CN106171080A - A greenhouse vegetable intelligent cultivation robot - Google Patents

Abstract

The invention relates to an intelligent greenhouse vegetable cultivation robot which comprises a self-stabilizing walking platform, wherein the self-stabilizing walking platform has good shock absorption performance and stability, and can be suitable for uneven greenhouse vegetable planting fields. The automatic soil loosening, watering and harvesting functions of greenhouse vegetables can be realized, manual operation is not needed, the automation degree is high, and the vegetable cultivation effect is good.

Description

A greenhouse vegetable intelligent cultivation robot

technical field

The invention relates to the technical field of agricultural machinery, in particular to an intelligent cultivation robot for greenhouse vegetables.

Background technique

In our life, greenhouse vegetables can be seen everywhere. Through greenhouses, the time to market of vegetables can be artificially controlled. Greenhouse vegetables can meet the rapid supply demand of vegetables in different seasons, so the output of greenhouse vegetables is very huge. The planting of vegetables in existing greenhouses is basically based on artificial cultivation. The specific processes for cultivation in greenhouses include planting, loosening the soil, fertilizing, watering, harvesting, etc. There are the following defects in the existing methods of artificial cultivation of vegetables in greenhouses: 1. Artificial cultivation is required. Long-term auxiliary operation, labor intensity is high, work efficiency is low, and the greenhouse vegetable cultivation effect is poor; 2. Since the surface of the greenhouse vegetable planting ground must be uneven, the operator has poor stability when walking back and forth on the planting ground with mechanical cultivation tools, and the standing is unstable It is easy to fall down, which leads to a significant reduction in the efficiency of vegetable cultivation in greenhouses; 3. The soil loosening cultivation process is mainly to manually perform soil loosening operations on the planting ground through loosening rakes, in order to achieve a uniform loosening effect. The absorption effect of greenhouse vegetables on fertilizers usually requires manual manual longitudinal and horizontal loosening operations. This manual operation method is slow in loosening the soil, poor in the effect of loosening the soil, and high in labor intensity; 4. The watering cultivation process is usually manual Carrying the spray tank on the back and spraying from top to bottom, but this watering method is usually sprayed on the top of the vegetables, and the roots of the vegetables are not sprayed with a lot of water, so in order for the roots of the vegetables to absorb enough water, manual labor is required. Spraying a lot of water, this way of watering vegetables wastes a lot of water, has poor watering effect on vegetables, low work efficiency, requires manual long-term operation, and is labor-intensive; 5. When the vegetables are mature, they need to be harvested manually , Usually the vegetables are picked manually first, then the soil on the roots of the vegetables is shaken off, and then the roots are cut off with a cutter. The whole process is manually operated, and the harvesting speed is slow and the harvesting efficiency is low.

Contents of the invention

In order to solve the above problems, the present invention provides a greenhouse vegetable intelligent cultivation robot, which can solve the problems existing in the existing artificial cultivation methods of greenhouse vegetables, such as the need for manual long-term auxiliary operations, high labor intensity, poor vegetable cultivation effect, poor planting stability, and work efficiency. Low, slow soil loosening speed, poor soil loosening effect, poor watering effect, large water waste, slow harvesting speed and low harvesting efficiency, etc., can realize the functions of automatic soil loosening, watering and harvesting of vegetables in greenhouses, no need Manual operation, high degree of automation, good vegetable cultivation effect, good planting stability, high work efficiency, fast soil loosening speed, good soil loosening effect, good watering effect, small water waste, fast harvesting speed and harvesting efficiency Advanced advantages.

In order to achieve the above object, the present invention adopts the following technical solutions: a greenhouse vegetable intelligent cultivation robot, including a self-stabilizing walking platform, the self-stabilizing walking platform has good shock absorption performance and stability, which can make the present invention suitable for uneven Greenhouse vegetable planting work, a loosening device is installed on the right side of the upper end surface of the self-stabilizing walking platform, the loosening device can realize the automatic uniform loosening function of the planting ground, the loosening speed is fast, the loosening effect is good, and the self-stabilizing An adjustable watering device is installed in the middle of the upper end of the walking platform. The adjustable watering device can realize the uniform watering function of vegetables, the watering effect is good, and a large amount of water is saved. The left side of the upper end of the self-stabilizing walking platform The harvesting rotary cutting device is installed, and the harvesting rotary cutting device can realize the vibration harvesting function of vegetables, with fast harvesting speed and high harvesting efficiency.

The self-stabilizing walking platform includes an installation platform. Two transmission branch chains are symmetrically installed on the left and right sides of the lower end surface of the installation platform, and two walking branch chains are welded symmetrically on the front and rear sides of each transmission branch chain. The transmission branch chain drives the walking branch chain to automatically walk on the vegetable planting ground in the greenhouse. The cultivation process does not require manual operation, and the work efficiency is high; the transmission branch chain includes two fixed vertical plates symmetrically welded on the front and rear sides of the lower end of the installation platform. The drive shaft is installed between the upper ends of the fixed vertical plates through bearings, the middle part of the drive shaft is equipped with a drive gear through a key, the front end of the drive shaft is installed with a transmission motor through a coupling, and the transmission motor is installed on the lower end of the installation platform through a motor seat A driven shaft is installed between the lower ends of the two fixed vertical plates through bearings, and a driven gear is installed in the middle of the driven shaft through a key. The driven gear meshes with the driving gear, and the front and rear ends of the driven shaft are welded symmetrically. Two walking branch chains drive the driving shaft to rotate through the transmission motor, the driving shaft drives the driving gear to rotate, the driving gear drives the driven shaft with the assistance of the driven gear, and the driven shaft drives the two walking branch chains at both ends to grow vegetables in the greenhouse. Walking automatically on the ground; the walking branch chain includes a walking top block whose side is welded on the driven shaft. The walking top block has a square structure. Four arc-shaped walking blocks are respectively installed on the upper end of the shock support mechanism, and a No. 1 limit spring is uniformly connected between two adjacent arc-shaped walking blocks, and the outer wall of each arc-shaped walking block is uniformly equipped with a tapered walking block. The tapered walking strip is a tapered structure, which concentrates the walking pressure of the present invention on the greenhouse vegetable planting ground on the tapered walking strip, which improves the walking stability of the present invention when growing vegetables in the greenhouse. The No. 1 limit spring acts To limit and shock absorption, and the shock-absorbing support mechanism has good shock-absorbing performance and stability, so that the present invention can travel in a conical shape on the arc-shaped walking block under the auxiliary effect of the No. 1 limit spring and the shock-absorbing support mechanism. The bar can be stably walked on the uneven greenhouse vegetable planting field, and has a wide range of applications; the transmission ratio of the driving gear and the driven gear is 2:1, and the low transmission ratio reduces the rotation speed of the driven gear, thereby reducing the The walking speed of the walking branch chain on the vegetable planting ground of the greenhouse further increases the walking stability; the shock-absorbing support mechanism includes a fixed platform installed on the corresponding side of the walking top block, and the upper end surface of the fixed platform is uniformly installed with three parallel Branch chain, the tops of the three parallel branch chains are all installed on the lower end surface of the moving platform, and the upper end surface of the moving platform is evenly welded with three bar-shaped support blocks, and the upper end surface of the bar-shaped support block is corresponding to the arc-shaped walking block. The arc surface structure, the upper end surfaces of the three bar-shaped support blocks are welded on the inner wall of the corresponding arc-shaped walking block, so that the three bar-shaped support blocks can give a strong supporting force to the corresponding arc-shaped walking block; the parallel branch chain includes The concave support welded on the upper end surface of the fixed platform, the lower limit shaft is installed between the middle parts of the concave support, two arc-shaped limit grooves are symmetrically arranged on the inner wall of the upper end of the concave support; the lower limit shaft is sleeved There is a No. 1 hydraulic cylinder. There are two limit rods on both sides of the bottom of the No. 1 hydraulic cylinder. The end of the rod is connected to the two arc-shaped limiting grooves through a sliding fit, and the movement between the two limiting rods and the two arc-shaped limiting grooves can limit the rotation range of the bottom end of the No. 1 hydraulic cylinder, and also prevent The situation that the bottom end of No. 1 hydraulic cylinder moves left and right, because the present invention often walks on the uneven greenhouse vegetable planting ground, and can strengthen the position of the bottom end of No. 1 hydraulic cylinder by two stop rods and two arc-shaped stop slots. The stability when the lower limit shaft rotates improves the work performance; the top of the No. 1 hydraulic cylinder is threaded with a spherical joint, and two ends of the spherical joint are symmetrically provided with two upper limit shafts, and two upper limit shafts Both ends of the No. 1 ear seat are connected by bearings respectively. A positioning post is welded on the inner wall of the lower end of the No. 1 ear seat. The end of the positioning post is a concave spherical structure corresponding to the spherical joint. The end of the positioning post It is connected with the spherical joint through a sliding fit, and the upper end surface of the No. 1 ear seat is welded on the moving platform, and the movement of the spherical joint is limited and supported by the positioning column, so that the two upper limit shafts on the spherical joint It can be stably rotated on the No. 1 lug seat, which enhances the stability of the top rotation of the No. 1 hydraulic cylinder and improves the working performance. The R pair formed when the No. 1 hydraulic cylinder rotates on the concave support and the No. 1 hydraulic cylinder work The formed P pair and the R pair formed when the No. 1 hydraulic cylinder rotates form the RPR type parallel branch chain, and the present invention forms 3 parallel branch chains and the moving platform through the fixed platform, three RPR type -RPR parallel mechanism, the 3-RPR parallel mechanism has the advantages of good dynamic response, high rigidity, large load capacity, good stability and high motion precision. With the advantages of the 3-RPR parallel mechanism, the present invention has the advantages of walking on the vegetable planting ground in greenhouses. Good shock absorption performance and stability performance eliminates the situation of unstable standing and lower working speed during manual operation, and has a wide range of applications. When working, the driving shaft is first driven by the transmission motor on the transmission branch chain, the driving shaft drives the driving gear to rotate, the driving gear drives the driven shaft with the assistance of the driven gear, and the driven shaft drives the two walking branch chains at both ends. The tapered walking strips on the two walking branch chains can be rotated, with the help of the No. 1 limit spring and the 3-RPR parallel mechanism evenly arranged on the four sides of the walking top block, so that the tapered walking strips on the two walking branch chains can be used in uneven greenhouses. It can walk stably on the vegetable planting ground, has good shock absorption performance and good stability performance, and eliminates the situation of standing unstable and reducing the working speed during manual operation, and has a wide range of applications.

