CN112753412A - Machine structure of box-type lifting planting robot - Google Patents
Machine structure of box-type lifting planting robot Download PDFInfo
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- CN112753412A CN112753412A CN201911027477.8A CN201911027477A CN112753412A CN 112753412 A CN112753412 A CN 112753412A CN 201911027477 A CN201911027477 A CN 201911027477A CN 112753412 A CN112753412 A CN 112753412A
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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
- A01G9/02—Receptacles, e.g. flower-pots or boxes; Glasses for cultivating flowers
- A01G9/022—Pots for vertical horticulture
- A01G9/023—Multi-tiered planters
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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
- A01G27/00—Self-acting watering devices, e.g. for flower-pots
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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
- A01G27/00—Self-acting watering devices, e.g. for flower-pots
- A01G27/003—Control of self-acting watering devices
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Abstract
The machine structure of the box type lifting planting robot. A compact planting device which is constructed based on digitization and according to vertical layering and geography thought and fully utilizes ground, sunlight, air heat energy and space resources is a mechanical mechanism of a small-sized planting robot and constructed in a modular mode, a base, a rack and a planting disc are basic constituent modules of the device, and a lifting mechanism, a water and fertilizer system and an intelligent control system are subordinate mechanisms of the device; the intelligent planting device mainly comprises a base, a water tank, a water tray, a rack, a planting tray, a lifting mechanism, an irrigation system, a power mechanism, a basic mechanism of an intelligent control system and the like. The base is arranged on the ground, and the frame is arranged on the base; the frame is a bearing frame of a planting tray, a water tray, a lifting mechanism, an irrigation system, an intelligent control system and the like; the vertical rod is fixed on the base bottom plate, the movable frame is arranged on the upper portion of the three-dimensional frame, the movable frame is arranged on the vertical rod through a connecting mechanism, and the vertical rod can be provided with a plurality of layers of fixed frames and movable frames.
Description
Technical Field
The technology belongs to the field of machinery, and relates to a planting machine for facility agriculture, in particular to intelligent planting equipment based on digitization.
Technical Field
Intelligent and efficient planting has become a trend of agricultural development, and planting production modes represented by facility agriculture have shown strong market advantages and development potentials, and make remarkable contribution to meeting the ever-increasing pursuit of people for good life. Of course, besides small scale and limited productivity, the current facility agriculture has the defects of large monomer quantity, large monomer occupied area, long ground occupation time in the early growth stage of plants, low space utilization rate and the like, and can not flexibly distribute points and fully utilize small-area ground or small-quantity space.
The planting robot is intelligent planting equipment based on facility agriculture, and is compact planting equipment which is constructed according to vertical layering and geographic idea and fully utilizes ground, sunlight, air heat energy and space resources. The intelligent, three-dimensional and small-size planting robot can not only solve the defects, but also walk into families with intelligence, small size and simple operation, and can combine agricultural planting with public leisure and even daily life, so that the life is full of vitality, convenience and interest, and people enjoy the rural life in the downtown of a building.
The robot can fully utilize scattered space of production and life of people, can plant in small scale, and can be integrated into an array type large-scale farm.
The robot forms a plant growth foundation by matching high-quality seedlings, high-saturation agricultural fertilizers and special soil; the mode of existence of taking a vertically arranged planting disc and corresponding movable soil (flying field for short) as a land parcel; the intelligent facility agriculture mode most beneficial to plant growth is formed by timely and accurately carrying out operations of watering, fertilizing, pesticide applying, sunlight adjusting, artificial light supplementing, ventilating, pest control, harvesting reminding and the like by a digital control means.
The method is characterized in that the method of land migration is adopted, plants can obtain two or more different environments which are more suitable for growth on the same land, namely, the land is migrated to the environment which is most suitable for plant growth according to the age, and resources such as the ground, the space, the sunlight, the air temperature and the like are utilized according to the optimal scheme, so that the agricultural yield is maximized, and the goal of scientific and efficient agriculture is achieved.
