CN108093707A - A kind of greenhouse green vegetables plant operation automation equipment - Google Patents

A kind of greenhouse green vegetables plant operation automation equipment Download PDF

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Publication number
CN108093707A
CN108093707A CN201810114611.7A CN201810114611A CN108093707A CN 108093707 A CN108093707 A CN 108093707A CN 201810114611 A CN201810114611 A CN 201810114611A CN 108093707 A CN108093707 A CN 108093707A
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CN
China
Prior art keywords
soil
welded
motor
watering
platform
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Application number
CN201810114611.7A
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Chinese (zh)
Inventor
徐子桐
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Individual
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Individual
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Priority to CN201810114611.7A priority Critical patent/CN108093707A/en
Publication of CN108093707A publication Critical patent/CN108093707A/en
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B49/00—Combined machines
    • A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
    • A01B49/06—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B49/00—Combined machines
    • A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D45/00—Harvesting of standing crops
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/09—Watering arrangements making use of movable installations on wheels or the like
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/24—Devices or systems for heating, ventilating, regulating temperature, illuminating, or watering, in greenhouses, forcing-frames, or the like
    • A01G9/247—Watering arrangements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
    • Y02A40/25—Greenhouse technology, e.g. cooling systems therefor

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Water Supply & Treatment (AREA)
  • Soil Working Implements (AREA)
  • Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)

Abstract

The present invention relates to a kind of greenhouse green vegetables to plant operation automation equipment, including from steady travelling platform, there is good damping performance and stability from steady travelling platform, it can be so that the present invention works suitable for rough planting vegetable in greenhouse, it is described that loosening device is installed from the right side of the upper surface of steady travelling platform, loosening device can be realized to the automatic uniform soil-loosening function of planting site, speed of loosening the soil is fast, effect of loosening the soil is good, adjustable watering device is installed in the middle part of from the upper surface of steady travelling platform, adjustable watering device can be realized to vegetables according to uniform watering function, effect of watering is good, substantial amounts of water source is saved, harvesting rotary cutting apparatus is installed on the left of from the upper surface of steady travelling platform, harvesting rotary cutting apparatus can realize the vibration harvesting function to vegetables, it is fast to harvest speed, harvest efficiency is high.The present invention can realize the function that booth vegetable loosens the soil, waters, harvesting automatically, and without human intervention, high degree of automation, vegetable cultivation effect is good.

Description

A kind of greenhouse green vegetables plant operation automation equipment
It is 07 month 2016 Application No. 2016105219762 submitted for 06th applying date that the present invention, which is, entitled A kind of divisional application of the Chinese patent application of booth vegetable intelligent cultivation robot.
Technical field
The present invention relates to agricultural machinery technological field, specifically a kind of greenhouse green vegetables plantation operation automation is set It is standby.
Background technology
In we live, booth vegetable is seen everywhere, and the Time To Market of vegetables, greenhouse vegetable can be artificially controlled by greenhouse Dish can meet the fast supply demand of Various Seasonal vegetables, therefore the yield of booth vegetable is very huge.Existing booth vegetable kind Plant substantially based on artificial culture, the concrete technology that greenhouse is cultivated has plantation, loosens the soil, applies fertilizer, watering, harvesting, it is existing this There are following defects for kind booth vegetable artificial culture mode：1st, manually long-term auxiliary operation is needed, labor intensity is big, work efficiency Lowly, booth vegetable cultivate effect is poor；2nd, since planting vegetable in greenhouse ground surface affirmative is uneven, operator passes through machinery Cultivation instrument walk up and down on planting site operation stability it is poor, astasia causes it is easy to appear the situation fallen down The work efficiency that booth vegetable is cultivated is greatly lowered；3rd, the cultivating technique that loosens the soil is mainly manually by the rake that loosens the soil in planting site Upper execution is loosened the soil operation, increases assimilation effect of the booth vegetable to fertilizer to reach effect of uniformly loosening the soil with this, usually need It manually to carry out longitudinal direction to loosen the soil and operation of laterally loosening the soil, this manual mode of operation loosens the soil, and speed is slow, and effect of loosening the soil is poor, labor Fatigue resistance is big；4th, the cultivating technique that waters manually carries water spray chamber spraying operation back and forth from top to bottom when usual, but this pours What water mode was usually sprayed with is above vegetables, and the moisture that the root of vegetables is sprayed onto is not very much, therefore for vegetables root Enough moisture can be absorbed, it is necessary to manually spray substantial amounts of moisture, this vegetables watering mode is big to water waste, to vegetables Watering effect it is poor, work efficiency is low, it is necessary to which artificial long-time operation, labor intensity are big；5th, after vegetable ripeness, it is necessary to Manually harvesting vegetables are typically first artificial crawl vegetables, then shake off the soil on vegetables root, then cut off root with cutter, All it is manually-operated in whole process, harvesting speed is slow, and harvest efficiency is low.
The content of the invention
To solve the above-mentioned problems, the present invention provides a kind of greenhouse green vegetables to plant operation automation equipment, can be with Solve to need that manually long-term auxiliary operation, labor intensity be big, vegetable cultivation effect existing for existing booth vegetable artificial culture mode Fruit is poor, plantation stability is poor, work efficiency is low, speed of loosening the soil is slow, effect of loosening the soil is poor, watering effect is poor, water waste is big, The problems such as speed is slow and harvest efficiency is low are harvested, can realize the function that booth vegetable loosens the soil, waters, harvesting automatically, without Manual operation, high degree of automation, vegetable cultivation effect is good, and with plantation stability is good, work efficiency is high, speed of loosening the soil Soon, the advantages that effect of loosening the soil is good, watering effect is good, water waste is small, harvesting speed is fast and harvest efficiency is high.
To achieve these goals, the present invention is realized using following technical scheme：A kind of greenhouse green vegetables plantation is made Industry automation equipment, including from steady travelling platform, there is good damping performance and stability from steady travelling platform, can cause The present invention works suitable for rough planting vegetable in greenhouse, described to be equipped with pine from the right side of the upper surface of steady travelling platform Native device, loosening device can realize that speed of loosening the soil is fast, and effect of loosening the soil is good to the automatic uniform soil-loosening function of planting site, from steady Adjustable watering device is installed, adjustable watering device can be realized to vegetables according to uniformly pouring in the middle part of the upper surface of travelling platform Water function, watering effect is good, has saved substantial amounts of water source, and harvesting rotary-cut dress is equipped with from the upper surface of steady travelling platform left side It puts, harvesting rotary cutting apparatus can realize the vibration harvesting function to vegetables, and harvesting speed is fast, and harvest efficiency is high.
It is described to include mounting platform from steady travelling platform, it is symmetrically installed with two at left and right sides of the lower face of the mounting platform A transmission branch chain, and the front and rear sides of each transmission branch chain are symmetrically welded there are two walking branch, are driven by transmission branch chain Branch walk in planting vegetable in greenhouse ground automatically walk, without human intervention, work efficiency is high for cultivating process；The transmission branch Chain includes two pieces of fixed boards for being symmetrically welded at mounting platform lower face front and rear sides, leads between the upper end of two pieces of fixed boards It crosses bearing and driving shaft is installed, the middle part of driving shaft is equipped with driving gear by key, and the front end of driving shaft is pacified by shaft coupling Equipped with driving motor, driving motor is by motor cabinet between the lower face of mounting platform, the lower end of two pieces of fixed boards Driven shaft is equipped with by bearing, the middle part of driven shaft is equipped with driven gear by key, and driven gear is mutually nibbled with driving gear It closes, the rear and front end of driven shaft is symmetrically welded there are two walking branch, by driving motor driving shaft is driven to rotate, driving shaft band Dynamic driving gear rotates, and driving gear drives driven shaft under the auxiliary of driven gear, and driven shaft drives two walkings at both ends Branch is in planting vegetable in greenhouse ground automatically walk；The walking branch includes the walking jacking block that side is welded on driven shaft, Walking jacking block is square structure, and four shock-absorbing support mechanisms, four dampings are separately installed on four sides of jacking block of walking Supporting mechanism upper end is separately installed with four arc walking blocks, and No.1 limit is all uniformly connected between two neighboring arc walking block Position spring, and taper walking item is evenly arranged on the outer wall of each arc walking block, taper walking item is pyramidal structure, will The present invention concentrates on the walking pressure on planting vegetable in greenhouse ground on taper walking item, improves the present invention and is cultivated in booth vegetable When walking stability energy, No.1 limit spring plays the role of /V and damping, and shock-absorbing support mechanism has good damping Performance and stability so that the present invention is on the booster action arc lower of No.1 limit spring and shock-absorbing support mechanism walking block Taper walking item can stablize and walk in rough planting vegetable in greenhouse, it is applied widely；The driving gear with The gearratio of driven gear is 2:1, the velocity of rotation of driven gear is reduced by low gearratio, so as to reduce walking branch Chain further increases walking stability energy in the speed of travel of planting vegetable in greenhouse ground；The shock-absorbing support mechanism includes Fixed platform in walking jacking block corresponding side surface, uniformly there are three branch in parallel for installation in the axial direction for fixed platform upper surface Chain, the top of three branches in parallel are installed on the lower face of moving platform, and there are three items for the upper surface uniform welding of moving platform Shape bearing piece, the upper surface of bar shaped bearing piece are and the arc walking corresponding globoidal structure of block, the upper surface weldering of three bar shaped bearing pieces It is connected on the inner wall of corresponding arc walking block so that three bar shaped bearing pieces can give the corresponding arc walking strong support of block Power；The parallel connection branch includes the concave bearing for being welded on fixed platform upper surface, and lower limit is equipped between the middle part of concave bearing Position axis, is symmetrical arranged that there are two arc-shaped limit slots on the upper end inner wall of concave bearing；No.1 liquid is arranged on the lower limit axis Cylinder pressure, the bottom both sides of No.1 hydraulic cylinder are set there are two gag lever post, the end of two gag lever posts and two arc-shaped limit slots it Between be connected by sliding matching mode, the movement between two gag lever posts and two arc-shaped limit slots play limit No.1 hydraulic cylinder The slewing area of bottom also prevents the situation that No.1 hydraulic cylinder bottom moves left and right, since the present invention is often uneven Planting vegetable in greenhouse walk on the ground, and can enhance No.1 hydraulic cylinder bottom by two gag lever posts and two arc-shaped limit slots Stability when lower limit axis rotates, improves working performance；The top of the No.1 hydraulic cylinder is equipped with ball by screw thread Shape connector, the both ends of spherical connector are symmetrically arranged with two upper limit axis, two upper limit axis respectively with No.1 ear mount It is connected between both ends by bearing, is welded with positioning column on the lower face inner wall of No.1 ear mount, the end of positioning column is and ball The corresponding concave spherical structure of shape connector, passes through sliding matching mode phase between the end of positioning column and spherical connector Even, the upper surface of No.1 ear mount is welded on moving platform, the movement for limiting by positioning column and supporting spherical connector, so as to Two upper limit axis on spherical connector are stablized to rotate in No.1 ear mount, enhances No.1 hydraulic cylinder top and turns Stability when dynamic, improves working performance, and the R formed by No.1 hydraulic cylinder when concave bearing rotates is secondary, No.1 hydraulic pressure The R pairs that the P that is formed during cylinder working is secondary, No.1 hydraulic cylinder is formed when No.1 ear mount rotates constitute the branch in parallel of RPR types, and The present invention forms 3-RPR parallel institutions, 3-RPR parallel institutions by the branch and moving platform in parallel of fixed platform, three RPR types Have many advantages, such as that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, by 3-RPR parallel institutions The advantages of cause the present invention planting vegetable in greenhouse on the ground walk when have good damping performance and stability, eliminate people Astasia reduces the situation of operating rate when work operates, and the scope of application is big.During work, pass through the transmission in transmission branch chain first Motor drives driving shaft to rotate, and driving shaft drives driving gear to rotate, and driving gear drives driven under the auxiliary of driven gear Axis, driven shaft drive the taper walking item on two walking branches at both ends to rotate, by No.1 limit spring and are evenly arranged 3-RPR parallel institution booster actions on walking jacking block four sides so that tapers walking items on two walking branches can be with In rough planting vegetable in greenhouse ground stabilized walking, damping performance is good, and stability is good, stands when eliminating manual operation The vertical unstable situation for reducing operating rate, it is applied widely.
