CN106171080A - A kind of booth vegetable intelligent cultivation robot - Google Patents
A kind of booth vegetable intelligent cultivation robot Download PDFInfo
- Publication number
- CN106171080A CN106171080A CN201610521976.2A CN201610521976A CN106171080A CN 106171080 A CN106171080 A CN 106171080A CN 201610521976 A CN201610521976 A CN 201610521976A CN 106171080 A CN106171080 A CN 106171080A
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- soil
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- platform
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- 235000013311 vegetables Nutrition 0.000 title claims abstract description 225
- 239000002689 soil Substances 0.000 claims abstract description 237
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 159
- 239000003643 water by type Substances 0.000 claims abstract description 41
- 230000009184 walking Effects 0.000 claims description 96
- 238000006243 chemical reaction Methods 0.000 claims description 67
- 230000033001 locomotion Effects 0.000 claims description 46
- 230000005540 biological transmission Effects 0.000 claims description 40
- 230000007246 mechanism Effects 0.000 claims description 30
- 238000009434 installation Methods 0.000 claims description 23
- 230000008878 coupling Effects 0.000 claims description 15
- 238000010168 coupling process Methods 0.000 claims description 15
- 238000005859 coupling reaction Methods 0.000 claims description 15
- 239000011159 matrix material Substances 0.000 claims description 14
- 230000005611 electricity Effects 0.000 claims description 8
- 238000003466 welding Methods 0.000 claims description 8
- 210000003205 muscle Anatomy 0.000 claims description 5
- 235000008331 Pinus X rigitaeda Nutrition 0.000 claims description 4
- 235000011613 Pinus brutia Nutrition 0.000 claims description 4
- 241000018646 Pinus brutia Species 0.000 claims description 4
- 210000005069 ears Anatomy 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 238000013016 damping Methods 0.000 abstract description 15
- 238000003306 harvesting Methods 0.000 abstract description 14
- 230000000694 effects Effects 0.000 description 34
- 230000008859 change Effects 0.000 description 12
- JEGUKCSWCFPDGT-UHFFFAOYSA-N h2o hydrate Chemical compound O.O JEGUKCSWCFPDGT-UHFFFAOYSA-N 0.000 description 11
- 230000003028 elevating effect Effects 0.000 description 8
- 241000195622 Astasia Species 0.000 description 7
- 206010010947 Coordination abnormal Diseases 0.000 description 7
- 230000008901 benefit Effects 0.000 description 7
- 239000002699 waste material Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000007774 longterm Effects 0.000 description 4
- 238000009827 uniform distribution Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 239000000284 extract Substances 0.000 description 3
- 238000000605 extraction Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000003337 fertilizer Substances 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010516 chain-walking reaction Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001932 seasonal effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
- A01B49/06—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/24—Devices or systems for heating, ventilating, regulating temperature, illuminating, or watering, in greenhouses, forcing-frames, or the like
- A01G9/247—Watering arrangements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Water Supply & Treatment (AREA)
- Soil Working Implements (AREA)
- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
Abstract
The present invention relates to a kind of booth vegetable intelligent cultivation robot, including from steady travelling platform, from steady travelling platform, there is good damping performance and stability, the present invention can be made to work with being applicable to rough planting vegetable in greenhouse, described on the right side of the upper surface of steady travelling platform, loosening device is installed, loosening device can realize planting site uniform soil-loosening function automatically, speed of loosening the soil is fast, loosen the soil effective, adjustable watering device is installed in the middle part of the upper surface of steady travelling platform, adjustable watering device can realize vegetable according to watering water function uniformly, water effective, save substantial amounts of water source, on the left of the upper surface of steady travelling platform, rotary cutting apparatus of gathering is installed, rotary cutting apparatus of gathering can realize gathering the vibration of vegetable function, speed of gathering is fast, harvest efficiency is high.The present invention can realize the function that booth vegetable automatically loosens the soil, waters, gathers, it is not necessary to manual operation, and automaticity is high, and vegetable cultivation is effective.
Description
Technical field
The present invention relates to agricultural machinery technological field, specifically one booth vegetable intelligent cultivation robot.
Background technology
In we live, booth vegetable is seen everywhere, by booth can the Time To Market of manual control vegetable, booth vegetables
Dish can meet the fast supply demand of Various Seasonal vegetable, and therefore the yield of booth vegetable is the hugest.Existing booth vegetable kind
It is main for planting substantially artificial culture, and the concrete technology that booth is cultivated has plantation, loosens the soil, applies fertilizer, waters, gathers, existing this
Plant booth vegetable artificial culture's mode and there is following defect: 1, the artificial long-term auxiliary operation of needs, labor intensity is big, work efficiency
Lowly, booth vegetable cultivates weak effect；2, the most uneven due to planting vegetable in greenhouse ground surface, operator is by machinery
Cultivation instrument walk up and down on planting site operation stability poor, astasia is easy to the situation occurring falling down, and causes
The work efficiency that booth vegetable is cultivated is greatly lowered；3, the cultivating technique that loosens the soil mainly artificial by the rake that loosens the soil at planting site
Upper execution is loosened the soil operation, for the effect that reaches uniformly to loosen the soil with this to increase the booth vegetable assimilation effect to fertilizer, generally needs
To carry out longitudinally loosening the soil and laterally loosening the soil operation manually, this manual mode of operation loosen the soil speed slowly, loosen the soil weak effect, labor
Fatigue resistance is big；4, the cultivating technique that waters manually carries water spray chamber spraying operation the most back and forth time usual, but this waters
What water mode was usually sprayed with is above vegetable, and the moisture that the root of vegetable is sprayed onto is not a lot, therefore to vegetable root
Can absorb enough moisture, need the substantial amounts of moisture of artificial spray, this vegetable mode of watering is big to water waste, to vegetable
The weak effect that waters, work efficiency is low, needs artificial long-time operation, and labor intensity is big；5, after vegetable ripeness, need
Manually gather vegetable, it is common that first manually capture vegetable, then shake off the earth on vegetable root, then excise root with cutting knife,
Being all manually-operated during whole, speed of gathering is slow, and harvest efficiency is low.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of booth vegetable intelligent cultivation robot, can solve existing
The needs that booth vegetable artificial culture's mode exists manually long-term auxiliary operation, labor intensity are big, vegetable cultivation weak effect, plantation
Stability is poor, work efficiency is low, speed of loosening the soil slow, the weak effect that loosens the soil, the weak effect that waters, water waste are big, speed of gathering
Slow and the low inferior difficult problem of harvest efficiency, it is possible to achieve the function that booth vegetable automatically loosens the soil, waters, gathers, it is not necessary to manual operation,
Automaticity is high, and vegetable cultivation is effective, and stability is good, work efficiency is high, speed of loosening the soil fast, effect of loosening the soil to have plantation
The best, water effective, water waste is little, speed of gathering is fast and harvest efficiency advantages of higher.
To achieve these goals, the present invention realizes by the following technical solutions: a kind of booth vegetable intelligent cultivation machine
Device people, including from steady travelling platform, has good damping performance and stability from steady travelling platform, and the present invention can be made to fit
Work for rough planting vegetable in greenhouse, described on the right side of the upper surface of steady travelling platform, loosening device be installed,
Loosening device can realize planting site uniform soil-loosening function automatically, and speed of loosening the soil is fast, loosens the soil effective, from steady travelling platform
Upper surface in the middle part of adjustable watering device is installed, adjustable watering device can realize vegetable according to watering water function uniformly,
Water effective, saved substantial amounts of water source, on the left of the upper surface of steady travelling platform, rotary cutting apparatus of gathering is installed, rotation of gathering
Cutting apparatus can realize gathering the vibration of vegetable function, and speed of gathering is fast, and harvest efficiency is high.
Described including mounting platform from steady travelling platform, the left and right sides, lower surface of described mounting platform is symmetrically installed with two
Before and after individual transmission branch chain, and each transmission branch chain, both sides are all symmetrically welded with two walking side chains, are driven by transmission branch chain
Walking side chain is in planting vegetable in greenhouse walking the most automatically, and cultivating process is without manual operation, and work efficiency is high；Described transmission is propped up
Chain includes being symmetrically welded at two pieces of fixed boards of both sides before and after mounting platform lower surface, logical between the upper end of two pieces of fixed boards
Crossing bearing and be provided with driving shaft, the middle part of driving shaft is provided with driving gear by key, and the front end of driving shaft is pacified by shaft coupling
Equipped with driving motor, driving motor is arranged on the lower surface of mounting platform by motor cabinet, between the lower end of two pieces of fixed boards
Being provided with driven shaft by bearing, the middle part of driven shaft is provided with driven gear by key, and driven gear is nibbled mutually with driving gear
Closing, before and after driven shaft, two ends are symmetrically welded with two walking side chains, drive driving shaft to rotate by driving motor, driving shaft band
Dynamic driving gear rotates, and driving gear drives driven shaft under the auxiliary of driven gear, and driven shaft drives two walkings at two ends
Side chain is in planting vegetable in greenhouse walking the most automatically；Described walking side chain includes the walking jacking block that side is welded on driven shaft,
Walking jacking block is square structure, and four sides of walking jacking block are separately installed with four shock-absorbing support mechanisms, four dampings
Supporting mechanism upper end is separately installed with four arc walking blocks, and all uniformly connecting between adjacent two arcs walking block has a limit
Being evenly arranged with taper walking bar on position spring, and the outer wall of each arc walking block, taper walking bar is pyramidal structure, will
The walking pressure on planting vegetable in greenhouse ground is concentrated on taper walking bar by the present invention, improves the present invention and cultivates at booth vegetable
Time walking stability energy, a limit spring plays spacing and damping effect, and shock-absorbing support mechanism has good damping
Performance and stability so that the present invention walks on block at the assosting effect arc lower of a limit spring and shock-absorbing support mechanism
Taper walking bar can stablize and walk at rough planting vegetable in greenhouse, applied widely；Described driving gear with
The gear ratio of driven gear is 2:1, is reduced the velocity of rotation of driven gear by low gear ratio, thus reduces walking
Chain, in the speed of travel of planting vegetable in greenhouse ground, further increases walking stability energy；Described shock-absorbing support mechanism includes
Being arranged on the fixed platform in walking jacking block corresponding side surface, fixed platform upper surface is the most uniformly provided with three parallel connections and props up
Chain, the top of three side chains in parallel is installed on the lower surface of moving platform, and the upper surface uniform welding of moving platform has three bars
Shape props up block, and it is the globoidal structure corresponding with arc walking block that the upper surface of block is propped up in bar shaped, and the upper surface weldering of block is propped up in three bar shapeds
It is connected on the inwall of corresponding arc walking block so that block is propped up in three bar shapeds can be to the corresponding arc walking strong support of block
Power；Described side chain in parallel includes the matrix bearing being welded on fixed platform upper surface, is provided with lower limit between the middle part of matrix bearing
Position axle, the upper end inwall of matrix bearing is symmetrically arranged with two arc-shaped limit grooves；A liquid it is arranged with on described lower limit axle
Cylinder pressure, the both sides, bottom of a hydraulic cylinder are provided with two gag lever posts, the end of two gag lever posts and two arc-shaped limit grooves it
Between by sliding matching mode be connected, the motion between two gag lever posts and two arc-shaped limit grooves play restriction a number hydraulic cylinder
The slewing area of bottom, also prevent the situation that a hydraulic cylinder bottom moves left and right, due to the present invention often uneven
Planting vegetable in greenhouse walking on the ground, and a hydraulic cylinder bottom can be strengthened by two gag lever posts and two arc-shaped limit grooves
Stability when lower limit axle rotates, improves service behaviour；The top of a described hydraulic cylinder is provided with ball by screw thread
Shape union joint, the two ends of spherical connector are symmetrically arranged with two upper limit axles, two upper limit axles respectively with an ear mount
All being connected by bearing between two ends, the lower surface inwall of an ear mount is welded with locating dowel, the end of locating dowel is and ball
The matrix spherical structure that shape union joint is corresponding, by sliding matching mode phase between the end of locating dowel and spherical connector
Even, the upper surface of an ear mount is welded on moving platform, is limited and support the motion of spherical connector by locating dowel, thus
On spherical connector two upper limit axles can be stablized rotate in an ear mount, enhance a hydraulic cylinder top and turn
Stability time dynamic, improves service behaviour, and the R formed when matrix bearing rotates by a hydraulic cylinder is secondary, a hydraulic pressure
The P formed during cylinder working is secondary, hydraulic cylinder R pair of formation when an ear mount rotates constitutes the side chain in parallel of RPR type, and
The present invention defines 3-RPR parallel institution, 3-RPR parallel institution by fixed platform, the side chain in parallel of three RPR types and moving platform
Have that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, by 3-RPR parallel institution
Advantage make the present invention have good damping performance and stability when planting vegetable in greenhouse walking on the ground, eliminate people
During work operation, astasia reduces the situation of operating rate, and the scope of application is big.During work, first pass through the transmission in transmission branch chain
Driven by motor driving shaft rotates, and driving shaft drives driving gear to rotate, and driving gear drives driven under the auxiliary of driven gear
Axle, driven shaft drives the tapers walking bars on two of two ends walking side chains to rotate, by a limit spring be evenly arranged
3-RPR parallel institution assosting effect on walking four sides of jacking block makes the taper walking bar on two walking side chains permissible
At rough planting vegetable in greenhouse stabilized walking on the ground, damping performance is good, and stability is good, station when eliminating manual operation
Vertical shakiness reduces the situation of operating rate, applied widely.