The soil loosening device includes a soil loosening base plate welded on the upper end face of the installation platform, two loosening soil support rods are symmetrically welded on the soil loosening base plate, and three rib columns are evenly arranged between the two soil loosening support rods. The support strength of the two soil loosening rods is guaranteed. The ends of the two soil loosening rods are welded with upper shelf plates. Four No. 2 hydraulic cylinders are symmetrically installed on the lower end of the upper shelf plate. The middle parts of the four No. On the four L-shaped frames, the four L-shaped frames play the role of fixing and supporting the four No. 2 hydraulic cylinders respectively, so that the No. 2 hydraulic cylinders can only move up and down along the vertical direction. Both ends are welded on the upper frame, and the tops of the four No. 2 hydraulic cylinders are equipped with main loosening support plates; the lower end faces of the main loosening support plates are symmetrically installed with two power-driven branch chains, and two power-driven The lower end of the branch chain is equipped with a lower shelf plate, and the two power-driven branch chains drive the lower shelf plate to move back and forth stably, so that the present invention is convenient to adjust the loosening position on the vegetable planting ground of the greenhouse, making the present invention applicable to different vegetable planting positions For loosening soil, two loosening lugs are arranged on the lower end surface of the lower shelf plate, and a conversion shaft is installed through a bearing between the two loosening lugs, and a conversion motor is installed on the right side of the conversion shaft through a coupling. The motor is installed on the conversion support plate through the motor seat, and the conversion support plate plays the role of supporting the conversion motor. The conversion support plate is welded on the side wall of the loose soil lug located on the right side of the lower shelf plate; the middle part of the conversion shaft passes through the key A conversion square column is installed, and the present invention adjusts the working angle of the conversion square column through a conversion motor. The lower end of the conversion square column is provided with two longitudinal lugs, and a longitudinal shaft is installed between the longitudinal lugs through bearings. The shaft device is equipped with a longitudinal loosening motor, and the longitudinal loosening motor is installed on the longitudinal loosening support plate through the motor base, and the longitudinal loosening support plate is welded on the side wall of the longitudinal lug on the right side of the conversion square column; the longitudinal shaft The outer wall is evenly provided with longitudinal loosening branch chains, and the longitudinal rotating shaft is driven by the longitudinal loosening motor to rotate, and the longitudinal rotating shaft drives the uniformly arranged longitudinal loosening branch chains to quickly loosen the soil longitudinally; the longitudinal loosening branch chains include keys installed On the circular knife holder on the longitudinal shaft, the outer wall of the circular knife holder is evenly equipped with longitudinal loosening knives along the axial direction. The longitudinal loosening knife is a curved pointed structure, which is convenient for the longitudinal loosening knife to enter quickly and deeply. The soil is loosened at the planting site; two pairs of transverse lugs are arranged on the upper end surface of the conversion square column, and rotating rollers are installed between each pair of transverse lugs through bearings, and the two turning rollers of the two pairs of transverse lugs A transmission belt is installed, and the outer wall of the transmission belt is evenly riveted with a horizontal loosening knife, and a horizontal loosening motor is installed on the rotating roller on the right side of the conversion square column through a coupling, and the horizontal loosening motor is fixed on the horizontal loosening machine. On the support plate, the transverse loosening support plate is welded on the side wall of the conversion square column, and the rotation roller on the right side of the conversion square column is driven by the horizontal loosening motor, and the rotation roller on the right side of the conversion square column is on the left side of the conversion square column. The rotating roller drives the transmission belt to rotate, and the transmission belt drives the evenly arranged horizontal loosening knives to rotate quickly, and the evenly arranged horizontal loosening knives perform horizontal loosening on the vegetable planting field; the power drive branch chain includes setting On the two driving lugs on the lower end surface of the main loose soil support plate, a power lead screw is installed through a bearing between the two drive lugs, a power motor is installed on the power lead screw through a coupling, and the power motor is installed on the motor seat through a motor base. On the main loosening support plate, the middle part of the power lead screw is installed with a drive slider through threaded connection, and the two drive sliders of the two power drive branch chains are equipped with a lower shelf plate, and the power lead screw is driven to rotate by the power motor , the power lead screw drives the drive slider to rotate, and the two drive sliders of the two power drive branch chains drive the lower shelf plate to move back and forth stably. During work, at first determine the position of the vegetable planting place where the present invention needs to loosen the soil, and the two power motors on the two power drive branch chains start working simultaneously, and the two power motors drive the rotation of the two power lead screws, and the two power lead screws drive The two driving sliders move, and the two driving sliders drive the present invention to move to the vegetable planting site where the loose soil is required through the lower shelf plate. When the present invention moves to the desired planting position, the power motor stops working, and then four two No. 1 hydraulic cylinder starts working at the same time, and four No. 2 hydraulic cylinders drive the present invention to move downward through the main loosening support plate. When the vertical loosening branch chain on the longitudinal shaft is close to the planting ground surface, the No. 2 hydraulic cylinder stops working. At this time, the longitudinal loosening motor starts to work, and the longitudinal loosening motor drives the vertical shaft to rotate, and the longitudinal shaft drives the uniformly arranged longitudinal loosening branch chain to rotate, and the longitudinal loosening knife on the longitudinal loosening branch chain quickly carries out longitudinal loosening. After the longitudinal loosening is completed, the conversion motor rotates, the conversion motor drives the conversion shaft to rotate, and the conversion shaft drives the conversion square column to rotate. When the knife moves to the top of the conversion square column, the conversion motor stops working. At the same time, the horizontal loosening motor starts to work. The rotating roller on the left side drives the transmission belt to rotate, and the transmission belt drives the evenly arranged horizontal loosening knives to rotate quickly, and the evenly arranged horizontal loosening knives perform horizontal loosening on the vegetable planting field. The combination of soil and soil operation is used to realize the automatic uniform loosening function of the planting field, the loosening speed is fast, and the loosening effect is good.