The loosening device includes the bottom plate that loosens the soil for being welded on mounting platform upper surface, and two are symmetrically welded on the bottom plate that loosens the soil Root loosens the soil strut, three muscle columns is evenly arranged between two struts that loosen the soil, three muscle columns strengthen the branch of two struts that loosen the soil Intensity is supportted, the end of two struts that loosen the soil is welded with frame plate, and the lower face of upper frame plate is symmetrically installed with four No. two hydraulic cylinders, It is separately fixed in the middle part of four No. two hydraulic cylinders on four L-type frames, four L-type frames play fixed support four two respectively The effect of number hydraulic cylinder, so that No. two hydraulic cylinders can only make elevating movement, the bottom of four L-type frames along vertical direction It is welded on frame plate, and the top of four No. two hydraulic cylinders is equipped with the main support plate that loosens the soil；The master loosens the soil the lower end of support plate Face is symmetrically installed with two power drive branches, and the lower end of two power drive branches is equipped with lower frame plate, passes through two power The lower frame plate of branch drive is driven to make stable back-and-forth motion so that the present invention is convenient for adjusting the position of loosening the soil of planting vegetable in greenhouse ground It putting so that the present invention is suitable for loosening the soil for different vegetable planting location, is set on the lower face of lower frame plate there are two the journal stirrup that loosens the soil, Transaxle is equipped with by bearing between two journal stirrups that loosen the soil, the right side of transaxle is equipped with conversion motor by shaft coupling, turns It changes motor to be mounted on conversion support plate by motor cabinet, conversion support plate plays the role of supporting conversion motor, conversion support plate welding In loosening the soil on journal stirrup side wall on the right side of undercarriage plate；The middle part of the transaxle is equipped with conversion square column by key, the present invention The operating angle of conversion square column is adjusted by conversion motor, converts longitudinal journal stirrup there are two the lower end settings of square column, longitudinal journal stirrup Between longitudinal shaft is equipped with by bearing, the right end of longitudinal shaft is equipped with longitudinal direction by shaft coupling and loosens the soil motor, longitudinal direction pine Native motor is mounted on longitudinal direction by motor cabinet and loosens the soil on support plate, and the support plate that longitudinally loosens the soil is welded on the longitudinal direction on the right side of conversion square column On journal stirrup side wall；Longitudinal branch that loosens the soil is evenly arranged on the longitudinal direction shaft outer wall, passes through longitudinal motor that loosens the soil and drives longitudinal direction Shaft rotates, and the longitudinal direction that the drive of longitudinal shaft the is uniformly arranged branch that loosens the soil is rapidly performed by longitudinal direction and loosens the soil；The longitudinal direction is loosened the soil branch Chain includes the circular knife rest being mounted on by key in longitudinal shaft, is evenly arranged in the axial direction on the outer wall of circular knife rest vertical To the knife that loosens the soil, the knife that longitudinally loosens the soil is curved pointed structures, comparatively fast deep can be carried out convenient for the longitudinal direction knife that loosens the soil into planting site It loosens the soil；The upper surface of the conversion square column is provided with two pairs of horizontal journal stirrups, and is respectively mounted between each pair transverse direction journal stirrup by bearing There is rotating roller, conveyor is installed, uniformly being riveted on the outer wall of conveyor has horizontal stroke between two rotating rollers of two pairs of horizontal journal stirrups To the knife that loosens the soil, and the motor that laterally loosens the soil is equipped with by shaft coupling in the rotating roller on the right side of conversion square column, laterally loosen the soil electricity Machine, which is fixedly mounted on, laterally to loosen the soil on support plate, and the support plate that laterally loosens the soil is welded on the side wall of conversion square column, passes through the electricity that laterally loosens the soil Machine drives the rotating roller on the right side of conversion square column to rotate, and converts rotating roller auxiliary of the rotating roller on the right side of square column on the left of conversion square column Lower drive conveyor rotates, and the transverse direction that is evenly arranged of conveyor drive is loosened the soil knife quick rotation, and the transverse direction being evenly arranged is loosened the soil knife It carries out laterally loosening the soil to vegetable cultivation；The power drive branch includes being arranged on two drivings of main support plate lower face of loosening the soil Journal stirrup installs dynamic leading screw by bearing between two driving journal stirrups, power electric is equipped with by shaft coupling on power leading screw Machine, power motor are mounted on master by motor cabinet and loosen the soil on support plate, and being connected through a screw thread mode in the middle part of power leading screw is equipped with Sliding block is driven, and lower frame plate is installed on two driving sliding blocks of two power drive branches, power is driven by power motor Leading screw rotates, and power leading screw drives driving sliding block to rotate, and two driving sliding blocks of two power drive branches drive lower frame plate to make Stable back-and-forth motion.During work, it is first determined the present invention needs the vegetable cultivation position to loosen the soil, two power drive branches On two power motors start simultaneously at work, two power motors drive two power leading screws to rotate, two power leading screw bands Two driving sliding block movements are moved, two driving sliding blocks move the present invention with being moved to the required vegetable cultivation to loosen the soil by undercarriage strip Position, when the present invention be moved to needed for planting location when power motor be stopped, then four No. two hydraulic cylinders start simultaneously at Work, four No. two hydraulic cylinders drive the present invention to move down by the main support plate that loosens the soil, when the longitudinal direction in longitudinal shaft is loosened the soil branch No. two hydraulic cylinders are stopped when chain is close to plantation ground surface, and motor start-up operation of loosening the soil longitudinal at this time, longitudinally loosen the soil motor Longitudinal shaft is driven to rotate, the longitudinal direction that longitudinal shaft drive is uniformly arranged is loosened the soil branch rotation, the longitudinal direction longitudinally loosened the soil on branch The knife that loosens the soil is rapidly performed by longitudinal direction and loosens the soil, and conversion motor rotates after longitudinally loosening the soil, and conversion motor drives transaxle to rotate, Transaxle drives conversion square column to rotate, when the knife that loosens the soil of the transverse direction in conveyor is moved to below conversion square column and longitudinal direction is loosened the soil branch On longitudinal direction loosen the soil knife when moving to above conversion square column conversion motor be stopped, at the same time laterally the motor that loosens the soil starts work Make, the motor that laterally loosens the soil drives the rotating roller on the right side of conversion square column to rotate, and the rotating roller converted on the right side of square column is left in conversion square column The rotating roller auxiliary of side is lower to drive conveyor to rotate, and the transverse direction that conveyor drive is evenly arranged is loosened the soil knife quick rotation, uniform cloth The transverse direction put loosen the soil knife carry out to vegetable cultivation laterally loosen the soil, the present invention by laterally loosen the soil and longitudinal direction loosen the soil it is operated in conjunction Mode realize that speed of loosening the soil is fast, and effect of loosening the soil is good to the automatic uniform soil-loosening function of planting site.
The adjustable watering device includes the watering support plate for being welded on mounting platform upper surface, the upper surface peace for the support plate that waters Tank tower is placed with, water tank is installed in the middle part of the upper surface of tank tower, tank tower plays the role of supporting water tank, and vegetables use is stored in water tank Water source, the both sides of water tank are connected by water inlet of two water inlet pipes respectively with two high-pressure hydraulic pumps, and two high-pressure hydraulic pumps lead to The both sides that screw is separately mounted to tank tower are crossed, and the water outlet of two high-pressure hydraulic pumps is connected respectively with two outlet pipes；It is described to pour The both sides of water support plate are separately installed with two watering branches by screw, and two high-pressure hydraulic pumps extract water tank by two water inlet pipes Then the water source of storage is flowed by two outlet pipes in two watering branches, watering branch includes being mounted on by screw The watering strut to water on support plate, the upper surface for the strut that waters are respectively arranged with two position-limiting ears, the end welding for the strut that waters There is upper mounting plate, symmetrical two No. three hydraulic cylinders in lower face and two telescopic rods, two telescopic rods of upper mounting plate are respectively positioned on two Between No. three hydraulic cylinders of root, and lower installation board is installed on the top of two No. three hydraulic cylinders and two telescopic rods, two No. three Hydraulic cylinder drives lower installation board to make stable oscilaltion campaign under the auxiliary of two telescopic rods so that two in the present invention Watering branch moves to watering needed for vegetables root highly, and angular adjustment motor, angle are equipped with by motor cabinet on lower installation board It spends on the output shaft of regulation motor to be equipped with and pours water column, pour water column and locating shaft is welded on one end of lower installation board, position It is connected between the upper end of axis and arc-shaped limit frame by sliding matching mode, the bottom of arc-shaped limit frame is welded on lower installation board On, water column is poured by the /V synkinesia of locating shaft and arc-shaped limit frame and is carried out under the drive of angular adjustment motor surely Fixed angular adjustment so that the present invention is suitable for operating without the watering of angle vegetables root, the upper end installation for pouring water column There are two watering journal stirrup, manifold trunk is installed between the journal stirrup that waters, manifold trunk upper end is communicated with outlet pipe, passes through high pressure water The water source that pump high pressure is flowed into outlet pipe is collected in manifold trunk, and successively by two on watering strut in the middle part of outlet pipe A position-limiting ear, two position-limiting ears play the role of /V and even support outlet pipe, and the both sides for pouring water column are all uniformly installed There is adjustable watering mechanism；The adjustable watering mechanism includes being welded on the two fixed bearing pieces poured on water column side wall, two fixations Set there are two installations to determine block between bearing piece, two installations are determined to be equipped with giant on block, and the bottom of giant is connected with Isocon is equipped with solenoid valve in the middle part of isocon, the uninterrupted of isocon, the top of isocon is controlled by solenoid valve It is connected with manifold trunk, the water source in manifold trunk is flowed into giant by isocon, and giant is by high-pressure hydraulic pump Hydraulic pressure uniformly waters to vegetables root.During work, when water needed for the present invention is moved to vegetables position when, first according to institute Vegetables root is needed to adjust watering height, two No. three hydraulic cylinders to water on branches are started to work, and No. three hydraulic cylinders are in telescopic rod Auxiliary under make stable elevating movement by lower installation board, the branches that water when two move to height of watering needed for vegetables root When No. three hydraulic cylinders be stopped, then according to vegetables root adjust watering angle, at this time angular adjustment motor start to work, lead to The /V synkinesia for crossing locating shaft and arc-shaped limit frame carries out stabilization so that pouring water column under the drive of angular adjustment motor Angular adjustment so that of the invention to be suitable for operating without the watering of angle vegetables root, the branches that water when two move to required Angle regulation motor is stopped during watering angle position, then pours the adjustable watering mechanism uniformly installed water column both sides and starts work Make, first pass through the flow that solenoid valve determines isocon, latter two high-pressure hydraulic pump that flow determines starts simultaneously at work, two height Water pump extracts the water source in water tank by two water inlet pipes, and water source separately flows into two watering branches by two outlet pipes again Two manifold trunks in, by manifold trunk by water source evenly distribute to it is adjustable watering mechanism on isocon, pass through isocon stream Enter to the water source of giant and uniform automatic watering function is carried out to vegetables root by the hydraulic pressure of high-pressure hydraulic pump, realize to vegetables According to uniform watering function, watering effect is good, has saved substantial amounts of water source.
