CN109006766A - The greenhouse spray method to be sprayed using robot - Google Patents
The greenhouse spray method to be sprayed using robot Download PDFInfo
- Publication number
- CN109006766A CN109006766A CN201810860149.5A CN201810860149A CN109006766A CN 109006766 A CN109006766 A CN 109006766A CN 201810860149 A CN201810860149 A CN 201810860149A CN 109006766 A CN109006766 A CN 109006766A
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- China
- Prior art keywords
- sprinkling
- robot
- lifter plate
- greenhouse
- elevating lever
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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- 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
- A01G9/14—Greenhouses
- A01G9/143—Equipment for handling produce in greenhouses
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- 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
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- 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)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a kind of greenhouse spray methods to be sprayed using robot, using robot sprinkling system, and comprising steps of the running gear of S1, robot sprinkling system drive sprinkling manipulator to be moved to growing area along running track, sprinkling manipulator is mounted in running track in suspension type；The sprinkling executive device sprinkling medical fluid of S2, robot sprinkling system, it is mechanical on hand that sprinkling executive device is set to sprinkling.The present invention utilizes the greenhouse spray method of robot spray, is accomplished manually the sprinkling to growing area medical fluid in greenhouse using robot substitution, reduces labor intensity, improve spray working efficiency；And spray drug operation is realized above growing area using the realization of suspension type robot, it is not required to occupy greenhouse ground space, facilitates the arrangement of robot sprinkling system, take full advantage of greenhouse headspace.
Description
Technical field
The invention belongs to robotic technology fields, specifically, the present invention relates to a kind of greenhouses to be sprayed using robot
Spray method.
Background technique
Greenhouse planting technology is a kind of relatively common technology, mainly applies to the plantation of vegetables and fruit.Because
Greenhouse gardening has preferable thermal insulation property, it can be made full use of to develop advantageous one side to vegetables and fruit growing, overcome
Its unfavorable factor grasps regulation method, can make the unification of environmental condition Yu crop growth rule, acquisition high yield, good
Crop product, so greenhouse gardening is favored by people.
In order to guarantee the normal growth of the vegetables planted in greenhouse or fruit, avoid pest and disease damage for vegetables or fruit
Harm, needs often to spray related drugs.
Existing greenhouse spray drug operation is generally by the way of manually spraying, but the artificial not only large labor intensity that sprays, and
And sprinkling is uneven, high labor cost, inefficiency.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, the present invention provides a kind of benefit
The greenhouse spray method to be sprayed with robot, it is therefore an objective to improve spray working efficiency.
To achieve the goals above, the technical scheme adopted by the invention is as follows: using robot spray greenhouse spray method,
Using robot sprinkling system, and comprising steps of
The running gear drive of S1, robot sprinkling system spray manipulator and are moved to growing area along running track, spray
Manipulator is mounted in running track in suspension type；
The sprinkling executive device sprinkling medical fluid of S2, robot sprinkling system, sprinkling executive device are set to sprinkling manipulator
On.
The running track is located at the top of growing area in greenhouse, and running track includes the track element of S-shaped, track element
At least provided with two.
The sprinkling executive device includes jet nozzle, the sprinkler head being set on jet nozzle, the drug storage for storing medical fluid
Case and for the medical fluid in explosive box to be delivered to the spray pump in jet nozzle, sprinkler head setting is multiple and all sprinkler heads are spraying
It is sequentially arranged on head frame for the length direction along jet nozzle, jet nozzle is connect with the sprinkling manipulator.
All sprinkler heads are equally spaced on the jet nozzle.
The water inlet of the spray pump is connect with water inlet pipe, and water inlet pipe is inserted into the explosive box, the water outlet of spray pump
It is connect by outlet pipe with the jet nozzle.
The jet nozzle and the sprinkling manipulator are detachable connection.
The sprinkling executive device further includes carrier, and the explosive box is set on carrier, and the length of carrier can
It adjusts and carrier is set on the running gear.
The carrier include guide holder, be movably set to the first lifter plate on guide holder and the second lifter plate,
The first leadscrew-nut mechanism being connect with the first lifter plate, the second feed screw nut being connect with the first lifter plate and the second lifter plate
Mechanism, the connecting rod being connect with the second lifter plate, the worm gear being connect with the first leadscrew-nut mechanism, the worm screw engaged with worm gear,
The first lifting motor being connect with worm screw and the second lifting motor being connect with the second leadscrew-nut mechanism, the second lifter plate position
In the first lifter plate lower section and the second lifter plate it is parallel with the first lifter plate, the explosive box is set in connecting rod and stores up
Medicine-chest is located at the lower section of guide holder.