The adjustable watering device includes a watering support plate welded on the upper end surface of the installation platform, a box frame is placed on the upper end surface of the watering support plate, a water tank is installed in the middle of the upper end surface of the box frame, and the box frame plays the role of supporting the water tank The water source for vegetables is stored in the water tank, and the two sides of the water tank are respectively connected with the water inlets of the two high-pressure water pumps through two water inlet pipes. The water outlets are respectively connected with two water outlet pipes; two watering branch chains are respectively installed on both sides of the watering support plate through screws, and two high-pressure water pumps draw the water source stored in the water tank through two water inlet pipes, and then pass two The root outlet pipe flows into two watering branch chains. The watering branch chain includes a watering support rod installed on the watering support plate through screws. The end of the water pole is welded with an upper mounting plate, and the lower end of the upper mounting plate is symmetrical to two No. 3 hydraulic cylinders and two telescopic rods. The two telescopic rods are located between the two No. The lower mounting plate is installed on the top of the No. 3 hydraulic cylinder and the two telescopic rods. With the assistance of the two telescopic rods, the two No. 3 hydraulic cylinders drive the lower mounting plate to move up and down stably, so that the two castings in the present invention The water branch chain moves to the watering height required by the root of the vegetables. An angle adjustment motor is installed on the lower mounting plate through the motor base. A watering column is installed on the output shaft of the angle adjusting motor. The end of the watering column close to the lower mounting plate is welded. There is a positioning shaft, the upper end of the positioning shaft is connected with the arc-shaped limit frame through sliding fit, the bottom end of the arc-shaped limit frame is welded on the lower mounting plate, and the auxiliary movement is limited by the positioning axis and the arc-shaped limit frame The watering column is driven by the angle adjustment motor to perform stable angle adjustment, so that the present invention is applicable to the watering operation of vegetable roots with different angles. Two watering lugs are installed on the upper end of the watering column. A collecting pipe is fixedly installed between the ears, and the upper end of the collecting pipe is connected with an outlet pipe. The water source flowing into the outlet pipe at high pressure through the high-pressure water pump is collected in the collecting pipe, and the middle part of the outlet pipe passes through two limit positions on the watering pole in turn. Ears, the two limiting ears play the role of limiting and evenly supporting the outlet pipe, and the adjustable watering mechanism is evenly installed on both sides of the watering column; the adjustable watering mechanism includes welding on the watering column There are two fixed blocks on the side wall, and two fixed blocks are arranged between the two fixed blocks. High-pressure water guns are installed on the two fixed blocks. The bottom end of the high-pressure water gun is connected with a shunt pipe. A solenoid valve is installed to control the flow of the shunt pipe through the solenoid valve. The top of the shunt pipe is connected with the collecting pipe. The water source in the collecting pipe flows into the high-pressure water gun through the shunt pipe. The high-pressure water gun uses the water pressure of the high-pressure water pump to treat the vegetable roots. Water evenly. During work, when the present invention moves to the required watering position of vegetables, at first adjust the watering height according to the required vegetable roots, the No. 3 hydraulic cylinders on the two watering branch chains start to work, and the No. 3 hydraulic cylinders are on the extension rod. Under the assistance of the lower mounting plate, the stable lifting movement is performed. When the two watering branch chains move to the watering height required by the vegetable roots, the No. 3 hydraulic cylinder stops working, and then adjusts the watering angle according to the vegetable roots. At this time, the angle adjustment motor Start to work, through the limited auxiliary movement of the positioning shaft and the arc-shaped limit frame, the watering column can be adjusted at a stable angle under the drive of the angle-adjusting motor, so that the present invention is suitable for the watering operation of vegetable roots at different angles. When the watering branch chain moves to the required watering angle position, the angle adjustment motor stops working, and then the adjustable watering mechanism installed evenly on both sides of the watering column starts to work. First, the flow rate of the shunt pipe is determined by the solenoid valve, and the flow rate is determined. After that, the two high-pressure water pumps start to work at the same time. The two high-pressure water pumps draw the water source in the water tank through the two water inlet pipes. The water source is evenly distributed to the shunt pipe on the adjustable watering mechanism, and the water source flowing into the high-pressure water gun through the shunt pipe can evenly and automatically water the vegetable roots with the help of the water pressure of the high-pressure water pump, realizing the function of evenly watering the vegetables. The watering effect is good, saving a lot of water.

The harvesting rotary cutting device includes a harvesting base plate welded on the upper end face of the installation platform, a harvesting pole is welded in the middle of the upper end of the harvesting base plate, and a harvesting support platform is welded at the end of the harvesting support pole. Four No. 4 hydraulic cylinders are symmetrically installed on the lower end surface, and the top of the four No. 4 hydraulic cylinders is equipped with a grabbing table. The four No. 4 hydraulic cylinders drive the grabbing table to move up and down stably. Vegetable rotary cutting branch chains are installed on the left side of the end face, and four grasping vibration branch chains are welded symmetrically on the lower end surface of the grabbing platform. Through the four grabbing vibration branch chains, the vegetables to be harvested are automatically grabbed and the roots of the vegetables are The attached soil vibrates to the planting ground. After the vibration of the soil is completed, the roots of the vegetables are automatically rotary cut by the vegetable rotary cutting branch chain, and the vegetables can be collected after the rotary cutting is completed; the grasping vibration branch chain includes The upper vertical plate of the end face, the lower end of the upper vertical plate is installed with the lower vertical plate through the hinge, the lower end of the lower vertical plate is provided with two grasping lugs, and the harvesting rotating shaft is installed through the bearing between the two grasping lifting lugs. The middle part of the retracting shaft is fixedly equipped with two connecting ears, and the ends of the two connecting ears are installed on the back of the arc-shaped grabbing plate. The arc-shaped grabbing plate can rotate on the harvesting shaft through the two connecting ears, and the arc-shaped grabbing The No. 2 limit spring is installed between the top of the plate and the top of the lower vertical plate. The No. 2 limit spring limits the upper end of the arc grabbing plate. The lower end of the arc grabbing plate is welded with a connecting support plate, and the upper end of the connecting support plate A No. 3 limit spring is installed between the lower end of the lower vertical plate, and the No. 3 limit spring limits the lower end of the arc-shaped grabbing plate. When the arc-shaped grabbing plate is close to the surface of the vegetable to be grabbed, the arc-shaped grab The picking plate can be rotated freely according to the inclination angle of the vegetables to be grabbed relative to the planting ground, and the arc-shaped grabbing plate can be close to the desired grasping position with the help of the upper and lower limit functions of the No. 2 limit spring and the No. 3 limit spring. The vegetable surface increases the grasping effect of vegetables. The lower end of the lower vertical plate is provided with two motor lugs, and a vibration motor is installed on the two motor lugs. Vibration motors vibrate the soil attached to the vegetable roots until the planting On the ground, a grasping adjustment mechanism is installed between the upper end of the lower riser and the inner wall of the upper riser, and the grasping adjustment mechanism adjusts the arc-shaped grasping plate on the lower riser to grasp the required vegetables; the grasping adjustment The mechanism includes the No. 2 ear seat welded on the inner wall of the upper vertical plate. An electric push rod is installed between the No. 2 ear seats through a pin shaft. The top of the electric push rod is installed between the No. 3 ear seats through a pin shaft. The seat is welded on the upper end surface of the lower vertical plate, and the arc-shaped grabbing plate on the lower vertical plate is adjusted by the electric push rod to grab the required vegetables; the vegetable rotary cutting branch chain includes two symmetrically welded on the grabbing table. Rotary support rods are welded on the inner walls of the lower ends of the two rotary cutting support rods. Two No. 5 hydraulic cylinders are symmetrically installed on the inner walls of the rotary cutting support plates. The tops of the two No. 5 hydraulic cylinders are installed with L The lower end of the L-shaped rotary cutting frame is symmetrically equipped with two Z-shaped sliders. They are all welded on the inner wall of the rotating support plate, and the L-shaped rotary cutting frame can be stably driven by two No. Telescopic movement, the upper end of the L-shaped rotary cutting frame is equipped with a rotary cutting motor through the motor base, and a rotary slice is fixedly installed on the output shaft of the rotary cutting motor. Rotary slices for high-speed rotary cutting of captured vegetable roots. During work, when the present invention moves to the desired vegetable grabbing position, four No. 4 hydraulic cylinders work at the same time, and the four No. 4 hydraulic cylinders drive the grabbing table to perform a stable lifting movement. When the four grabbing tables below the grabbing table The No. 4 hydraulic cylinder stops working when the vibrating branch chain moves to a suitable grabbing position. At this time, the four grabbing vibrating branch chains start working at the same time, and the electric push rod on the grabbing adjustment mechanism drives the lower vertical plate to rotate on the upper vertical plate. , when the arc-shaped grabbing plate on the lower vertical plate touches the surface of the vegetables to be grabbed, the electric push rod stops working, and the four arc-shaped grabbing plates on the four grabbing vibration branch chains tightly grab the vegetables. Since a lot of soil is attached to the roots of the vegetables picked up from the planting ground just now, the four vibration motors on the four grasping vibration branch chains vibrate the soil attached to the vegetable roots to the planting ground. The cutting branch chain starts to work, and the two No. 5 hydraulic cylinders on the vegetable rotary cutting branch chain start to work. Through the limit sliding movement of the two Z-shaped sliders and the two chutes, the L-shaped rotary cutting frame is in the position of the two No. 5 hydraulic cylinders. Driven by the hydraulic cylinder, it makes a stable telescopic movement. At the same time, the rotary cutting motor starts to work. The rotary cutting motor drives the high-speed rotary cutting of the rotary slices. The rotary slices stretched out by the two No. 5 hydraulic cylinders are used for high-speed rotary cutting of the captured vegetables. Roots, thereby realizing the vibration harvesting function of vegetables, with fast harvesting speed and high harvesting efficiency.