The harvesting rotary cutting apparatus includes the harvesting bottom plate for being welded on mounting platform upper surface, harvesting bottom plate upper surface middle part Harvesting strut is welded with, the end for harvesting strut is welded with harvesting platform, and the lower face for harvesting platform is symmetrically installed there are four four Number hydraulic cylinder, the top of four No. four hydraulic cylinders are equipped with crawl platform, by four No. four hydraulic cylinders crawl platforms work are driven to stablize Oscilaltion campaign, capture and vegetables rotary-cut branch be installed on the left of the upper surface of platform, the lower face for capturing platform is symmetrically welded with Four crawl vibration branches, by four crawl vibrate branches automatically crawl needed for harvesting vegetables and will be attached on vegetables root The soil is vibrated on planting site, soil vibration finish after by vegetables rotary-cut branch automatic rotary cutting vegetables root, rotary-cut Vegetables after finishing can be collected；The crawl vibration branch includes the upper vertical plate for being welded on crawl platform lower face, on The lower end of riser is equipped with lower riser by hinge, and the lower end of lower riser is set there are two crawl lifting lug, two crawl lifting lugs it Between harvesting shaft is equipped with by bearing, the middle part for harvesting shaft is fixedly mounted that there are two engaging lug, the ends of two engaging lugs Mounted on the back of arc crawl plate, arc captures plate and can be rotated by two engaging lugs in harvesting shaft, arc crawl plate No. two limit springs are installed between upper end and lower riser upper end, No. two limit springs carry out /V to arc crawl plate upper end, The lower end of arc crawl plate is welded with connection support plate, connects and is equipped with No. three /V bullets between support plate upper end and lower riser lower end Spring, No. three limit springs carry out /V to arc crawl plate lower end, when arc crawl plate is close to required crawl vegetable surface, Arc crawl plate can arbitrarily be rotated according to required crawl vegetables compared with the angle of inclination of planting site, and arc captures plate by two Number limit spring, the position-limiting action up and down of No. three limit springs can be close to needed for crawl vegetable surface, add vegetables Capture effect, the lower end of the lower riser is set there are two motor journal stirrup, is equipped with vibrating motor on two motor journal stirrups, is passed through The soil adhered on vegetables root is vibrated on planting site by vibrating motor, is pacified between the lower riser upper end and upper vertical plate inner wall Equipped with crawl adjusting mechanism, crawl adjusting mechanism captures required vegetables to adjust arc on lower riser crawl plate；It is described to grab Taking adjusting mechanism includes being welded on No. two ear mounts on upper vertical plate inner wall, and electronic push away is equipped with by axis pin between No. two ear mounts Bar, by axis pin between No. three ear mounts, No. three ear mounts are welded on the upper surface of lower riser on the top of electric pushrod, are led to It crosses electric pushrod and captures required vegetables to adjust arc on lower riser crawl plate；The vegetables rotary-cut branch includes balanced welding The two rotary-cut struts captured on platform are connected on, rotation support plate is welded on the lower end inner wall of two rotary-cut struts, rotary-cut support plate Inner wall upper end is symmetrically installed there are two No. five hydraulic cylinders, and the top of two No. five hydraulic cylinders is equipped with L-type rotary-cut frame, L-type rotary-cut The lower face of frame is symmetrical arranged there are two Z-type sliding block, and two Z-type sliding blocks pass through sliding matching mode between two sliding slots respectively It is connected, the left end of two sliding slots is welded on rotation support plate inner wall, is slided by the /V of two Z-type sliding blocks and two sliding slots So that L-type rotary-cut frame makees stable stretching motion under the driving of two No. five hydraulic cylinders, the L-type rotary-cut frame upper end leads to for movement It crosses motor cabinet and rotary-cut motor is installed, rotary-cut piece is installed on the output shaft of rotary-cut motor, driven and revolved by rotary-cut motor Section rotary-cut, the vegetables root that the rotary-cut piece come out by No. five hydraulic cylinder extensions captures come high speed rotary-cut.During work, when this hair It is bright be moved to needed for vegetables crawl position when, four No. four hydraulic cylinders work at the same time, and four No. four hydraulic cylinders drive crawl platforms to make Stable elevating movement, No. four hydraulic cylinders stop when four crawl vibration branches below crawl platform move to suitable crawl position It only works, four crawl vibration branches start simultaneously at work at this time, capture the electric pushrod on adjusting mechanism and lower riser is driven to exist It rotating on upper vertical plate, electric pushrod is stopped when the arc crawl plate on riser touches required crawl vegetable surface instantly, Four arcs crawl plates on four crawl vibration branches tightly captured vegetables, since crawl comes up on planting site just now Vegetables root is attached to a large amount of soil, and four vibrating motors on four crawl vibration branches will adhere on vegetables root at this time Soil is vibrated on planting site, and vegetables rotary-cut branch is started to work after vegetables root soil shakes, on vegetables rotary-cut branch Two No. five hydraulic cylinders are started to work, and are existed by the /V sliding motion L-type rotary-cut frame of two Z-type sliding blocks and two sliding slots Make stable stretching motion under the driving of two No. five hydraulic cylinders, at the same time rotary-cut motor is started to work, and rotary-cut motor drives Rotary-cut piece high speed rotary-cut, the vegetables root that the rotary-cut piece come out by two No. five hydraulic cylinder extensions captures come high speed rotary-cut, from And the vibration harvesting function to vegetables is realized, harvesting speed is fast, and harvest efficiency is high.
In use, transmission branch is first passed through by the way that from steady travelling platform position will be cultivated needed for the mobile vegetables of the present invention first Driving motor on chain drives driving shaft to rotate, and driving shaft drives driving gear to rotate, and driving gear is in the auxiliary of driven gear Lower drive driven shaft, driven shaft drives the taper walking item on two walking branches at both ends to rotate, by No.1 limit spring Cause the taper on two walking branches with the 3-RPR parallel institution booster actions being evenly arranged on four sides of walking jacking block Walking item can be in rough planting vegetable in greenhouse ground stabilized walking, and damping performance is good, and stability is good, eliminates people Astasia reduces the situation of operating rate when work operates, applied widely；When booth vegetable needs loosen the soil fertilising, loosen the soil dress Start-up operation is put, first determines that the present invention needs the vegetable cultivation position that loosens the soil, two power on two power drive branches Motor starts simultaneously at work, and two power motors drive two power leading screws to rotate, and two power leading screws drive two drivings to slide Block moves, and two driving sliding blocks move the present invention by undercarriage strip and are moved to the required vegetable cultivation position to loosen the soil, when this hair It is bright be moved to needed for planting location when power motor be stopped, then four No. two hydraulic cylinders start simultaneously at work, four two Number hydraulic cylinder drives the present invention to move down by the main support plate that loosens the soil, and when the longitudinal direction in longitudinal shaft, the branch that loosens the soil is close to plantation No. two hydraulic cylinders are stopped during ground surface, and motor start-up operation of loosening the soil longitudinal at this time, the motor that longitudinally loosens the soil drives longitudinal shaft It rotates, the longitudinal direction that the drive of longitudinal shaft is uniformly arranged is loosened the soil branch rotation, and the longitudinal direction on branch of longitudinally the loosening the soil knife that loosens the soil is quick It carries out longitudinal direction to loosen the soil, conversion motor rotates after longitudinally loosening the soil, and conversion motor drives transaxle to rotate, transaxle band turn Square column rotation is changed, when the knife that loosens the soil of the transverse direction in conveyor is moved to below conversion square column and the longitudinal direction longitudinal direction on branch of loosening the soil is loosened the soil Conversion motor is stopped when knife is moved to above conversion square column, and motor start-up operation of at the same time laterally loosening the soil laterally is loosened the soil Motor drives the rotating roller on the right side of conversion square column to rotate, and rotating roller of the rotating roller on the left of conversion square column converted on the right side of square column is auxiliary Lower drive conveyor is helped to rotate, the transverse direction that is evenly arranged of conveyor drive is loosened the soil knife quick rotation, and the transverse direction being evenly arranged is loosened the soil Knife carries out laterally loosening the soil to vegetable cultivation, and the present invention is by laterally loosening the soil and longitudinal direction is loosened the soil mode operated in conjunction and realized To the automatic uniform soil-loosening function of planting site, speed of loosening the soil is fast, and effect of loosening the soil is good；When booth vegetable needs watering, first pass through The present invention is moved to position of watering needed for vegetables from steady travelling platform, and adjustable watering device is started to work, first according to required vegetables Root adjusts watering height, and two No. three hydraulic cylinders to water on branches are started to work, and No. three hydraulic cylinders are in the auxiliary of telescopic rod Make stable elevating movement by lower installation board down, when two branches that water move to, and height is watered needed for vegetables root No. three Hydraulic cylinder is stopped, and then adjusts watering angle according to vegetables root, and angular adjustment motor is started to work at this time, passes through positioning The /V synkinesia of axis and arc-shaped limit frame so that pour water column carries out stable angle tune under the drive of angular adjustment motor Section so that of the invention to be suitable for operating without the watering of angle vegetables root, the branches that water when two move to required watering angle Angle regulation motor is stopped when spending position, then pours the adjustable watering mechanism uniformly installed water column both sides and starts to work, first The flow of isocon is determined by solenoid valve, latter two high-pressure hydraulic pump that flow determines starts simultaneously at work, two high pressure waters Pump extracts the water source in water tank by two water inlet pipes, and water source separately flows into the two of two watering branches by two outlet pipes again In a manifold trunk, water source is evenly distributed to the isocon in adjustable watering mechanism by manifold trunk, is flowed by isocon The water source of giant carries out uniform automatic watering function by the hydraulic pressure of high-pressure hydraulic pump to vegetables root, realize to vegetables according to Uniform watering function, watering effect is good, has saved substantial amounts of water source；When booth vegetable needs harvesting, the present invention is first passed through Required vegetables crawl position is moved to from steady travelling platform, harvesting rotary cutting apparatus is started to work, four No. four hydraulic cylinders while work Make, four No. four hydraulic cylinders drive crawl platform to make stable elevating movement, four crawl vibration branch fortune below crawl platform It moves to No. four hydraulic cylinders during suitable crawl position and is stopped, four crawl vibration branches start simultaneously at work at this time, and crawl is adjusted Electric pushrod in section mechanism drives lower riser to be rotated on upper vertical plate, and the arc crawl plate on riser touches required grab instantly Electric pushrod is stopped when taking vegetable surface, four crawl vibration branches on four arcs crawl plates tightly captured vegetable Dish, since the vegetables root captured up on planting site just now is attached to a large amount of soil, at this time on four crawl vibration branches The soil adhered on vegetables root is vibrated on planting site by four vibrating motors, vegetables rotary-cut after vegetables root soil shakes Branch is started to work, and two No. five hydraulic cylinders on vegetables rotary-cut branch are started to work, and pass through two Z-type sliding blocks and two sliding slots /V sliding motion L-type rotary-cut frame is caused to make stable stretching motion under the driving of two No. five hydraulic cylinders, at the same time Rotary-cut motor is started to work, and rotary-cut motor drives rotary-cut piece high speed rotary-cut, the rotary-cut come out by two No. five hydraulic cylinder extensions Piece comes the vegetables root of high speed rotary-cut crawl, it is achieved thereby that harvesting function to the vibration of vegetables, harvesting speed is fast, harvest efficiency It is high；The function that booth vegetable loosens the soil, waters, harvesting automatically finally is realized, without human intervention, high degree of automation, vegetables Cultivate effect is good.