Described loosening device includes the base plate that loosens the soil being welded on mounting platform upper surface, and the base plate that loosens the soil is symmetrically welded with two
Root loosens the soil pole, and two are loosened the soil and are evenly arranged with three muscle posts between pole, three muscle posts strengthen two poles of loosening the soil
Support intensity, the end of two poles of loosening the soil is welded with frame plate, and the lower surface of upper frame plate is symmetrically installed with four No. two hydraulic cylinders,
The middle part of four No. two hydraulic cylinders is separately fixed on four L-type frameworks, and four L-type frameworks play fixing support four two respectively
The effect of number hydraulic cylinder, so that No. two hydraulic cylinders make elevating movement only along vertical direction, the bottom of four L-type frameworks
All it is welded on frame plate, and the top of four No. two hydraulic cylinders is provided with the main support plate that loosens the soil；Described master loosens the soil the lower end of support plate
Face is symmetrically installed with two power drive side chains, and the lower end of two power drive side chains is provided with lower frame plate, by two power
Side chain is driven to drive lower frame plate to move before and after making to stablize so that the present invention is easy to regulate planting vegetable in greenhouse position of loosening the soil on the ground
Put so that the present invention is applicable to loosening the soil of different vegetable planting location, and the lower surface of lower frame plate is provided with two journal stirrups that loosen the soil,
Two are loosened the soil and are provided with transaxle by bearing between journal stirrup, and the right side of transaxle is provided with conversion motor by shaft coupling, turn
Changing motor to be arranged on conversion support plate by motor cabinet, conversion support plate plays the effect supporting conversion motor, conversion support plate welding
It is being positioned at loosening the soil on journal stirrup sidewall on the right side of undercarriage plate；The middle part of described transaxle is provided with conversion square column, the present invention by key
By the operating angle of conversion motor regulation conversion square column, the lower end of conversion square column is provided with two longitudinal journal stirrups, longitudinal journal stirrup
Between by bearing longitudinal rotating shaft is installed, the right-hand member of longitudinal rotating shaft is provided with the motor that longitudinally loosens the soil, longitudinally pine by shaft coupling
Soil motor is arranged on by motor cabinet and longitudinally loosens the soil on support plate, and the support plate that longitudinally loosens the soil is welded on the longitudinal direction being positioned on the right side of conversion square column
On journal stirrup sidewall；The side chain that longitudinally loosens the soil it is evenly arranged with, by longitudinally loosening the soil driven by motor longitudinally on described longitudinal rotating shaft outer wall
Axis of rotation, longitudinal rotating shaft drives the longitudinal direction the being uniformly arranged side chain that loosens the soil to be rapidly performed by longitudinally loosening the soil；Described longitudinal direction is loosened the soil and is propped up
Chain includes being arranged on the circular knife rest in longitudinal rotating shaft by key, the outer wall of circular knife rest is evenly arranged with in the axial direction vertical
To the cutter that loosens the soil, the cutter that longitudinally loosens the soil is curved pointed structures, it is simple to the entrance planting site that the cutter that longitudinally loosens the soil can be the most deep is carried out
Loosen the soil；The upper surface of described conversion square column is provided with two to horizontal journal stirrup, and is respectively mounted by bearing between every pair of horizontal journal stirrup
Having rotation roller, two are provided with transmission belt between two rotation rollers of horizontal journal stirrup, and on the outer wall of transmission belt, uniformly riveting has horizontal stroke
To the cutter that loosens the soil, and being positioned on the rotation roller on the right side of conversion square column and be provided with, by shaft coupling, the motor that laterally loosens the soil, laterally loosen the soil electricity
Machine is fixedly mounted on and laterally loosens the soil on support plate, and the support plate that laterally loosens the soil is welded on the sidewall of conversion square column, by the electricity that laterally loosens the soil
Machine drives the rotation roller on the right side of conversion square column to rotate, the rotation roller auxiliary on the left of conversion square column of the rotation roller on the right side of conversion square column
Lower drive transmission belt rotates, and transmission belt drives the cutter quick rotation of laterally loosening the soil being evenly arranged, the cutter that laterally loosens the soil being evenly arranged
Growing vegetables is laterally loosened the soil；Described power drive side chain includes two drivings being arranged on main support plate lower surface of loosening the soil
Journal stirrup, is provided with power leading screw by bearing between two driving journal stirrups, power leading screw is provided with power current by shaft coupling
Machine, power motor is arranged on master by motor cabinet and loosens the soil on support plate, and the middle part of power leading screw is threaded connection mode and is provided with
Drive, on slide block, and two driving slide blocks of two power drive side chains, lower frame plate is installed, drive power by power motor
Screw turns, power leading screw drives and drives slide block to rotate, and two driving slide blocks of two power drive side chains drive lower frame plate to make
Move before and after Wen Ding.During work, it is first determined the present invention needs the growing vegetables position loosened the soil, two power drive side chains
On two power motors start simultaneously at work, two power motors drive two power screw turns, two power leading screw bands
Dynamic two drive slide block to move, and two driving slide blocks move the present invention by undercarriage strip and move to the required growing vegetables loosened the soil ground
Position, when the present invention moves to required planting location, power motor quits work, and then four No. two hydraulic cylinders start simultaneously at
Working, four No. two hydraulic cylinders drive the present invention down to move by the main support plate that loosens the soil, and loosen the soil when the longitudinal direction in longitudinal rotating shaft and prop up
When chain is close to planting site surface, No. two hydraulic cylinders quit work, and the motor that now longitudinally loosens the soil is started working, and longitudinally loosen the soil motor
Longitudinal axis of rotation, longitudinal rotating shaft is driven to drive the longitudinal direction the being uniformly arranged side chain that loosens the soil to rotate, the longitudinal direction on side chain of longitudinally loosening the soil
The cutter that loosens the soil is rapidly performed by longitudinally loosening the soil, and after longitudinally loosening the soil, conversion motor rotates, and conversion motor drives transaxle to rotate,
Transaxle drives conversion square column to rotate, when the cutter that laterally loosens the soil in transmission belt moves to change below square column and the side chain that longitudinally loosens the soil
On longitudinal direction loosen the soil cutter when moving to change above square column conversion motor quit work, the motor that the most laterally loosens the soil starts work
Making, the rotation roller on the right side of driven by motor of laterally loosening the soil conversion square column rotates, and the rotation roller on the right side of conversion square column is left at conversion square column
The rotation roller auxiliary of side is lower drives transmission belt to rotate, and transmission belt drives the cutter quick rotation of laterally loosening the soil being evenly arranged, uniform cloth
Growing vegetables is laterally loosened the soil by the cutter that laterally loosens the soil put, and the present invention is by laterally loosening the soil and longitudinally loosening the soil operated in conjunction
Mode realize planting site uniform soil-loosening function automatically, speed of loosening the soil is fast, loosens the soil effective.
Described adjustable watering device includes the support plate that waters being welded on mounting platform upper surface, the upper surface peace of the support plate that waters
Being placed with tank tower, be provided with water tank in the middle part of the upper surface of tank tower, tank tower plays the effect supporting water tank, stores vegetable and use in water tank
Water source, the both sides of water tank by two water inlet pipes respectively water inlet with two high-pressure hydraulic pumps be connected, two high-pressure hydraulic pumps are logical
Cross screw and be separately mounted to the both sides of tank tower, and the outlet of two high-pressure hydraulic pumps is connected with two outlet pipes respectively；Described water
The both sides of water support plate are separately installed with two side chains that water by screw, and two high-pressure hydraulic pumps are by two water inlet pipe extraction water tanks
The water source stored, is then flowed into two by two outlet pipes and waters in side chain, and the side chain that waters includes being arranged on by screw
Watering the pole of watering on support plate, the upper surface of pole of watering is respectively arranged with two position-limiting ears, the end welding of pole of watering
Having upper mounting plate, symmetrical two No. three hydraulic cylinders in the lower surface of upper mounting plate and two expansion links, two expansion links are respectively positioned on two
Between No. three hydraulic cylinders of root, and on the top of two No. three hydraulic cylinders and two expansion links, lower installation board is installed, two No. three
Hydraulic cylinder drives lower installation board to make stable oscilaltion campaign under the auxiliary of two expansion links so that two in the present invention
The side chain that waters waters needed for moving to vegetable root highly, and lower installation board is provided with angular adjustment motor, angle by motor cabinet
It is provided with on the output shaft of degree regulation motor and waters water column, water water column on one end of lower installation board, be welded with locating shaft, location
Being connected by sliding matching mode between the upper end of axle with arc-shaped limit frame, the bottom of arc-shaped limit frame is welded on lower installation board
On, make to water water column by the spacing assisted movement of locating shaft Yu arc-shaped limit frame and carry out under the drive of angular adjustment motor surely
Fixed angular adjustment so that the present invention is applicable to the operation of watering without angle vegetable root, described in water water column upper end install
Having two journal stirrups that water, water and be installed with manifold trunk between journal stirrup, manifold trunk upper end is communicated with outlet pipe, passes through water under high pressure
The water source that pump high pressure flows in outlet pipe collects in manifold trunk, and sequentially passes through two watered on pole in the middle part of outlet pipe
Individual position-limiting ear, two position-limiting ears play spacing and even support outlet pipe effect, described in water the both sides of water column and the most uniformly install
There is adjustable mechanism of watering；Described adjustable mechanism of watering includes being welded on fixing block of two watered on water column sidewall, fixes for two
Being provided with two installation between block and determine block, two installations determine to be provided with on block giant, and the bottom connection of giant has
Isocon, the middle part of isocon is provided with electromagnetic valve, is controlled the uninterrupted of isocon by electromagnetic valve, the top of isocon
Being connected with manifold trunk, the water source in manifold trunk is flowed into giant by isocon, and giant is by high-pressure hydraulic pump
Vegetable root is uniformly watered by hydraulic pressure.During work, water needed for the present invention moves to vegetable position time, first according to institute
Needing the regulation of vegetable root to water highly, two No. three hydraulic cylinders watered on side chain are started working, and No. three hydraulic cylinders are at expansion link
Auxiliary under make stable elevating movement by lower installation board, water needed for two side chains that water move to vegetable root height
Time No. three hydraulic cylinders quit work, then water angle according to the regulation of vegetable root, now angular adjustment motor is started working, logical
Cross the spacing assisted movement of locating shaft and arc-shaped limit frame to make to water water column and carry out stable under the drive of angular adjustment motor
Angular adjustment so that the present invention is applicable to the operation of watering without angle vegetable root, when two side chains that water move to required
Water angle position time angular adjustment motor quit work, then water the adjustable mechanism of watering uniformly installed water column both sides and start work
Making, first pass through electromagnetic valve and determine the flow of isocon, latter two high-pressure hydraulic pump that flow determines starts simultaneously at work, and two high
Water pump is by the water source in two water inlet pipe extraction water tanks, and water source separately flows into two side chains that water by two outlet pipes again
Two manifold trunks in, by manifold trunk by water source uniform distribution give the adjustable isocon watered in mechanism, by shunting pipe flow
The water source entered to giant carries out uniform automatic watering function by the hydraulic pressure of high-pressure hydraulic pump to vegetable root, it is achieved that to vegetable
According to watering water function uniformly, water effective, saved substantial amounts of water source.