When in use, first move the cultivation position required by the present invention to move vegetables through the self-stabilizing walking platform, first drive the driving shaft to rotate through the transmission motor on the transmission branch chain, the driving shaft drives the driving gear to rotate, and the driving gear drives with the assistance of the driven gear The driven shaft, driven by the driven shaft drives the conical travel strips on the two travel branch chains at both ends to rotate, with the help of the No. 1 limit spring and the 3-RPR parallel mechanism evenly arranged on the four sides of the travel top block The tapered walking strip on the walking branch chain can walk stably on the uneven greenhouse vegetable planting ground, with good shock absorption performance and good stability, eliminating the situation of unstable standing and reducing working speed during manual operation, and has a wide range of applications; When the vegetables in the greenhouse need to loosen the soil and fertilize, the soil loosening device starts to work. First, determine the location of the vegetable planting site that needs to loosen the soil in the present invention. The power lead screw rotates, and the two power lead screws drive the two drive sliders to move, and the two drive sliders drive the present invention to move to the position of the vegetable planting site where the loose soil is required through the lower shelf plate. When the present invention moves to the desired planting position position, the power motor stops working, and then four No. 2 hydraulic cylinders start working simultaneously, and the four No. 2 hydraulic cylinders drive the present invention to move down through the main loosening support plate. When planting the ground surface, the No. 2 hydraulic cylinder stops working. At this time, the longitudinal loosening motor starts to work. The longitudinal loosening motor drives the vertical shaft to rotate, and the longitudinal shaft drives the uniformly arranged longitudinal loosening branch chain to rotate. The loosening knife quickly loosens the soil longitudinally. When the longitudinal loosening is completed, the conversion motor rotates. The conversion motor drives the conversion shaft to rotate. The conversion shaft drives the conversion square column to rotate. When the horizontal loosening knife on the conveyor belt moves to the bottom of the conversion square And when the longitudinal loosening knife on the vertical loosening branch chain moves to the top of the conversion square column, the conversion motor stops working, and at the same time, the horizontal loosening motor starts to work, and the horizontal loosening motor drives the rotating roller on the right side of the conversion square column to rotate, and the conversion The rotating roller on the right side of the square column is assisted by the rotating roller on the left side of the conversion square column to drive the conveyor belt to rotate, and the conveyor belt drives the evenly arranged horizontal loosening knives to rotate quickly, and the evenly arranged horizontal loosening knives perform horizontal loosening on the vegetable planting field. Soil, the present invention realizes the automatic uniform loosening function of the planting ground through the combined operation of horizontal loosening and vertical loosening. The loosening speed is fast and the loosening effect is good; when the greenhouse vegetables need to be watered, first pass The self-stabilizing walking platform of the invention moves to the watering position required by the vegetables, and the adjustable watering device starts to work. First, the watering height is adjusted according to the root of the vegetables required, and the No. 3 hydraulic cylinder on the two watering branch chains starts to work. No. 3 With the help of the telescopic rod, the hydraulic cylinder makes a stable lifting movement through the lower mounting plate. When the two watering branch chains move to the watering height required by the vegetable roots, the No. 3 hydraulic cylinder stops working, and then adjusts the watering angle according to the vegetable roots. At this time, the angle adjustment motor starts to work. Through the limited auxiliary movement of the positioning shaft and the arc-shaped limit frame, the watering column is driven by the angle adjustment motor to perform stable angle adjustment, so that the present invention is suitable for vegetable roots with different angles. watering operation , when the two watering branch chains move to the required watering angle position, the angle adjustment motor stops working, and then the adjustable watering mechanism installed evenly on both sides of the watering column starts to work, firstly determine the flow of the shunt pipe through the solenoid valve, After the flow rate is determined, the two high-pressure water pumps start to work at the same time. The two high-pressure water pumps draw the water source in the water tank through the two water inlet pipes. The collecting pipe evenly distributes the water source to the shunt pipe on the adjustable watering mechanism, and the water source flows into the high-pressure water gun through the shunt pipe to evenly and automatically water the vegetable roots with the help of the water pressure of the high-pressure water pump, realizing the uniform watering of vegetables Water function, good watering effect, saving a lot of water; when the vegetables in the greenhouse need to be harvested, the self-stabilizing walking platform of the present invention is first moved to the desired vegetable grabbing position, and the harvesting rotary cutting device starts to work, four four fours The No. 4 hydraulic cylinders work at the same time, and the four No. 4 hydraulic cylinders drive the grabbing table to perform stable lifting movements. When the four grabbing vibration branch chains under the grabbing table move to a suitable grabbing position, the No. 4 hydraulic cylinder stops working. At the same time, the four grasping vibration branch chains start working at the same time. The electric push rod on the grasping adjustment mechanism drives the lower vertical plate to rotate on the upper vertical plate, and the arc-shaped grasping plate on the lower vertical plate touches the surface of the vegetables to be grasped. At this time, the electric push rod stops working, and the four arc-shaped grabbing plates on the four grabbing vibration branch chains grab the vegetables tightly. Because a lot of soil is attached to the roots of the vegetables grabbed from the planting ground just now, the four The four vibration motors on the grabbing vibration branch chain vibrate the soil attached to the vegetable root to the planting ground. After the soil on the vegetable root shakes off, the vegetable rotary cutting branch chain starts to work, and the two No. 5 hydraulic cylinders on the vegetable rotary cutting branch chain Start to work, through the limited sliding movement of two Z-shaped sliders and two chutes, the L-shaped rotary cutting frame is driven by two No. 5 hydraulic cylinders for stable telescopic movement, and at the same time the rotary cutting motor starts to work , the rotary cutting motor drives the high-speed rotary cutting of the rotary slices, and the rotary slices stretched out by the two No. 5 hydraulic cylinders to high-speed rotary cut the grasped vegetable roots, thus realizing the vibration harvesting function of vegetables. The harvesting speed is fast and the harvesting High harvesting efficiency; finally realized the functions of automatic soil loosening, watering and harvesting of greenhouse vegetables, without manual operation, high degree of automation, and good vegetable cultivation effect.

The beneficial effects of the present invention are:

1. The present invention drives the four walking branch chains on both sides to work automatically through two transmission branch chains. The whole cultivation process does not require manual operation, and the present invention forms a 3 -RPR parallel mechanism, 3-RPR parallel mechanism has the advantages of good dynamic response, high rigidity, large bearing capacity, good stability and high motion precision. The auxiliary function of the 3-RPR parallel mechanism on the upper side makes the tapered walking strips on the two walking branch chains stable on the uneven greenhouse vegetable planting ground, with good shock absorption performance and good stability, eliminating the need for manual operation. The situation of reducing the working speed has a wide range of applications;

2. The present invention can convert the horizontal loosening knife and the vertical loosening knife by switching the motor, and then drive the horizontal loosening knife to carry out the horizontal loosening and the longitudinal loosening motor to drive the longitudinal loosening knife to carry out the longitudinal loosening. The combination of soil and soil operation is used to realize the automatic uniform soil loosening function on the planting ground, and the soil loosening speed is fast and the soil loosening effect is good;

3. The invention uses the angle adjustment motor to drive the watering column to perform stable angle adjustment under the limited auxiliary movement of the positioning axis and the arc-shaped limit frame, and the adjustable watering mechanism starts working at the same time after the angle is adjusted on the watering column , the high-pressure water gun on the adjustable watering mechanism uses the water pressure of the high-pressure water pump to evenly and automatically water the vegetable roots from the water source flowing out of the water tank, realizing the function of uniformly watering the vegetables, the watering effect is good, and a lot of money is saved. source of water;

4. The present invention drives the lower vertical board to rotate on the upper vertical board by grabbing the electric push rod on the adjustment mechanism. At this time, the four arc-shaped grabbing boards of the four lower vertical boards on the four grabbing vibration branch chains are tight. Catch vegetables. After the vegetables are grasped, four vibration motors will vibrate the soil attached to the vegetable roots to the planting ground. After the soil is shaken off, the vegetables will be rotary cut and grasped at high speed by the rotary slices on the vegetable rotary cutting branch chain. The root of the vegetable realizes the vibration harvesting function of the vegetable, the harvesting speed is fast, and the harvesting efficiency is high;

5. The present invention solves the problems existing in the artificial cultivation of vegetables in greenhouses, such as the need for long-term artificial auxiliary operations, high labor intensity, poor vegetable cultivation effect, poor planting stability, low work efficiency, slow soil loosening speed, poor soil loosening effect, watering Problems such as poor water effect, large waste of water source, slow harvesting speed and low harvesting efficiency have realized the functions of automatic soil loosening, watering and harvesting of greenhouse vegetables without manual operation, high degree of automation, good vegetable cultivation effect, and It has the advantages of good planting stability, high work efficiency, fast soil loosening speed, good soil loosening effect, good watering effect, less water waste, fast harvesting speed and high harvesting efficiency.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Fig. 2 is the first structural representation of self-stabilizing walking platform of the present invention;

Fig. 3 is the second structural representation of self-stabilizing walking platform of the present invention;