The beneficial effects of the invention are as follows：
1st, the present invention drives four walking branches of both sides to work automatically by two transmission branch chains, entire cultivating process without Manual operation is needed, and the present invention forms 3-RPR parallel institutions by the branch and moving platform in parallel of fixed platform, three RPR types, 3-RPR parallel institutions have many advantages, such as that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, walking Branch causes by No.1 limit spring and the 3-RPR parallel institution booster actions being evenly arranged on four sides of walking jacking block Taper walking item on two walking branches can be in rough planting vegetable in greenhouse ground stabilized walking, damping performance Good, stability is good, and astasia reduces the situation of operating rate when eliminating manual operation, applied widely；
2nd, the present invention can convert laterally loosen the soil knife and longitudinal knife that loosens the soil by conversion motor, then pass through the electricity that laterally loosens the soil The longitudinal direction that the horizontal transverse direction for loosening the soil knife progress of machine drive is loosened the soil with longitudinal motor that loosens the soil drives longitudinal knife that loosens the soil to carry out, which is loosened the soil, mutually ties The mode of closing operation realizes that effect of loosening the soil is good to planting site automatically uniform soil-loosening function, and speed of loosening the soil is fast；
3rd, the present invention is driven under the /V synkinesia of locating shaft and arc-shaped limit frame by angular adjustment motor and watered Column carries out stable angular adjustment, pours the adjustable watering mechanism that water column up-regulation has been saved after angle and starts simultaneously at work, adjustable to pour Giant on water dispenser structure carries out vegetables root the water source that water tank flows out by the hydraulic pressure of high-pressure hydraulic pump uniform automatic Watering is realized to vegetables according to uniform watering function, and watering effect is good, has saved substantial amounts of water source；
4th, the present invention drives lower riser to be rotated on upper vertical plate by capturing the electric pushrod on adjusting mechanism, four at this time Four arcs crawl plate of four lower risers tightly captures vegetables on crawl vibration branch, and the vegetables after crawl pass through four The soil adhered on vegetables root is vibrated on planting site by vibrating motor, and the soil vegetables fallen after finishing that shake are revolved by vegetables The vegetables root that the rotary-cut piece on branch carrys out high speed rotary-cut crawl is cut, realizes the vibration harvesting function to vegetables, harvests speed Soon, harvest efficiency is high；
5th, the present invention, which solves, needs manually long-term auxiliary operation, work existing for existing booth vegetable artificial culture mode Intensity is big, vegetable cultivation effect is poor, plantation stability is poor, work efficiency is low, speed of loosening the soil is slow, effect of loosening the soil is poor, watering Effect is poor, water waste is big, the harvesting problems such as speed is slow and harvest efficiency is low, realize booth vegetable loosen the soil, water automatically, The function of harvesting, without human intervention, high degree of automation, vegetable cultivation effect is good, and stability is good, works with planting It is excellent that efficient, speed of loosening the soil is fast, effect of loosening the soil is good, watering effect is good, water waste is small, harvesting speed is fast and harvest efficiency is high etc. Point.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is first structure schematic diagram of the present invention from steady travelling platform；
Fig. 3 is second structure diagram of the present invention from steady travelling platform；
Fig. 4 is the structure diagram of shock-absorbing support mechanism of the present invention；
Fig. 5 is the structure diagram of branch in parallel of the invention；
Fig. 6 is the sectional view of branch in parallel of the invention；
Fig. 7 is the structure diagram of loosening device of the present invention；
Fig. 8 is the main first structure schematic diagram to loosen the soil between support plate and power drive branch of the present invention；
Fig. 9 is that loosening device of the present invention removes the bottom plate that loosens the soil, the strut that loosens the soil, upper frame plate, No. two hydraulic cylinders, the main support plate that loosens the soil With the structure diagram between power drive branch；
Figure 10 is the structure diagram of the adjustable watering device of the present invention；
Figure 11 is the first structure schematic diagram after present invention watering branch removal watering strut；
Figure 12 is the second structure diagram after present invention watering branch removal watering strut；
Figure 13 is the structure diagram of present invention harvesting rotary cutting apparatus；
Figure 14 is the structure diagram of present invention crawl vibration branch；
Figure 15 is the full sectional view of present invention crawl vibration branch；
Figure 16 is the structure diagram of vegetables rotary-cut branch of the present invention；
Figure 17 is the full sectional view of vegetables rotary-cut branch of the present invention；
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Fig. 1 to Figure 17, a kind of greenhouse green vegetables plant operation automation equipment, including from steady travelling platform 1, There is good damping performance and stability from steady travelling platform 1, it can be so that the present invention be suitable for rough greenhouse vegetable Dish planting site works, described to be equipped with loosening device 2 on the right side of the upper surface of steady travelling platform 1, and loosening device 2 can be realized pair The automatic uniform soil-loosening function of planting site, speed of loosening the soil is fast, and effect of loosening the soil is good, from the upper surface of steady travelling platform 1 in the middle part of install There is adjustable watering device 3, adjustable watering device 3 can realize to vegetables that according to uniform watering function watering effect is good, saves Substantial amounts of water source, from the upper surface of steady travelling platform 1 on the left of harvesting rotary cutting apparatus 4 is installed, harvesting rotary cutting apparatus 4 can be real Function now is harvested to the vibration of vegetables, harvesting speed is fast, and harvest efficiency is high.
It is described to include mounting platform 11 from steady travelling platform 1, symmetrically pacify at left and right sides of the lower face of the mounting platform 11 Dress is there are two transmission branch chain 12, and the front and rear sides of each transmission branch chain 12 are symmetrically welded there are two walking branch 13, are passed through Transmission branch chain 12 drives walking branch 13, and in planting vegetable in greenhouse ground automatically walk, cultivating process without human intervention, works It is efficient；The transmission branch chain 12 includes being symmetrically welded at two pieces of fixed boards 121 of 11 lower face front and rear sides of mounting platform, Driving shaft 122 is equipped with by bearing between the upper end of two pieces of fixed boards 121, the middle part of driving shaft 122 is equipped with by key Driving gear 123, the front end of driving shaft 122 are equipped with driving motor 124 by shaft coupling, and driving motor 124 passes through motor cabinet Mounted on the lower face of mounting platform 11, driven shaft 125 is equipped with by bearing between the lower end of two pieces of fixed boards 121, from The middle part of moving axis 125 is equipped with driven gear 126 by key, and driven gear 126 is meshed with driving gear 123, driven shaft 125 Rear and front end be symmetrically welded there are two walking branch 13, by driving motor 124 drive driving shaft 122 rotate, driving shaft 122 Driving gear 123 is driven to rotate, driving gear 123 drives driven shaft 125,125 band of driven shaft under the auxiliary of driven gear 126 Two walking branches 13 at dynamic both ends are in planting vegetable in greenhouse ground automatically walk；The walking branch 13 is welded on including side Walking jacking block 131 on driven shaft 125, walking jacking block 131 are square structure, on four sides of jacking block 131 of walking respectively There are four shock-absorbing support mechanism 132, four 132 upper ends of shock-absorbing support mechanism are separately installed with four arc walking blocks 133 for installation, No.1 limit spring 134 is all uniformly connected between two neighboring arc walking block 133, and each arc walking block 133 is outer Taper walking item 135 is all evenly arranged on wall, taper walking item 135 is pyramidal structure, by the present invention to planting vegetable in greenhouse The walking pressure on ground is concentrated on taper walking item 135, improves walking stability energy of the present invention when booth vegetable is cultivated, No.1 limit spring 134 plays the role of /V and damping, and shock-absorbing support mechanism 132 has good damping performance and stability It can so that the present invention is on the booster action arc lower of No.1 limit spring 134 and shock-absorbing support mechanism 132 walking block 133 Taper walking item 135 can be stablized walks in rough planting vegetable in greenhouse, applied widely；The driving gear 123 with the gearratio of driven gear 126 be 2:1, the velocity of rotation of driven gear 126 is reduced by low gearratio, so as to Walking branch 13 is reduced in the speed of travel of planting vegetable in greenhouse ground, further increases walking stability energy；It is described to subtract Shaking supporting mechanism 132 includes the fixed platform 136 being mounted in walking 131 corresponding side surface of jacking block, and 136 upper surface of fixed platform is along axis Direction is uniformly installed there are three branch 137 in parallel, and the top of three branches 137 in parallel to be installed in the lower face of moving platform 138 On, for the upper surface uniform welding of moving platform 138 there are three bar shaped bearing piece 139, the upper surface of bar shaped bearing piece 139 is to walk with arc 133 corresponding globoidal structure of block, the upper surface of three bar shaped bearing pieces 139 are welded on the inner wall of corresponding arc walking block 133, Three bar shaped bearing pieces 139 allow to corresponding arc walking 133 strong support force of block；The parallel connection branch 137 includes The concave bearing 1371 of 136 upper surface of fixed platform is welded on, lower limit axis 1372 is installed between the middle part of concave bearing 1371, Arc-shaped limit slot 1371a there are two being symmetrical arranged on the upper end inner wall of concave bearing 1371；1372 are arranged on the lower limit axis There is No.1 hydraulic cylinder 1373, there are two gag lever post 1374, two gag lever posts 1374 for the bottom both sides setting of No.1 hydraulic cylinder 1373 End and two arc-shaped limit slot 1371a between be connected by sliding matching mode, two gag lever posts 1374 and two arcs The slewing area for limiting 1373 bottom of No.1 hydraulic cylinder is played in movement between limiting slot 1371a, also prevents No.1 hydraulic cylinder The situation that 1373 bottoms move left and right since the present invention often walks on the ground in rough planting vegetable in greenhouse, and passes through Two gag lever posts 1374 and two arc-shaped limit slot 1371a can enhance 1373 bottom of No.1 hydraulic cylinder in 1372 turns of lower limit axis Stability when dynamic, improves working performance；The top of the No.1 hydraulic cylinder 1373 is equipped with spherical connector by screw thread 1375, the both ends of spherical connector 1375 are symmetrically arranged with two upper limit axis 1376, and two upper limit axis 1376 are respectively with one It is connected between the both ends of number ear mount 1377 by bearing, positioning column is welded on the lower face inner wall of No.1 ear mount 1377 1378, the end of positioning column 1378 is and 1375 corresponding concave spherical structure of spherical connector, the end of positioning column 1378 It is connected between spherical connector 1375 by sliding matching mode, the upper surface of No.1 ear mount 1377 is welded on moving platform 138 On, the movement of spherical connector 1375 is limited and supported by positioning column 1378, so that on spherical connector 1375 Two upper limit axis 1376 can be stablized to be rotated in No.1 ear mount 1377, is enhanced when 1373 top of No.1 hydraulic cylinder rotates Stability improves working performance, and the R formed by No.1 hydraulic cylinder 1373 when concave bearing 1371 rotates is secondary, No.1 liquid The R pairs that the P that is formed is secondary when cylinder pressure 1373 works, No.1 hydraulic cylinder 1373 is formed when No.1 ear mount 1377 rotates constitute RPR The branch in parallel 137 of type, and the present invention is formd by the branch in parallel 137 and moving platform 138 of 136, three RPR types of fixed platform 3-RPR parallel institutions, 3-RPR parallel institutions are with dynamic response is good, rigidity is high, large carrying capacity, stability are good and movement essence The advantages that high is spent, it is good so that the present invention has when planting vegetable in greenhouse is walked on the ground by the advantages of 3-RPR parallel institutions Damping performance and stability, astasia reduces the situation of operating rate when eliminating manual operation, and the scope of application is big.Work When making, by the driving motor 124 in transmission branch chain 12 driving shaft 122 is driven to rotate first, driving shaft 122 drives driving gear 123 rotate, and driving gear 123 drives driven shaft 125 under the auxiliary of driven gear 126, and driven shaft 125 drives two of both ends Taper walking item 135 on walking branch 13 rotates, and by No.1 limit spring 134 and is evenly arranged in walking jacking block 131 4 3-RPR parallel institution booster actions on a side allow the taper on two walking branches 13 to walk item 135 in bumps Uneven planting vegetable in greenhouse ground stabilized walking, damping performance is good, and stability is good, astasia when eliminating manual operation The situation of operating rate is reduced, it is applied widely.