The planting robot is constructed in a modular mode, a base, a rack and a planting disc are basic building modules of the planting robot, and a lifting mechanism, a water and fertilizer system and an intelligent control system are subordinate mechanisms of the planting robot; after the basic module is matched with one or more subordinate mechanisms, the planting robots in various modes can be constructed so as to adapt to the field and artificial requirements.
The invention relates to a machine part of a lifting planting robot, namely a planting machine (machine for short) capable of being manually controlled is constructed, and other intelligent control parts of the related robot, corresponding hydroelectric system, soil parts of related planting technology, cultivation technology and the like are not listed in the application and are described separately.
Technical scheme
The machine mainly comprises a base, a water tank, a water tray, a frame, a planting tray, a lifting mechanism, an irrigation system, a power mechanism, a basic mechanism of an intelligent control system and the like (figure 1). The base is placed on the ground and is a base of the planting robot; the water tank is arranged under the base and is mainly used for collecting and accumulating accumulated water drained by the planting disc for reuse.
The frame is a rigid frame arranged on the base and is a bearing frame of a planting tray, a water tray, a lifting mechanism, an irrigation system, an intelligent control system and the like; the device mainly comprises a rigid three-dimensional frame consisting of a fixed disc, a top disc and a vertical rod, wherein the lower end of the vertical rod is fixedly arranged on a base bottom plate, a movable frame is arranged at the upper part of the three-dimensional frame, and the movable frame is arranged on the vertical rod through a connecting mechanism (a lifting driving mechanism or a sliding auxiliary mechanism); the vertical rod can be provided with a plurality of layers of fixed frames and movable frames.
The planting disc is a placing frame of the flying soil and is divided into a fixed planting disc (a fixed disc for short) and a movable planting disc (a movable disc for short), the fixed disc is fixedly arranged on the fixed frame at the lower part of the rack, and the movable disc is arranged on the movable frame at the upper part of the rack; the movable disc follow-up frame moves up and down along the vertical rod, and the movable disc and the fixed disc are vertically arranged in multiple layers, so that a three-dimensional space is fully utilized.
The water tray is arranged on the top of the frame and is a water tank (called water tray for short) for storing irrigation water, the water level indicator is arranged on the bottom of the water tray, and an observation window made of transparent material is arranged on the wall of the water tray and is used for manually observing the water level; the lifting mechanism is a mechanism which is arranged on the frame and used for lifting the movable disc, and the movable disc is lowered or lifted through the movable frame; the information mechanism reflecting the current position of the lifting mechanism is arranged on the upright rod;
the irrigation system is a mechanism for watering the planting tray, and the irrigation water of the water tray is injected into the planting tray.
The power and intelligent control system is a distributed system (although the invention does not relate to the specific content of the intelligent control system, some intelligent mechanisms need to be installed or reserved with installation positions when the machine is constructed), and mainly comprises an information system, a power control system and the like of the intelligent mechanism, wherein the intelligent mechanism instructs the control system to control a power mechanism circuit according to the existing operation logic and the feedback data of the information system, so that the power mechanism generates actions meeting the requirements.
A base. The base is a rigid box, and the rack is arranged on the base; the base is provided with an adjusting bolt (figure 4) for leveling the base. When the scheme of supplying water from bottom to top (direct irrigation mode for short) is adopted, water supply equipment is required to be installed on the base, and the water supply equipment comprises a tap water valve, a water tank valve, a sprinkling irrigation selective valve, a seepage pipe, a spray pipe, a sprinkling irrigation selective valve, an infiltration irrigation selective valve and other power equipment.
A water tank. The water tank is a water storage box fixedly connected below the base and used for receiving accumulated water drained by the upper planting plate; a water pump (a water tank pump) for reusing accumulated water and a water level sensor (a lower water mark for short) for detecting the water level of the water tank are arranged in the water tank; meanwhile, a sleeve through which the adjusting bolt penetrates is arranged on the water tank, so that the adjusting bolt is separated from accumulated water, and leakage is prevented.