First leadscrew-nut mechanism includes the first elevating lever being rotatably arranged on the guide holder and setting
In the first lifting nut seat matched on first lifter plate and with the first elevating lever, the first elevating lever and the first lifting spiral shell
Base constitutes worm drive, and the worm gear is fixedly connected with the upper end of the first elevating lever, and second leadscrew-nut mechanism includes
The second elevating lever for being rotatably arranged on the first lifter plate and be set on second lifter plate and with the second elevating lever
The the second lifting nut seat matched, the second elevating lever and the second lifting nut seat constitute worm drive.
Second leadscrew-nut mechanism is arranged two, is equipped in the explosive box and allows the of the first elevating lever insertion
Sleeve.
The present invention utilizes the greenhouse spray method of robot spray, is accomplished manually using robot substitution and is planted in greenhouse
The sprinkling of area's medical fluid, reduces labor intensity, improves spray working efficiency；And it is being planted using the realization of suspension type robot
Spray drug operation is realized above area, is not required to occupy greenhouse ground space, facilitates the arrangement of robot sprinkling system, is taken full advantage of big
Canopy headspace.
Detailed description of the invention
This specification includes the following drawings, and shown content is respectively:
Fig. 1 is the main view of greenhouse；
Fig. 2 is the top view of running track；
Fig. 3 is the assembling schematic diagram of jet nozzle and sprinkler head；
Fig. 4 is the structural schematic diagram of carrier；
Fig. 5 is the structural schematic diagram of running gear；
In the figure, it is marked as 1, sprinkling manipulator；2, running track；201, the first orbital segment；202, the second orbital segment；203,
Third orbital segment；204, the 4th orbital segment；3, running gear；301, walking basal seat；302, driving motor；303, retarder；
304, driving wheel；305, bearing block；4, carrier；401, guide holder；402, the first lifting motor；403, the second lifting motor；
404, the first lifter plate；405, the second lifter plate；406, the first elevating lever；407, the second elevating lever；408, the first lifting nut
Seat；409, the second lifting nut seat；410, connecting rod；411, worm gear；412, worm screw；5, explosive box；6, jet nozzle；7, it sprays
Head；8, spray pump；9, water inlet pipe；10, outlet pipe；11, rack；12, first sleeve；13, the second casing；14, greenhouse body.
Specific embodiment
Below against attached drawing, by the description of the embodiment, making to a specific embodiment of the invention further details of
Explanation, it is therefore an objective to those skilled in the art be helped to have more complete, accurate and deep reason to design of the invention, technical solution
Solution, and facilitate its implementation.
It should be noted that in embodiment disclosed below, " first ", " second ", " third " and " the 4th " simultaneously
Not representative structure and/or absolute differentiation relationship functionally do not represent the successive sequence that executes yet, and just for the sake of description
It is convenient.
As shown in Figures 1 to 5, the present invention provides a kind of greenhouse spray methods to be sprayed using robot, using machine
People's sprinkling system, the robot sprinkling system include rack 11, running track 2, the running gear 3 being set in running track 2,
The sprinkling manipulator 1 being set on running gear 3 and the sprinkling executive device being set on sprinkling manipulator 1, spray manipulator 1
It is mounted on running gear 3 in suspension type.
The greenhouse spray method that the present invention is sprayed using robot comprises the following steps that
The running gear drive of S1, robot sprinkling system spray manipulator and are moved to growing area along running track, spray
Manipulator is mounted in running track in suspension type；
The sprinkling executive device sprinkling medical fluid of S2, robot sprinkling system, sprinkling executive device are set to sprinkling manipulator
On.
Specifically, as depicted in figs. 1 and 2, the structure of greenhouse body as well known in the skilled person,
It is mainly made of greenhouse bracket and the film being covered on greenhouse bracket, and greenhouse bracket is made of more steel arches
Arch-shaped structure.The inner hollow of greenhouse body, crop-planting is on greenhouse body internal ground.Robot sprinkling system is also set
It sets in the inside of greenhouse body, rack 11 is vertically arranged inside greenhouse body, and rack 11 provides support to running track 2 and makees
With rack 11 is arranged two, and two racks 11 are on the same straight line parallel with first direction, and first direction is level side
To and first direction it is parallel with the length direction of greenhouse body, rack 11 be portal frame, the both ends of running track 2 are installed respectively
In a rack 11.In above-mentioned steps S1, running track 2 is for guiding running gear 3, and running gear 3 is along operation rail
Road 2 is travelled, and running track 2 is located at the top of growing area in greenhouse body, and running track 2 is in a horizontal state setting, sprinkling
Manipulator 1 is located at the lower section of running track 2, and sprinkling manipulator 1 is used to adjust position and the appearance of the jet nozzle 6 of sprinkling executive device
State, sprinkling manipulator 1, which can carry, the movement such as sprays the progress of jet nozzle 6 up and down of executive device, waves and rotate.