The loosening device 2 includes being welded on the bottom plate 21 that loosens the soil of 11 upper surface of mounting platform, symmetrical on the bottom plate 21 that loosens the soil Two struts 22 that loosen the soil are welded with, three muscle column 22a, three muscle column 22a reinforcements are evenly arranged between two struts 22 that loosen the soil The support strength of two struts 22 that loosen the soil, the end of two struts 22 that loosen the soil are welded with frame plate 23, the lower end of upper frame plate 23 Face is symmetrically installed with four No. two hydraulic cylinders 24, and the middle part of four No. two hydraulic cylinders 24 is separately fixed at four L-type frame 24a On, four L-type frame 24a play the role of four No. two hydraulic cylinders 24 of fixed support respectively, so that No. two hydraulic cylinders 24 It can only make elevating movement along vertical direction, the bottom of four L-type frame 24a is welded on frame plate 23, and four No. two The top of hydraulic cylinder 24 is equipped with the main support plate 25 that loosens the soil；The master loosen the soil support plate 25 lower face be symmetrically installed there are two power drive Dynamic branch 26, the lower end of two power drive branches 26 are equipped with lower frame plate 27, under being driven by two power drive branches 26 Frame plate makees stable back-and-forth motion so that the present invention is convenient for adjusting the position of loosening the soil of planting vegetable in greenhouse ground so that the present invention Suitable for loosening the soil for different vegetable planting location, set on the lower face of lower frame plate 27 there are two the journal stirrup 27a that loosens the soil, two are loosened the soil Transaxle 28 is equipped with by bearing between journal stirrup 27a, the right side of transaxle 28 is equipped with conversion motor 29 by shaft coupling, turns It changes motor 29 to be mounted on conversion support plate 210 by motor cabinet, conversion support plate 210 plays the role of supporting conversion motor 29, turns It changes support plate 210 and is welded on loosening the soil on journal stirrup 27a side walls positioned at lower 27 right side of frame plate；Pacified by key at the middle part of the transaxle 28 Equipped with conversion square column 211, the present invention adjusts the operating angle of conversion square column 211 by conversion motor 29, converts under square column 211 End is equipped with longitudinal shaft 212, longitudinal shaft between longitudinal journal stirrup 211a, longitudinal journal stirrup 211a there are two setting by bearing 212 right end is equipped with longitudinal motor 213 that loosens the soil by shaft coupling, and the motor 213 that longitudinally loosens the soil is mounted on longitudinal direction by motor cabinet It loosens the soil on support plate 214, the support plate 214 that longitudinally loosens the soil is welded on longitudinal journal stirrup 211a side walls on 211 right side of conversion square column；Institute It states and longitudinal branch 215 that loosens the soil is evenly arranged on longitudinal 212 outer wall of shaft, longitudinal shaft is driven by longitudinal motor 213 that loosens the soil 212 rotate, and longitudinal shaft 212 drives the longitudinal direction the being uniformly arranged branch 215 that loosens the soil to be rapidly performed by longitudinal direction and loosen the soil；The longitudinal direction pine Native branch 215 includes the circular knife rest 2151 being mounted on by key in longitudinal shaft 212, along axis on the outer wall of circular knife rest 2151 Line direction is evenly arranged with longitudinal knife 2152 that loosens the soil, and the knife 2152 that longitudinally loosens the soil is curved pointed structures, convenient for longitudinal knife that loosens the soil 2152 comparatively fast deep can loosen the soil into planting site；The upper surface of the conversion square column 211 is provided with two pairs of laterally branch Ear 211b, and rotating roller 216 is mounted on by bearing between each pair transverse direction journal stirrup 211b, two of two couples of horizontal journal stirrup 211b Conveyor 217 is installed, uniformly being riveted on the outer wall of conveyor 217 has the knife 218 that laterally loosens the soil, and is located between rotating roller 216 The motor 219 that laterally loosens the soil is equipped with by shaft coupling in the rotating roller 216 on 211 right side of conversion square column, the motor 219 that laterally loosens the soil is solid Mounted in laterally loosening the soil on support plate 219a, the support plate 219a that laterally loosens the soil is welded on the side wall of conversion square column 211, passes through transverse direction for Dingan County The motor 219 that loosens the soil drives the rotating roller 216 on 211 right side of conversion square column to rotate, and the rotating roller 216 on 211 right side of conversion square column is turning The lower drive conveyor 217 of the auxiliary of rotating roller 216 for changing 211 left side of square column rotates, and conveyor 217 drives the laterally pine being evenly arranged Native 218 quick rotation of knife, the transverse direction being evenly arranged loosen the soil knife 218 carry out to vegetable cultivation laterally loosen the soil；The power drive Branch 26 includes two driving journal stirrups 261 for being arranged on main 25 lower face of support plate of loosening the soil, and passes through axis between two driving journal stirrups 261 It holds and dynamic leading screw 262 is installed, power motor 263 is equipped with by shaft coupling on power leading screw 262, power motor 263 passes through Motor cabinet is mounted on master and loosens the soil on support plate 25, and the middle part of power leading screw 262 is connected through a screw thread mode and is equipped with driving sliding block 264, and lower frame plate 27 is installed on two driving sliding blocks 264 of two power drive branches 26, it is driven by power motor 263 Power leading screw 262 rotates, and power leading screw 262 drives driving sliding block 264 to rotate, and two drivings of two power drive branches 26 are slided Block 264 drives lower frame plate 27 to make stable back-and-forth motion.During work, it is first determined the present invention needs the vegetable cultivation status loosened the soil It puts, two power motors 263 on two power drive branches 26 start simultaneously at work, and two power motors 263 drive two Power leading screw 262 rotates, and two power leading screws 262 drive two driving sliding blocks 264 to move, and two driving sliding blocks 264 are under Frame plate 27 drives the present invention to be moved to the required vegetable cultivation position to loosen the soil, is moved when the present invention is moved to required planting location Force motor 263 is stopped, and then four No. two hydraulic cylinders 24 start simultaneously at work, and four No. two hydraulic cylinders 24 are loosened the soil by master Support plate 25 drive the present invention move down, when the longitudinal direction in longitudinal shaft 212 loosen the soil branch 215 be close to plantation ground surface when two Number hydraulic cylinder 24 is stopped, and the longitudinal direction motor 213 that loosens the soil is started to work at this time, and the motor 213 that longitudinally loosens the soil drives longitudinal shaft 212 It rotates, longitudinal shaft 212 drives the longitudinal direction the being uniformly arranged branch 215 that loosens the soil to rotate, and the longitudinal direction longitudinally loosened the soil on branch 215 is loosened the soil Knife 2152 is rapidly performed by longitudinal direction and loosens the soil, and conversion motor 29 rotates after longitudinally loosening the soil, and conversion motor 29 drives transaxle 28 rotate, and transaxle 28 drives conversion square column 211 to rotate, when the knife 218 that loosens the soil of the transverse direction in conveyor 217 moves to conversion square column 211 lower sections and the longitudinal direction loosened the soil on branch 215 of longitudinal direction loosen the soil knife 2152 when moving to conversion 211 top of square column conversion motor 29 stop It only works, the motor 219 that at the same time laterally loosens the soil is started to work, and the motor 219 that laterally loosens the soil drives turning for 211 right side of conversion square column Dynamic roller 216 rotates, and the rotating roller 216 on 211 right side of conversion square column drives in the case where the rotating roller 216 in 211 left side of conversion square column aids in Conveyor 217 rotates, and conveyor 217 drives the transverse direction that is evenly arranged to loosen the soil 218 quick rotation of knife, and the transverse direction being evenly arranged is loosened the soil Knife 218 carry out to vegetable cultivation laterally loosen the soil, the present invention by laterally loosen the soil and longitudinal direction loosen the soil mode operated in conjunction come Realize that speed of loosening the soil is fast, and effect of loosening the soil is good to the automatic uniform soil-loosening function of planting site.