Fig. 4 is a schematic structural view of the shock absorbing support mechanism of the present invention;

Fig. 5 is the structural representation of parallel branched chain of the present invention;

Fig. 6 is the sectional view of parallel branch chain of the present invention;

Fig. 7 is the structural representation of loose soil device of the present invention;

Fig. 8 is the first structural schematic view between the main loose soil support plate and the power-driven branch chain of the present invention;

Fig. 9 is a structural schematic diagram of removing the loosening soil base plate, loosening soil support rod, upper shelf plate, No. 2 hydraulic cylinder, main loosening soil support plate and power-driven branch chain of the loosening device of the present invention;

Fig. 10 is a schematic structural view of the adjustable watering device of the present invention;

Fig. 11 is a schematic diagram of the first structure of the watering branch chain of the present invention after the watering pole is removed;

Fig. 12 is a second schematic structural view of the watering branch chain of the present invention after the watering pole is removed;

Fig. 13 is a schematic structural view of the harvesting rotary cutting device of the present invention;

Fig. 14 is a schematic structural view of the grasping vibration branch chain of the present invention;

Fig. 15 is a full sectional view of the present invention grabbing the vibration branch chain;

Fig. 16 is a schematic structural view of vegetable rotary-cut branched chains of the present invention;

Fig. 17 is the full sectional view of vegetable rotary cutting branch chain of the present invention;

detailed description

In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific illustrations.

As shown in Figures 1 to 17, a greenhouse vegetable intelligent cultivation robot includes a self-stabilizing walking platform 1. The self-stabilizing walking platform 1 has good shock absorption performance and stability, which can make the present invention suitable for uneven greenhouse vegetables. For planting work, a loosening device 2 is installed on the right side of the upper end surface of the self-stabilizing walking platform 1, and the loosening device 2 can realize the automatic uniform loosening function of the planting ground, the loosening speed is fast, the loosening effect is good, and the self-stabilizing An adjustable watering device 3 is installed in the middle of the upper end surface of the walking platform 1. The adjustable watering device 3 can realize the function of watering the vegetables evenly, the watering effect is good, and a large amount of water is saved. The self-stabilizing walking platform 1 A harvesting rotary cutting device 4 is installed on the left side of the upper end surface, and the harvesting rotary cutting device 4 can realize the vibration harvesting function of vegetables, and the harvesting speed is fast and the harvesting efficiency is high.

The self-stabilizing walking platform 1 includes an installation platform 11, two transmission branch chains 12 are symmetrically installed on the left and right sides of the lower end surface of the installation platform 11, and two transmission branch chains 12 are symmetrically welded on the front and rear sides of each transmission branch chain 12. The walking branch chain 13 drives the walking branch chain 13 to automatically walk on the greenhouse vegetable planting ground through the transmission branch chain 12. The cultivation process does not require manual operation, and the work efficiency is high; There are two fixed vertical plates 121 on the side, and a drive shaft 122 is installed through a bearing between the upper ends of the two fixed vertical plates 121. The middle part of the drive shaft 122 is equipped with a drive gear 123 through a key, and the front end of the drive shaft 122 is installed through a coupling. Drive motor 124 is arranged, and drive motor 124 is installed on the lower end face of installation platform 11 by motor base, and driven shaft 125 is installed by bearing between the lower ends of two fixed vertical plates 121, and the middle part of driven shaft 125 is installed with slave by key. Driven gear 126, driven gear 126 is meshed with driving gear 123, and two walking branch chains 13 are welded symmetrically at the front and rear ends of driven shaft 125, drives driving shaft 122 to rotate by transmission motor 124, and driving shaft 122 drives driving gear 123 Rotate, the driving gear 123 drives the driven shaft 125 under the assistance of the driven gear 126, and the driven shaft 125 drives two walking branch chains 13 at both ends to automatically walk on the greenhouse vegetable planting ground; The walking top block 131 on the driven shaft 125, the walking top block 131 is a square structure, four shock-absorbing support mechanisms 132 are respectively installed on the four sides of the walking top block 131, and four shock-absorbing support mechanisms 132 upper ends are respectively equipped with Four arc-shaped walking blocks 133, a No. 1 limit spring 134 is evenly connected between two adjacent arc-shaped walking blocks 133, and the outer wall of each arc-shaped walking block 133 is evenly provided with a tapered walking strip 135, The conical walking strip 135 is a conical structure, and the walking pressure of the present invention on the greenhouse vegetable planting ground is concentrated on the conical walking strip 135, which improves the walking stability of the present invention when the greenhouse vegetables are cultivated. No. 1 limit spring 134 It plays the role of position limiting and shock absorption, and the shock absorbing support mechanism 132 has good shock absorbing performance and stable performance, so that the arc-shaped walking block 133 of the present invention can The tapered walking bar 135 on the top can stably walk in the uneven greenhouse vegetable planting field, and has a wide range of applications; the transmission ratio of the driving gear 123 and the driven gear 126 is 2:1, and the driven gear is reduced by the low transmission ratio. The rotation speed of the gear 126, thereby reducing the walking speed of the walking branch chain 13 on the vegetable planting ground of the greenhouse, and further increasing the walking stability; , the upper end surface of the fixed platform 136 is evenly installed with three parallel branch chains 137 along the axial direction, the top ends of the three parallel branch chains 137 are all installed on the lower end surface of the moving platform 138, and the upper end surface of the moving platform 138 is There are three bar-shaped support blocks 139 evenly welded, and the upper end surface of the bar-shaped support block 139 is an arc structure corresponding to the arc-shaped walking block 133, and the upper end faces of the three bar-shaped support blocks 139 are welded on the corresponding arc-shaped walking block 133 on the inner wall, so that three bar-shaped support blocks 139 can give a strong supporting force to the corresponding arc-shaped walking block 133; A lower limit shaft 1372 is installed between the middle parts, and two arc-shaped limit grooves 1371a are symmetrically arranged on the inner wall of the upper end of the concave support 1371; No. 1 hydraulic cylinder 1373 is set on the lower limit shaft 1372, and No. 1 hydraulic cylinder Two limit rods 1374 are arranged on both sides of the bottom end of 1373, and the ends of the two limit rods 1374 are connected with the two arc-shaped limit grooves 1371a by sliding fit. The movement between the shaped limit grooves 1371a serves to limit the rotation range of the No. 1 hydraulic cylinder 1373 bottom, and also prevents the situation that the No. 1 hydraulic cylinder 1373 bottom moves left and right. Because the present invention often walks on the uneven greenhouse vegetable planting ground , and the stability of the bottom end of the No. 1 hydraulic cylinder 1373 when the lower limit shaft 1372 rotates can be enhanced through the two limit rods 1374 and the two arc-shaped limit grooves 1371a, which improves the work performance; the No. 1 hydraulic cylinder 1373 The top end of the ball joint 1375 is threaded, and the two ends of the ball joint 1375 are symmetrically provided with two upper limit shafts 1376, and the two upper limit shafts 1376 are respectively connected to the two ends of the No. 1 lug 1377 through bearings. , a positioning column 1378 is welded on the inner wall of the lower end surface of the No. The upper end surface of the No. 1 ear seat 1377 is welded on the moving platform 138, and the movement of the spherical joint 1375 is limited and supported by the positioning column 1378, so that the two upper limit shafts 1376 on the spherical joint 1375 can be stabilized on the Rotating on the No. 1 lug seat 1377 enhances the stability when the top of No. 1 hydraulic cylinder 1373 rotates and improves the work performance. The R pair and No. 1 hydraulic cylinder 1373 formed when the No. 1 hydraulic cylinder 1373 rotates on the concave support 1371 The P pair formed during work and the R pair formed by the No. 1 hydraulic cylinder 1373 when the No. 1 ear seat 1377 rotates form the RPR type parallel branch chain 137, and the present invention passes through the fixed platform 136 and three RPR type parallel branch chains. 137 and the moving platform 138 form a 3-RPR parallel mechanism. The 3-RPR parallel mechanism has the advantages of good dynamic response, high rigidity, large load capacity, good stability and high motion precision. The advantages of the 3-RPR parallel mechanism make the present invention It has good shock absorption performance and stability when walking on the vegetable planting ground in the greenhouse, which eliminates the situation of standing unstable and reducing the working speed during manual operation. The range is large. During work, at first drive drive shaft 122 to rotate by transmission motor 124 on the transmission branch chain 12, drive shaft 122 drives driving gear 123 to rotate, and driving gear 123 drives driven shaft 125 under the auxiliary of driven gear 126, and driven shaft 125 Drive the tapered walking bars 135 on the two walking branch chains 13 at both ends to rotate, and the auxiliary effect of the 3-RPR parallel mechanism that is evenly arranged on the four sides of the walking top block 131 by means of the No. 1 limit spring 134 makes the two walking branches The tapered walking strip 135 on the chain 13 can walk stably on the uneven greenhouse vegetable planting ground, has good shock absorption performance and good stability, eliminates the situation of standing unstable and reducing the working speed during manual operation, and has a wide range of applications.