As depicted in figs. 1 and 2, preferably, sprinkling manipulator 1 is six-DOF robot and is suspension type robot
(also referred to as suspension type robot), as well known in the skilled person, details are not described herein for structure.Jet nozzle 6
It is mounted on the end effector of sprinkling manipulator 1, in above-mentioned steps S2, when spraying medical fluid, jet nozzle 6 and sprinkling manipulator 1
Synchronization is moved along running track 2.Using six-DOF robot, job area is wide, and flexibility is good, sprays working efficiency
It is high.Using suspension type robot, sprays manipulator 1 and is suspended on progress operation above growing area, be not required to occupy greenhouse ground space,
The arrangement for facilitating robot sprinkling system takes full advantage of greenhouse headspace.
As depicted in figs. 1 and 2, running track 2 includes track element, and track element is S-shaped, and track element is at least provided with two
A, all track elements are to be sequentially arranged in a second direction, and second direction is horizontal direction and second direction and first direction phase
Vertically, second direction is parallel with the width direction of greenhouse body, and two neighboring track element is connected, and forms complete operation
Track 2.Track element includes sequentially connected first orbital segment 201, the second orbital segment 202, third orbital segment 203 and the 4th rail
Road section 204, the first orbital segment 201, the second orbital segment 202, third orbital segment 203 and the 4th orbital segment 204 are that cross section is in
It is inverted the structure of T shape, the first orbital segment 201 and third orbital segment 203 are the track of straight shape, the first orbital segment 201 and the
Three orbital segments 203 are with certain length and the length direction of the first orbital segment 201 and third orbital segment 203 and first direction phase
In parallel, the first orbital segment 201 is identical with the length scale of third orbital segment 203 and the first orbital segment 201 and third orbital segment 203
Length direction on both ends be aligned respectively, in a second direction, have between the first orbital segment 201 and third orbital segment 203
A certain distance.Second orbital segment 202 and the 4th orbital segment 204 are arc-shaped track, the second orbital segment 202 and the 4th rail
The radian size of road section 204 is identical, and the radian of the second orbital segment 202 and the 4th orbital segment 204 is 180 degree, the second orbital segment 202
It is located in vertical plane with the axis of the 4th orbital segment 204, the axis of the second orbital segment 202 is located at the first of the same track element
The middle position of orbital segment 201 and third orbital segment 203 and the second orbital segment 202 are along first direction towards the first orbital segment
201 and third orbital segment 203 outside protrusion, the 4th orbital segment 204 protrudes in the opposite direction with the second orbital segment 202,
The axis of 4th orbital segment 204 is located at the middle position of the first orbital segment 201 of third orbital segment 203 and adjacent track element
Place.For the same track element, one end on the length direction of one end of the second orbital segment 202 and the first orbital segment 201 connects
It connects, the other end of the second orbital segment 202 is connect with one end on the length direction of third orbital segment 203, the 4th orbital segment 204
One end is connect with the other end on the length direction of third orbital segment 203, the other end of the 4th orbital segment 204 and adjacent track
One end connection on the length direction of first orbital segment 201 of unit.It therefore, is to pass through for two adjacent track elements
4th orbital segment 204 realizes connection.The second all orbital segments 202 is on the same straight line parallel with second direction, institute
The 4th orbital segment 204 having is also on the same straight line parallel with second direction.The running track 2 of this structure, can
So that running gear 3 and sprinkling manipulator 1 and sprinkling executive device thereon are moved to plantation along first direction and second direction
At each position in area, sprinkling on a large scale is realized.
As shown in figures 1 and 3, sprinkling executive device includes jet nozzle 6, the sprinkler head being set on jet nozzle 67, is used for
The explosive box 5 of medical fluid and the spray pump 8 for being delivered to the medical fluid in explosive box 5 in jet nozzle 6 are stored, sprinkler head 7 is arranged
Multiple and all sprinkler heads 7 are sequentially arranged on jet nozzle 6 for the length direction along jet nozzle 6, jet nozzle 6 and sprinkling manipulator
1 connection, spray pump 8 are mounted on running gear 3.Jet nozzle 6 guides medical fluid to each sprinkler head 7, spray for distributing medical fluid
First 7 are spilt for medical fluid to be sprayed to the crop that growing area is planted in greenhouse body.Crop in greenhouse body arranges multirow, each row
All crops are to be sequentially arranged along first direction, and the length direction of jet nozzle 6 is parallel with second direction, and all sprinkler heads 7 are
It is sequentially arranged in a second direction and all sprinkler heads 7 is to be equally spaced on jet nozzle 6.Have inside jet nozzle 6 and accommodates medical fluid
Drainage lumens, jet nozzle 6 is the structure of inner hollow, and sprinkler head 7 is fixedly connected with jet nozzle 6 and sprinkler head 7 is towards jet nozzle 6
Outside stretch out, flow to each sprinkler head 7 into the medical fluid in drainage lumens, sprinkler head 7 is used for medical fluid outside ejection fog-like.
