阅读说明：本技术 一种葡萄种植环境信息智能采集系统 (Grape planting environment information intelligent acquisition system ) 是由 徐燕 姚成西 余旭 王武斌 曹月琴 张祖俊 徐荣 昝健炜 于 2021-07-29 设计创作，主要内容包括：本发明属于葡萄种植技术领域,尤其是一种葡萄种植环境信息智能采集系统,包括壳体,壳体的内底壁左侧固定安装有驱动电机,驱动电机的输出轴通过联轴器固定安装有第一传动轴,第一传动轴的一端外表面固定套接有第一锥齿轮,第一锥齿轮的外表面固定安装有行走机构,且行走机构包括第二锥齿轮。该葡萄种植环境信息智能采集系统,通过设置行走机构,达到了第一锥齿轮的外表面与第二锥齿轮的外表面啮合,通过驱动电机驱动行走机构带动机器人壳体在葡萄种植区域地面做行走运动,在行走机构的上方设置四个清扫机构对行走过程中的行走轮表面进行清理,避免行走轮外表面、内侧表面和外侧表面粘附过多泥土和细石子的效果。(The invention belongs to the technical field of grape planting, and particularly relates to an intelligent grape planting environment information acquisition system which comprises a shell, wherein a driving motor is fixedly installed on the left side of the inner bottom wall of the shell, a first transmission shaft is fixedly installed on an output shaft of the driving motor through a coupler, a first bevel gear is fixedly sleeved on the outer surface of one end of the first transmission shaft, a walking mechanism is fixedly installed on the outer surface of the first bevel gear, and the walking mechanism comprises a second bevel gear. This grape planting environmental information intelligence collection system, through setting up running gear, the surface meshing of the surface that has reached first bevel gear and second bevel gear, it is the running motion on grape planting regional ground to drive the robot housing through driving motor drive running gear, the top of running gear sets up four and cleans the mechanism and clears up the walking wheel surface of walking in-process, avoid walking the effect of walking wheel surface, too much earth of inboard surface and outside surface adhesion and fine gravel.)

1. The utility model provides a grape planting environment information intelligence collection system, includes casing (1), its characterized in that: a driving motor (2) is fixedly installed on the left side of the inner bottom wall of the shell (1), an output shaft of the driving motor (2) is fixedly installed with a first transmission shaft through a coupler, a first bevel gear (3) is fixedly sleeved on the outer surface of one end of the first transmission shaft, a traveling mechanism is fixedly installed on the outer surface of the first bevel gear (3), the traveling mechanism comprises a second bevel gear (4), the outer surface of the first bevel gear (3) is meshed with the outer surface of the second bevel gear (4), and the driving motor (2) drives the traveling mechanism to drive the shell (1) to travel on the ground;

the front and the back of casing (1) are all fixed mounting have environmental information collection mechanism, and environmental information collection mechanism includes cylinder (5), four a side surface of cylinder (5) all with the front and the back fixed connection of casing (1), and four cylinder (5) are the symmetry and distribute, environmental information collection mechanism carries out a lot of collection to the soil and the grape branch and leaf that the grape was planted.

2. The intelligent grape planting environment information acquisition system according to claim 1, characterized in that: running gear still includes two first connecting axle (41), is located connecting plate (42) have all been fixed to have cup jointed through the bearing in casing (1) left first connecting axle (41) both ends surface, the middle part surface of first connecting axle (41) is fixed to be cup jointed with the inner circle of second bevel gear (4), two tooth's socket (421) that are the annular array and distribute are all seted up to the outside inner wall of connecting plate (42).

3. The intelligent grape planting environment information acquisition system according to claim 2, characterized in that: the two ends of a first connecting shaft (41) positioned on the left side of the shell (1) are fixedly sleeved with first gears (422), the connecting plates (42) are positioned on the inner sides of the first gears (422), the outer surfaces of the two first gears (422) are respectively meshed with second gears (423) distributed in an annular array, the outer surfaces of the second gears (423) are meshed with the inner walls of tooth grooves (421), sliding grooves (425) are respectively formed in the front inner walls and the rear inner walls of the two connecting plates (42), a first connecting rod (424) is fixedly connected to the inner ring of each second gear (423) through a bearing, the outer surfaces of the two ends of each first connecting rod (424) are respectively rotatably connected with the inner walls of the sliding grooves (425), wherein the four first connecting rods (424) are matched with the two sliding grooves (425) to form a group and are divided into two groups, the reduction ratios of the first gears (422) and the second gears (423) are 10: 1, and the surface axes of the two connecting plates (42) which are back to each other are fixedly sleeved with power rods.

4. The intelligent grape planting environment information acquisition system according to claim 2, characterized in that: the front part and the rear part of the right side of the shell (1) are fixedly sleeved with second connecting shafts (43) through bearings, the surfaces of two ends of one second connecting shaft (43) and the outer surfaces of one ends of the two power rods are fixedly sleeved with walking wheels (44), wherein the walking wheels (44) connected with the surfaces of the two ends of one second connecting shaft (43) are rear wheels, the walking wheels (44) connected with the outer surfaces of the two ends of the power rods are front wheels, the upper parts of the shell (1) close to the four travelling wheels (44) are fixedly connected with cleaning blocks (45), the upper surfaces of the four cleaning blocks (45) are fixedly provided with cleaning mechanisms, and the cleaning mechanism comprises a first micro motor (46), four output shafts of the first micro motor (46) are fixedly provided with second transmission shafts through shaft couplings, and the outer surface of one end of each second transmission shaft is fixedly sleeved with a first brush block (461).