The soil loosening device 2 includes a soil loosening base plate 21 welded on the upper end surface of the installation platform 11, two soil loosening poles 22 are symmetrically welded on the soil loosening base plate 21, and three ribs are evenly arranged between the two soil loosening poles 22 Column 22a, three reinforcement columns 22a have strengthened the supporting strength of two soil loosening poles 22, and the end of two soil loosening poles 22 is welded with upper shelf plate 23, and the lower end face of upper shelf plate 23 is symmetrically installed with four No. Cylinder 24, the middle parts of four No. 2 hydraulic cylinders 24 are respectively fixed on four L-shaped frames 24a, and the four L-shaped frames 24a play the role of fixing and supporting four No. 2 hydraulic cylinders 24 respectively, so that No. 2 hydraulic cylinders 24 can only move up and down along the vertical direction, and the bottom ends of four L-shaped frames 24a are all welded on the upper shelf plate 23, and the tops of four No. 2 hydraulic cylinders 24 are equipped with main loosening support plates 25; Two power-driven branch chains 26 are installed symmetrically on the lower end face of the soil loosening support plate 25, and a lower shelf plate 27 is installed on the lower ends of the two power-driven branch chains 26, and the lower shelf plate is driven by the two power-driven branch chains 26 for stability. The front and rear movement of the present invention makes it easy to adjust the loosening position on the vegetable planting ground in the greenhouse, so that the present invention is suitable for loosening the soil at different vegetable planting positions. The lower end surface of the lower shelf plate 27 is provided with two loosening lugs 27a. A conversion shaft 28 is installed by a bearing between the two soil loosening lugs 27a, and a conversion motor 29 is installed on the right side of the conversion shaft 28 through a coupling. Play the role of supporting the conversion motor 29, the conversion support plate 210 is welded on the side wall of the loose soil lug 27a on the right side of the lower shelf plate 27; the middle part of the conversion shaft 28 is equipped with a conversion square column 211 through a key, the present invention The working angle of the conversion square column 211 is adjusted by the conversion motor 29. The lower end of the conversion square column 211 is provided with two longitudinal lugs 211a, and a longitudinal shaft 212 is installed through a bearing between the longitudinal lugs 211a. The right end of the longitudinal shaft 212 is passed through a coupling The device is equipped with a longitudinal loosening motor 213, and the longitudinal loosening motor 213 is installed on the longitudinal loosening support plate 214 through the motor base, and the longitudinal loosening support plate 214 is welded on the side wall of the longitudinal lug 211a on the right side of the conversion square column 211 ; The outer wall of the longitudinal shaft 212 is evenly provided with a longitudinal loosening branch chain 215, and the vertical loosening motor 213 drives the longitudinal shaft 212 to rotate, and the longitudinal shaft 212 drives the uniformly arranged longitudinal loosening branch chain 215 to quickly loosen the soil; The vertical loosening branch chain 215 includes a circular knife rest 2151 mounted on the longitudinal shaft 212 through a key, and a longitudinal loosening knife 2152 is evenly arranged on the outer wall of the circular knife rest 2151 along the axial direction, and the longitudinal loosening knife 2152 is The curved pointed structure is convenient for the longitudinal loosening knife 2152 to enter the planting ground quickly and deeply to loosen the soil; the upper end surface of the conversion square column 211 is provided with two pairs of transverse lugs 211b, and each pair of transverse lugs 211b Rotating rollers 216 are installed through the bearings between them, and between the two rotating rollers 216 of the two pairs of transverse lugs 211b A transmission belt 217 is installed, and the outer wall of the transmission belt 217 is evenly riveted with a horizontal loosening knife 218, and a horizontal loosening motor 219 is installed on the rotating roller 216 on the right side of the conversion square column 211 by a coupling. 219 is fixedly installed on the horizontal loosening support plate 219a, and the horizontal loosening support plate 219a is welded on the side wall of the conversion square column 211, and the turning roller 216 on the right side of the conversion square column 211 is driven by the horizontal loosening motor 219 to rotate. The rotating roller 216 on the right side of the column 211 drives the transmission belt 217 to rotate under the assistance of the rotating roller 216 on the left side of the conversion square column 211. Carry out lateral loosening of the vegetable planting field; the power drive branch chain 26 includes two driving lugs 261 arranged on the lower end surface of the main loosening support plate 25, and a power lead screw is installed between the two driving lugs 261 262, the power lead screw 262 is equipped with a power motor 263 by a shaft coupling, the power motor 263 is installed on the main soil loosening support plate 25 by a motor seat, and the middle part of the power lead screw 262 is equipped with a drive slider 264 through a threaded connection. And the lower shelf plate 27 is installed on the two drive sliders 264 of the two power-driven branch chains 26, the power screw 262 is driven by the power motor 263 to rotate, and the power screw 262 drives the drive slider 264 to rotate, and the two power-driven supports The two drive sliders 264 of the chain 26 drive the lower shelf plate 27 to move back and forth stably. During work, at first determine the vegetable planting place position that the present invention needs loose soil, two power motors 263 on the two power drive branch chains 26 start working simultaneously, two power motors 263 drive two power screw screws 262 to rotate, two The power lead screw 262 drives two driving sliders 264 to move, and the two driving sliders 264 drive the present invention to move to the vegetable planting site position of the required loose soil through the lower shelf plate 27. When the present invention moves to the required planting position, the power The motor 263 stops working, and then four No. two hydraulic cylinders 24 start working simultaneously, and four No. two hydraulic cylinders 24 drive the present invention to move down through the main loosening soil support plate 25. When the longitudinal loosening branch chain 215 on the longitudinal rotating shaft 212 When the No. 2 hydraulic cylinder 24 stops working when it is close to the planting ground surface, the longitudinal soil loosening motor 213 starts to work, and the longitudinal soil loosening motor 213 drives the longitudinal rotating shaft 212 to rotate, and the longitudinal rotating shaft 212 drives the uniformly arranged longitudinal loose soil branch chain 215 to rotate , the longitudinal loosening knife 2152 on the longitudinal loosening branch chain 215 quickly loosens the soil longitudinally, and when the longitudinal loosening is completed, the conversion motor 29 rotates, and the conversion motor 29 drives the conversion shaft 28 to rotate, and the conversion shaft 28 drives the conversion square column 211 to rotate , when the horizontal loosening knife 218 on the conveyor belt 217 moves below the conversion square column 211 and the longitudinal loosening knife 2152 on the vertical loosening branch chain 215 moves to the top of the conversion square column 211, the conversion motor 29 stops working, and at the same time Horizontal soil loosening motor 219 starts to work, and horizontal soil loosening motor 219 drives the turning roller 216 on the right side of the conversion square post 211 to rotate, and the turning roller 216 on the right side of the conversion square post 211 drives under the assistance of the turning roller 216 on the left side of the conversion square post 211 The conveyor belt 217 rotates, and the conveyor belt 217 drives the uniformly arranged horizontal loosening knives 218 to rotate quickly, and the uniformly arranged horizontal loosening knives 218 carry out horizontal loosening of the vegetable planting field. The present invention combines horizontal loosening and longitudinal loosening The method is used to realize the automatic uniform loosening function of the planting field, the loosening speed is fast, and the loosening effect is good.