The water inlet of spray pump 8 is connect with water inlet pipe 9, and water inlet pipe 9 is inserted into explosive box 5, and the water outlet of spray pump 8 passes through outlet pipe 10
It is connect with jet nozzle 6.Water inlet pipe 9 is hard tube and outlet pipe 10 is hose, and one end of water inlet pipe 9 and the water inlet of spray pump 8 connect
It connects, the other end of water inlet pipe 9 protrudes into 5 inside of explosive box and can protrude into the bottom of explosive box 5, one end of outlet pipe 10 and spray pump
8 water outlet connection, the other end of outlet pipe 10 and the jet nozzle 6 of lower section connect, after spray pump 8 operates, the medicine in explosive box 5
Liquid enters in spray pump 8 through water inlet pipe 9, jet nozzle 6 is flowed to through outlet pipe 10 into the medical fluid in spray pump 8, finally through spraying
First 7 spray outward.
Preferably, jet nozzle 6 and sprinkling manipulator 1 are detachable connection, facilitate jet nozzle 6 and sprinkling manipulator
Dismounting between 1.Jet nozzle 6 can be mounted on the end effector of sprinkling manipulator 1 by the way of being threadedly coupled, spray head
Frame 6 is to be threadedly coupled with the end effector of sprinkling manipulator 1, correspondingly, the end effector of sprinkling manipulator 1 has interior spiral shell
Pit, jet nozzle 6 have insertion internal thread hole in stud, the axis of the stud and the length direction of jet nozzle 6 it is perpendicular and
Stud is located at the middle position on the length direction of jet nozzle 6, the axis of stud and the axis perpendicular with sprinkler head 7.Spray
Head frame 6 can also be mounted on the end effector of sprinkling manipulator 1 by bolt, and the disassembly of jet nozzle 6 equally may be implemented.
When not needing robot sprinkling system progress spraying operation, such as need to carry out the picking of crop using manipulator, it can be by spray head
Frame 6 is disassembled from sprinkling manipulator 1, then the installation picking executive device on the end effector of sprinkling manipulator 1, so
Picking executive device is carried by manipulator afterwards to move along running track 2, is carried out picking operation, can be made full use of machinery in this way
Hand avoids leaving unused.Spray manipulator 1 have multiple degrees of freedom, sprinkling manipulator 1 can be used for adjusting sprinkler head 7 injection direction and
Spray angle, to improve adaptability and job area for spraying medical fluid to crop at multiple and different positions of crop.
As shown in Figure 1 and Figure 4, sprinkling executive device further includes carrier 4, and explosive box 5 is set on carrier 4, carrying
The adjustable in length and carrier 4 of frame 4 are set on running gear 3.Explosive box 5 is the body structure of inner hollow, and medical fluid is deposited
In the inner chamber body of explosive box 5, the top of explosive box 5 has the supply port that medical fluid is supplemented into explosive box 5 for storage.Explosive box 5 is pacified
On carrier 4, carrier 4 and spray pump 8 are installed on running gear 3, explosive box 5, carrier 4, spray pump 8 and spray
Spilling manipulator 1 can be in company with 3 synchronizing moving of running gear.Preferably, the adjustable in length of carrier 4, carrier 4 is used for
Control explosive box 5 is moved along the vertical direction, to realize the adjusting of the height and position of explosive box 5.It is needing into explosive box 5
When supplementing medical fluid, 4 length of carrier, explosive box 5 drops to lowest position, in order to which operator is into explosive box 5
Supplement medical fluid；When carrying out spraying operation, 4 length of carrier shortens, and to be lifted up explosive box 5, final explosive box 5 is in most
At high position, top of the explosive box 5 substantially with sprinkling manipulator 1 is in sustained height at this time, to avoid influencing to spray manipulator 1
Motion parts movement, obstruction will not be generated.
As shown in Figure 1 and Figure 4, carrier 4 includes guide holder 401, moveable first liter be set on guide holder 401
Drop plate 404 and the second lifter plate 405, the first leadscrew-nut mechanism being connect with the first lifter plate 404, and the first lifter plate 404
With the second leadscrew-nut mechanism of the second lifter plate 405 connection, the connecting rod 410 being connect with the second lifter plate 405, and first
The worm gear 411 of thick stick nut body connection, with the worm screw 412 of the engagement of worm gear 411, the first lifting motor 402 for being connect with worm screw 412
And the second lifting motor 403 connecting with the second leadscrew-nut mechanism, the second lifter plate 405 are located at the first lifter plate 404
Lower section and the second lifter plate 405 is parallel with the first lifter plate 404, explosive box 5 are set in connecting rod 410 and explosive box 5
In the lower section of guide holder 401.First lifter plate 404 and the second lifter plate 405 relative to guide holder 401 be only capable of along the vertical direction into
Row movement, the first lifter plate 404 and the second lifter plate 405 can be moved along the vertical direction.