Described rotary cutting apparatus of gathering includes the base plate of gathering being welded on mounting platform upper surface, in the middle part of base plate upper surface of gathering
Being welded with pole of gathering, the end of pole of gathering is welded with a platform of gathering, and the lower surface of a platform of gathering is symmetrically installed with four four
Number hydraulic cylinder, the top of four No. four hydraulic cylinders is provided with crawl platform, is driven by four No. four hydraulic cylinders and captures platforms and stablize
Oscilaltion campaign, capture and on the left of the upper surface of platform vegetable rotary-cut side chain be installed, the lower surface capturing platform is symmetrically welded with
Four capture vibration side chain, capture the vegetable gathered needed for vibration side chain captures automatically and by attached on vegetable root by four
The earth is vibrated on planting site, by vegetable rotary-cut side chain automatic rotary cutting vegetable root after earth vibration is complete, and rotary-cut
Vegetable after complete just can be collected；The described vibration side chain that captures includes being welded on the upper vertical plate capturing platform lower surface, on
The lower end of riser is provided with lower riser by hinge, the lower end of lower riser be provided with two capture hangers, two capture hanger it
Between by bearing, rotating shaft of gathering is installed, the middle part of rotating shaft of gathering is installed with two engaging lugs, the end of two engaging lugs
Being arranged on arc and capture the back of plate, arc is captured plate and can be rotated in rotating shaft gathering by two engaging lugs, and arc captures plate
Being provided with No. two limit spring between upper end and lower riser upper end, No. two limit spring capture plate upper end to arc and carry out spacing,
Arc captures the lower end of plate and is welded with connection support plate, connects and is provided with No. three spacing bullets between support plate upper end and lower riser lower end
Spring, No. three limit spring capture plate lower end to arc and carry out spacing, when arc captures and captures vegetable surface needed for plate is close to,
Arc captures plate and arbitrarily can rotate relative to the angle of inclination of planting site according to required crawl vegetable, and arc captures plate by two
Number limit spring, the position-limiting action up and down of No. three limit spring can be close to required capture vegetable surface, add vegetable
Capturing effect, the lower end of described lower riser is provided with two motor journal stirrups, two motor journal stirrups is provided with vibrating motor, passes through
The earth of attachment on vegetable root is vibrated on planting site by vibrating motor, pacifies between described lower riser upper end and upper vertical plate inwall
Equipped with capturing governor motion, crawl governor motion regulates the arc on lower riser and captures plate to capture required vegetable；Described grab
Take No. two ear mount that governor motion includes being welded on upper vertical plate inwall, between No. two ear mount, by bearing pin, electronic pushing away is installed
Bar, the top of electric pushrod is arranged between No. three ear mount by bearing pin, and No. three ear mount are welded on the upper surface of lower riser, logical
Cross electric pushrod and capture plate to capture required vegetable to the arc regulating on lower riser；Described vegetable rotary-cut side chain includes balanced welding
It is connected on the two rotary-cut poles captured on platform, the lower end inner wall of two rotary-cut poles is welded with rotation support plate, rotary-cut support plate
Inwall upper end is symmetrically installed with two No. five hydraulic cylinders, and the top of two No. five hydraulic cylinders is provided with L-type rotary-cut frame, L-type rotary-cut
The lower surface of frame is symmetrically arranged with two Z-type slide blocks, and two Z-type slide blocks respectively and pass through sliding matching mode between two chutes
Being connected, the left end of two chutes is all welded on rotation support plate inwall, by two Z-type slide blocks and the spacing slip of two chutes
Motion makes L-type rotary-cut frame make stable stretching motion under the driving of two No. five hydraulic cylinders, and described L-type rotary-cut frame upper end leads to
Cross motor cabinet and rotary-cut motor is installed, the output shaft of rotary-cut motor is installed with rotary-cut sheet, is revolved by rotary-cut driven by motor
Section rotary-cut, carrys out, by No. five hydraulic cylinder extensions rotary-cut sheet out, the vegetable root that high speed rotary-cut captures.During work, when this
When bright movement is to required vegetable crawl position, four No. four hydraulic cylinders work simultaneously, and four No. four hydraulic cylinders drive and capture platform work
Stable elevating movement, when capturing four below platform crawl vibration side chains and moving to suitable crawl position, No. four hydraulic cylinders stop
Only work, now four crawl vibration side chains start simultaneously at work, capture the electric pushrod on governor motion and drive lower riser to exist
Rotating on upper vertical plate, when the arc on riser captures crawl vegetable surface needed for plate touches instantly, electric pushrod quits work,
Four four arcs captured on vibration side chains capture plates tightly captured vegetable, come up owing to capturing on planting site just now
Vegetable root is attached to a large amount of earth, and now four four vibrating motors captured on vibration side chain are by attachment on vegetable root
Earth is vibrated on planting site, and after vegetable root earth shakes, vegetable rotary-cut side chain is started working, on vegetable rotary-cut side chain
Two No. five hydraulic cylinders are started working, and by the spacing sliding motion of two Z-type slide blocks and two chutes, L-type rotary-cut frame are existed
Making stable stretching motion under the driving of two No. five hydraulic cylinders, meanwhile rotary-cut motor is started working, rotary-cut driven by motor
Rotary-cut sheet high speed rotary-cut, carrys out, by two No. five hydraulic cylinder extensions rotary-cut sheet out, the vegetable root that high speed rotary-cut captures, from
And achieve the vibration to vegetable and gather function, speed of gathering is fast, and harvest efficiency is high.
During use, first pass through cultivation position needed for the present invention is moved vegetable by steady travelling platform, first pass through transmission and prop up
Driving motor on chain drives driving shaft to rotate, and driving shaft drives driving gear to rotate, and driving gear is in the auxiliary of driven gear
Lower drive driven shaft, driven shaft drives the taper walking bar on two walking side chains at two ends to rotate, by a limit spring
The taper on two walking side chains is made with the 3-RPR parallel institution assosting effect being evenly arranged on walking four sides of jacking block
Walking bar can be at rough planting vegetable in greenhouse stabilized walking on the ground, and damping performance is good, and stability is good, eliminates people
During work operation, astasia reduces the situation of operating rate, applied widely；When booth vegetable needs to loosen the soil fertilising, loosen the soil dress
Put and start working, first determine the growing vegetables position that the present invention needs to loosen the soil, two power on two power drive side chains
Motor starts simultaneously at work, and two power motors drive two power screw turns, two power leading screws to drive two to drive sliding
Block moves, and two driving slide blocks move the present invention by undercarriage strip and move to the required growing vegetables position loosened the soil, when this
Bright movement quits work to power motor during required planting location, and then four No. two hydraulic cylinders start simultaneously at work, four two
Number hydraulic cylinder drives the present invention down to move by the main support plate that loosens the soil, when the side chain that loosens the soil of the longitudinal direction in longitudinal rotating shaft is close to plantation
During ground surface, No. two hydraulic cylinders quit work, and the motor that now longitudinally loosens the soil is started working, driven by motor longitudinal direction rotating shaft of longitudinally loosening the soil
Rotating, longitudinal rotating shaft drives the longitudinal direction the being uniformly arranged side chain that loosens the soil to rotate, and the longitudinal direction on side chain of longitudinally the loosening the soil cutter that loosens the soil is quick
Carrying out longitudinally loosening the soil, after longitudinally loosening the soil, conversion motor rotates, and conversion motor drives transaxle to rotate, and transaxle drives and turns
Changing square column to rotate, the longitudinal direction moving to change below square column and longitudinally loosen the soil on side chain when the cutter that laterally loosens the soil in transmission belt is loosened the soil
When cutter moves to change above square column, conversion motor quits work, and the motor that the most laterally loosens the soil is started working, and laterally loosens the soil
Rotation roller on the right side of driven by motor conversion square column rotates, and the rotation roller on the left of conversion square column of the rotation roller on the right side of conversion square column is auxiliary
Helping lower drive transmission belt to rotate, transmission belt drives the cutter quick rotation of laterally loosening the soil being evenly arranged, and be evenly arranged laterally loosens the soil
Growing vegetables is laterally loosened the soil by cutter, the present invention by laterally loosen the soil and longitudinally loosen the soil operated in conjunction by the way of realize
To planting site uniform soil-loosening function automatically, speed of loosening the soil is fast, loosens the soil effective；When booth vegetable needs to water, first pass through
The present invention waters position needed for steady travelling platform moves to vegetable, and adjustable watering device is started working, first according to required vegetable
Root regulation is watered height, and two No. three hydraulic cylinders watered on side chain start working, and No. three hydraulic cylinders are in the auxiliary of expansion link
Under make stable elevating movement by lower installation board, water needed for two side chains that water move to vegetable root height time No. three
Hydraulic cylinder quits work, and then regulates, according to vegetable root, angle of watering, and now angular adjustment motor is started working, by location
Axle and the spacing assisted movement of arc-shaped limit frame make to water water column and carry out stable angle tune under the drive of angular adjustment motor
Joint so that the present invention is applicable to the operation of watering without angle vegetable root, angle of watering needed for two side chains that water move to
During degree position, angular adjustment motor quits work, and then waters the adjustable mechanism of watering uniformly installed water column both sides and starts working, first
Determined the flow of isocon by electromagnetic valve, latter two high-pressure hydraulic pump that flow determines starts simultaneously at work, two water under high pressures
Pump is by the water source in two water inlet pipe extraction water tanks, and water source separately flows into the two of two side chains that water by two outlet pipes again
In individual manifold trunk, give the adjustable isocon watered in mechanism by manifold trunk by water source uniform distribution, be flowed into by isocon
The water source of giant carries out uniform automatic watering function by the hydraulic pressure of high-pressure hydraulic pump to vegetable root, it is achieved that to vegetable according to
Water water function uniformly, water effective, save substantial amounts of water source；When booth vegetable needs to gather, first pass through the present invention
Moving to required vegetable crawl position from steady travelling platform, rotary cutting apparatus of gathering is started working, four No. four hydraulic cylinders works simultaneously
Making, four No. four hydraulic cylinders drive crawl platform to make stable elevating movement, when capturing four below platform crawl vibration side chain fortune
Moving and quit work to during suitable crawl position No. four hydraulic cylinders, now four crawl vibration side chains start simultaneously at work, capture and adjust
Electric pushrod in joint mechanism drives lower riser to rotate on upper vertical plate, and the arc on riser captures needed for plate touches and grabs instantly
When taking vegetable surface, electric pushrod quits work, four four arcs captured on vibration side chains capture plates tightly captured vegetables
Dish, the vegetable root owing to capturing up on planting site just now is attached to a large amount of earth, and now four capture on vibration side chains
The earth of attachment on vegetable root is vibrated on planting site by four vibrating motors, vegetable root earth shake after vegetable rotary-cut
Side chain is started working, and two No. five hydraulic cylinders on vegetable rotary-cut side chain are started working, by two Z-type slide blocks and two chutes
Spacing sliding motion make L-type rotary-cut frame make stable stretching motion under the driving of two No. five hydraulic cylinders, meanwhile
Rotary-cut motor is started working, and rotary-cut driven by motor rotary-cut sheet high speed rotary-cut, by the rotary-cut out of two No. five hydraulic cylinder extensions
Sheet carrys out the vegetable root that high speed rotary-cut captures, it is achieved thereby that function of gathering the vibration of vegetable, speed of gathering is fast, harvest efficiency
High；Finally achieving the function that booth vegetable automatically loosens the soil, waters, gathers, it is not necessary to manual operation, automaticity is high, vegetable
Cultivate effective.