The adjustable watering device 3 includes a watering support plate 31 welded on the upper end surface of the installation platform 11, a box frame 32 is placed on the upper end surface of the watering support plate 31, and a water tank 33 is installed in the middle of the upper end surface of the box frame 32. The frame 32 plays the role of supporting the water tank 33. The water source for vegetables is stored in the water tank 33. The two sides of the water tank 33 are respectively connected with the water inlets of the two high-pressure water pumps 35 through two water inlet pipes 34. The two high-pressure water pumps 35 are connected by screws. They are respectively installed on both sides of the box frame 32, and the water outlets of the two high-pressure water pumps 35 are respectively connected to the two water outlet pipes 36; the two sides of the watering support plate 31 are respectively equipped with two watering branch chains 37 through screws. , two high-pressure water pumps 35 extract the water source stored in the water tank 33 through two water inlet pipes 34, and then flow into two watering branch chains 37 through two water outlet pipes 36, and the watering branch chains 37 include screws installed on the watering branch The watering pole 371 on the plate 31, the upper end surface of the watering pole 371 is respectively provided with two limit ears 371a, the end of the watering pole 371 is welded with an upper mounting plate 372, and the lower end of the upper mounting plate 372 faces Said two No. three hydraulic cylinders 373 and two telescopic rods 374, two telescopic rods 374 are all positioned between two No. three hydraulic cylinders 373, and two No. three hydraulic cylinders 373 and two telescopic rods 374 are installed on the top There is a lower mounting plate 375, and two No. 3 hydraulic cylinders 373 drive the lower mounting plate 375 to move up and down stably with the assistance of two telescopic rods 374, so that the two watering branch chains 37 in the present invention move to the vegetable roots Required watering height, on the lower mounting plate 375, an angle adjustment motor 376 is installed by the motor base, and the output shaft of the angle adjustment motor 376 is equipped with a watering column 377, and the watering column 377 is welded near one end of the lower mounting plate 375. Positioning shaft 378, the upper end of positioning shaft 378 is connected with the arc-shaped limiting frame 379 by a sliding fit, the bottom of the arc-shaped limiting frame 379 is welded on the lower mounting plate 375, and the positioning shaft 378 and the arc-shaped limiting frame The limited auxiliary movement of 379 makes the watering column 377 carry out stable angle adjustment under the drive of the angle adjustment motor 376, so that the present invention is applicable to the watering operation of vegetable roots without angles, and the upper end of the watering column 377 is equipped with two A watering lug 380, between the watering lugs 380 is fixedly installed with a collecting pipe 381, the upper end of the collecting pipe 381 is connected with an outlet pipe 36, and the water source flowing into the outlet pipe 36 at high pressure through the high-pressure water pump 35 is collected in the collecting pipe 381 , and the middle part of the water outlet pipe 36 passes through the two limiting ears 371a on the watering pole 371 successively, and the two limiting ears 371a play the role of limiting and evenly supporting the water outlet pipe 36, and the two sides of the watering column 377 The adjustable watering mechanism 382 is evenly installed; the adjustable watering mechanism 382 includes two fixed support blocks 3821 welded on the side wall of the watering column 377, and two mounting blocks 3821 are arranged between the two fixed support blocks 3821. Fixed block 3822, two high-pressure water guns 3823 are installed on the fixed block 3822, and the bottom of the high-pressure water gun 3823 is connected with a branch Flow pipe 3824, the middle part of the flow pipe 3824 is equipped with a solenoid valve 3825, the flow of the flow pipe 3824 is controlled by the solenoid valve 3825, the top of the flow pipe 3825 is connected with the collection pipe 381, and the water source in the collection pipe 381 passes through the flow pipe 3824 Flow into the high-pressure water gun 3823, and the high-pressure water gun 3823 evenly waters the vegetable roots by the water pressure of the high-pressure water pump 35. During work, when the present invention moved to the required watering position of vegetables, at first adjust the watering height according to the required vegetable roots, No. three hydraulic cylinders 373 on the two watering branch chains 37 start to work, and No. three hydraulic cylinders 373 start working. Under the assistance of the telescopic rod 374, the lower mounting plate 375 makes a stable lifting movement. When the two watering branch chains 37 move to the watering height required by the vegetable roots, the No. 3 hydraulic cylinder 373 stops working, and then adjusts the watering according to the vegetable roots. Angle, now angle adjustment motor 376 starts to work, makes watering column 377 carry out stable angle adjustment under the drive of angle adjustment motor 376 by positioning shaft 378 and the limited auxiliary movement of arc-shaped limit frame 379, makes the present invention applicable For the watering operation of vegetable roots with different angles, when the two watering branch chains 37 move to the desired watering angle position, the angle adjustment motor 376 stops working, and then the adjustable watering mechanism 382 evenly installed on both sides of the watering column 377 To start working, first determine the flow rate of the shunt pipe 3824 through the electromagnetic valve 3825. After the flow rate is determined, the two high-pressure water pumps 35 start working at the same time. Two water outlet pipes 36 flow into two converging pipes 381 of two watering branch chains 37 respectively, the water source is evenly distributed to the diversion pipe 3824 on the adjustable watering mechanism 382 by the converging pipe 381, and flows into the high-pressure water gun through the diversion pipe 3824 The water source of 3823 carries out uniform automatic watering to vegetable root by the water pressure of high-pressure water pump 35, has realized the function of watering vegetables according to uniformity, and watering effect is good, has saved a large amount of water sources.

The harvesting rotary cutting device 4 includes a harvesting bottom plate 41 welded on the upper end face of the installation platform 11, the middle part of the upper end face of the harvesting bottom plate 41 is welded with a harvesting pole 42, and the end of the harvesting pole 42 is welded with a harvesting support platform 43. Four No. 4 hydraulic cylinders 44 are symmetrically installed on the lower end face of the harvesting support platform 43, and the grabbing platform 45 is installed on the top of the four No. 4 hydraulic cylinders 44, and the grabbing platform is driven by four No. 4 hydraulic cylinders 44 45 makes a stable up and down movement, and the left side of the upper end surface of the grasping platform 45 is equipped with a vegetable rotary cutting branch chain 46, and the lower end surface of the grasping platform 45 is symmetrically welded with four grasping vibration branch chains 47. The vibrating branch chain 47 automatically grabs the vegetables to be harvested and vibrates the soil attached to the vegetable roots to the planting ground. After the soil is vibrated, the vegetable rotary cutting branch chain 46 automatically rotary cuts the vegetable roots. After the rotary cutting, the vegetables Just can collect; Described grasping vibrating branch chain 47 comprises the upper vertical plate 471 that is welded on the lower end surface of grasping platform 45, and the lower end of upper vertical plate 471 is equipped with lower vertical plate 472 by hinge, and the lower end of lower vertical plate 472 is provided with There are two grabbing lugs 473, between the two grabbing lugs 473, a harvesting rotating shaft 474 is installed through bearings, the middle part of the harvesting rotating shaft 474 is fixedly equipped with two connecting ears 475, and the ends of the two connecting lugs 475 are installed At the back of the arc grabbing plate 476, the arc grabbing plate 476 can rotate on the harvesting rotating shaft 474 through two connecting ears 475, and a No. Limit spring 477, No. 2 limit spring 477 limits the upper end of the arc grabbing plate 476, and the lower end of the arc grabbing plate 476 is welded with a connecting support plate 478, which is connected between the upper end of the supporting plate 478 and the lower end of the lower vertical plate 472. No. three limit springs 479 are installed between them, and the No. three limit springs 479 limit the lower end of the arc grabbing plate 476. 476 can be freely rotated according to the inclination angle of the vegetables to be grasped relative to the planting ground, and the arc-shaped grasping plate 476 can be close to the desired position by means of the upper and lower limit functions of No. 2 limit spring 477 and No. 3 limit spring 479. Grab the surface of the vegetables, which increases the gripping effect of the vegetables. The lower end of the lower vertical plate 472 is provided with two motor lugs 480, and a vibration motor 481 is installed on the two motor lugs 480. The soil attached to the top vibrates to the planting ground, and a grasping adjustment mechanism 482 is installed between the upper end of the lower vertical plate 472 and the inner wall of the upper vertical plate 471, and the grasping adjustment mechanism 482 is used to adjust the arc-shaped grasping plate on the lower vertical plate 472 476 to grab the required vegetables; the grab adjustment mechanism 482 includes the No. 2 ear seat 4821 welded on the inner wall of the upper vertical plate 471, and the electric push rod 4822 is installed through the pin shaft between the No. 2 ear seat 4821. The top of the rod 4822 is installed between the No. 3 lugs 4823 through the pin shaft, and the No. 3 lugs 4823 are welded on the upper end surface of the lower vertical plate 472, and the arc grip on the lower vertical plate 472 is adjusted by the electric push rod 4822. Take the plate 476 to grab the required vegetables; the vegetable rotary cutting branch chain 46 includes two rotary cutting poles 461 symmetrically welded on the grabbing platform 45, and the inner walls of the lower ends of the two rotary cutting poles 461 are welded with rotary Support plate 462, two No. 5 hydraulic cylinders 463 are symmetrically installed on the inner wall upper end of rotary cutting support plate 462, L-shaped rotary cutting frame 464 is installed on the top of two No. 5 hydraulic cylinders 463, and the lower end surface of L-shaped rotary cutting frame 464 There are two Z-shaped sliders 465 arranged symmetrically, and the two Z-shaped sliders 465 are respectively connected to the two slide grooves 466 through sliding fit. The left ends of the two slide grooves 466 are welded on the inner wall of the rotating support plate 462 , through the limited sliding movement of two Z-shaped sliders 465 and two slide grooves 466, the L-shaped rotary cutting frame 464 performs a stable telescopic movement driven by two No. 5 hydraulic cylinders 463, and the L-shaped rotary cutting frame The upper end of the frame 464 is equipped with a rotary cutting motor 467 through the motor base, and the output shaft of the rotary cutting motor 467 is fixedly equipped with a rotary cutting motor 468, and the rotary cutting motor 467 drives the rotary cutting motor 468. Slicing 468 to high-speed rotary cutting of grabbed vegetable roots. During work, when the present invention moves to required vegetables grabbing position, four No. 4 hydraulic cylinders 44 work simultaneously, and four No. 4 hydraulic cylinders 44 drive grabbing platform 45 and do steady lifting motion, when grabbing platform 45 below No. 4 hydraulic cylinder 44 stopped working when the four grasping vibration branch chains 47 moved to a suitable grasping position. At this time, the four grasping vibration branch chains 47 started to work simultaneously, and the electric push rod 4822 on the grasping adjustment mechanism 482 drove The lower vertical plate 472 rotates on the upper vertical plate 471, and the electric push rod 4822 stops working when the arc grabbing plate 476 on the lower vertical plate 472 touches the surface of the vegetable to be grabbed, and the four grabbing vibrations on the branch chain 47 Four arc-shaped grasping plates 476 tightly grasped the vegetables. Since a large amount of soil was attached to the roots of the vegetables grasped from the planting ground just now, four vibrating motors 481 on the four grasping vibration branch chains 47 will vibrate the vegetables. The soil attached to the roots vibrates to the planting ground. After the vegetable root soil vibrates off, the vegetable rotary cutting branch chain 46 starts to work, and the two No. 5 hydraulic cylinders 463 on the vegetable rotary cutting branch chain 46 start to work. 465 and the limiting sliding movement of two chute 466 make the L-shaped rotary cutting frame 464 perform stable telescopic movement under the drive of two No. The rotary slice 468 is driven to high-speed rotary cutting, and the rotary slice 468 stretched out by two No. 5 hydraulic cylinders 463 is used to rotate and cut the grasped vegetable roots at high speed, thereby realizing the vibration harvesting function of vegetables, and the harvesting speed is fast and the harvesting efficient.