5. The intelligent grape planting environment information acquisition system according to claim 4, characterized in that: the outer surface of four clean piece (45) all is the L shape, four the inboard surface of cleaning piece (45) all fixed mounting has second connecting rod (462), four the one end surface of second connecting rod (462) all fixed the cup jointing has second brush piece (464), the equal fixed mounting in front and the back of casing (1) has third connecting rod (463) that is the symmetric distribution, four third connecting rod (463) are located four between walking wheel (44), four the one end surface of third connecting rod (463) all fixed the cup jointing has third brush piece (465), four the lower surface of first brush piece (461), a side surface of second brush piece (464) and a side surface of third brush piece (465) all are provided with the nylon brush.

6. The intelligent grape planting environment information acquisition system according to claim 1, characterized in that: the inner wall fixedly connected with baffle (51) of casing (1), the upper surface of baffle (51) is the king's word shape, four appearance chambeies are cut apart into with the inside of casing (1) in baffle (51), four the inside in appearance chamber all is provided with air pump (52), four cylinder (5) all communicate with air pump (52) are fixed through the trachea, four the equal fixedly connected with movable block (53) in piston rod one end surface of cylinder (5).

7. The intelligent grape planting environment information acquisition system according to claim 6, characterized in that: the upper surfaces of the four moving blocks (53) are in a shape of a Chinese character 'hui', the inner walls of the four moving blocks (53) are fixedly connected with first electric telescopic rods (54), the lower surfaces of the telescopic rods of the four first electric telescopic rods (54) are in threaded connection with container sleeves (55), the four container sleeves (55) are made of stainless steel, soil sampling rods (56) are fixedly connected to the inner bottom walls of the four container sleeves (55), and the inner walls of the four soil sampling rods (56) are in arc shapes.

8. The intelligent grape planting environment information acquisition system according to claim 7, characterized in that: the top surfaces of the four first electric telescopic rods (54) are fixedly connected with supporting blocks, the top surfaces of the four supporting blocks are fixedly connected with second electric telescopic rods (57), the upper surfaces of one ends of the telescopic rods of the four second electric telescopic rods (57) are fixedly connected with mounting blocks (58), and the outer surfaces of the four mounting blocks (58) are L-shaped.

9. The intelligent grape planting environment information acquisition system according to claim 8, characterized in that: four holding tank (59), four have all been seted up to the upper surface of installation piece (58) the upper surface right side fixed mounting of installation piece (58) has second micro motor (510), four one side surface that installation piece (58) are close to second micro motor (510) has cup jointed fourth connecting rod (511), four through the bearing fixed the output shaft of second micro motor (510) has the third transmission shaft, and one through the equal fixed mounting of shaft coupling third transmission shaft collocation one fourth connecting rod (511) are a set of, divide into four groups altogether.

10. The intelligent grape planting environment information acquisition system of claim 9, wherein: the outer surface of one end of each group of the third transmission shaft and the fourth connecting rod (511) is fixedly sleeved with a swinging plate (512), the opposite surfaces of two swinging plates (512) in each group are respectively provided with an inert tooth-shaped groove, the inner walls of the adjacent inert tooth-shaped grooves are mutually meshed, the surface of one side of the swinging plate (512) positioned on the surface of one end of the third transmission shaft is respectively and fixedly provided with a first proximity switch (513), the opposite surfaces of the adjacent swinging plates (512) are respectively and fixedly connected with an isosceles triangle block (514), the outer surfaces of the four mounting blocks (58) are respectively and fixedly connected with limiting blocks, the inner side surfaces of the four limiting blocks are respectively and fixedly connected with second proximity switches (515), and the four first proximity switches (513) and the four second proximity switches (515) are respectively and electrically connected with second micro motors (510) close to the first proximity switches (513), the supporting rods are fixedly connected to the centers of the surfaces of the lower ends of the eight swinging plates (512), the shielding plates (516) are fixedly connected to the lower surfaces of the one ends of the eight supporting blocks, the lower surfaces of the shielding plates (516) are in contact with the inner top wall of the accommodating groove (59), and the controller (517) is fixedly installed on the upper surface of the shell (1).

Technical Field

The invention relates to the technical field of grape planting, in particular to an intelligent information acquisition system for grape planting environment.

Background

The grape is woody vine of Vitis of Vitaceae, has cylindrical small branch, longitudinal rib, no hair or sparse soft hair, oval leaf, dense or sparse conical inflorescence, developed base branch, spherical or elliptical fruit, flowering phase of 4-5 months, and fruit phase of 8-9 months.