The adjustable watering device 3 includes the watering support plate 31 for being welded on 11 upper surface of mounting platform, watering support plate 31 Tank tower 32 is laid in upper surface, and water tank 33 is equipped in the middle part of the upper surface of tank tower 32, and tank tower 32 plays the role of supporting water tank 33, Store the water source of vegetables in water tank 33, the both sides of water tank 33 by two water inlet pipes 34 respectively with two high-pressure hydraulic pumps 35 Water inlet is connected, and two high-pressure hydraulic pumps 35 are separately mounted to the both sides of tank tower 32 by screw, and two high-pressure hydraulic pumps 35 go out The mouth of a river is connected respectively with two outlet pipes 36；The both sides of the watering support plate 31 are separately installed with two watering branches by screw 37, two high-pressure hydraulic pumps 35 extract the water source of the storage of water tank 33 by two water inlet pipes 34, are then flowed by two outlet pipes 36 Enter into two watering branches 37, watering branch 37 includes the watering strut 371 being mounted on by screw on watering support plate 31, pours The upper surface of water strut 371 is respectively arranged with two position-limiting ear 371a, and the end of watering strut 371 is welded with upper mounting plate 372, Symmetrical two No. three hydraulic cylinders 373 in lower face and two telescopic rods 374, two telescopic rods 374 of upper mounting plate 372 are respectively positioned on two Between No. three hydraulic cylinders 373 of root, and lower installation board is installed on the top of two No. three hydraulic cylinders 373 and two telescopic rods 374 375, two No. three hydraulic cylinders 373 drive lower installation board 375 to make stable oscilaltion fortune under the auxiliary of two telescopic rods 374 It is dynamic so that two watering branches 37 in the present invention move to watering height needed for vegetables root, pass through electricity on lower installation board 375 Engine base is equipped with angular adjustment motor 376, is equipped on the output shaft of angular adjustment motor 376 and pours water column 377, pours water column 377 Locating shaft 378 is welded on one end of lower installation board 375, is passed through between the upper end of locating shaft 378 and arc-shaped limit frame 379 Sliding matching mode is connected, and the bottom of arc-shaped limit frame 379 is welded on lower installation board 375, is limited by locating shaft 378 and arc The /V synkinesia of position frame 379 so that pour water column 377 carries out stable angle tune under the drive of angular adjustment motor 376 Section so that the present invention is suitable for operating without the watering of angle vegetables root, and there are two pour for the upper end installation for pouring water column 377 Water journal stirrup 380, water journal stirrup 380 between be installed with manifold trunk 381,381 upper end of manifold trunk is communicated with outlet pipe 36, passes through The water source that 35 high pressure of high-pressure hydraulic pump is flowed into outlet pipe 36 is collected in manifold trunk 381, and 36 middle part of outlet pipe passes through successively Two the position-limiting ears 371a, two position-limiting ear 371a crossed on watering strut 371 play the work of /V and even support outlet pipe 36 With the both sides for pouring water column 377 are all uniformly equipped with adjustable watering mechanism 382；The adjustable watering mechanism 382 includes welding Two fixed bearing pieces 3821 on 377 side wall of water column is poured set there are two installations to determine block between two fixed bearing pieces 3821 3822, two installations are determined to be equipped with giant 3823 on block 3822, and the bottom of giant 3823 is connected with isocon 3824, The middle part of isocon 3824 is equipped with solenoid valve 3825, and the uninterrupted of isocon 3824 is controlled by solenoid valve 3825, point The top of flow tube 3825 is connected with manifold trunk 381, and the water source in manifold trunk 381 is flowed into giant by isocon 3824 3823, giant 3823 uniformly waters to vegetables root by the hydraulic pressure of high-pressure hydraulic pump 35.During work, when the present invention moves When moving watering position needed for vegetables, watering is adjusted highly according to required vegetables root first, three on two watering branches 37 Number hydraulic cylinder 373 is started to work, and No. three hydraulic cylinders 373 make stable liter under the auxiliary of telescopic rod 374 by lower installation board 375 Drop movement, when two water branches 37 move to needed for vegetables root water height when No. three hydraulic cylinders 373 be stopped, then Watering angle is adjusted according to vegetables root, angular adjustment motor 376 is started to work at this time, passes through locating shaft 378 and arc-shaped limit The /V synkinesia of frame 379 so that pour water column 377 carries out stable angular adjustment under the drive of angular adjustment motor 376, So that of the invention be suitable for operating without the watering of angle vegetables root, the branches 37 that water when two move to required watering angle Angle regulation motor 376 is stopped during position, then pours the adjustable watering mechanism 382 uniformly installed 377 both sides of water column and starts Work, first passes through the flow that solenoid valve 3825 determines isocon 3824, latter two high-pressure hydraulic pump 35 that flow determines while opens Beginning work, two high-pressure hydraulic pumps 35 extract the water source in water tank 33 by two water inlet pipes 34, and water source passes through two outlet pipes again 36 separately flow into two manifold trunks 381 of two watering branches 37, evenly distribute water source by manifold trunk 381 and are poured to adjustable Isocon 3824 on water dispenser structure 382 is flowed into the water source of giant 3823 by high-pressure hydraulic pump 35 by isocon 3824 Hydraulic pressure uniform automatic watering function is carried out to vegetables root, realize to vegetables according to uniform watering function, effect of watering is good, Substantial amounts of water source is saved.
The harvesting rotary cutting apparatus 4 includes the harvesting bottom plate 41 for being welded on 11 upper surface of mounting platform, harvests on bottom plate 41 Harvesting strut 42 is welded in the middle part of end face, the end of harvesting strut 42 is welded with harvesting platform 43, harvests the lower face of platform 43 It is symmetrically installed there are four No. four hydraulic cylinders 44, the top of four No. four hydraulic cylinders 44 is equipped with crawl platform 45, passes through four No. four Hydraulic cylinder 44 drives crawl platform 45 to make stable oscilaltion campaign, captures and is equipped with vegetables rotary-cut branch on the left of the upper surface of platform 45 Chain 46, the lower face of crawl platform 45 are symmetrically welded there are four crawl vibration branch 47, and it is automatic to vibrate branch 47 by four crawls It captures the vegetables of required harvesting and the soil adhered on vegetables root is vibrated on planting site, soil vibration is led to after finishing 46 automatic rotary cutting vegetables root of vegetables rotary-cut branch is crossed, the vegetables after rotary-cut finishes can be collected；The crawl vibration Branch 47 includes the upper vertical plate 471 for being welded on 45 lower face of crawl platform, and the lower end of upper vertical plate 471 is equipped with lower riser by hinge 472, the lower end of lower riser 472 is set there are two lifting lug 473 is captured, and is equipped with and adopted by bearing between two crawl lifting lugs 473 Shaft 474 is received, the middle part of harvesting shaft 474 is fixedly mounted there are two engaging lug 475, and the end of two engaging lugs 475 is mounted on Arc captures the back of plate 476, and arc captures plate 476 and can be rotated by two engaging lugs 475 in harvesting shaft 474, arc No. two limit springs 477 are installed between crawl 476 upper end of plate and lower 472 upper end of riser, No. two limit springs 477 grab arc 476 upper end of plate is taken to carry out /V, the lower end of arc crawl plate 476 is welded with connection support plate 478, and connection 478 upper end of support plate is under No. three limit springs 479 are installed, No. three limit springs 479 limit 476 lower end of arc crawl plate between 472 lower end of riser Position, when arc crawl plate 476 is close to required crawl vegetable surface, arc crawl plate 476 can be according to required crawl vegetables phase It is arbitrarily rotated for the angle of inclination of planting site, and arc captures plate 476 by 477, No. three limit springs of No. two limit springs 479 position-limiting action up and down captures vegetable surface needed for being close to, and adds the crawl effect of vegetables, the lower riser 472 lower end is set there are two motor journal stirrup 480, is equipped with vibrating motor 481 on two motor journal stirrups 480, is passed through and vibrate electricity The soil adhered on vegetables root is vibrated on planting site by machine 481, lower 472 upper end of riser and 471 inner wall of upper vertical plate it Between crawl adjusting mechanism 482 is installed, crawl adjusting mechanism 482 captures to adjust arc on lower riser 472 crawl plate 476 Required vegetables；The crawl adjusting mechanism 482 includes No. two ear mounts 4821 being welded on 471 inner wall of upper vertical plate, No. two ear mounts Electric pushrod 4822 is equipped with by axis pin between 4821, the top of electric pushrod 4822 is mounted on No. three ear mounts by axis pin Between 4823, No. three ear mounts 4823 are welded on the upper surface of lower riser 472, and lower riser is adjusted by electric pushrod 4822 Arc on 472 captures plate 476 to capture required vegetables；The vegetables rotary-cut branch 46 includes being symmetrically welded on crawl platform 45 Two rotary-cut struts 461, rotation support plate 462 is welded on the lower end inner wall of two rotary-cut struts 461, rotary-cut support plate 462 Inner wall upper end is symmetrically installed there are two No. five hydraulic cylinders 463, and the top of two No. five hydraulic cylinders 463 is equipped with L-type rotary-cut frame 464, the lower face of L-type rotary-cut frame 464 is symmetrical arranged there are two Z-type sliding block 465, two Z-type sliding blocks 465 respectively with two sliding slots It is connected between 466 by sliding matching mode, the left end of two sliding slots 466 is welded on rotation 462 inner wall of support plate, passes through two The /V sliding motion of a Z-type sliding block 465 and two sliding slots 466 causes L-type rotary-cut frame 464 in two No. five hydraulic cylinders 463 Driving is lower to make stable stretching motion, and 464 upper end of L-type rotary-cut frame is equipped with rotary-cut motor 467, rotary-cut electricity by motor cabinet Rotary-cut piece 468 is installed on the output shaft of machine 467,468 rotary-cut of rotary-cut piece is driven by rotary-cut motor 467, passes through No. five The vegetables root for 468 high speed rotary-cut of the rotary-cut piece crawl that hydraulic cylinder 463 telescopes out.During work, when the present invention is moved to institute When needing vegetables crawl position, four No. four hydraulic cylinders 44 work at the same time, and four No. four hydraulic cylinders 44 drive the crawl work of platform 45 to stablize Elevating movement, No. four hydraulic cylinders 44 when four crawl vibration branches 47 for capturing the lower section of platform 45 move to suitable crawl position It is stopped, four crawl vibration branches 47 start simultaneously at work at this time, capture 4822 band of electric pushrod on adjusting mechanism 482 Dynamic lower riser 472 rotates on upper vertical plate 471, and the arc crawl plate 476 on riser 472 touches required crawl vegetables table instantly Electric pushrod 4822 is stopped during face, the crawl of four arcs crawl plate 476 on four crawl vibration branches 47 tightly Vegetables, since the vegetables root captured up on planting site just now is attached to a large amount of soil, four crawl vibration branches 47 at this time On four vibrating motors 481 soil adhered on vegetables root is vibrated on planting site, after vegetables root soil shakes Vegetables rotary-cut branch 46 is started to work, and No. five hydraulic cylinders 463 of two on vegetables rotary-cut branch 46 are started to work, and pass through two Z The /V sliding motion of type sliding block 465 and two sliding slots 466 causes driving of the L-type rotary-cut frame 464 in two No. five hydraulic cylinders 463 Lower to make stable stretching motion, at the same time rotary-cut motor 467 is started to work, and rotary-cut motor 467 drives rotary-cut piece 468 to revolve at a high speed It cuts, the vegetables root that the rotary-cut piece 468 telescoped out by two No. five hydraulic cylinders 463 captures come high speed rotary-cut, so as to fulfill Function is harvested to the vibration of vegetables, harvesting speed is fast, and harvest efficiency is high.