The water mark is a sensor for detecting the water level of the water tank on the robot. When the water tank is full of water, the lower water level sends a water full signal to the intelligent control system, and the water tank is firstly extracted for water storage during irrigation; when the water tank is empty or has less water storage, the water discharging marker sends out a water-less signal to the intelligent control system, and the water tank is not used for water storage during irrigation.
The water tank can be combined with the base together to form a box which can collect accumulated water drained by the planting tray and can bear the upper machine mechanism.
And a frame. The frame mainly comprises an upright pole and a horizontal frame (namely a plane frame) to form a three-dimensional frame. The lower end of the vertical rod is fixedly connected to the base, the lower part of the vertical rod is fixedly provided with a frame (namely a fixed frame, which can be provided with multiple layers) of the planting disc, the middle part of the vertical rod is provided with a movably connected frame (namely a movable frame, which can be provided with multiple layers) of the planting disc, and the top part of the vertical rod is fixedly provided with a frame (namely a top frame) of the irrigation water storage disc (called a water disc for short); the movable frame and the fixed frame are used for mounting the planting tray, and the top frame is used for mounting the water tray. The roof rack can be eliminated when the irrigation system is arranged outside the frame and the vertical rod has enough strength and bending resistance.
And (5) planting a disc. The planting tray is a box-shaped body constructed according to the shape of the rack, mainly comprises a bottom plate and side walls (for example, as shown in figure 1, the planting tray is surrounded by the bottom plate and front, rear, left and right vertical walls), and is a space for accommodating a flying ground; the planting disc is divided into a fixed planting disc (a fixed disc is simply called as a chassis in the figure 1) and a movable planting disc (a movable disc), the fixed disc is arranged on a fixed frame (namely an underframe in the figure 1), and the movable disc is arranged on a movable frame;
the air permeable plate is a pore plate erected on the bottom plate and is an interlayer space (an interlayer for short) constructed for improving the air permeability of the soil in the ground and accumulating irrigation water; the bottom plate and the ventilation plate can be provided with reinforcing ribs to enhance the integral rigidity of the plate surface;
information mechanisms such as a water level monitor (water scale for short) of an intelligent control system are arranged on the bottom plate of the planting tray, and information basis is provided for intelligent irrigation of the robot; the interlayer is provided with a water accumulation discharger (drainage pump for short) and a respirator.
In order to adjust the space between the planting plates and facilitate manual management (adjusting the height of the planting plates), the upper planting plate is designed into a movable plate with the height capable of being adjusted up and down; by adjusting the heights of the two adjacent planting plates, the illumination incidence angle of the plants at the rear part (backlight side) of the planting plates can be adjusted. If the planting plates of the built machine are spaced sufficiently, the movable plates are not meaningful to adjust, so that all the planting plates can be set as fixed plates.
The interlayer of the planting tray mainly aims to wet the flying land and temporarily store irrigation accumulated water in a bottom-up permeation and soaking mode, and facilitate concentrated discharge afterwards, and if the irrigation mode of spraying from top to bottom is adopted or the accumulated water is not required to be discharged in a concentrated mode, the bottom plate can be replaced by the ventilating plate, so that the planting tray which is free of the interlayer and capable of naturally discharging water (leaking water) and ventilating is formed.
The main purpose of the stiffening rib of the ventilation plate is to enhance the plate surface rigidity and the bearing capacity of the ventilation plate, if the lower part of the stiffening rib is fixedly connected with the bottom plate, a composite plate with a two-plate rib-clamping structure can be formed, and the composite plate not only has the functions of the interlayer, the bottom plate and the ventilation plate, but also enhances the overall rigidity and the bearing capacity.