In order to ensure high yield and high quality of grapes, the grape planting process needs to consider technical parameters such as regionality, seasonality, air quality, content of various elements in grape branches and leaves at each stage, the planting technical parameters needing to be monitored are more and more, the quantity of generated data is more and more, the existing collection mode of grape planting environment information usually adopts a plurality of collection tools carried by people to collect the environment information in a grape planting area, and the environment information is brought back to a detection room for detection after collection is completed, but the collection mode has the following problems:

firstly, because the grape planting area is wide, manual collection in the grape planting area is carried out, so that the workload is large, the labor intensity of collection personnel is high, the time consumption is long, and the collection efficiency is low;

secondly, environmental information in the grape planting area is collected manually, the collected environmental information data has large error, and the environmental information in the grape planting area cannot be accurately collected.

Therefore, the intelligent grape planting environment information acquisition system is provided.

Disclosure of Invention

Based on the technical problems of large workload, high labor intensity for collection personnel, long time consumption and low collection efficiency of the existing manual collection in a grape planting area due to the fact that the grape planting area is wide.

The invention provides an intelligent collection system for grape planting environment information, which comprises a shell, wherein a driving motor is fixedly installed on the left side of the inner bottom wall of the shell, an output shaft of the driving motor is fixedly installed with a first transmission shaft through a coupler, the outer surface of one end of the first transmission shaft is fixedly sleeved with a first bevel gear, the outer surface of the first bevel gear is fixedly installed with a traveling mechanism, the traveling mechanism comprises a second bevel gear, the outer surface of the first bevel gear is meshed with the outer surface of the second bevel gear, and the traveling mechanism is driven by the driving motor to drive the shell to perform traveling motion on the ground;

the front and the back of casing all fixed mounting have environmental information collection mechanism, and environmental information collection mechanism includes the cylinder, four a side surface of cylinder all with the front and the back fixed connection of casing, and four the cylinder is the symmetry form and distributes, environmental information collection mechanism carries out a lot of collection to the soil and the grape branch and leaf that the grape was planted.

Preferably, the traveling mechanism further comprises two first connecting shafts, the two end surfaces of the first connecting shaft on the left side of the shell are fixedly sleeved with connecting plates through bearings, the outer surface of the middle part of the first connecting shaft is fixedly sleeved with the inner ring of the second bevel gear, tooth grooves distributed in an annular array are formed in the inner wall of the outer side of each connecting plate, the driving motor converts electric energy into mechanical energy, the first bevel gear which is connected with the first transmission shaft in a surface mode is driven to rotate, and the first connecting shaft which is connected with the inner wall of the second bevel gear is driven to rotate through the engagement of the first bevel gear and the second bevel gear.

Preferably, be located the first gear has all been cup jointed to the surface of the left first connecting axle both ends of casing, the connecting plate is located the inboard of first gear, two the surface of first gear all meshes and has been the second gear that the annular array distributes, the surface of second gear meshes with the inner wall of tooth's socket, two the spout has all been seted up to the preceding inner wall and the back inner wall of connecting plate, every the inner circle of second gear all fixedly connects the head rod through the bearing, every the both ends surface of head rod all is connected with the inner wall rotation of spout, four of them head rod collocation two the spout is a set of, divides into two sets ofly altogether, the reduction ratio of first gear and second gear is 10: 1, two the surperficial axle center department that the connecting plate carried on the back mutually all fixedly has cup jointed the power pole. Through the reduction ratio between first gear and the five second gears, carry out the deceleration to the first connecting axle rotational speed that first gear inner circle cup jointed, and then drive running gear at the uniform velocity walking on ground, the second gear is driving the axle center of head rod around the connecting plate and is the circular rotation in-process, uses through spout and head rod cooperation, leads the direction of motion of head rod.

Preferably, the front part and the rear part of the right side of the housing are fixedly sleeved with second connecting shafts through bearings, walking wheels are fixedly sleeved on the two end surfaces of one second connecting shaft and the outer surfaces of one ends of the two power rods, the walking wheels connected with the two end surfaces of one second connecting shaft are rear wheels, the walking wheels connected with the outer surfaces of one ends of the two power rods are front wheels, and if a crawler belt is adopted to replace the walking wheels as the walking structure of the invention, the following problems exist: firstly, as the track plate is provided with the patterns and the crawler stabs, the track is easier to damage the ground when the crawler walks on the ground compared with the walking wheel adopted by the invention; compared with the travelling wheels adopted by the invention, the travelling speed of the crawler is lower than that of the travelling wheels, once the crawler is damaged in the travelling process for maintenance, the travelling wheels have high maintenance cost and long maintenance time, therefore, the travelling wheels are more suitable for being used as the travelling structure of the invention, the shell is fixedly connected with the cleaning blocks above the four travelling wheels, the upper surfaces of the four cleaning blocks are fixedly provided with the cleaning mechanism, the cleaning mechanism comprises a first micro motor, the output shafts of the four first micro motors are fixedly provided with second transmission shafts through couplers, the outer surfaces of one ends of the four second transmission shafts are fixedly sleeved with first brush blocks, and the first micro motor converts electric energy into mechanical energy to drive the cleaning mechanism to clean the surfaces of the travelling wheels.