First leadscrew-nut mechanism includes the first elevating lever 406 being rotatably arranged on guide holder 401 and is set to
The the first lifting nut seat 408 matched on first lifter plate 404 and with the first elevating lever 406, the first elevating lever 406 and first
Lifting nut seat 408 is to be threadedly coupled, and the first lifting nut seat 408 is fixedly connected with the first lifter plate 404, the first lifting nut
Seat 408 has internal thread hole, and the first elevating lever 406 has external screw thread, and the first lifting nut seat 408 is sheathed on the first elevating lever
On 406 and the first elevating lever 406 and the first lifting nut seat 408 constitute worm drive.Second leadscrew-nut mechanism includes that can revolve
Turn the second elevating lever 407 being set on the first lifter plate 404 and be set on the second lifter plate 405 and with the second elevating lever
407 the second lifting nut seats 409 matched, the second elevating lever 407 are to be threadedly coupled with the second lifting nut seat 409, second
Lifting nut seat 409 is fixedly connected with the second lifter plate 405, and the second lifting nut seat 409 has internal thread hole, the second elevating lever
407 have external screw thread, and the second lifting nut seat 409 is sheathed on the second elevating lever 407 and the second elevating lever 407 and second is gone up and down
Nut seat 409 constitutes worm drive, and the second elevating lever 407 is parallel with the first elevating lever 406 and the two is vertically arranged, and second
Lifting motor 403 connect with the second elevating lever 407 and for controlling the rotation of the second elevating lever 407, the setting of the second lifting motor 403
In on the first lifter plate 404.First lifting motor 402 is fixedly installed on guide holder 401, after the operating of the first lifting motor 402,
The rotation of first elevating lever 406, and then drive the first lifter plate 404 and the second leadscrew-nut mechanism, the second lifter plate 405 and drug storage
Case 5, which synchronizes, to be risen or fallen.After the operating of second lifting motor 403, the rotation of the second elevating lever 407, and then drive second liter
Drop plate 405 and explosive box 5 synchronize risen or fallen.The length of first elevating lever 406 is greater than the length of the second elevating lever 407
Degree when the first leadscrew-nut mechanism operates, can make explosive box 5 carry out fast lifting.First leadscrew-nut mechanism and second
Thick stick nut body operates simultaneously, and explosive box 5 can be made to be gone up and down at faster speed, realizes the adjusting of height and position, efficiency
It is higher.
As shown in figure 4, worm screw 412 be it is horizontally disposed, the first elevating lever 406 is vertically arranged, worm screw 412 and first lifting
Motor 402 is fixedly connected, and worm screw 412 is meshed with worm gear 411, and worm gear 411 is matched with worm screw 412 for realizing power biography
It passs, after the operating of the first lifting motor 402, worm screw 412 is rotated around its axis, and worm screw 412 drives worm gear 411 to rotate, worm gear
411 drive the first elevating lever 406 to rotate synchronously, and the first elevating lever 406 drives the first lifter plate 404 along vertical by worm drive
Direction is for linear motion, and the first lifter plate 404 simultaneously drives the second lifter plate 405 and explosive box 5 by the second leadscrew-nut mechanism
It synchronizes and moves up and down, the final adjusting for realizing 5 height and position of explosive box.Due to using the biography of worm gear 411 and the composition of worm screw 412
Motivation structure is driving the first lifter plate 404 and explosive box since worm gear 411 and worm screw 412 match and have self-locking function
It after 5 equal components move up, can prevent explosive box 5 from gliding, without lockable mechanism is separately provided again, improve reliability.
As shown in figure 4, guide holder 401 is mounted on running gear 3 and guide holder 401 and running gear 3 are detachable
Connection, guide holder 401 are equipped with for providing two supports of support to worm screw 412, and two supports are in and 412 axis of worm screw
On parallel same straight line, two supports are located at the same side of the first lifting motor 402, and worm screw 412 is mounted on by bearing
On two supports, support is fixedly connected with guide holder 401.Worm gear 411 is located between two supports, worm gear 411 and the first lifting
The upper end of bar 406 is fixedly connected and worm gear 411 and the first elevating lever 406 are coaxial, and worm gear 411 is meshed with worm screw 412.Connecting rod
410 extend towards the lower section of the second lifter plates 405 and extend downwardly to the outside of guide holder 401, the upper end of connecting rod 410 and the
Two lifter plates 405 are fixedly connected, explosive box 5 be located at the lower section of guide holder 401 and the second lifter plate 405 and explosive box 5 with connect
The lower end of bar 410 connects.Parallel two are arranged in connecting rod 410, and two connecting rods 410 are to be arranged symmetrically, the first elevating lever
406 are located at the middle position of two connecting rods 410, to improve the stability and connection reliability of explosive box 5.