The invention has the beneficial effects as follows:
1, the present invention drives four walking side chains of both sides automatically to work by two transmission branch chain, whole cultivating process without
Need manual operation, and the present invention define 3-RPR parallel institution by fixed platform, the side chain in parallel of three RPR types and moving platform,
3-RPR parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, walking
Side chain makes by a limit spring and the 3-RPR parallel institution assosting effect being evenly arranged on walking four sides of jacking block
Taper walking bar on two walking side chains can be at rough planting vegetable in greenhouse stabilized walking, damping performance on the ground
Good, stability is good, and when eliminating manual operation, astasia reduces the situation of operating rate, applied widely；
2, the present invention can change laterally loosen the soil cutter and the cutter that longitudinally loosens the soil by conversion motor, then by the electricity that laterally loosens the soil
The longitudinal direction that the loosen the soil cutter longitudinal with driven by motor of longitudinally loosening the soil that laterally loosen the soil that machine drives the cutter that laterally loosens the soil to carry out is carried out is loosened the soil and is tied mutually
The mode of closing operation realizes planting site uniform soil-loosening function automatically, and speed of loosening the soil is fast, loosens the soil effective；
3, the present invention is driven under locating shaft with the spacing assisted movement of arc-shaped limit frame by angular adjustment motor and waters
Post carries out stable angular adjustment, waters water column and raises and saved the adjustable mechanism of watering after angle and start simultaneously at work, adjustable waters
The water source that water tank is flowed out by the hydraulic pressure of high-pressure hydraulic pump by the giant in water mechanism vegetable root is carried out uniform automatically
Water, it is achieved that to vegetable according to watering water function uniformly, water effective, saved substantial amounts of water source；
4, the present invention drives lower riser to rotate on upper vertical plate by capturing the electric pushrod on governor motion, now four
Four the arcs crawl plates capturing four lower risers on vibration side chain tightly capture vegetable, and the vegetable after crawl passes through four
Vibrating motor by vegetable root attachment earth be vibrated on planting site, earth shake complete after vegetable revolved by vegetable
Cut the rotary-cut sheet on side chain and carry out the vegetable root that high speed rotary-cut captures, it is achieved that function that the vibration of vegetable is gathered, speed of gathering
Hurry up, harvest efficiency is high；
5, the present invention solves needs manually long-term auxiliary operation, the work that existing booth vegetable artificial culture's mode exists
Intensity is big, vegetable cultivation weak effect, plantation stability is poor, work efficiency low, speed of loosening the soil slowly, the weak effect that loosens the soil, water
Weak effect, water waste are big, speed of gathering is slow and the low inferior difficult problem of harvest efficiency, it is achieved that booth vegetable automatically loosens the soil, waters,
The function gathered, it is not necessary to manual operation, automaticity is high, and vegetable cultivation is effective, and has that plantation stability is good, work
Efficiency is high, speed of loosening the soil fast, it is effective to loosen the soil, it is effective to water, water waste is little, speed of gathering is fast and harvest efficiency is high etc. excellent
Point.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the present invention the first structural representation from steady travelling platform；
Fig. 3 is the present invention the second structural representation from steady travelling platform；
Fig. 4 is the structural representation of shock-absorbing support mechanism of the present invention；
Fig. 5 is the structural representation of parallel connection side chain of the present invention；
Fig. 6 is the sectional view of parallel connection side chain of the present invention；
Fig. 7 is the structural representation of loosening device of the present invention；
Fig. 8 is the first structural representation that master of the present invention loosens the soil between support plate and power drive side chain；
Fig. 9 is that loosening device of the present invention removes the base plate that loosens the soil, pole of loosening the soil, upper frame plate, No. two hydraulic cylinders, the main support plates that loosen the soil
And the structural representation between power drive side chain；
Figure 10 is the structural representation of the adjustable watering device of the present invention；
Figure 11 is that the present invention side chain that waters removes the first structural representation watered after pole；
Figure 12 is that the present invention side chain that waters removes the second structural representation watered after pole；
Figure 13 is that the present invention gathers the structural representation of rotary cutting apparatus；
Figure 14 is the structural representation that the present invention captures vibration side chain；
Figure 15 is the full sectional view that the present invention captures vibration side chain；
Figure 16 is the structural representation of vegetable rotary-cut side chain of the present invention；
Figure 17 is the full sectional view of vegetable rotary-cut side chain of the present invention；
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below knot
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Fig. 1 to Figure 17, a kind of booth vegetable intelligent cultivation robot, including from steady travelling platform 1, from steady walking
Platform 1 has good damping performance and stability, and the present invention can be made to be applicable to rough planting vegetable in greenhouse ground
Work, described is provided with loosening device 2 on the right side of the upper surface of steady travelling platform 1, loosening device 2 can realize to planting site from
Dynamic uniform soil-loosening function, speed of loosening the soil is fast, loosens the soil effective, is provided with adjustable watering in the middle part of the upper surface of steady travelling platform 1
Water device 3, adjustable watering device 3 can realize vegetable according to watering water function uniformly, water effective, save substantial amounts of
Water source, is provided with, on the left of the upper surface of steady travelling platform 1, rotary cutting apparatus 4 of gathering, and rotary cutting apparatus 4 of gathering can realize vegetable
Vibration gather function, speed of gathering is fast, and harvest efficiency is high.
Described include mounting platform 11 from steady travelling platform 1, the left and right sides, the lower surface symmetry peace of described mounting platform 11
Equipped with two transmission branch chain 12, and before and after each transmission branch chain 12, both sides are all symmetrically welded with two walking side chains 13, pass through
Transmission branch chain 12 drives walking side chain 13 in planting vegetable in greenhouse walking the most automatically, and cultivating process is without manual operation, work
Efficiency is high；Described transmission branch chain 12 includes being symmetrically welded at two pieces of fixed boards 121 of both sides before and after mounting platform 11 lower surface,
Being provided with driving shaft 122 by bearing between the upper end of two pieces of fixed boards 121, the middle part of driving shaft 122 is provided with by key
Driving gear 123, the front end of driving shaft 122 is provided with driving motor 124 by shaft coupling, and driving motor 124 passes through motor cabinet
It is arranged on the lower surface of mounting platform 11, between the lower end of two pieces of fixed boards 121, by bearing, driven shaft 125 is installed, from
The middle part of moving axis 125 is provided with driven gear 126 by key, and driven gear 126 is meshed with driving gear 123, driven shaft 125
Before and after two ends be symmetrically welded with two walking side chains 13, drive driving shaft 122 to rotate by driving motor 124, driving shaft 122
Driving driving gear 123 to rotate, driving gear 123 drives driven shaft 125 under the auxiliary of driven gear 126, and driven shaft 125 carries
Two walking side chains 13 at dynamic two ends are in planting vegetable in greenhouse walking the most automatically；Described walking side chain 13 includes that side is welded on
Walking jacking block 131 on driven shaft 125, walking jacking block 131 is square structure, on four sides of walking jacking block 131 respectively
Being provided with four shock-absorbing support mechanisms 132, four shock-absorbing support mechanism 132 upper ends are separately installed with four arc walking blocks 133,
All uniformly connect between adjacent two arcs walking block 133 and have a limit spring 134, and outside each arc walking block 133
All being evenly arranged with taper walking bar 135 on wall, taper walking bar 135 is pyramidal structure, by the present invention to planting vegetable in greenhouse
The walking pressure on ground concentrates on taper walking bar 135, improves the present invention walking stability energy when booth vegetable is cultivated,
A number limit spring 134 plays spacing and damping effect, and shock-absorbing support mechanism 132 has good damping performance and stability
Can so that the present invention walks on block 133 at the assosting effect arc lower of a limit spring 134 and shock-absorbing support mechanism 132
Taper walking bar 135 can be stablized and walks at rough planting vegetable in greenhouse, applied widely；Described driving gear
123 is 2:1 with the gear ratio of driven gear 126, is reduced the velocity of rotation of driven gear 126 by low gear ratio, thus
Reduce the side chain 13 speed of travel in planting vegetable in greenhouse ground of walking, further increase walking stability energy；Described subtract
Shake supporting mechanism 132 includes the fixed platform 136 being arranged in walking jacking block 131 corresponding side surface, and fixed platform 136 upper surface is along axis
Direction is uniformly provided with three side chains 137 in parallel, and the top of three side chains 137 in parallel is installed in the lower surface of moving platform 138
On, the upper surface uniform welding of moving platform 138 has three bar shapeds to prop up block 139, and bar shaped props up the upper surface of block 139 for walking with arc
The globoidal structure that block 133 is corresponding, the upper surface that block 139 is propped up in three bar shapeds is welded on the inwall of corresponding arc walking block 133,
Making three bar shapeds prop up block 139 can be to the corresponding arc walking strong support force of block 133；Described side chain 137 in parallel includes
It is welded on the matrix bearing 1371 of fixed platform 136 upper surface, lower limit axle 1372 is installed between the middle part of matrix bearing 1371,
Two arc-shaped limit groove 1371a it are symmetrically arranged with on the upper end inwall of matrix bearing 1371；On described lower limit axle, 1372 is sheathed
Having a hydraulic cylinder 1373, the both sides, bottom of a hydraulic cylinder 1373 are provided with two gag lever posts 1374, two gag lever posts 1374
End and two arc-shaped limit groove 1371a between by sliding matching mode be connected, two gag lever posts 1374 and two arcs
The slewing area limiting hydraulic cylinder 1373 bottom is played in motion between stopper slot 1371a, also prevent a hydraulic cylinder
The situation that 1373 bottoms move left and right, due to the present invention often in the walking on the ground of rough planting vegetable in greenhouse, and passes through
Two gag lever posts 1374 and two arc-shaped limit groove 1371a can strengthen hydraulic cylinder 1373 bottom on 1372 turns of lower limit axle
Stability time dynamic, improves service behaviour；The top of a described hydraulic cylinder 1373 is provided with spherical connector by screw thread
1375, the two ends of spherical connector 1375 are symmetrically arranged with two upper limit axles 1376, and two upper limit axles 1376 are respectively with one
All it is connected by bearing between the two ends of number ear mount 1377, the lower surface inwall of an ear mount 1377 is welded with locating dowel
1378, the end of locating dowel 1378 is the matrix spherical structure corresponding with spherical connector 1375, the end of locating dowel 1378
Being connected by sliding matching mode with between spherical connector 1375, the upper surface of an ear mount 1377 is welded on moving platform 138
On, the motion of spherical connector 1375 is limited and supports by locating dowel 1378, so that on spherical connector 1375
Two upper limit axles 1376 can stablize rotation in an ear mount 1377, enhances when hydraulic cylinder 1373 top rotates
Stability, improves service behaviour, and the R formed when matrix bearing 1371 rotates by a hydraulic cylinder 1373 is secondary, a liquid
The R pair that the P formed when cylinder pressure 1373 works is secondary, hydraulic cylinder 1373 is formed when an ear mount 1377 rotates constitutes RPR
The side chain in parallel 137 of type, and the present invention defined by the side chain in parallel 137 of 136, three RPR types of fixed platform and moving platform 138
3-RPR parallel institution, 3-RPR parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and motion essence
Degree advantages of higher, the advantage by 3-RPR parallel institution makes the present invention have well when planting vegetable in greenhouse walking on the ground
Damping performance and stability, when eliminating manual operation astasia reduce operating rate situation, the scope of application is big.Work
When making, first passing through the driving motor 124 in transmission branch chain 12 and drive driving shaft 122 to rotate, driving shaft 122 drives driving gear
123 rotate, and driving gear 123 drives driven shaft 125 under the auxiliary of driven gear 126, and driven shaft 125 drives two of two ends
Taper walking bar 135 on walking side chain 13 rotates, by a limit spring 134 be evenly arranged in walking jacking block 131 4
3-RPR parallel institution assosting effect on individual side makes the taper on two walking side chains 13 walk bar 135 can be concavo-convex
Uneven planting vegetable in greenhouse stabilized walking on the ground, damping performance is good, and stability is good, astasia when eliminating manual operation
Reduce the situation of operating rate, applied widely.