Preferably, the outer surfaces of the four cleaning blocks are all in an L shape, the inner side surfaces of the four cleaning blocks are fixedly provided with second connecting rods, the outer surface of one end of each of the four second connecting rods is fixedly sleeved with a second brush block, the front surface and the back surface of the shell are fixedly provided with third connecting rods which are symmetrically distributed, the four third connecting rods are positioned between the four travelling wheels, the outer surface of one end of each of the four third connecting rods is fixedly sleeved with a third brush block, the lower surfaces of the four first brush blocks, one side surface of the second brush block and one side surface of the third brush block are provided with nylon brushes, the first micro motor is used as a driving source of the cleaning mechanism to drive the first brush block connected with the first transmission shaft to rotate, and the outer surfaces of the travelling wheels in the travelling process are cleaned by the nylon brushes on the lower surfaces of the first brush blocks, nylon brushes arranged on the side surfaces of the second brush block and the third brush block clean the outer side surface and the inner side surface of the travelling wheel.

Preferably, the inner wall fixedly connected with baffle of casing, the upper surface of baffle is the king-shaped form, four appearance chambeies are cut apart into with the inside of casing to the baffle, four the inside in appearance chamber all is provided with the air pump, four the cylinder all passes through the trachea and all communicates with the air pump is fixed, and the solenoid valve is installed on tracheal surface, four the equal fixedly connected with movable block in piston rod one end surface of cylinder, the cylinder passes through the trachea and uses with the air pump cooperation, drives the movable block and is concertina movement.

Preferably, the upper surfaces of the four moving blocks are in a shape like a Chinese character 'hui', the inner walls of the four moving blocks are fixedly connected with first electric telescopic rods, the lower surfaces of the telescopic rods at one ends of the four first electric telescopic rods are in threaded connection with container sleeves, the four container sleeves are made of stainless steel, the inner bottom walls of the four container sleeves are fixedly connected with soil taking rods, the inner walls of the four soil taking rods are in an arc shape, the first electric telescopic rods are matched with the soil taking rods for use, the soil taking rods are driven to do telescopic motion by the work of the first electric telescopic rods, the soil of the grape planting is broken and sampled and collected through the soil taking rods, meanwhile, soil taking tools for the soil of the grape planting can adopt Luoyang shovels besides the soil taking rods, and the container sleeves are in threaded connection with the first electric telescopic rods, so that the soil taking rods can be collected after the soil of the grape planting is collected, through dismantling the container sleeve, take out the soil of container sleeve internal sum pole surface collection of fetching earth, make things convenient for follow-up measurement personnel to detect moisture in the soil, also conveniently wash its surface simultaneously.

Preferably, four equal fixedly connected with supporting shoes in first electric telescopic handle's the top surface, four equal fixedly connected with second electric telescopic handle in the top surface of supporting shoe, four equal fixedly connected with installation piece in telescopic link one end upper surface of second electric telescopic handle, four the surface of installation piece all is the L shape, and second electric telescopic handle uses with the installation piece cooperation, and the telescopic link through second electric telescopic handle drives the installation piece and is the ascending concertina movement of vertical side.

Preferably, four the holding tank has all been seted up to the upper surface of installation piece, four the upper surface right side fixed mounting of installation piece has the second micro motor, four a side surface that the installation piece is close to the second micro motor has the fourth connecting rod, four through the fixed cover of bearing fixed mounting the output shaft of second micro motor has the third transmission shaft, and one through the equal fixed mounting of shaft coupling the third transmission shaft collocation one the fourth connecting rod is a set of, divides into four groups altogether.

Preferably, the outer surfaces of one end of each of the third transmission shaft and the fourth connecting rod are fixedly sleeved with swing plates, the opposite surfaces of two swing plates in each group are respectively provided with an inert tooth-shaped groove, the inner walls of the adjacent inert tooth-shaped grooves are mutually meshed, the surface of one side of the swing plate positioned on the surface of one end of the third transmission shaft is respectively and fixedly provided with a first proximity switch, the opposite surfaces of the adjacent swing plates are respectively and fixedly connected with an isosceles triangle block, the outer surfaces of the four mounting blocks are respectively and fixedly connected with a limiting block, the inner side surfaces of the four limiting blocks are respectively and fixedly connected with a second proximity switch, the four first proximity switches and the four second proximity switches are respectively and electrically connected with a second micro motor close to the first proximity switches, the centers of the lower end surfaces of the eight swing plates are respectively and fixedly connected with supporting rods, and the lower surfaces of one ends of the eight supporting blocks are respectively and fixedly connected with shielding plates, the lower surface of the shielding plate is in contact with the inner top wall of the containing tank, a controller is fixedly mounted on the upper surface of the shell, the electromagnetic valve and the miniature air pump are electrically connected with the controller through wires, the controller controls the second miniature motor to work and drive the swing plate connected with the third transmission shaft to rotate through the third transmission shaft, the two swing plates in each group are driven to carry out clamping and unfolding motions through the mutual meshing of the inert tooth-shaped grooves formed in the surfaces of the adjacent swing plates, the opposite surfaces of the adjacent swing plates are connected with the isosceles triangular blocks, grape branches and leaves are clamped off, the clamped grape branches and leaves fall into the containing tank to be contained, the shielding plate is connected with the swing plates through the supporting rods and is driven to seal the grape branches and leaves in the containing tank, subsequent detection personnel can conveniently detect detection substances in the grape branches and leaves, and an air quality sensor can be further arranged at the top of the mounting block, air quality sensor also is called air circumstance integrated monitoring appearance temperature in the main monitoring air, humidity, atmospheric pressure, illumination, PM2.5, PM10, TVOC numerical value, and gas concentration such as oxygen (O2), carbon dioxide (CO2), carbon monoxide (CO), formaldehyde (CH2O) sets up first proximity switch and carries on spacingly to the tight angle of clamp between the adjacent swinging plate, sets up the expansion angle of second proximity switch between to the adjacent swinging plate and carries on spacingly.