During use, at first by self-stabilizing walking platform 1, the required cultivation position of the present invention mobile vegetable is first driven driving shaft 122 to rotate by transmission motor 124 on the transmission branch chain 12, and driving shaft 122 drives driving gear 123 to rotate, and driving gear 123 is in The driven shaft 125 is driven under the assistance of the driven gear 126, and the driven shaft 125 drives the tapered walking bars 135 on the two walking branch chains 13 at both ends to rotate, and is evenly arranged on the walking top block 131 by the No. 1 limit spring 134. The auxiliary function of the 3-RPR parallel mechanism on the four sides makes the tapered walking bars 135 on the two walking branch chains 13 stable on the uneven vegetable planting ground, with good shock absorption performance and good stability, eliminating the need for artificial The condition of standing unstable and reducing the working speed during operation has a wide range of applications; when the vegetables in the greenhouse need to loosen the soil and fertilize, the soil loosening device 2 starts to work. The two power motors 263 on the 26 start to work at the same time, the two power motors 263 drive the two power lead screws 262 to rotate, the two power lead screws 262 drive the two drive sliders 264 to move, and the two drive sliders 264 pass through the Plate 27 drives the present invention to move to the vegetable planting position of required soil loosening, and power motor 263 stops working when the present invention moves to desired planting position, and then four No. 2 hydraulic cylinders 24 start working simultaneously, four No. 2 hydraulic cylinders The cylinder 24 drives the present invention to move downward through the main loosening support plate 25. When the vertical loosening branch chain 215 on the longitudinal rotating shaft 212 is close to the surface of the planting ground, the No. 2 hydraulic cylinder 24 stops working. At this time, the longitudinal loosening motor 213 Start to work, the longitudinal loosening motor 213 drives the longitudinal shaft 212 to rotate, and the longitudinal shaft 212 drives the evenly arranged longitudinal loosening branch chain 215 to rotate, and the longitudinal loosening knife 2152 on the longitudinal loosening branch chain 215 quickly carries out longitudinal loosening. Converting motor 29 rotates after longitudinal loosening is finished, and converting motor 29 drives conversion shaft 28 to rotate, and conversion shaft 28 drives conversion square column 211 to rotate, and when the horizontal soil loosening knife 218 on the transmission belt 217 moves to conversion square column 211 below and longitudinal loosening When the vertical soil loosening knife 2152 on the soil branch chain 215 moves to the top of the conversion square column 211, the conversion motor 29 stops working, and at the same time, the horizontal soil loosening motor 219 starts to work, and the horizontal soil loosening motor 219 drives the rotation of the right side of the conversion square column 211. Roller 216 rotates, and the rotating roller 216 on the right side of the conversion square column 211 drives the transmission belt 217 to rotate under the assistance of the rotation roller 216 on the left side of the conversion square column 211. The horizontal loosening knife 218 of the horizontal soil loosening knife 218 performs horizontal loosening of the vegetable planting field. The present invention realizes the automatic uniform loosening function of the planting ground through the combined operation of the horizontal loosening soil and the longitudinal loosening soil, and the soil loosening speed is fast and the soil loosening effect Good; when the greenhouse vegetables need to be watered, the self-stabilizing walking platform 1 of the present invention is first moved to the required watering position of the vegetables, and the adjustable watering device 3 starts to work, and first adjusts according to the required vegetable roots. Watering height, the No. 3 hydraulic cylinder 373 on the two watering branch chains 37 starts to work, and the No. 3 hydraulic cylinder 373 makes a stable lifting movement by the lower mounting plate 375 under the assistance of the telescopic rod 374. When the two watering branches When the chain 37 moves to the required watering height of the vegetable roots, the No. 3 hydraulic cylinder 373 stops working, then adjusts the watering angle according to the vegetable roots, and at this moment, the angle adjustment motor 376 starts to work. The limited auxiliary movement makes the watering column 377 carry out stable angle adjustment under the drive of the angle adjustment motor 376, so that the present invention is applicable to the watering operation of vegetable roots at different angles. When the two watering branch chains 37 move to the required watering When the water angle is in the position, the angle adjustment motor 376 stops working, and then the adjustable watering mechanism 382 evenly installed on both sides of the watering column 377 starts to work. 35 starts to work at the same time, two high-pressure water pumps 35 extract the water source in the water tank 33 through two water inlet pipes 34, and the water source flows into the two collection pipes 381 of the two watering branch chains 37 respectively through the two water outlet pipes 36, and passes through the collection The pipe 381 evenly distributes the water source to the shunt pipe 3824 on the adjustable watering mechanism 382, and the water source flowing into the high-pressure water gun 3823 through the shunt pipe 3824 can evenly and automatically water the vegetable roots by the water pressure of the high-pressure water pump 35, realizing the According to the uniform watering function of the vegetables, the watering effect is good, and a large amount of water is saved; when the greenhouse vegetables need to be harvested, the self-stabilizing walking platform 1 of the present invention is first moved to the desired vegetable grabbing position, and the harvesting rotary cutting device 4 Start work, four No. 4 hydraulic cylinders 44 work at the same time, and the four No. 4 hydraulic cylinders 44 drive the grasping platform 45 to perform stable lifting movements. No. 4 hydraulic cylinder 44 stopped working during grabbing position, and now four grabbing vibration branch chains 47 started working simultaneously, and the electric push rod 4822 on the grabbing adjustment mechanism 482 drives the lower vertical plate 472 to rotate on the upper vertical plate 471, When the arc grabbing plate 476 on the lower vertical plate 472 touches the surface of vegetables to be grabbed, the electric push rod 4822 stops working, and the four arc grabbing plates 476 on the four vibrating side chains 47 are tightly grasped. Got vegetables, because a large amount of soil is attached to the vegetable roots grabbed on the planting ground just now, four vibrating motors 481 on the vibration branch chain 47 of the four grabs vibrate the soil attached to the vegetable roots to the planting ground at this moment, and the vegetable roots After the soil shakes off, the vegetable rotary cutting branch chain 46 starts to work, and the two No. 5 hydraulic cylinders 463 on the vegetable rotary cutting branch chain 46 start to work, and the limiting sliding movement of two Z-shaped slide blocks 465 and two chute 466 The L-shaped rotary cutting frame 464 is driven by two No. 5 hydraulic cylinders 463 to perform a stable telescopic movement. At the same time, the rotary cutting motor 467 starts to work. The rotary cutting motor 467 drives the rotary slice 468 to perform high-speed rotary cutting. No. hydraulic cylinder 463 stretches out the rotary slice 468 to rotary-cut the grabbed vegetable root at high speed In this way, the vibration harvesting function of vegetables is realized, with fast harvesting speed and high harvesting efficiency; finally, the functions of automatic loosening, watering and harvesting of vegetables in greenhouses are realized, without manual operation, high degree of automation, and vegetable cultivation The effect is good, and it solves the need for long-term artificial auxiliary operation in the existing artificial cultivation method of greenhouse vegetables, high labor intensity, poor vegetable cultivation effect, poor planting stability, low work efficiency, slow soil loosening speed, poor soil loosening effect, watering Problems such as poor effect, large waste of water source, slow harvesting speed and low harvesting efficiency have achieved the goal.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and the descriptions in the above-mentioned embodiments and the specification only illustrate the principles of the present invention, and without departing from the spirit and scope of the present invention, the present invention will also There are various changes and improvements which fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

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).