Described loosening device 2 includes the base plate 21 that loosens the soil being welded on mounting platform 11 upper surface, symmetrical on the base plate 21 that loosens the soil
Being welded with two poles 22 of loosening the soil, two are loosened the soil and are evenly arranged with three muscle post 22a between pole 22, and three muscle post 22a strengthen
The support strength of two poles 22 of loosening the soil, the end of two poles 22 of loosening the soil is welded with frame plate 23, the lower end of upper frame plate 23
Face is symmetrically installed with four No. two hydraulic cylinders 24, and the middle part of four No. two hydraulic cylinders 24 is separately fixed at four L-type framework 24a
On, four L-type framework 24a play the fixing effect supporting four No. two hydraulic cylinders 24 respectively, so that No. two hydraulic cylinders 24
Making elevating movement only along vertical direction, the bottom of four L-type framework 24a is all welded on frame plate 23, and four No. two
The top of hydraulic cylinder 24 is provided with the main support plate 25 that loosens the soil；The loosen the soil lower surface of support plate 25 of described master is symmetrically installed with two power and drives
Dynamic side chain 26, the lower end of two power drive side chains 26 is provided with lower frame plate 27, under being driven by two power drive side chains 26
Frame plate moves before and after making to stablize so that the present invention is easy to regulate planting vegetable in greenhouse position of loosening the soil on the ground so that the present invention
Being applicable to loosening the soil of different vegetable planting location, the lower surface of lower frame plate 27 is provided with two journal stirrup 27a that loosen the soil, two are loosened the soil
Being provided with transaxle 28 by bearing between journal stirrup 27a, the right side of transaxle 28 is provided with conversion motor 29 by shaft coupling, turns
Changing motor 29 to be arranged on conversion support plate 210 by motor cabinet, conversion support plate 210 plays the effect supporting conversion motor 29, turns
Change support plate 210 to be welded on and be positioned at loosening the soil on journal stirrup 27a sidewall on the right side of lower frame plate 27；The middle part of described transaxle 28 is pacified by key
Equipped with conversion square column 211, the present invention is by the operating angle of conversion motor 29 regulation conversion square column 211, conversion square column 211 times
End is provided with two longitudinal journal stirrup 211a, is provided with longitudinal rotating shaft 212, longitudinal rotating shaft by bearing between longitudinal journal stirrup 211a
The right-hand member of 212 is provided with, by shaft coupling, the motor 213 that longitudinally loosens the soil, and the motor 213 that longitudinally loosens the soil is arranged on longitudinal direction by motor cabinet
Loosening the soil on support plate 214, the support plate 214 that longitudinally loosens the soil is welded on the longitudinal journal stirrup 211a sidewall being positioned on the right side of conversion square column 211；Institute
State and on longitudinal rotating shaft 212 outer wall, be evenly arranged with the side chain 215 that longitudinally loosens the soil, drive longitudinal rotating shaft by the motor 213 that longitudinally loosens the soil
212 rotate, and longitudinal rotating shaft 212 drives the longitudinal direction the being uniformly arranged side chain 215 that loosens the soil to be rapidly performed by longitudinally loosening the soil；Described longitudinally pine
Soil side chain 215 includes being arranged on the circular knife rest 2151 in longitudinal rotating shaft 212, along axle on the outer wall of circular knife rest 2151 by key
Line direction is evenly arranged with the cutter 2152 that longitudinally loosens the soil, and the cutter 2152 that longitudinally loosens the soil is curved pointed structures, it is simple to longitudinally loosen the soil cutter
2152 can be the most deep entrance planting site loosen the soil；The upper surface of described conversion square column 211 is provided with two to laterally propping up
It is mounted on rotating roller 216, two to horizontal journal stirrup 211b two by bearing between ear 211b, and every couple of horizontal journal stirrup 211b
Rotating and be provided with transmission belt 217 between roller 216, on the outer wall of transmission belt 217, uniformly riveting has the cutter 218 that laterally loosens the soil, and is positioned at
Being provided with, by shaft coupling, the motor 219 that laterally loosens the soil on rotation roller 216 on the right side of conversion square column 211, the motor 219 that laterally loosens the soil is solid
Dingan County is contained in laterally loosens the soil on support plate 219a, and the support plate 219a that laterally loosens the soil is welded on the sidewall of conversion square column 211, by laterally
The motor 219 that loosens the soil drives the rotation roller 216 on the right side of conversion square column 211 to rotate, and the rotation roller 216 on the right side of conversion square column 211 is turning
Changing the auxiliary lower drive of the rotation roller 216 on the left of square column 211 transmission belt 217 to rotate, transmission belt 217 drives the horizontal pine being evenly arranged
Soil cutter 218 quick rotation, growing vegetables is laterally loosened the soil by the cutter 218 that laterally loosens the soil being evenly arranged；Described power drive
Side chain 26 includes two the driving journal stirrups 261 being arranged on main support plate 25 lower surface of loosening the soil, and passes through axle between two driving journal stirrups 261
Holding and be provided with power leading screw 262, power leading screw 262 is provided with power motor 263 by shaft coupling, power motor 263 passes through
Motor cabinet is arranged on master and loosens the soil on support plate 25, and the middle part of power leading screw 262 is threaded connection mode and is provided with driving slide block
On 264, and two driving slide blocks 264 of two power drive side chains 26, lower frame plate 27 is installed, is driven by power motor 263
Power leading screw 262 rotates, and power leading screw 262 drives and drives slide block 264 to rotate, and two drivings of two power drive side chains 26 are sliding
Block 264 drives lower frame plate 27 to move before and after making to stablize.During work, it is first determined the present invention needs the growing vegetables status loosened the soil
Putting, two power motors 263 on two power drive side chains 26 start simultaneously at work, and two power motors 263 drive two
Power leading screw 262 rotates, and two power leading screws 262 drive two to drive slide block 264 to move, under two drive slide block 264 to pass through
The present invention that drives frame plate 27 moves to the required growing vegetables position loosened the soil, dynamic when the present invention moves to required planting location
Force motor 263 quits work, and then four No. two hydraulic cylinders 24 start simultaneously at work, and four No. two hydraulic cylinders 24 are loosened the soil by main
Support plate 25 drives the present invention down to move, when the longitudinal direction in longitudinal rotating shaft 212 loosen the soil side chain 215 be close to planting site surface time two
Number hydraulic cylinder 24 quits work, and the motor 213 that now longitudinally loosens the soil is started working, and the motor 213 that longitudinally loosens the soil drives longitudinal rotating shaft 212
Rotating, longitudinal rotating shaft 212 drives the longitudinal direction the being uniformly arranged side chain 215 that loosens the soil to rotate, and the longitudinal direction longitudinally loosened the soil on side chain 215 is loosened the soil
Cutter 2152 is rapidly performed by longitudinally loosening the soil, and after longitudinally loosening the soil, conversion motor 29 rotates, and conversion motor 29 drives transaxle
28 rotate, and transaxle 28 drives conversion square column 211 to rotate, when the cutter 218 that laterally loosens the soil in transmission belt 217 moves to change square column
The longitudinal direction on side chain 215 of below 211 and longitudinally loosening the soil loosen the soil cutter 2152 when moving to change above square column 211 conversion motor 29 stop
Only working, the motor 219 that the most laterally loosens the soil is started working, and the motor 219 that laterally loosens the soil drives turning on the right side of conversion square column 211
Action roller 216 rotates, and rotating on the right side of conversion square column 211 drives under the roller 216 rotation roller 216 auxiliary on the left of conversion square column 211
Transmission belt 217 rotates, and transmission belt 217 drives cutter 218 quick rotation of laterally loosening the soil being evenly arranged, and be evenly arranged laterally loosens the soil
Growing vegetables is laterally loosened the soil by cutter 218, the present invention by laterally loosen the soil and longitudinally loosen the soil operated in conjunction by the way of come
Realizing planting site uniform soil-loosening function automatically, speed of loosening the soil is fast, loosens the soil effective.