The beneficial effects of the invention are as follows:

1. through setting up running gear, reached the surface meshing of first bevel gear's surface and second bevel gear, through driving motor drive running gear drives the robot housing and is the running motion on grape planting regional ground, sets up four in running gear's top and cleans the mechanism and clear up the walking wheel surface of walking in-process, avoids walking the effect of the too much earth of wheel surface, inside surface and outside surface adhesion and fine gravel.

2. The reduction ratio of the first gear to the second gear is 10: 1, so that the speed of the walking mechanism is reduced, the walking mechanism walks at a constant speed in the grape planting area, and the effect of collecting environmental information in the grape planting area is more convenient.

3. Through setting up environmental information acquisition mechanism, reached running gear and when driving the walking orbit walking that robot housing set up in advance in the grape kind of region, set up environmental information acquisition mechanism and gather the soil moisture and grape branch and leaf that are close to the grapevine root of different positions in the grape kind of region and accomodate to make things convenient for the subsequent detection to it of measurement personnel, have the more accurate effect of test data.

Drawings

FIG. 1 is a schematic diagram of an intelligent information acquisition system for grape planting environment;

FIG. 2 is a perspective view of a baffle plate structure of an intelligent information collection system for grape planting environment;

FIG. 3 is a perspective view of a container sleeve structure of an intelligent information collection system for grape planting environment;

FIG. 4 is a perspective view of a first electric telescopic rod structure of an intelligent information collection system for grape planting environments;

FIG. 5 is a perspective view of a first micro-motor structure of an intelligent information collection system for grape planting environment;

FIG. 6 is a perspective view of an installation block structure of an intelligent information collection system for a grape planting environment;

FIG. 7 is a perspective view of a first connecting shaft structure of an intelligent information collecting system for grape planting environment;

fig. 8 is a perspective view of a connection plate structure of an intelligent information collection system for grape planting environment.

In the figure: 1. a housing; 2. a drive motor; 3. a first bevel gear; 4. a second bevel gear; 41. a first connecting shaft; 42. a connecting plate; 421. a tooth socket; 422. a first gear; 423. a second gear; 424. a first connecting rod; 425. a chute; 43. a second connecting shaft; 44. a traveling wheel; 45. cleaning the block; 46. a first micro motor; 461. a first brush block; 462. a second connecting rod; 463. a third connecting rod; 464. a second brush block; 465. a third brush block; 5. a cylinder; 51. a partition plate; 52. an air pump; 53. a moving block; 54. a first electric telescopic rod; 55. a container sleeve; 56. taking a soil rod; 57. a second electric telescopic rod; 58. mounting blocks; 59. accommodating grooves; 510. a second micro motor; 511. a fourth connecting rod; 512. a swing plate; 513. a first proximity switch; 514. an isosceles triangle block; 515. a second proximity switch; 516. a shielding plate; 517. and a controller.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-8, an intelligent collection system for grape planting environment information is provided, which is used for automatically collecting environment information in a grape planting area through a robot shell 1, and comprises a shell 1, wherein a driving motor 2 is fixedly installed on the left side of the inner bottom wall of the shell 1, a first transmission shaft is fixedly installed on an output shaft of the driving motor 2 through a coupling, a first bevel gear 3 is fixedly sleeved on the outer surface of one end of the first transmission shaft, a traveling mechanism is fixedly installed on the outer surface of the first bevel gear 3, the traveling mechanism comprises a second bevel gear 4, the outer surface of the first bevel gear 3 is meshed with the outer surface of the second bevel gear 4, and the traveling mechanism is driven by the driving motor 2 to drive the shell 1 to perform traveling motion on the ground;

in order to realize gathering the environmental information of different positions in the grape planting region, the front of casing 1 and the equal fixed mounting in the back have environmental information collection mechanism, and environmental information collection mechanism includes cylinder 5, four a side surface of cylinder 5 all with casing 1's front and back fixed connection, and four cylinder 5 is the symmetry and distributes, environmental information collection mechanism carries out a lot of collection to the soil and the grape branch and leaf that the grape was planted.

Furthermore, in order to drive the robot housing 1 to travel in the grape planting area according to a travel track set in advance, the travel mechanism further includes two first connecting shafts 41, the two end surfaces of the first connecting shaft 41 on the left side of the housing 1 are fixedly sleeved with connecting plates 42 through bearings, the outer surface of the middle part of the first connecting shaft 41 is fixedly sleeved with the inner ring of the second bevel gear 4, tooth grooves 421 distributed in an annular array are formed in the inner walls of the outer sides of the two connecting plates 42, the driving motor 2 converts electric energy into mechanical energy to drive the first bevel gear 3 connected with the surface of the first driving shaft and the first bevel gear 3 connected with the surface of the first driving shaft to rotate, and the first connecting shaft 41 connected with the inner wall of the second bevel gear 4 is driven to rotate through the engagement of the first bevel gear 3 and the second bevel gear 4.