As for the overall rigidity of the components, if the bottom plate of the planting tray has higher rigidity, the mounting frame can be omitted, namely, the corresponding functions of the mounting frame are transferred to the bottom plate, so that the fixed frame and the movable frame are eliminated, the fixed tray bottom plate is directly connected by the upright rods, and the movable tray bottom plate is used for mounting the lifting mechanism. Corresponding to the problem of eliminating the mounting frame, the mounting frame is a supporting frame of the planting disc, so that the planting disc can be divided into a plurality of independent sections (disc sections for short), and each disc section moves along with the flying ground, thereby being more beneficial to plant growth; the sections can be connected by pipelines, and water and air are communicated with each other.
A respirator is provided. The respirator is a ventilation mechanism (figure 8) arranged in the interlayer and is a gateway for controlling the interlayer space to be communicated outwards; the respirator mainly comprises a left valve, a right valve, a synchronizing rod, a power mechanism and the like, wherein the left valve and the right valve are respectively arranged on wall plates at two sides of the planting disc, the middle of two opposite breathing ports is communicated with an interlayer space, and the blockage in the breathing ports is simultaneously opened and closed (the blockage on the breathing ports of the respirator is called blockage for short); according to the air exchange requirement, a plurality of respirators can be arranged, so that the interlayer is provided with a plurality of air inlets and air outlets, and the air exchange amount is increased; when the two valves are opened, the channel of the valve body is connected with the interlayer to form a channel for air circulation; when the two valves are closed, the breathing ports at the two ends are blocked and closed, so that the interlayer forms a closed space; during irrigation, the two valves are closed, and gradually occupy the interlayer space along with the increase of water in the interlayer (the irrigation pipe is inserted into the interlayer), so that air in the interlayer permeates the flying-ground soil upwards, and the air content of the soil is increased. If the positive and negative circuits of the motor are connected out and changed into a limit switch circuit, the respirator can also be manually controlled.
And (5) water quantity marking. The water volume scale is a water level sensor arranged on the bottom plate of the planting tray and used for providing current water level information of the planting tray for an intelligent mechanism of the robot so as to control the system to decide the starting time of the respirator and the accumulated water discharger.
The accumulated water discharger (drainage pump for short) can adopt a commodity valve or a drainage pump, the drainage pump is arranged on the bottom plate of the planting disc, and the drainage pipe of the drainage pump penetrates through the bottom plate of the planting disc to discharge accumulated water; when the water content in the interlayer or the flying field is excessive or the storage time of irrigation water exceeds the limit value, the drainage pump is started to drain water, so that the interlayer can return to the air layer state. The pipe orifice of the drain pipe of the drain pump extends to the edge of the planting disc, and accumulated water is drained into the water tank for storage.
In the intelligent control system, an execution mechanism controls the drainage pump to be turned on or off through a power supply, and the control basis is water volume scale information; under the condition of manual control, the information of the observation window can be closed or opened in time, and meanwhile, a circuit controlled by a mechanical switch is additionally arranged.
Lifting system/lifting mechanism. The lifting system mainly comprises a running power mechanism and a position information mechanism on the upright post, the lifting mechanism drives the planting disk (namely a moving frame) to slide up and down along the upright post of the rack, the position information mechanism feeds back the current position information of the planting disk to the intelligent control system, and the intelligent control system decides the next step of action of the lifting mechanism according to the position information.
The machine has optional lifting mechanism comprising rack and pinion mechanism, screw nut mechanism, chain wheel, rope drawing mechanism, etc.
The lifting mechanism (figures 2 and 6) of the rack-and-pinion pair is characterized in that a rack is arranged on a stand rod of a rack, a gear and a power motor are arranged on a movable frame, and the gear and the rack form a mechanical pair; the gear is driven by a power motor to crawl along the rack; the front side surface and the rear side surface of the rack are respectively provided with two gear mechanical pairs, two gears on the same side surface are arranged on the same transmission shaft, and the power of the motor drives the transmission shaft on the front side surface through the speed change mechanism; a synchronous belt transmission mechanism and a reverse mechanism are arranged between the front transmission shaft and the rear transmission shaft to transmit power, so that the rear transmission shaft and the front transmission shaft are in constant speed and reverse; the gears on the front side face and the rear side face synchronously climb in the same speed and direction along the racks, and the electric movable frame stably moves up and down.