Preferably, the second lifting motor 403 is also provided with two as shown in figure 4, the second leadscrew-nut mechanism is arranged two
A, two the second lifting motors 403 are fixed on the second lifter plate 405 and are located at the inside of guide holder 401, and each second
Lifting motor 403 is connect with the upper end of second elevating lever 407 respectively, and connecting rod 410 is located at two the second elevating levers 407
Middle position, two the second elevating levers 407 are symmetrical, two connecting rods 410 be located between two the second elevating levers 407 and
Each connecting rod 410 is located between second elevating lever 407 and the first elevating lever 406, and setting in this way improves drug storage
Stability when case 5 is gone up and down.Guide holder 401 is equipped with the guide rod for playing the guiding role to the first lifter plate 404 (in figure not
Show), parallel two are arranged in guide rod, and the length direction of guide rod is parallel with the axis of the first elevating lever 406, guiding
Bar is vertically arranged and guide rod extends towards the lower section of guide holder 401, and the first elevating lever 406 is located at the centre of two guide rods
At position, one end of guide rod is fixedly connected with guide holder 401, and the first lifter plate 404 has the upper guiding for allowing guide rod to pass through
Hole, the second lifter plate 405 have allow guide rod to pass through lower pilot hole, the setting of guide rod, improve the first lifter plate 404,
Stability when second lifter plate 405 and explosive box 5 are gone up and down.
In order to guarantee the stroke of explosive box 5, the length setting of the first elevating lever 406 and the second elevating lever 407 it is longer, be
Ensure integrally-built compactedness, avoids the movement of the motion parts to sprinkling manipulator 1 from having an impact, on the explosive box 5
When being raised to extreme higher position, a part of the first elevating lever 406 and the second elevating lever 407 can be made to be accommodated in the inside of liquid reserve tank, together
When be stained with to the first elevating lever 406 and the second elevating lever 407 in order to avoid the medical fluid in liquid reserve tank, preferably, such as Fig. 4 institute
Show, in explosive box 5 be equipped with allow the first elevating lever 406 be inserted into first sleeve 12 and allow the second elevating lever 407 be inserted into second set
Pipe 13, first sleeve 12 and the second casing 13 are vertically arranged and first sleeve 12 and the second casing 13 are round tube, first sleeve
12 and first elevating lever 406 be coaxial arrangement, first sleeve 12 is the tube body of upper end opening, lower end closed and inner hollow, the
The interior diameter of sleeve 12 is not less than the overall diameter of the first elevating lever 406, and the upper end of first sleeve 12 and the roof of explosive box 5 connect
It connects and first sleeve 12 extends downward into the inner chamber body of explosive box 5, upper end opening the first elevating lever of direction of first sleeve 12
406, the first elevating lever 406 can be downwardly into first sleeve 12 through the upper end opening of first sleeve 12 and neutralize from first sleeve 12
The inner chamber body of middle extraction, first sleeve 12 is not connected to the inner chamber body of explosive box 5, and the medical fluid in explosive box 5 will not enter first
In the inner chamber body of casing 12, so that medical fluid will not be stained on the first elevating lever 406, the effect of first sleeve 12 be exactly for
The first elevating lever 406 is isolated with the medical fluid in explosive box 5 when rising for explosive box 5.Equally, the second casing 13 and the second elevating lever
407 also for coaxial arrangement, the second casing 13 be upper end opening, lower end closed and inner hollow tube body, the second casing 13 it is interior
Diameter is not less than the overall diameter of the second elevating lever 407, and the upper end of the second casing 13 is connect with the roof of explosive box 5 and the second casing
13 extend downward into the inner chamber body of explosive box 5, and the upper end opening of the second casing 13 is gone up and down towards the second elevating lever 407, second
Bar 407 can be downwardly into the neutralization of the second casing 13 through the upper end opening of the second casing 13 and extract out from the second casing 13, and second
The inner chamber body of casing 13 is not connected to the inner chamber body of explosive box 5, and the medical fluid in explosive box 5 will not enter the inner cavity of the second casing 13
In body, to will not be stained with medical fluid on the second elevating lever 407, the effect of the second casing 13 is exactly for rising in explosive box 5
When the second elevating lever 407 is isolated with the medical fluid in explosive box 5.Second casing 13 is arranged two, and each second elevating lever 407 divides
Cha Ru not be in second casing 13, first sleeve 12 is arranged one, and first sleeve 12 is located at the centre of two the second casings 13
At position.
In explosive box 5 be equipped with allow guide rod be inserted into third casing (not shown), third casing be vertically arranged and
Third casing is round tube, and third casing and guide rod are coaxial arrangement, and third casing is in upper end opening, lower end closed and inside
Empty tube body, the interior diameter of third casing are not less than the overall diameter of guide rod, and the upper end of third casing and the roof of explosive box 5 connect
It connects and third casing extends downward into the inner chamber body of explosive box 5, the upper end opening of third casing is towards guide rod, guide rod energy
Enough upper end openings through third casing are downwardly into the neutralization of third casing and extract out from third casing, the inner chamber body of third casing with
The inner chamber body of explosive box 5 is not connected to, and the medical fluid in explosive box 5 will not enter in the inner chamber body of third casing, thus on guide rod
Will not be stained with medical fluid, the effect of third casing be exactly for when explosive box 5 rises by the medical fluid in guide rod and explosive box 5
Isolation.