Further, in order to decelerate the walking mechanism of the robot and enable the walking mechanism to walk at a constant speed in a grape planting area, the surfaces of two ends of a first connecting shaft 41 positioned on the left side of the housing 1 are fixedly sleeved with first gears 422, the connecting plate 42 is positioned on the inner side of the first gears 422, the outer surfaces of the two first gears 422 are respectively meshed with second gears 423 distributed in an annular array, the outer surfaces of the second gears 423 are meshed with the inner walls of tooth grooves 421, sliding grooves 425 are respectively formed in the front inner walls and the rear inner walls of the two connecting plates 42, a first connecting rod 424 is fixedly sleeved on the inner ring of each second gear 423 through a bearing, the outer surfaces of two ends of each first connecting rod 424 are rotatably connected with the inner walls of the sliding grooves 425, wherein the four first connecting rods 424 are matched with the two sliding grooves 425 to form a group, the four first connecting rods 424 are divided into two groups, and the reduction ratios of the first gears 422 and the second gears 423 are 10: 1, and the surface axes of the two connecting plates 42 which are opposite to each other are fixedly sleeved with power rods. Through the reduction ratio between first gear 422 and five second gears 423, carry out the deceleration to the first connecting shaft 41 rotational speed that first gear 422 inner circle cup jointed, and then drive running gear at the uniform velocity walking on ground, second gear 423 drives first connecting rod 424 and does the circular rotation in-process around the axle center of connecting plate 42, uses through spout 425 and the cooperation of first connecting rod 424, leads to the direction of motion of first connecting rod 424.

Through setting up the reduction ratio through setting up first gear 422 and second gear 423 and being 10: 1, reached and slowed down running gear's speed, made running gear at the uniform velocity walking in the grape planting region, the effect of gathering is carried out to the environmental information in the grape planting region to the convenience more.

Further, in order to automatically clean the surfaces of the traveling wheels 44 in the robot traveling mechanism, the front part and the rear part of the right side of the housing 1 are fixedly sleeved with second connecting shafts 43 through bearings, the surfaces of both ends of one of the second connecting shafts 43 and the outer surfaces of one ends of two power rods are fixedly sleeved with traveling wheels 44, the traveling wheels 44 connected to the surfaces of both ends of one of the second connecting shafts 43 are rear wheels, the traveling wheels 44 connected to the outer surfaces of one ends of two power rods are front wheels, and if a crawler replaces the traveling wheels 44 as the traveling structure of the present invention, the following problems exist: firstly, as the track shoe is provided with patterns and the crawler stabs, the track is easier to damage the ground when walking on the ground compared with the walking wheel 44 adopted by the invention; compared with the travelling wheels 44 adopted by the invention, the travelling speed of the crawler is lower than that of the travelling wheels 44, once the crawler is damaged in the travelling process for maintenance, the maintenance cost is high, and the maintenance time is long, so that the travelling wheels 44 are more suitable for being used as the travelling structure of the invention, the cleaning blocks 45 are fixedly connected above the shell 1 close to the four travelling wheels 44, the upper surfaces of the four cleaning blocks 45 are fixedly provided with cleaning mechanisms, each cleaning mechanism comprises a first micro motor 46, the output shafts of the four first micro motors 46 are fixedly provided with second transmission shafts through couplings, the outer surfaces of one ends of the four second transmission shafts are fixedly sleeved with first brush blocks 461, and the first micro motors 46 convert electric energy into mechanical energy to drive the cleaning mechanisms to clean the surfaces of the travelling wheels 44.

Further, in order to clean the outer surfaces, the inner side surfaces and the outer side surfaces of the four traveling wheels 44 at three angles, the outer surfaces of the four cleaning blocks 45 are all L-shaped, the inner side surfaces of the four cleaning blocks 45 are all fixedly provided with second connecting rods 462, the outer surfaces of one ends of the four second connecting rods 462 are all fixedly sleeved with second brush blocks 464, the front and the back of the housing 1 are all fixedly provided with third connecting rods 463 which are symmetrically distributed, the four third connecting rods 463 are positioned between the four traveling wheels 44, the outer surfaces of one ends of the four third connecting rods 463 are all fixedly sleeved with third brush blocks 465, nylon brushes are arranged on the lower surfaces of the four first brush blocks 461, one side surfaces of the second brush blocks 464 and one side surfaces of the third brush blocks 465, the first micro motor 46 is used as a driving source of the cleaning mechanism, the first brush block 461 that drives the first transmission shaft to connect is rotated, and then the nylon brush on the lower surface of the first brush block 461 cleans the outer surface of the walking wheel 44 in the walking process, and the nylon brush arranged on one side surface of the second brush block 464 and one side surface of the third brush block 465 cleans the outer surface and the inner surface of the walking wheel 44.

