A in FIG. 2;

fig. 4 is a schematic view of the vertical bar structure of the present invention.

In the figure: 1. a square housing; 2. rotating the shell; 3. a rotating gear; 4. a vertical bar; 5. a first roller; 6. a control gear; 61. a first motor; 7. a mobile device; 71. a second motor; 72. a drive shaft; 73. a driving roller; 74. differential rollers; 75. a first gear; 76. a second gear; 8. an inspection device; 81. a front navigation camera; 82. a three-degree-of-freedom mechanical arm; 83. disease acquisition camera.

Detailed Description

In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It should be understood, however, that these physical details should not be taken to limit the invention. That is, in some embodiments of the invention, these physical details are not necessary. In addition, for simplicity, some conventional structures and components are shown in the drawings in a simplified schematic manner.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for description purposes, not specifically referring to the order or sequence, and are not intended to limit the present invention, but only to distinguish the components or operations described in the same technical terms, and are not to be construed as indicating or implying any relative importance or implicit indication of the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Please refer to fig. 1-4, the utility model discloses a greenhouse plant disease inspection robot, including

square shell

1, 1 top four corners of square shell rotates and is connected with swivel shell 2, the inside cavity and the inside fixedly connected with rotating gear 3 of cavity that is equipped with of

swivel shell

2, 3 middle parts of rotating gear are equipped with bar through-hole and the vertical strip 4 of bar through-hole fixedly connected with, rotating gear 3 is passed at vertical strip 4 top and is rotated with 1 inner wall top of square shell and be connected, vertical strip 4 bottom is passed square shell 1 and is rotated and is connected with

first gyro wheel

5, 1 inside rotation of square shell is connected with

control gear

6, 1 bottom fixedly connected with mobile device 7 of square shell, 1 top fixedly connected with inspection device 8 of square shell, 6 diameters of control gear are less than rotating

gear

3, 1 inside fixedly connected with first motor 61 of square shell, first motor 61 output rotates with control gear 6 and is connected.

The rotating gear 3 is driven to rotate through the rotation of the control gear 6, the rotating gear 3 drives the vertical strip 4 to rotate, the first idler wheel 5 at the bottom of the vertical strip 4 follows the rotation of the vertical strip 4, namely, the moving direction of the moving device 7 is guided at the moment, the turning operation of the device is realized, the control gear 6 is smaller than the rotating gear 3, the rotating gear 3 can be driven to rotate by the control gear 6 in a smaller angle, namely, the rotating angle of the vertical strip 4 and the first idler wheel 5 is more detailed, and the rotation of the device is more careful.

Referring to fig. 1-3, the moving device 7 includes a second motor 71 and a driving shaft 72, two ends of the driving shaft 72 penetrate through the square housing 1, one end of the driving shaft 72 is fixedly connected with a driving roller 73, and one end of the driving shaft 72 far away from the driving roller 73 is rotatably connected with a differential roller 74.

One end of the driving shaft 72 is rotatably connected with the differential roller 74, and the other end of the driving shaft 72 is fixedly connected with the driving roller 73, namely, the driving roller 73 must rotate along with the driving shaft 72, and the differential roller 74 does not need to rotate along with the two ends of the driving shaft 72, so that the speed difference required by the driving roller 73 and the differential roller 74 when the device rotates is realized.

Referring to fig. 1-3, the second motor 71 is fixedly connected with the inside of the square housing 1, the output end of the second motor 71 is fixedly connected with a first gear 75, the middle portion of the driving shaft 72 is fixedly connected with a second gear 76, and the first gear 75 is engaged with the second gear 76.

The second motor 71 rotates to drive the first gear 75 to rotate, then the first gear 75 drives the second gear 76 to rotate, and the second gear 76 drives the driving shaft 72 and the driving roller 73 to rotate, so that the device moves.

Referring to fig. 1, the inspection apparatus 8 includes a front navigation camera 81, a three-degree-of-freedom mechanical arm 82, and a disease collection camera 83, the bottom of the three-degree-of-freedom mechanical arm 82 is fixedly connected to the square housing 1, the disease collection camera 83 is fixedly connected to one end of the three-degree-of-freedom mechanical arm 82 away from the square housing 1, and the front navigation camera 81 is fixedly connected to the square housing 1.