In use, transmission branch is first passed through by the way that from steady travelling platform 1 position will be cultivated needed for the mobile vegetables of the present invention first Driving motor 124 on chain 12 drives driving shaft 122 to rotate, and driving shaft 122 drives driving gear 123 to rotate, driving gear 123 Driven shaft 125 is driven under the auxiliary of driven gear 126, driven shaft 125 drives the taper on two walking branches 13 at both ends Walking item 135 rotates, in parallel by No.1 limit spring 134 and the 3-RPR being evenly arranged on 131 4 sides of walking jacking block Mechanism booster action allows the taper on two walking branches 13 to walk item 135 in rough planting vegetable in greenhouse Upper stabilized walking, damping performance is good, and stability is good, and astasia reduces the situation of operating rate when eliminating manual operation, It is applied widely；When booth vegetable needs loosen the soil fertilising, loosening device 2 is started to work, and first determines that the present invention needs what is loosened the soil Vegetable cultivation position, two power motors 263 on two power drive branches 26 start simultaneously at work, two power motors 263 two power leading screws 262 of drive rotate, and two power leading screws 262 drive two driving sliding blocks 264 to move, and two drivings are slided Block 264 by lower frame plate 27 drive the present invention be moved to needed for the vegetable cultivation position that loosens the soil, be moved to as the present invention needed for Power motor 263 is stopped during planting location, and then four No. two hydraulic cylinders 24 start simultaneously at work, four No. two hydraulic cylinders 24 drive the present invention to move down by the main support plate 25 that loosens the soil, and when the longitudinal direction in longitudinal shaft 212, the branch 215 that loosens the soil is close to kind No. two hydraulic cylinders 24 are stopped when planting ground surface, and longitudinal motor 213 that loosens the soil is started to work at this time, and longitudinally loosen the soil 213 band of motor Dynamic longitudinal direction shaft 212 rotates, and longitudinal shaft 212 drives the longitudinal direction the being uniformly arranged branch 215 that loosens the soil to rotate, and longitudinally loosen the soil branch Longitudinal direction on 215 loosen the soil knife 2152 be rapidly performed by longitudinal direction loosen the soil, when longitudinally loosen the soil after conversion motor 29 rotate, conversion electricity Machine 29 drives transaxle 28 to rotate, and transaxle 28 drives conversion square column 211 to rotate, when the transverse direction in conveyor 217 is loosened the soil knife 218 It moves to the longitudinal direction loosened the soil on branch 215 in the conversion square column 211 lower section and longitudinal direction knife 2152 that loosens the soil and moves to 211 top of conversion square column When conversion motor 29 be stopped, at the same time laterally the motor 219 that loosens the soil is started to work, and the motor 219 that laterally loosens the soil drives conversion The rotating roller 216 on 211 right side of square column rotates, and the rotating roller 216 on 211 right side of conversion square column is converting the rotation in 211 left side of square column The auxiliary of roller 216 is lower to drive conveyor 217 to rotate, and conveyor 217 drives the transverse direction being evenly arranged to loosen the soil 218 quick rotation of knife, The transverse direction of the even arrangement knife 218 that loosens the soil carries out laterally loosening the soil to vegetable cultivation, and the present invention is by laterally loosening the soil and longitudinal direction is loosened the soil phase The mode of binding operation realizes that speed of loosening the soil is fast, and effect of loosening the soil is good to the automatic uniform soil-loosening function of planting site；When greenhouse vegetable When dish needs watering, first pass through the present invention and be moved to position of watering needed for vegetables from steady travelling platform 1, adjustable watering device 3 is opened Beginning work, first adjusts watering height according to required vegetables root, and two No. three hydraulic cylinders 373 to water on branches 37 start work Make, No. three hydraulic cylinders 373 make stable elevating movement under the auxiliary of telescopic rod 374 by lower installation board 375, when two waterings No. three hydraulic cylinders 373 are stopped when branch 37 moves to watering height needed for vegetables root, are then adjusted according to vegetables root It waters angle, angular adjustment motor 376 is started to work at this time, and the /V auxiliary for passing through locating shaft 378 and arc-shaped limit frame 379 is transported It is dynamic so that pour water column 377 carries out stable angular adjustment under the drive of angular adjustment motor 376 so that the present invention is suitable for not It is operated with the watering of angle vegetables root, the angle regulation motor when watering angle position needed for two branches 37 that water move to 376 are stopped, and then pour the adjustable watering mechanism 382 uniformly installed 377 both sides of water column and start to work, first pass through solenoid valve 3825 determine the flow of isocon 3824, latter two high-pressure hydraulic pump 35 that flow determines starts simultaneously at work, two high pressure waters Pump 35 extracts the water source in water tank 33 by two water inlet pipes 34, and water source separately flows into two waterings by two outlet pipes 36 again In two manifold trunks 381 of branch 37, water source is evenly distributed to the shunting in adjustable watering mechanism 382 by manifold trunk 381 Pipe 3824, by isocon 3824 be flowed into the water source of giant 3823 by high-pressure hydraulic pump 35 hydraulic pressure to vegetables root into The uniform automatic watering function of row is realized to vegetables according to uniform watering function, and watering effect is good, has saved substantial amounts of water source； When booth vegetable needs harvesting, first pass through the present invention and be moved to required vegetables crawl position from steady travelling platform 1, harvest rotary-cut Device 4 is started to work, and four No. four hydraulic cylinders 44 work at the same time, and four No. four hydraulic cylinders 44 drive crawl platform 45 to make stable liter Drop movement captures No. four hydraulic cylinders 44 when vibration branches 47 move to suitable crawl position when four that capture 45 lower section of platform and stops Work, at this time four crawls vibrate branches 47 and start simultaneously at work, capture under the drive of electric pushrod 4822 on adjusting mechanism 482 Riser 472 rotates on upper vertical plate 471, when the arc crawl plate 476 on riser 472 touches required crawl vegetable surface instantly Electric pushrod 4822 is stopped, four crawl vibration branches 47 on four arcs crawl plates 476 tightly captured vegetables, Since the vegetables root captured up on planting site just now is attached to a large amount of soil, four on four crawl vibration branches 47 at this time The soil adhered on vegetables root is vibrated on planting site by a vibrating motor 481, and vegetables are revolved after vegetables root soil shakes It cuts branch 46 to start to work, No. five hydraulic cylinders 463 of two on vegetables rotary-cut branch 46 are started to work, and pass through two Z-type sliding blocks 465 and the /V sliding motions of two sliding slots 466 L-type rotary-cut frame 464 is made surely under the driving of two No. five hydraulic cylinders 463 Fixed stretching motion, at the same time rotary-cut motor 467 start to work, rotary-cut motor 467 drives the 468 high speed rotary-cut of rotary-cut piece, leads to The vegetables root for 468 high speed rotary-cut of the rotary-cut piece crawl that two No. five hydraulic cylinders 463 telescope out is crossed, it is achieved thereby that vegetable The vibration harvesting function of dish, harvesting speed is fast, and harvest efficiency is high；Finally realize what booth vegetable loosened the soil, and watered, harvesting automatically Function, without human intervention, high degree of automation, vegetable cultivation effect is good, solves existing booth vegetable artificial culture mode It is existing need manually long-term auxiliary operation, labor intensity is big, vegetable cultivation effect is poor, poor, work efficiency of planting stability Lowly, speed of loosening the soil is slow, effect of loosening the soil is poor, watering effect is poor, water waste is big, the slow and harvest efficiency that harvests speed is lowly etc. difficult Topic, has reached purpose.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description simply illustrates the present invention Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and change Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent It defines.