Through setting up running gear, reached the surface meshing of first bevel gear 3's surface and second bevel gear 4, drive through driving motor 2 running gear drives robot housing 1 and is the running motion on grape planting regional ground, sets up four in running gear's top and cleans the mechanism and clear up walking wheel 44 surface of walking in-process, avoids walking wheel 44 surface, the too much earth of inside surface and outside surface adhesion and the effect of tiny stone.

Further, in order to realize that the environmental information acquisition mechanism to the robot provides the power supply, the inner wall fixedly connected with baffle 51 of casing 1, the upper surface of baffle 51 is the shape of Chinese character ' wang ', four appearance chambeies are cut apart into with the inside of casing 1 to baffle 51 the inside in appearance chamber all is provided with air pump 52, four cylinder 5 all communicates with air pump 52 is fixed through the trachea, and the solenoid valve is installed on tracheal surface, four equal fixedly connected with movable block 53 in cylinder 5's piston rod one end surface, cylinder 5 passes through the trachea and uses with the cooperation of air pump 52, drives movable block 53 and does concertina movement.

Further, in order to realize soil breaking and sampling collection of the grape planting soil, the upper surfaces of the four moving blocks 53 are in a shape of Chinese character 'hui', the inner walls of the four moving blocks 53 are fixedly connected with first electric telescopic rods 54, the lower surfaces of the telescopic rods at one ends of the four first electric telescopic rods 54 are in threaded connection with container sleeves 55, the four container sleeves 55 are made of stainless steel, the inner bottom walls of the four container sleeves 55 are fixedly connected with soil taking rods 56, the inner walls of the four soil taking rods 56 are in a shape of circular arcs, the first electric telescopic rods 54 are matched with the soil taking rods 56 for use, the first electric telescopic rods 54 drive the soil taking rods 56 to perform telescopic motion, the soil breaking and sampling collection of the grape planting soil are performed through the soil taking rods 56, meanwhile, besides the soil taking rods 56, a Luoyang shovel can be adopted as a soil taking tool for the grape planting soil, due to the fact that the container sleeve 55 is in threaded connection with the first electric telescopic rod 54, the soil sampling rod 56 can take out soil collected in the container sleeve 55 and on the surface of the soil sampling rod 56 by disassembling the container sleeve 55 after soil collection of grape planting is completed, and therefore moisture in the soil can be conveniently detected by a subsequent detector, and meanwhile the surface of the soil can be conveniently cleaned.

Further, in order to realize the vertical height adjustment of the mounting block 58, four supporting blocks are fixedly connected to the top surface of the first electric telescopic rod 54, four second electric telescopic rods 57 are fixedly connected to the top surface of the four supporting blocks, the mounting block 58 is fixedly connected to the upper surface of one end of each of the telescopic rods of the four second electric telescopic rods 57, the outer surfaces of the four mounting blocks 58 are all in an L shape, the second electric telescopic rods 57 are matched with the mounting block 58, and the mounting block 58 is driven by the telescopic rods of the second electric telescopic rods 57 to perform vertical telescopic movement.

Further, in order to realize gathering and holding, four the holding tank 59, four have all been seted up to the upper surface of installation piece 58 the upper surface right side fixed mounting of installation piece 58 has second micro motor 510, four a side surface that installation piece 58 is close to second micro motor 510 has cup jointed fourth connecting rod 511, four through bearing fixation the output shaft of second micro motor 510 passes through the equal fixed mounting of shaft coupling has a third transmission shaft, and one third transmission shaft collocation one fourth connecting rod 511 is a set of, divides into four groups altogether.

Furthermore, in order to clamp and cut the branches and leaves of the grapes at different positions, the outer surface of one end of each group of the third transmission shaft and the fourth connecting rod 511 is fixedly sleeved with a swing plate 512, the opposite surfaces of two swing plates 512 in each group are respectively provided with an inert tooth-shaped groove, the inner walls of the adjacent inert tooth-shaped grooves are mutually meshed, the surface of one side of the swing plate 512 positioned on the surface of one end of the third transmission shaft is fixedly provided with a first proximity switch 513, the opposite surfaces of the adjacent swing plates 512 are respectively fixedly connected with an isosceles triangle block 514, the outer surfaces of the four mounting blocks 58 are respectively fixedly connected with a limiting block, the inner side surfaces of the four limiting blocks are respectively and fixedly connected with a second proximity switch 515, and the four first proximity switches 513 and the four second proximity switches 515 are respectively and electrically connected with a second micro motor 510 close to the first proximity switch 513, the centers of the lower end surfaces of the eight oscillating plates 512 are fixedly connected with supporting rods, the lower surfaces of one ends of the eight supporting blocks are fixedly connected with baffle plates 516, the lower surfaces of the baffle plates 516 are in contact with the inner top wall of the accommodating groove 59, the upper surface of the shell 1 is fixedly provided with a controller 517, the electromagnetic valves and the micro air pumps 52 are electrically connected with the controller 517 through wires, the controller 517 controls the second micro motor 510 to work and drive the oscillating plates 512 connected with the third transmission shaft to rotate through the third transmission shaft, the two oscillating plates 512 in each group are driven to perform clamping and unfolding motions through the mutual meshing of the inert tooth-shaped grooves formed on the surfaces of the adjacent oscillating plates 512, the surfaces opposite to the adjacent oscillating plates 512 are connected with isosceles triangle blocks 514, grape branches and leaves are clamped, the clamped grape branches and leaves fall into the accommodating groove 59 to be accommodated, and the baffle plates 516 are connected with the oscillating plates 512 through the supporting rods, drive shielding plate 516 and seal grape branch and leaf in holding tank 59, make things convenient for follow-up detection personnel to detect the detection material in the grape branch and leaf, can also set up air quality sensor at the top of installation piece 58, air quality sensor also is called the temperature in the air environment comprehensive monitoring appearance main monitoring air, humidity, atmospheric pressure, illumination, PM2.5, PM10, TVOC numerical value, oxygen O2 in addition, carbon dioxide (CO2), carbon monoxide (CO), gaseous concentration such as formaldehyde (CH2O), it is spacing to set up first proximity switch 513 to carry out the clamp angle between the adjacent swinging plates 512, it is spacing to set up second proximity switch 515 to carry out the expansion angle between the adjacent swinging plates 512.