Described adjustable watering device 3 includes the support plate 31 that waters being welded on mounting platform 11 upper surface, and water support plate 31
Tank tower 32 is laid in upper surface, is provided with water tank 33 in the middle part of the upper surface of tank tower 32, and tank tower 32 plays the effect supporting water tank 33,
Store the water source of vegetable in water tank 33, the both sides of water tank 33 by two water inlet pipes 34 respectively with two high-pressure hydraulic pumps 35
Water inlet is connected, and two high-pressure hydraulic pumps 35 are separately mounted to the both sides of tank tower 32 by screw, and the going out of two high-pressure hydraulic pumps 35
The mouth of a river is connected with two outlet pipes 36 respectively；The both sides of the described support plate 31 that waters are separately installed with two side chains that water by screw
37, two high-pressure hydraulic pumps 35 extract, by two water inlet pipes 34, the water source that water tank 33 stores, and are then flowed by two outlet pipes 36
Entering and water in side chain 37 to two, the side chain 37 that waters includes being arranged on the pole 371 of watering watering on support plate 31 by screw, waters
The upper surface of water pole 371 is respectively arranged with two position-limiting ear 371a, and the end of pole 371 of watering is welded with upper mounting plate 372,
Symmetrical two No. three hydraulic cylinders 373 in the lower surface of upper mounting plate 372 and two expansion links 374, two expansion links 374 are respectively positioned on two
Between No. three hydraulic cylinders 373 of root, and on the top of two No. three hydraulic cylinders 373 and two expansion links 374, lower installation board is installed
375, two No. three hydraulic cylinders 373 drive lower installation board 375 to make stable oscilaltion fortune under the auxiliary of two expansion links 374
Dynamic so that two in the present invention water and water highly needed for side chain 37 moves to vegetable root, by electricity on lower installation board 375
Support is provided with angular adjustment motor 376, the output shaft of angular adjustment motor 376 is provided with and waters water column 377, water water column 377
On one end of lower installation board 375, it is welded with locating shaft 378, passes through between upper end and the arc-shaped limit frame 379 of locating shaft 378
Sliding matching mode is connected, and the bottom of arc-shaped limit frame 379 is welded on lower installation board 375, is limited with arc by locating shaft 378
The spacing assisted movement of position frame 379 makes to water water column 377 and carries out stable angle tune under the drive of angular adjustment motor 376
Joint so that the present invention is applicable to the operation of watering without angle vegetable root, described in water the upper end of water column 377 and be provided with two and water
Water journal stirrup 380, waters and is installed with manifold trunk 381 between journal stirrup 380, and manifold trunk 381 upper end is communicated with outlet pipe 36, passes through
The water source that high-pressure hydraulic pump 35 high pressure flows in outlet pipe 36 collects in manifold trunk 381, and warp successively in the middle part of outlet pipe 36
Cross two the position-limiting ear 371a watered on pole 371, two position-limiting ear 371a and play spacing and even support outlet pipe 36 work
With, described in water the both sides of water column 377 adjustable mechanism 382 of watering the most uniformly be installed；Described adjustable mechanism 382 of watering includes welding
Between fixing block 3821 of two watered on water column 377 sidewall, two fixing blocks 3821, it is provided with two installations determines block
3822, two installations determine to be provided with on block 3822 giant 3823, and the bottom of giant 3823 connects isocon 3824,
The middle part of isocon 3824 is provided with electromagnetic valve 3825, is controlled the uninterrupted of isocon 3824 by electromagnetic valve 3825, point
The top of flow tube 3825 is connected with manifold trunk 381, and the water source in manifold trunk 381 is flowed into giant by isocon 3824
3823, vegetable root is uniformly watered by giant 3823 by the hydraulic pressure of high-pressure hydraulic pump 35.During work, when the present invention moves
Water needed for moving vegetable position time, first according to required vegetable root regulation water height, two three watered on side chain 37
Number hydraulic cylinder 373 is started working, and No. three hydraulic cylinders 373 make stable liter by lower installation board 375 under the auxiliary of expansion link 374
Fall motion, when watering needed for two side chains 37 that water move to vegetable root highly, No. three hydraulic cylinders 373 quit work, then
Regulating, according to vegetable root, angle of watering, now angular adjustment motor 376 is started working, by locating shaft 378 and arc-shaped limit
The spacing assisted movement of frame 379 makes to water water column 377 and carries out stable angular adjustment under the drive of angular adjustment motor 376,
The present invention is made to be applicable to the operation of watering without angle vegetable root, angle of watering needed for two side chains 37 that water move to
During position, angular adjustment motor 376 quits work, and then waters the adjustable mechanism 382 of watering uniformly installed water column 377 both sides and starts
Work, first passes through electromagnetic valve 3825 and determines the flow of isocon 3824, and latter two high-pressure hydraulic pump 35 that flow determines is opened simultaneously
Beginning work, two high-pressure hydraulic pumps 35 extract the water source in water tank 33 by two water inlet pipes 34, and water source is again by two outlet pipes
In 36 two manifold trunks 381 separately flowing into two side chains 37 that water, give adjustable watering by manifold trunk 381 by water source uniform distribution
Isocon 3824 in water mechanism 382, is flowed into the water source of giant 3823 by high-pressure hydraulic pump 35 by isocon 3824
Hydraulic pressure vegetable root is carried out uniform automatic watering function, it is achieved that to vegetable according to watering water function uniformly, water effective,
Save substantial amounts of water source.
Described rotary cutting apparatus 4 of gathering includes the base plate 41 of gathering being welded on mounting platform 11 upper surface, gathers on base plate 41
Being welded with pole 42 of gathering in the middle part of end face, the end of pole 42 of gathering is welded with a platform 43 of gathering, the lower surface of a platform 43 of gathering
Being symmetrically installed with four No. four hydraulic cylinders 44, the top of four No. four hydraulic cylinders 44 is provided with crawl platform 45, by four No. four
Hydraulic cylinder 44 drives crawl platform 45 to make stable oscilaltion campaign, is provided with vegetable rotary-cut and props up on the left of the upper surface of crawl platform 45
Chain 46, the lower surface capturing platform 45 is symmetrically welded with four crawl vibration side chains 47, captures vibration side chains 47 by four automatic
The vegetable gathered needed for crawl and the earth of attachment on vegetable root is vibrated on planting site, logical after earth vibration is complete
Crossing vegetable rotary-cut side chain 46 automatic rotary cutting vegetable root, the vegetable after rotary-cut is complete just can be collected；Described crawl is vibrated
Side chain 47 includes being welded on the upper vertical plate 471 capturing platform 45 lower surface, and the lower end of upper vertical plate 471 is provided with lower riser by hinge
472, the lower end of lower riser 472 is provided with two and captures hanger 473, is provided with by bearing and adopts between two crawl hangers 473
Receiving rotating shaft 474, the middle part of rotating shaft 474 of gathering is installed with two engaging lugs 475, and the end of two engaging lugs 475 is arranged on
Arc captures the back of plate 476, and arc is captured plate 476 and can be rotated in rotating shaft 474 gathering by two engaging lugs 475, arc
Capturing and be provided with No. two limit spring 477 between plate 476 upper end and lower riser 472 upper end, arc is grabbed by No. two limit spring 477
Take plate 476 upper end and carry out spacing, arc capture plate 476 lower end be welded with connection support plate 478, connect support plate 478 upper end with under
Being provided with No. three limit spring 479 between riser 472 lower end, No. three limit spring 479 capture plate 476 lower end to arc and limit
Position, when arc captures and captures vegetable surface needed for plate 476 is close to, arc captures plate 476 can be according to required crawl vegetable phase
Angle of inclination for planting site arbitrarily rotates, and arc captures plate 476 by 477, No. three limit spring of No. two limit spring
The position-limiting action up and down of 479 can be close to required crawl vegetable surface, adds the crawl effect of vegetable, described lower riser
The lower end of 472 is provided with two motor journal stirrups 480, and two motor journal stirrups 480 are provided with vibrating motor 481, by vibration electricity
The earth of attachment on vegetable root is vibrated on planting site by machine 481, described lower riser 472 upper end and upper vertical plate 471 inwall it
Between crawl governor motion 482 is installed, capture governor motion 482 and regulate arc on lower riser 472 and capture plate 476 and capture
Required vegetable；Described crawl governor motion 482 includes No. two ear mount 4821 being welded on upper vertical plate 471 inwall, No. two ear mount
Being provided with electric pushrod 4822 by bearing pin between 4821, the top of electric pushrod 4822 is arranged on No. three ear mount by bearing pin
Between 4823, No. three ear mount 4823 are welded on the upper surface of lower riser 472, regulate lower riser by electric pushrod 4822
Arc on 472 captures plate 476 and captures required vegetable；Described vegetable rotary-cut side chain 46 includes being symmetrically welded on crawl platform 45
Two rotary-cut poles 461, the lower end inner wall of two rotary-cut poles 461 is welded with rotation support plate 462, rotary-cut support plate 462
Inwall upper end is symmetrically installed with two No. five hydraulic cylinders 463, and the top of two No. five hydraulic cylinders 463 is provided with L-type rotary-cut frame
464, the lower surface of L-type rotary-cut frame 464 is symmetrically arranged with two Z-type slide blocks 465, two Z-type slide blocks 465 respectively with two chutes
Being connected by sliding matching mode between 466, the left end of two chutes 466 is all welded on rotation support plate 462 inwall, by two
The spacing sliding motion of individual Z-type slide block 465 and two chutes 466 makes L-type rotary-cut frame 464 at two No. five hydraulic cylinders 463
Making stable stretching motion under driving, described L-type rotary-cut frame 464 upper end is provided with rotary-cut motor 467, rotary-cut electricity by motor cabinet
It is installed with rotary-cut sheet 468 on the output shaft of machine 467, drives rotary-cut sheet 468 rotary-cut by rotary-cut motor 467, by No. five
The vegetable root that the rotary-cut sheet 468 high speed rotary-cut that hydraulic cylinder 463 telescopes out captures.During work, when the present invention moves to institute
When needing vegetable crawl position, four No. four hydraulic cylinders 44 work simultaneously, and four No. four hydraulic cylinders 44 drive crawl platform 45 to stablize
Elevating movement, when capturing No. four hydraulic cylinders 44 when four below platform 45 crawl vibration side chains 47 move to suitable crawl position
Quitting work, now four crawl vibration side chains 47 start simultaneously at work, and the electric pushrod 4822 captured on governor motion 482 carries
Dynamic lower riser 472 rotates on upper vertical plate 471, and the arc on riser 472 captures plate 476 and touches required crawl vegetable table instantly
During face, electric pushrod 4822 quits work, and four four arcs captured on vibration side chain 47 capture plate 476 crawl tightly
Vegetable, the vegetable root owing to capturing up on planting site just now is attached to a large amount of earth, and now four capture vibration side chain 47
On four vibrating motors 481 by vegetable root attachment earth be vibrated on planting site, after vegetable root earth shakes
Vegetable rotary-cut side chain 46 is started working, and two No. five hydraulic cylinders 463 on vegetable rotary-cut side chain 46 are started working, by two Z
The spacing sliding motion of type slide block 465 and two chutes 466 makes L-type rotary-cut frame 464 in the driving of two No. five hydraulic cylinders 463
Lower making stable stretching motion, meanwhile rotary-cut motor 467 is started working, and rotary-cut motor 467 drives rotary-cut sheet 468 high-speed rotary
Cut, the vegetable root that the rotary-cut sheet 468 high speed rotary-cut telescoped out by two No. five hydraulic cylinders 463 is captured, thus realize
Gathering the vibration of vegetable function, speed of gathering is fast, and harvest efficiency is high.