Claims (4)

1. a kind of greenhouse green vegetables plant operation automation equipment, it is characterised in that：It is described including from steady travelling platform (1) Loosening device (2) is installed on the right side of from the upper surface of steady travelling platform (1), is installed from the upper surface of steady travelling platform (1) middle part There is adjustable watering device (3), harvesting rotary cutting apparatus (4) is installed from the upper surface of steady travelling platform (1) left side；
Described to include mounting platform (11) from steady travelling platform (1), the lower face left and right sides of the mounting platform (11) is symmetrical Installation is there are two transmission branch chain (12), and the front and rear sides of each transmission branch chain (12) are symmetrically welded that there are two walking branches (13)；The transmission branch chain (12) includes being symmetrically welded at two pieces of fixed boards of mounting platform (11) lower face front and rear sides (121), driving shaft (122), the middle part of driving shaft (122) are equipped with by bearing between the upper end of two pieces of fixed boards (121) Driving gear (123) is equipped with by key, the front end of driving shaft (122) is equipped with driving motor (124) by shaft coupling, transmission Motor (124) is mounted on the lower face of mounting platform (11) by motor cabinet, passes through between the lower end of two pieces of fixed boards (121) Bearing is equipped with driven shaft (125), and the middle part of driven shaft (125) is equipped with driven gear (126), driven gear by key (126) it is meshed with driving gear (123), the rear and front end of driven shaft (125) is symmetrically welded that there are two walking branches (13)；Institute Stating walking branch (13) includes the walking jacking block (131) that side is welded on driven shaft (125), and walking jacking block (131) is pros Shape structure, walking jacking block (131) four sides on be separately installed with four shock-absorbing support mechanisms (132), four shock-absorbing supports Mechanism (132) upper end is separately installed with four arcs walking blocks (133), between two neighboring arc walking block (133) all uniformly No.1 limit spring (134) is connected with, and taper walking item is evenly arranged on the outer wall of each arc walking block (133) (135)；The shock-absorbing support mechanism (132) includes the fixed platform (136) being mounted in walking jacking block (131) corresponding side surface, fixed Uniformly there are three branch (137) in parallel, the tops of three branches (137) in parallel for installation in the axial direction for platform (136) upper surface It is installed on the lower face of moving platform (138), bar shaped bearing piece (139) that there are three the upper surface uniform weldings of moving platform (138), The upper surface of bar shaped bearing piece (139) is to walk block (133) corresponding globoidal structure with arc, three bar shaped bearing pieces (139) Upper surface is welded on the inner wall of corresponding arc walking block (133)；
The loosening device (2) includes being welded on the bottom plate that loosens the soil (21) of mounting platform (11) upper surface, on the bottom plate that loosens the soil (21) Two struts that loosen the soil (22) are symmetrically welded with, three muscle columns (22a), two pines are evenly arranged between two struts that loosen the soil (22) The end of native strut (22) is welded with frame plate (23), and the lower face of upper frame plate (23) is symmetrically installed with four No. two hydraulic cylinders (24), it is separately fixed in the middle part of four No. two hydraulic cylinders (24) on four L-type frames (24a), four L-type frames (24a) Bottom is welded on frame plate (23), and the top of four No. two hydraulic cylinders (24) is equipped with the main support plate (25) that loosens the soil；It is described The lower face of the main support plate (25) that loosens the soil is symmetrically installed there are two power drive branch (26), under two power drive branches (26) It holds and lower frame plate (27) is installed, there are two the journal stirrup (27a) that loosens the soil, two journal stirrups that loosen the soil for setting on the lower face of lower frame plate (27) Transaxle (28) is equipped with by bearing between (27a), the right side of transaxle (28) is equipped with conversion motor by shaft coupling (29), conversion motor (29) is mounted on by motor cabinet on conversion support plate (210), and conversion support plate (210) is welded on positioned at undercarriage On the journal stirrup that loosens the soil (27a) side wall on the right side of plate (27)；The middle part of the transaxle (28) is equipped with conversion square column by key (211), the lower end for converting square column (211) is set there are two longitudinal journal stirrup (211a), passes through bearing between longitudinal journal stirrup (211a) Longitudinal shaft (212) is installed, the right end of longitudinal shaft (212) is equipped with longitudinal motor (213) that loosens the soil, longitudinal direction by shaft coupling The motor (213) that loosens the soil is mounted on longitudinal direction by motor cabinet and loosens the soil on support plate (214), and the support plate (214) that longitudinally loosens the soil, which is welded on, to be located at It converts on longitudinal journal stirrup (211a) side wall on the right side of square column (211)；Longitudinal direction is evenly arranged on described longitudinal direction shaft (212) outer wall Loosen the soil branch (215)；The upper surface of the conversion square column (211) is provided with two pairs of horizontal journal stirrups (211b), and each pair is laterally propped up Rotating roller (216) is mounted on by bearing between ear (211b), two rotating rollers (216) of two pairs of horizontal journal stirrups (211b) it Between conveyor (217) is installed, uniformly riveting has the knife (218) that laterally loosens the soil on the outer wall of conveyor (217), and positioned at conversion side The motor (219) that laterally loosens the soil is equipped with by shaft coupling in rotating roller (216) on the right side of column (211), laterally loosen the soil motor (219) It is fixedly mounted on and laterally loosens the soil on support plate (219a), the support plate (219a) that laterally loosens the soil is welded on the side wall of conversion square column (211)；
The adjustable watering device (3) includes being welded on the watering support plate (31) of mounting platform (11) upper surface, and water support plate (31) tank tower (32) is laid in upper surface, and water tank (33), the both sides of water tank (33) are equipped in the middle part of the upper surface of tank tower (32) It is connected by water inlet of two water inlet pipes (34) respectively with two high-pressure hydraulic pumps (35), two high-pressure hydraulic pumps (35) pass through screw The both sides of tank tower (32) are separately mounted to, and the water outlet of two high-pressure hydraulic pumps (35) is connected respectively with two outlet pipes (36)； The both sides of the watering support plate (31) are separately installed with two watering branches (37) by screw, and watering branch (37) includes passing through Screw is mounted on the watering strut (371) on watering support plate (31), and the upper surface of watering strut (371) is respectively arranged with two limits Position ear (371a), the end of watering strut (371) are welded with upper mounting plate (372), the lower face symmetrical two of upper mounting plate (372) No. three hydraulic cylinders (373) of root and two telescopic rods (374), two telescopic rods (374) be respectively positioned on two No. three hydraulic cylinders (373) it Between, and lower installation board (375), lower installation board are installed on the top of two No. three hydraulic cylinders (373) and two telescopic rods (374) (375) angular adjustment motor (376) is equipped with by motor cabinet on, is equipped with and pours on the output shaft of angular adjustment motor (376) Water column (377) pours water column (377) and is welded with locating shaft (378) on one end of lower installation board (375), locating shaft (378) It is connected between upper end and arc-shaped limit frame (379) by sliding matching mode, the bottom of arc-shaped limit frame (379) is welded on lower peace In loading board (375), the upper end installation for pouring water column (377) is solid between the journal stirrup (380) that waters there are two watering journal stirrup (380) Dingan County is equipped with manifold trunk (381), and manifold trunk (381) upper end is communicated with outlet pipe (36), and passes through successively in the middle part of outlet pipe (36) Two position-limiting ears (371a) watered on strut (371), the both sides for pouring water column (377) are all uniformly equipped with adjustable watering machinery Structure (382)；
The harvesting rotary cutting apparatus (4) includes being welded on the harvesting bottom plate (41) of mounting platform (11) upper surface, harvests bottom plate (41) harvesting strut (42) is welded in the middle part of upper surface, the end of harvesting strut (42) is welded with harvesting platform (43), harvesting branch The lower face of platform (43) is symmetrically installed there are four No. four hydraulic cylinders (44), and the top of four No. four hydraulic cylinders (44) is equipped with crawl Platform (45), the upper surface left side of crawl platform (45) are equipped with vegetables rotary-cut branch (46), the lower face balanced welding of crawl platform (45) Crawl vibration branch (47) there are four connecing；The crawl vibration branch (47) includes being welded on the upper vertical of crawl platform (45) lower face Plate (471), the lower end of upper vertical plate (471) are equipped with lower riser (472) by hinge, and the lower end of lower riser (472) is provided with two It is a to capture lifting lug (473), it is equipped between two crawl lifting lugs (473) by bearing and harvests shaft (474), harvest shaft (474) middle part is fixedly mounted there are two engaging lug (475), and the end of two engaging lugs (475) is mounted on arc and captures plate (476) back is equipped with No. two limit springs (477) between arc crawl plate (476) upper end and lower riser (472) upper end, The lower end of arc crawl plate (476) is welded with connection support plate (478), connection support plate (478) upper end and lower riser (472) lower end it Between No. three limit springs (479) are installed, the lower end of the lower riser (472) sets that there are two motor journal stirrup (480), two electricity Vibrating motor (481) on machine journal stirrup (480) is installed, is installed between lower riser (472) upper end and upper vertical plate (471) inner wall There is crawl adjusting mechanism (482)；The vegetables rotary-cut branch (46) includes two rotary-cuts being symmetrically welded on crawl platform (45) Strut (461), is welded with rotation support plate (462) on the lower end inner wall of two rotary-cut struts (461), rotary-cut support plate (462) it is interior Wall upper end is symmetrically installed there are two No. five hydraulic cylinders (463), and the top of two No. five hydraulic cylinders (463) is equipped with L-type rotary-cut frame (464), the lower face of L-type rotary-cut frame (464) is symmetrical arranged there are two Z-type sliding block (465), two Z-type sliding blocks (465) respectively with It is connected between two sliding slots (466) by sliding matching mode, the left end of two sliding slots (466) is welded on rotation support plate (462) on inner wall, L-type rotary-cut frame (464) upper end is equipped with rotary-cut motor (467), rotary-cut motor (467) by motor cabinet Output shaft on be installed with rotary-cut piece (468)；
The gearratio of the driving gear (123) and driven gear (126) is 2:1；
The parallel connection branch (137) includes being welded on the concave bearing (1371) of fixed platform (136) upper surface, concave bearing (1371) lower limit axis (1372) is installed between middle part, be symmetrical arranged on the upper end inner wall of concave bearing (1371) there are two Arc-shaped limit slot (1371a)；(1372) are arranged with No.1 hydraulic cylinder (1373), No.1 hydraulic cylinder (1373) on the lower limit axis Bottom both sides set there are two gag lever post (1374), the end of two gag lever posts (1374) and two arc-shaped limit slots It is connected between (1371a) by sliding matching mode；The top of the No.1 hydraulic cylinder (1373) is equipped with spherical shape by screw thread Connector (1375), the both ends of spherical connector (1375) are symmetrically arranged with two upper limit axis (1376), two upper limit axis (1376) it is connected respectively between the both ends of No.1 ear mount (1377) by bearing, the lower face inner wall of No.1 ear mount (1377) On be welded with positioning column (1378), the end of positioning column (1378) is and the corresponding concave spherical surface knot of spherical connector (1375) Structure is connected between the end of positioning column (1378) and spherical connector (1375) by sliding matching mode, No.1 ear mount (1377) upper surface is welded on moving platform (138)；
Two driving journal stirrups (261) of the power drive branch (26) including being arranged on main support plate (25) lower face of loosening the soil, two Dynamic leading screw (262) is installed by bearing between a driving journal stirrup (261), power leading screw is installed on (262) by shaft coupling Dynamic motor (263), power motor (263) are mounted on master by motor cabinet and loosen the soil on support plate (25), power leading screw (262) Middle part is connected through a screw thread mode and is equipped with driving sliding block (264), and two driving sliding blocks of two power drive branches (26) (264) lower frame plate (27) is installed on.
2. a kind of greenhouse green vegetables plantation operation automation equipment according to claim 1, it is characterised in that：It is described vertical The circular knife rest (2151) for including being mounted on by key on longitudinal shaft (212) to the branch that loosens the soil (215), circular knife rest (2151) Outer wall on be evenly arranged with longitudinal direction in the axial direction and loosen the soil knife (2152).
3. a kind of greenhouse green vegetables plantation operation automation equipment according to claim 1, it is characterised in that：It is described can Watering mechanism (382) is adjusted to include being welded on the two fixed bearing pieces (3821) poured on water column (377) side wall, two fixed bearing pieces (3821) set there are two installations to determine block (3822) between, two installations are determined to be equipped with giant (3823) on block (3822), The bottom of giant (3823) is connected with isocon (3824), and solenoid valve (3825) is equipped in the middle part of isocon (3824), The top of isocon (3825) is connected with manifold trunk (381).
4. a kind of greenhouse green vegetables plantation operation automation equipment according to claim 1, it is characterised in that：It is described to grab Taking adjusting mechanism (482) includes being welded on No. two ear mounts (4821) on upper vertical plate (471) inner wall, between No. two ear mounts (4821) Electric pushrod (4822) is equipped with by axis pin, the top of electric pushrod (4822) is mounted on No. three ear mounts (4823) by axis pin Between, No. three ear mounts (4823) are welded on the upper surface of lower riser (472).
CN201810114611.7A 2016-07-06 2016-07-06 A kind of greenhouse green vegetables plant operation automation equipment Withdrawn CN108093707A (en)

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CN201810114611.7A CN108093707A (en) 2016-07-06 2016-07-06 A kind of greenhouse green vegetables plant operation automation equipment
CN201610521976.2A CN106171080B (en) 2016-07-06 2016-07-06 A kind of booth vegetable intelligent cultivation robot

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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CN108990531A (en) * 2018-08-13 2018-12-14 刘荷花 A kind of booth vegetable harvesting robotic
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CN114711217A (en) * 2022-06-08 2022-07-08 济南市农业科学研究院(山东省农业科学院济南市分院) Urban vegetable planting spraying mechanism, spraying method and planting device

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