As shown in Figure 1 and Figure 5, running gear 3 including walking basal seat 301, driving wheel 304 and is set to walking basal seat 301
Above and for controlling the driving mechanism that driving wheel 304 is rotated, driving wheel 304 is arranged two and driving wheel 304 is cylindrical body,
The periphery of driving wheel 304 is in contact with running track 2, and the axis of driving wheel 304 is located in horizontal plane, two driving wheels 304
For coaxial arrangement and running track 2 is located between two driving wheels 304, and running track 2 has to be contacted with two driving wheels 304
Contact surface, the contact surface are positioned at the horizontal plane of 304 lower section of driving wheel, and driving mechanism is for providing driving force, 304 edge of driving wheel
Running track 2 roll, and then realize running gear 3 moved along running track 2.Walking basal seat 301 is located at operation rail
The lower section in road 2, driving mechanism are connect with walking basal seat 301 and driving wheel 304, and two and each driving mechanism is arranged in driving mechanism
It is connect respectively with a driving wheel 304, two driving mechanisms are respectively used to one driving wheel 304 of control and are rotated.Walking bottom
Seat 301 is suspended in running track 2 by driving wheel 304, and carrier 4 is mounted in walking basal seat 301, the guiding of carrier 4
Seat 401 is connect with walking basal seat 301, and spray pump 8 is mounted in walking basal seat 301, sprays top and the walking basal seat of manipulator 1
301 bottom is fixedly connected and sprays manipulator 1 and is mounted in walking basal seat 301 in suspension type.
As shown in figure 5, driving mechanism is mainly made of driving motor 302 and retarder 303, driving motor 302 and subtract
Fast device 303 is to be fixedly mounted on the top surface of walking basal seat 301, and retarder 303 plays the role of deceleration increment, retarder 303
Input shaft be fixedly connected with the motor shaft of driving motor 302, the output shaft of retarder 303 is fixedly connected with driving wheel 304, row
It walks pedestal 301 and is equipped with the bearing block 305 provided a supporting role for the output shaft to retarder 303, the setting of bearing block 305 two
A, two driving wheels 304 are located between two bearing blocks 305, and driving motor 302 operates, and generate driving force, and then make driving wheel
304 are rotated, and running gear 3 drives sprinkling executive device and sprays that manipulator 1 is synchronous is moved along running track 2,
To carry out spraying operation to each growing area.
Running gear 3 uses bilateral power drive, i.e., is provided with driving motor 302 in 2 two sides of running track and provides
Driving force, this ensure that enough power, and guarantee the balance in straight-line travelling, when excessively curved, such as pass through operation
When the second orbital segment 202 of track 2 and four orbital segments 204, the revolving speed for controlling two driving motors 302 by controller is different,
So that two driving wheels 304 generate differential effect, it is curved to realize.
The present invention is exemplarily described in conjunction with attached drawing above.Obviously, present invention specific implementation is not by above-mentioned side
The limitation of formula.As long as using the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out；Or not
It is improved, above-mentioned conception and technical scheme of the invention are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (10)
1. utilizing the greenhouse spray method of robot spray, which is characterized in that using robot sprinkling system, and comprising steps of
The running gear drive of S1, robot sprinkling system spray manipulator and are moved to growing area along running track, and sprinkling is mechanical
Hand is mounted in running track in suspension type；
The sprinkling executive device sprinkling medical fluid of S2, robot sprinkling system, it is mechanical on hand that sprinkling executive device is set to sprinkling.
2. the greenhouse spray method according to claim 1 to be sprayed using robot, the running track are located in greenhouse
The top of growing area, running track include the track element of S-shaped, and track element is at least provided with two.
3. the greenhouse spray method according to claim 1 or 2 to be sprayed using robot, which is characterized in that the sprinkling
Executive device includes jet nozzle, the sprinkler head being set on jet nozzle, the explosive box for storing medical fluid and is used for explosive box
In medical fluid be delivered to the spray pump in jet nozzle, sprinkler head setting is multiple and all sprinkler heads on jet nozzle for along jet nozzle
Length direction be sequentially arranged, jet nozzle is connect with the sprinkling manipulator.
4. the greenhouse spray method according to claim 3 to be sprayed using robot, which is characterized in that all sprinklings
Head is equally spaced on the jet nozzle.
5. the greenhouse spray method according to claim 3 or 4 to be sprayed using robot, which is characterized in that the sprinkling
The water inlet of pump is connect with water inlet pipe, and water inlet pipe is inserted into the explosive box, the water outlet of spray pump by outlet pipe with it is described
Jet nozzle connection.
6. according to any greenhouse spray method to be sprayed using robot of claim 3 to 5, which is characterized in that described
Jet nozzle and the sprinkling manipulator are detachable connection.