During use, first pass through cultivation position needed for the present invention is moved vegetable by steady travelling platform 1, first pass through transmission and prop up
Driving motor 124 on chain 12 drives driving shaft 122 to rotate, and driving shaft 122 drives driving gear 123 to rotate, driving gear 123
Driving driven shaft 125 under the auxiliary of driven gear 126, driven shaft 125 drives the taper on two walking side chains 13 at two ends
Walking bar 135 rotates, in parallel by a limit spring 134 and the 3-RPR being evenly arranged on walking 131 4 sides of jacking block
Mechanism's assosting effect makes the taper on two walking side chains 13 walk bar 135 can be on rough planting vegetable in greenhouse ground
Upper stabilized walking, damping performance is good, and stability is good, and when eliminating manual operation, astasia reduces the situation of operating rate,
Applied widely；When booth vegetable needs to loosen the soil fertilising, loosening device 2 starts working, and first determines what the present invention needed to loosen the soil
Growing vegetables position, two power motors 263 on two power drive side chains 26 start simultaneously at work, two power motors
263 drive two power leading screws 262 to rotate, and two power leading screws 262 drive two to drive slide block 264 to move, and two drive sliding
Block 264 drives the present invention to move to the required growing vegetables position loosened the soil, when the present invention moves to required by lower frame plate 27
During planting location, power motor 263 quits work, and then four No. two hydraulic cylinders 24 start simultaneously at work, four No. two hydraulic cylinders
24 drive the present invention down to move by the main support plate 25 that loosens the soil, when the side chain 215 that loosens the soil of the longitudinal direction in longitudinal rotating shaft 212 is close to plant
When planting ground surface, No. two hydraulic cylinders 24 quit work, and the motor 213 that now longitudinally loosens the soil is started working, and the motor 213 that longitudinally loosens the soil carries
Dynamic longitudinal rotating shaft 212 rotates, and longitudinal rotating shaft 212 drives the longitudinal direction the being uniformly arranged side chain 215 that loosens the soil to rotate, and longitudinally loosen the soil side chain
Longitudinal direction on 215 cutter 2152 that loosens the soil is rapidly performed by longitudinally loosening the soil, and after longitudinally loosening the soil, conversion motor 29 rotates, conversion electricity
Machine 29 drives transaxle 28 to rotate, and transaxle 28 drives conversion square column 211 to rotate, when the cutter 218 that laterally loosens the soil in transmission belt 217
Move to change below square column 211 and the longitudinal direction on side chain 215 of longitudinally the loosening the soil cutter 2152 that loosens the soil moves to change above square column 211
Time conversion motor 29 quit work, the motor 219 that the most laterally loosens the soil is started working, the motor 219 that laterally loosens the soil drive conversion
Rotation roller 216 on the right side of square column 211 rotates, and the roller 216 that rotates on the right side of conversion square column 211 is changing the rotation on the left of square column 211
Roller 216 auxiliary is lower drives transmission belt 217 to rotate, and transmission belt 217 drives cutter 218 quick rotation of laterally loosening the soil being evenly arranged, all
Growing vegetables is laterally loosened the soil by the cutter 218 that laterally loosens the soil of even layout, and the present invention is by laterally loosening the soil and longitudinally loosen the soil phase
The mode of binding operation realizes planting site uniform soil-loosening function automatically, and speed of loosening the soil is fast, loosens the soil effective；When booth vegetables
When dish needs to water, first passing through the present invention and water needed for steady travelling platform 1 moves to vegetable position, adjustable watering device 3 is opened
Beginning work, first waters highly according to the regulation of required vegetable root, and two No. three hydraulic cylinders 373 watered on side chain 37 start work
Making, No. three hydraulic cylinders 373 make stable elevating movement, when two are watered by lower installation board 375 under the auxiliary of expansion link 374
When side chain 37 waters needed for moving to vegetable root highly, No. three hydraulic cylinders 373 quit work, and then regulate according to vegetable root
Watering angle, now angular adjustment motor 376 is started working, by the spacing auxiliary fortune of locating shaft 378 with arc-shaped limit frame 379
Dynamic make to water water column 377 under the drive of angular adjustment motor 376, carry out stable angular adjustment so that the present invention is applicable to not
With the operation of watering of angle vegetable root, water needed for two side chains 37 that water move to angle position time angular adjustment motor
376 quit work, and then water the adjustable mechanism 382 of watering uniformly installed water column 377 both sides and start working, first pass through electromagnetic valve
3825 flows determining isocon 3824, latter two high-pressure hydraulic pump 35 that flow determines starts simultaneously at work, two water under high pressures
Pump 35 extracts the water source in water tank 33 by two water inlet pipes 34, and water source separately flows into two by two outlet pipes 36 again and waters
In two manifold trunks 381 of side chain 37, give the adjustable shunting watered in mechanism 382 by manifold trunk 381 by water source uniform distribution
Pipe 3824, is flowed into the water source of giant 3823 by isocon 3824 and enters vegetable root by the hydraulic pressure of high-pressure hydraulic pump 35
The uniform automatic watering function of row, it is achieved that to vegetable according to watering water function uniformly, water effective, saved substantial amounts of water source；
When booth vegetable needs to gather, first pass through the present invention and move to required vegetable crawl position, rotary-cut of gathering from steady travelling platform 1
Device 4 is started working, and four No. four hydraulic cylinders 44 work simultaneously, and four No. four hydraulic cylinders 44 drive crawl platform 45 to make stable liter
Fall motion, when capturing four below platform 45 crawl vibration side chains 47 and moving to suitable crawl position, No. four hydraulic cylinders 44 stop
Work, now four crawl vibration side chains 47 start simultaneously at work, capture under electric pushrod 4822 drive on governor motion 482
Riser 472 rotates on upper vertical plate 471, when the arc on riser 472 captures and captures vegetable surface needed for plate 476 touches instantly
Electric pushrod 4822 quits work, four four arcs captured on vibration side chains 47 capture plates 476 tightly captured vegetable,
Vegetable root owing to capturing up on planting site just now is attached to a large amount of earth, now four four captured on vibration side chains 47
The earth of attachment on vegetable root is vibrated on planting site by individual vibrating motor 481, and after vegetable root earth shakes, vegetable is revolved
Cutting side chain 46 to start working, two No. five hydraulic cylinders 463 on vegetable rotary-cut side chain 46 are started working, by two Z-type slide blocks
465 and the spacing sliding motion of two chutes 466 L-type rotary-cut frame 464 is made surely under the driving of two No. five hydraulic cylinders 463
Fixed stretching motion, meanwhile rotary-cut motor 467 is started working, and rotary-cut motor 467 drives rotary-cut sheet 468 high speed rotary-cut, logical
Cross the vegetable root of the rotary-cut sheet 468 high speed rotary-cut crawl that two No. five hydraulic cylinders 463 telescope out, it is achieved thereby that to vegetables
The vibration of dish is gathered function, and speed of gathering is fast, and harvest efficiency is high；Finally achieve booth vegetable automatically to loosen the soil, water, gather
Function, it is not necessary to manual operation, automaticity is high, and vegetable cultivation is effective, solves existing booth vegetable artificial culture's mode
The needs existed manually long-term auxiliary operation, labor intensity is big, vegetable cultivation weak effect, plantation stability are poor, work efficiency
Lowly, speed of loosening the soil is slow, the weak effect that loosens the soil, the weak effect that waters, water waste are big, speed of gathering is slow and the low inferior difficulty of harvest efficiency
Topic, has reached purpose.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent thereof
Define.
Claims (7)
1. a booth vegetable intelligent cultivation robot, it is characterised in that: include from steady travelling platform (1), described from steady walking
Loosening device (2) is installed on the right side of the upper surface of platform (1), adjustable watering is installed in the middle part of the upper surface of steady travelling platform (1)
Water device (3), is provided with rotary cutting apparatus of gathering (4) on the left of the upper surface of steady travelling platform (1)；
Described including mounting platform (11) from steady travelling platform (1), the left and right sides, lower surface of described mounting platform (11) is symmetrical
Two transmission branch chain (12) are installed, and before and after each transmission branch chain (12), both sides are all symmetrically welded with two walking side chains
(13)；Described transmission branch chain (12) includes being symmetrically welded at two pieces of fixed boards of both sides before and after mounting platform (11) lower surface
(121), by bearing, driving shaft (122), the middle part of driving shaft (122) are installed between the upper end of two pieces of fixed boards (121)
Being provided with driving gear (123) by key, the front end of driving shaft (122) is provided with driving motor (124), transmission by shaft coupling
Motor (124) is arranged on the lower surface of mounting platform (11) by motor cabinet, passes through between the lower end of two pieces of fixed boards (121)
Bearing is provided with driven shaft (125), and the middle part of driven shaft (125) is provided with driven gear (126), driven gear by key
(126) being meshed with driving gear (123), before and after driven shaft (125), two ends are symmetrically welded with two walkings side chain (13)；Institute
State walking side chain (13) and include that the walking jacking block (131) that side is welded on driven shaft (125), walking jacking block (131) are square
Shape structure, four sides of walking jacking block (131) are separately installed with four shock-absorbing support mechanisms (132), four shock-absorbing supports
Mechanism (132) upper end is separately installed with four arcs walking block (133), the most uniform between adjacent two arcs walking block (133)
Connect and have a limit spring (134), and on the outer wall of each arc walking block (133), be evenly arranged with taper walking bar
(135)；Described shock-absorbing support mechanism (132) includes the fixed platform (136) being arranged in walking jacking block (131) corresponding side surface, fixed
Platform (136) upper surface is the most uniformly provided with three side chains in parallel (137), the top of three side chains in parallel (137)
Being installed on the lower surface of moving platform (138), the upper surface uniform welding of moving platform (138) has three bar shapeds to prop up block (139),
It is the globoidal structure corresponding with arc walking block (133) that the upper surface of block (139) is propped up in bar shaped, and block (139) is propped up in three bar shapeds
Upper surface is welded on the inwall of corresponding arc walking block (133)；
Described loosening device (2) includes the base plate that loosens the soil (21) being welded on mounting platform (11) upper surface, on the base plate that loosens the soil (21)
It is symmetrically welded with two poles of loosening the soil (22), between two poles of loosening the soil (22), is evenly arranged with three muscle posts (22a), two pines
The end of soil pole (22) is welded with frame plate (23), and the lower surface of upper frame plate (23) is symmetrically installed with four No. two hydraulic cylinders
(24), the middle part of four No. two hydraulic cylinders (24) is separately fixed on four L-type frameworks (24a), four L-type frameworks (24a)
Bottom is all welded on frame plate (23), and the top of four No. two hydraulic cylinders (24) is provided with the main support plate (25) that loosens the soil；Described
The lower surface of the main support plate (25) that loosens the soil is symmetrically installed with two power drive side chains (26), under two power drive side chains (26)
End is provided with lower frame plate (27), and the lower surface of lower frame plate (27) is provided with two journal stirrups that loosen the soil (27a), two journal stirrups that loosen the soil
(27a) being provided with transaxle (28) by bearing between, the right side of transaxle (28) is provided with conversion motor by shaft coupling
(29), conversion motor (29) is arranged in conversion support plate (210) by motor cabinet, and conversion support plate (210) is welded on and is positioned at undercarriage
On the journal stirrup that loosens the soil (27a) sidewall on plate (27) right side；The middle part of described transaxle (28) is provided with conversion square column by key
(211), the lower end of conversion square column (211) is provided with two longitudinal journal stirrups (211a), passes through bearing between longitudinal journal stirrup (211a)
Being provided with longitudinal rotating shaft (212), the right-hand member of longitudinal rotating shaft (212) is provided with, by shaft coupling, the motor (213) that longitudinally loosens the soil, longitudinally
The motor (213) that loosens the soil is arranged on by motor cabinet and longitudinally loosens the soil on support plate (214), and the support plate (214) that longitudinally loosens the soil is welded on and is positioned at
On longitudinal journal stirrup (211a) sidewall on conversion square column (211) right side；It is evenly arranged with longitudinal direction on described longitudinal rotating shaft (212) outer wall