Real-time monitoring during device movement is achieved through the front navigation camera 81, and then the disease collection camera 83 is driven to move through the three-degree-of-freedom mechanical arm 82, so that the greenhouse plant inspection effect is achieved.

Referring to fig. 1, a power supply for the first motor 61, the second motor 71, the front navigation camera 81, the three-degree-of-freedom mechanical arm 82 and the disease collection camera 83 to work is arranged inside the square housing 1, and a signal transceiving device is arranged inside the device.

Through the inside power that is equipped with of square shell 1, can be so that the removal of device need not external wire, it is more convenient, signal transceiver can make things convenient for the staff to control this equipment.

When using the utility model discloses the time: the second motor 71 is started, the second motor 71 rotates to drive the first gear 75 to rotate, the first gear 75 drives the second gear 76 to rotate, the second gear 76 drives the driving shaft 72 and the driving roller 73 to rotate, the device moves, a user always watches the front navigation camera 81, the first motor 61 is controlled, when the user needs to turn, the first motor 61 is started, the first motor 61 drives the control gear 6 to rotate to drive the rotating gear 3 to rotate, the rotating gear 3 drives the vertical bar 4 to rotate, the first roller 5 at the bottom of the vertical bar 4 rotates along with the vertical bar 4, then the differential roller 74 is connected with one end of the driving shaft 72 in a rotating mode, the speed difference required by the driving roller 73 and the differential roller 74 when the device rotates is achieved, the whole device moves along the direction specified by the first roller 5, and the user can control the three-degree-of-freedom mechanical arm 82 to control the disease acquisition camera 83 to move to a proper position to watch plants during the movement of the device.

The above description is only an embodiment of the present invention, and is not intended to limit the present invention. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. The utility model provides a greenhouse plant disease inspection robot, is including square shell (1), its characterized in that: square shell (1) top four corners department rotates and is connected with rotatory shell (2), inside cavity and the inside fixedly connected with rotary gear (3) of cavity of being equipped with of rotatory shell (2), rotary gear (3) middle part is equipped with bar through-hole and the vertical strip of bar through-hole fixedly connected with (4), vertical strip (4) top is passed rotary gear (3) and is rotated with square shell (1) inner wall top and is connected, vertical strip (4) bottom is passed square shell (1) and is rotated and be connected with first gyro wheel (5), square shell (1) inside rotation is connected with control gear (6), square shell (1) bottom fixedly connected with mobile device (7), square shell (1) top fixedly connected with inspection device (8).

2. The greenhouse plant disease inspection robot according to claim 1, wherein: the diameter of the control gear (6) is smaller than that of the rotating gear (3), the first motor (61) is fixedly connected inside the square shell (1), and the output end of the first motor (61) is rotatably connected with the control gear (6).

3. The greenhouse plant disease inspection robot according to claim 1, wherein: the moving device (7) comprises a second motor (71) and a driving shaft (72), two ends of the driving shaft (72) penetrate through the square shell (1), one end of the driving shaft (72) is fixedly connected with a driving roller (73), and one end, far away from the driving roller (73), of the driving shaft (72) is rotatably connected with a differential roller (74).

4. The greenhouse plant disease inspection robot according to claim 3, wherein: the square motor is characterized in that the second motor (71) is fixedly connected with the inside of the square shell (1), the output end of the second motor (71) is fixedly connected with a first gear (75), the middle of the driving shaft (72) is fixedly connected with a second gear (76), and the first gear (75) is meshed with the second gear (76).

5. The greenhouse plant disease inspection robot according to claim 1, characterized in that: the inspection device (8) comprises a front navigation camera (81), a three-degree-of-freedom mechanical arm (82) and a disease collection camera (83), the bottom of the three-degree-of-freedom mechanical arm (82) is fixedly connected with the square shell (1), the disease collection camera (83) is fixedly connected with one end, far away from the square shell (1), of the three-degree-of-freedom mechanical arm (82), and the front navigation camera (81) is fixedly connected with the square shell (1).

6. The greenhouse plant disease inspection robot according to claim 3, wherein: the power supply for the first motor (61), the second motor (71), the front navigation camera (81), the three-degree-of-freedom mechanical arm (82) and the disease collection camera (83) to work is arranged inside the square shell (1).