7. according to any greenhouse spray method to be sprayed using robot of claim 3 to 6, which is characterized in that described
Spraying executive device further includes carrier, and the explosive box is set on carrier, the adjustable in length and carrier of carrier
It is set on the running gear.
8. the greenhouse spray method according to claim 7 to be sprayed using robot, which is characterized in that the carrier packet
The for including guide holder, movably the first lifter plate for being set on guide holder and the second lifter plate, being connect with the first lifter plate
One leadscrew-nut mechanism, the second leadscrew-nut mechanism connecting with the first lifter plate and the second lifter plate connect with the second lifter plate
The connecting rod that connects, the worm gear being connect with the first leadscrew-nut mechanism, with the worm screw of worm gear engagement, first going up and down of being connect with worm screw
Motor and the second lifting motor being connect with the second leadscrew-nut mechanism, the second lifter plate be located at the lower section of the first lifter plate and
Second lifter plate is parallel with the first lifter plate, and the explosive box is set in connecting rod and explosive box is located under guide holder
Side.
9. the greenhouse spray method according to claim 8 to be sprayed using robot, which is characterized in that first lead screw
Nut body include the first elevating lever being rotatably arranged on the guide holder and be set on first lifter plate and
The the first lifting nut seat matched with the first elevating lever, the first elevating lever and the first lifting nut seat constitute worm drive, institute
It states worm gear to be fixedly connected with the upper end of the first elevating lever, second leadscrew-nut mechanism includes being rotatably arranged on first liter
The second lifting nut for dropping the second elevating lever on plate and being set on second lifter plate and being matched with the second elevating lever
Seat, the second elevating lever and the second lifting nut seat constitute worm drive.
10. the greenhouse spray method according to claim 9 to be sprayed using robot, which is characterized in that described second
Thick stick nut body is arranged two, is equipped with the first sleeve for allowing first elevating lever to be inserted into the explosive box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810860149.5A CN109006766A (en) | 2018-08-01 | 2018-08-01 | The greenhouse spray method to be sprayed using robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810860149.5A CN109006766A (en) | 2018-08-01 | 2018-08-01 | The greenhouse spray method to be sprayed using robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109006766A true CN109006766A (en) | 2018-12-18 |
Family
ID=64647218
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810860149.5A Withdrawn CN109006766A (en) | 2018-08-01 | 2018-08-01 | The greenhouse spray method to be sprayed using robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109006766A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113179818A (en) * | 2021-04-21 | 2021-07-30 | 宁波市鄞州区农业技术推广站 | Humidification sprayer for seedling raising chamber |
| CN113228866A (en) * | 2021-05-18 | 2021-08-10 | 华南农业大学 | Track suspension type multifunctional orchard mechanical device |
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| JPH09252660A (en) * | 1996-03-22 | 1997-09-30 | Daisen:Kk | Control and raising device for greenhouse |
| ES1054053U (en) * | 2003-02-17 | 2003-06-16 | De Los Riscos Romero Jose Mari | Device electrostatic application of agrochemicals. (Machine-translation by Google Translate, not legally binding) |
| CN102017938A (en) * | 2010-10-19 | 2011-04-20 | 中国农业大学 | Greenhouse suspended self-propelled target-oriented sprayer system and operation method thereof |
| KR20110130632A (en) * | 2010-05-28 | 2011-12-06 | 신요섭 | House farm management mist generating device |
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| CN207075305U (en) * | 2017-08-15 | 2018-03-09 | 潜山县思迈农业科技有限公司 | A kind of green house of vegetables for facilitating dispenser |
| CN207172473U (en) * | 2017-08-01 | 2018-04-03 | 芜湖市飞祥泡沫制品有限公司 | Foamed plastics mixing plant |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09252660A (en) * | 1996-03-22 | 1997-09-30 | Daisen:Kk | Control and raising device for greenhouse |
| ES1054053U (en) * | 2003-02-17 | 2003-06-16 | De Los Riscos Romero Jose Mari | Device electrostatic application of agrochemicals. (Machine-translation by Google Translate, not legally binding) |
| KR20110130632A (en) * | 2010-05-28 | 2011-12-06 | 신요섭 | House farm management mist generating device |
| CN102017938A (en) * | 2010-10-19 | 2011-04-20 | 中国农业大学 | Greenhouse suspended self-propelled target-oriented sprayer system and operation method thereof |
| CN204888466U (en) * | 2015-07-23 | 2015-12-23 | 乌鲁木齐市牧丰伟业农业机械制造有限公司 | Wind send spray lance formula sprayer |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113179818A (en) * | 2021-04-21 | 2021-07-30 | 宁波市鄞州区农业技术推广站 | Humidification sprayer for seedling raising chamber |
| CN113228866A (en) * | 2021-05-18 | 2021-08-10 | 华南农业大学 | Track suspension type multifunctional orchard mechanical device |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181218 |
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| WW01 | Invention patent application withdrawn after publication |