Loosen the soil side chain (215)；The upper surface of described conversion square column (211) is provided with two to horizontal journal stirrup (211b), and every pair laterally
Be mounted on rotating roller (216) by bearing between ear (211b), two to two of horizontal journal stirrup (211b) rotations roller (216) it
Between transmission belt (217) is installed, on the outer wall of transmission belt (217), uniformly riveting has the cutter that laterally loosens the soil (218), and is positioned at conversion side
Being provided with the motor that laterally loosens the soil (219) by shaft coupling on the rotation roller (216) on post (211) right side, laterally loosen the soil motor (219)
Being fixedly mounted on the support plate that laterally loosens the soil (219a), the support plate (219a) that laterally loosens the soil is welded on the sidewall of conversion square column (211)；
Described adjustable watering device (3) includes the support plate that waters (31) being welded on mounting platform (11) upper surface, and water support plate
(31) tank tower (32) is laid in upper surface, is provided with water tank (33), the both sides of water tank (33) in the middle part of the upper surface of tank tower (32)
By two water inlet pipes (34), water inlet with two high-pressure hydraulic pumps (35) is connected respectively, and two high-pressure hydraulic pumps (35) pass through screw
It is separately mounted to the both sides of tank tower (32), and the outlet of two high-pressure hydraulic pumps (35) is connected with two outlet pipes (36) respectively；
The both sides of the described support plate that waters (31) are separately installed with two side chains that water (37) by screw, and the side chain that waters (37) includes passing through
Screw is arranged on the pole of watering (371) on the support plate that waters (31), and the upper surface of pole of watering (371) is respectively arranged with two limits
Position ear (371a), the end of pole of watering (371) is welded with upper mounting plate (372), the lower surface symmetry two of upper mounting plate (372)
No. three hydraulic cylinders (373) of root and two expansion links (374), two expansion links (374) be respectively positioned on two No. three hydraulic cylinders (373) it
Between, and on the top of two No. three hydraulic cylinders (373) and two expansion links (374), lower installation board (375), lower installation board are installed
(375) by motor cabinet, angular adjustment motor (376) is installed on, the output shaft of angular adjustment motor (376) is provided with and waters
Water column (377), waters water column (377) and is welded with locating shaft (378) on one end of lower installation board (375), locating shaft (378)
Being connected by sliding matching mode between upper end with arc-shaped limit frame (379), the bottom of arc-shaped limit frame (379) is welded on lower peace
On dress plate (375), described in water the upper end of water column (377) two journal stirrups that water (380) be installed, solid between the journal stirrup that waters (380)
Dingan County is equipped with manifold trunk (381), and manifold trunk (381) upper end is communicated with outlet pipe (36), and outlet pipe (36) middle part sequentially passes through
Water two position-limiting ears (371a) on pole (371), described in water the both sides of water column (377) adjustable watering machinery be the most uniformly installed
Structure (382)；
Described rotary cutting apparatus of gathering (4) includes the base plate of gathering (41) being welded on mounting platform (11) upper surface, base plate of gathering
(41) being welded with pole of gathering (42) in the middle part of upper surface, the end of pole of gathering (42) is welded with a platform (43) of gathering, and gathers and props up
The lower surface of platform (43) is symmetrically installed with four No. four hydraulic cylinders (44), and the top of four No. four hydraulic cylinders (44) is provided with crawl
Platform (45), captures and is provided with vegetable rotary-cut side chain (46) on the left of the upper surface of platform (45), capture the lower surface balanced welding of platform (45)
It is connected to four and captures vibration side chain (47)；Described crawl vibration side chain (47) includes being welded on the upper vertical of crawl platform (45) lower surface
Plate (471), the lower end of upper vertical plate (471) is provided with lower riser (472) by hinge, and the lower end of lower riser (472) is provided with two
Individual crawl hanger (473), is provided with rotating shaft of gathering (474), rotating shaft of gathering by bearing between two crawls hanger (473)
(474) middle part is installed with two engaging lugs (475), and the end of two engaging lugs (475) is arranged on arc and captures plate
(476) back, arc captures and is provided with No. two limit spring (477) between plate (476) upper end and lower riser (472) upper end,
Arc captures the lower end of plate (476) and is welded with connection support plate (478), connect support plate (478) upper end and lower riser (472) lower end it
Between No. three limit spring (479) are installed, the lower end of described lower riser (472) is provided with two motor journal stirrups (480), two electricity
Vibrating motor (481) is installed on machine journal stirrup (480), installs between described lower riser (472) upper end and upper vertical plate (471) inwall
There is crawl governor motion (482)；Described vegetable rotary-cut side chain (46) includes being symmetrically welded at two rotary-cuts captured on platform (45)
Pole (461), the lower end inner wall of two rotary-cut poles (461) is welded with rotation support plate (462), rotary-cut support plate (462) interior
Wall upper end is symmetrically installed with two No. five hydraulic cylinders (463), and the top of two No. five hydraulic cylinders (463) is provided with L-type rotary-cut frame
(464), the lower surface of L-type rotary-cut frame (464) is symmetrically arranged with two Z-type slide blocks (465), two Z-type slide blocks (465) respectively with
Being connected by sliding matching mode between two chutes (466), the left end of two chutes (466) is all welded on rotation support plate
(462), on inwall, described L-type rotary-cut frame (464) upper end is provided with rotary-cut motor (467), rotary-cut motor (467) by motor cabinet
Output shaft on be installed with rotary-cut sheet (468).
A kind of booth vegetable the most according to claim 1 intelligent cultivation robot, it is characterised in that: described driving gear
(123) gear ratio with driven gear (126) is 2:1.
A kind of booth vegetable the most according to claim 1 intelligent cultivation robot, it is characterised in that: described side chain in parallel
(137) include the matrix bearing (1371) being welded on fixed platform (136) upper surface, install between the middle part of matrix bearing (1371)
There is lower limit axle (1372), the upper end inwall of matrix bearing (1371) is symmetrically arranged with two arc-shaped limit grooves (1371a)；Institute
Stating (1372) on lower limit axle and be arranged with a hydraulic cylinder (1373), the both sides, bottom of a hydraulic cylinder (1373) are provided with two
Gag lever post (1374), by the side of being slidably matched between end and two arc-shaped limit grooves (1371a) of two gag lever posts (1374)
Formula is connected；The top of a described hydraulic cylinder (1373) is provided with spherical connector (1375), spherical connector by screw thread
(1375) two ends are symmetrically arranged with two upper limit axles (1376), two upper limit axles (1376) respectively with an ear mount
(1377) all it is connected by bearing between two ends, the lower surface inwall of an ear mount (1377) is welded with locating dowel
(1378), the end of locating dowel (1378) is the matrix spherical structure corresponding with spherical connector (1375), locating dowel
(1378) it is connected by sliding matching mode between end with spherical connector (1375), the upper surface of an ear mount (1377)
It is welded on moving platform (138).
A kind of booth vegetable the most according to claim 1 intelligent cultivation robot, it is characterised in that: described power drive is propped up
Chain (26) includes two drivings journal stirrup (261) being arranged on main support plate (25) lower surface of loosening the soil, and two drive between journal stirrup (261)
By bearing, power leading screw (262) is installed, power leading screw (262) is provided with power motor (263), power by shaft coupling
Motor (263) is arranged on master by motor cabinet and loosens the soil on support plate (25), and the middle part of power leading screw (262) is threaded connection mode
It is provided with in driving slide block (264), and two drivings slide block (264) of two power drive side chains (26) and lower frame plate is installed
(27)。
A kind of booth vegetable the most according to claim 1 intelligent cultivation robot, it is characterised in that: described longitudinal direction is loosened the soil
Chain (215) includes the circular knife rest (2151) being arranged in longitudinal rotating shaft (212) by key, on the outer wall of circular knife rest (2151)
It is evenly arranged with the cutter (2152) that longitudinally loosens the soil in the axial direction.
A kind of booth vegetable the most according to claim 1 intelligent cultivation robot, it is characterised in that: described adjustable watering machinery
Structure (382) includes being welded on fixing block (3821) of two watered on water column (377) sidewall, between two fixing blocks (3821)
Being provided with two installations and determine block (3822), two installations determine to be provided with on block (3822) giant (3823), giant
(3823) bottom connects has isocon (3824), the middle part of isocon (3824) to be provided with electromagnetic valve (3825), isocon
(3825) top is connected with manifold trunk (381).
A kind of booth vegetable the most according to claim 1 intelligent cultivation robot, it is characterised in that: described crawl regulation machine
Structure (482) includes No. two ear mount (4821) being welded on upper vertical plate (471) inwall, passes through bearing pin between No. two ear mount (4821)
Being provided with electric pushrod (4822), the top of electric pushrod (4822) is arranged between No. three ear mount (4823) by bearing pin, and three
Number ear mount (4823) is welded on the upper surface of lower riser (472).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610521976.2A CN106171080B (en) | 2016-07-06 | 2016-07-06 | A kind of booth vegetable intelligent cultivation robot |
| CN201810114611.7A CN108093707A (en) | 2016-07-06 | 2016-07-06 | A kind of greenhouse green vegetables plant operation automation equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610521976.2A CN106171080B (en) | 2016-07-06 | 2016-07-06 | A kind of booth vegetable intelligent cultivation robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810114611.7A Division CN108093707A (en) | 2016-07-06 | 2016-07-06 | A kind of greenhouse green vegetables plant operation automation equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106171080A true CN106171080A (en) | 2016-12-07 |
| CN106171080B CN106171080B (en) | 2018-05-11 |
Family
ID=57464742
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810114611.7A Withdrawn CN108093707A (en) | 2016-07-06 | 2016-07-06 | A kind of greenhouse green vegetables plant operation automation equipment |
| CN201610521976.2A Expired - Fee Related CN106171080B (en) | 2016-07-06 | 2016-07-06 | A kind of booth vegetable intelligent cultivation robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810114611.7A Withdrawn CN108093707A (en) | 2016-07-06 | 2016-07-06 | A kind of greenhouse green vegetables plant operation automation equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108093707A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107306766A (en) * | 2017-07-19 | 2017-11-03 | 安徽工程大学 | A kind of automatic watering function machine people |
| CN111436313A (en) * | 2020-04-21 | 2020-07-24 | 吉林省锦瀛麻业生物科技有限公司 | Greenhouse temperature control device for industrial hemp planting |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108990531B (en) * | 2018-08-13 | 2021-08-06 | 蔚蓝计划(北京)科技有限公司 | Greenhouse vegetable harvesting robot |
| CN112314069B (en) * | 2020-12-08 | 2022-04-15 | 秦皇岛小马物联网科技开发有限公司 | Big-arch shelter device of digging |
| CN114711217B (en) * | 2022-06-08 | 2022-08-16 | 济南市农业科学研究院(山东省农业科学院济南市分院) | Urban vegetable planting spraying mechanism, spraying method and planting device |
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| JP3059604B2 (en) * | 1993-03-19 | 2000-07-04 | セイレイ工業株式会社 | Vegetable harvester |
| CN102227973B (en) * | 2011-04-27 | 2013-06-05 | 南京工程学院 | End effector of ball-like fruit picking robot |
| CN204291765U (en) * | 2014-11-14 | 2015-04-29 | 王伟 | The broken multipurpose machine of a kind of subsoiling |
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- 2016-07-06 CN CN201610521976.2A patent/CN106171080B/en not_active Expired - Fee Related
Patent Citations (4)
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| JP2002058317A (en) * | 2000-08-21 | 2002-02-26 | Seirei Ind Co Ltd | Head-formed vegetable harvester |
| CN104584738A (en) * | 2015-01-07 | 2015-05-06 | 上海交通大学 | Seeding, irrigation and picking all-in-one walkable agricultural greenhouse robot |
| CN104798538A (en) * | 2015-04-20 | 2015-07-29 | 东北农业大学 | Self-adaptive push-out type fruit and vegetable capturing end executer |
| CN105103777A (en) * | 2015-08-13 | 2015-12-02 | 徐州市贾汪区泰瑞农业科技有限公司 | Solar cabbage harvester |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107306766A (en) * | 2017-07-19 | 2017-11-03 | 安徽工程大学 | A kind of automatic watering function machine people |
| CN111436313A (en) * | 2020-04-21 | 2020-07-24 | 吉林省锦瀛麻业生物科技有限公司 | Greenhouse temperature control device for industrial hemp planting |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106171080B (en) | 2018-05-11 |
| CN108093707A (en) | 2018-06-01 |
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Effective date of registration: 20180416 Address after: Xi Shi Huan Road Guangzhou City, Guangdong province 510000 Huan Tianhe District No. 10 building 340 room C Applicant after: Harbin robotics group (Guangzhou) intellectual property Klc Holdings Ltd. Address before: 246001 Anhui province Anqing City Yixiu District Bridge Office nine Village Group No. 12 every shoot Applicant before: Xu Zitong |
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