Through setting up environmental information acquisition mechanism, reached running gear and when driving the walking orbit walking that robot housing 1 set up in advance in the grape kind of region, set up environmental information acquisition mechanism and gather the soil moisture and the grape branch and leaf that are close to the grapevine root of different positions in the grape kind of region and accomodate to make things convenient for the subsequent detection to it of measurement personnel, have the more accurate effect of test data.

The working principle is as follows: step one, walking, driving the motor 2 to work, driving the first transmission shaft and the first bevel gear 3 connected with the surface of the first transmission shaft to do rotary motion, engaging the first bevel gear 3 with the second bevel gear 4, driving the first connecting shaft 41 connected with the inner ring of the second bevel gear 4 to rotate, driving the first connecting shaft 41 to drive the first gear 422 to rotate, engaging the first gear 422 with the second gears 423 distributed in an annular array at the inner side of the connecting plate 42, engaging the second gears 423 with the tooth grooves 421 arranged at the inner side of the connecting plate 42, and reducing the speed ratio of the first gear 422 to the second gear 423 to be 10: 1, further reducing the speed of the power rods connected with the two connecting plates 42 at the positions opposite to the surface axes, driving the walking wheels 44 connected with the surface of one end of the power rods to walk on the ground of the grape planting area, and driving the walking wheels 44 connected with the outer surfaces of the two ends of the second connecting shaft 43 to walk under the action of force, driving the robot shell 1 to walk in the grape planting area according to a preset walking track;

step two, cleaning, wherein soil and fine stones are adhered to the surface of the walking wheel 44 in the process of walking on the ground of the grape planting area, so that the first micro motor 46 works, the first micro motor 46 drives the first brush block 461 to rotate on the lower surface of the cleaning block 45 through the second transmission shaft, the nylon brush arranged on the lower surface of the first brush block 461 cleans the outer surface of the walking wheel 44 from above, and the nylon brush arranged on one side surface of the second brush block 464 connected with the outer surface of one end of the second connecting rod 462 and the third brush block 465 connected with the outer surface of one end of the third connecting rod 463 respectively cleans the outer side surface and the inner side surface of the walking wheel 44 in the process of walking movement, so that the influence on the walking wheel 44 due to excessive soil and fine stones adhered to the surface of the walking wheel is avoided;

step three, collecting soil moisture, controlling a cylinder 5 positioned on the left side in front of the shell 1 to do stretching motion through a controller 517, driving a moving block 53 to stretch out by a piston rod of the cylinder 5, starting a first electric telescopic rod 54 at the moment, driving a container sleeve 55 and a soil taking rod 56 to do downward stretching motion through a telescopic rod of the first electric telescopic rod 54, collecting and sampling soil close to the root of the grape vine, filling the collected soil into the container sleeve 55 under the action of extrusion force, controlling the first electric telescopic rod 54 to do contraction motion again through the controller 517, driving the container sleeve 55 and the soil taking rod 56 to leave a soil layer, and enabling the container sleeve 55 and the soil taking rod 56 to return to an initial state;

step four, collecting branches and leaves of grapes, controlling a second electric telescopic rod 57 to do stretching movement, driving a mounting block 58 to do stretching movement in the vertical direction by a telescopic rod of the second electric telescopic rod 57, controlling a second micro motor 510 to rotate through a controller 517, driving a swing plate 512 connected with the surface of a third transmission shaft to rotate through a third transmission shaft of the second micro motor 510, meshing an inert tooth-shaped groove formed in the surface of the swing plate 512 at the position of the third transmission shaft with the swing plate 512 connected with the surface of a fourth connecting rod 511 to enable adjacent swing plates 512 to do clamping movement, pinching off the branches and leaves through an isosceles triangle block 514, dropping the pinched off branches and leaves into an accommodating groove 59, connecting a shielding plate 516 with the swing plate 512 through a supporting rod, and driving the shielding plate 516 to seal the branches and leaves in the accommodating groove 59;

and step five, repeating the operation of the step three and the operation of the step four for three times, collecting the soil moisture and the grape branches and leaves at different positions in the grape planting area, and further facilitating the detection of the soil moisture and the grape branches and leaves at different positions in the grape planting area by subsequent detection personnel.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.