A speed change mechanism is arranged between the output gear and the motor, and if the speed change mechanism is provided with an output locking mechanism (or structure) or the motor is provided with a brake mechanism, the locking mechanism specially provided with the output gear can be omitted; otherwise, a special locking mechanism is required to be added to ensure that the vehicle does not slide when the planting tray is parked.
In a screw-nut pair lifting mechanism (figure 3), a screw is arranged in parallel with an upright column, a nut and a power motor are arranged on a movable frame (the nut can rotate), the nut and the screw form a lifting mechanical pair (a screw-nut pair for short), two ends of the screw are respectively and fixedly arranged on a fixed frame and a top frame (or can be arranged on an upright rod), and the nut can rotate; under the drive of a motor, the rotating nut generates thrust on the fixed screw rod to reversely push the screw rod to lift; four lead screw nut pairs are arranged on the front side and the rear side of the rack, and the four lead screw nuts synchronously rotate under the driving of the synchronous belt transmission mechanism to synchronously push the movable frame to stably lift.
Similar to the positioning principle of a rack-and-pinion mechanism, if the thread slope of the adopted lead screw is larger than the self-locking angle, a special mechanism is required to be additionally arranged to lock the nut.
The chain wheel and rope traction mechanism (chain rope mechanism for short) is a mechanism for lifting the planting disc in a flexible member (rope or chain) traction manner (the two are similar in structure and discussed in a merged manner), and mainly comprises a winding mechanism, a power motor, a locking mechanism, a chain or rope, a movable frame connecting member, a balance weight, a plane constraint member and the like which are arranged on a top frame (figure 7); the lower end of the flexible member is connected with the movable frame through a connecting member, the upper part of the flexible member is connected with the winding-up mechanism to obtain traction power, and the winding-up power is transmitted to the movable frame through the flexible member to enable the movable frame to generate lifting motion; the front side and the rear side of the frame are respectively provided with a chain cable mechanism which can synchronously lift or put down the movable frame.
After the planting tray is in place, the locking mechanism locks the power output mechanism or the motor to prevent the carriage from moving under the action of the gravity of the planting tray and the mechanism; the plane constraint component is a component (or mechanism) which slides up and down along the vertical rod of the machine frame on the movable frame and is used for constraining the plane displacement freedom degree of the movable frame relative to the machine frame.
The lifting control of the movable frame of the machine related to the intelligent robot is implemented according to the position information of the movable frame, and the position information of the movable frame can be generated in various ways; the main purpose of lowering the movable frame is to facilitate manual management and defend against strong wind, and the main purpose of raising the movable frame is to enlarge the sunlight irradiation range of the lower-layer dead weight plate, so that only an upper information mechanism and a lower information mechanism are needed; the vertical rods of the machine are respectively provided with an upper information mechanism and a lower information mechanism corresponding to the parking of the planting plate, so that the lifting of one planting plate can be effectively controlled; when a plurality of planting discs are arranged, each disc is provided with a corresponding position information mechanism; when the movable frame slides to the position, the information mechanism is triggered to generate position information and feed the position information back to the intelligent system; the intelligent system makes a decision according to the position information and instructs the executing mechanism to stop or start.
If single-phase motor is used as power, it is only necessary to change the forward and reverse circuit into a mechanical switch control circuit, and manual control can be implemented.
An irrigation system. The irrigation system is a distribution system and mainly comprises subsystems and mechanisms distributed at different positions, and mainly comprises a water tank, a direct irrigation system, a water feeding pipe mechanism, a water tray, a downward self-flowing irrigation system and the like, and can be divided into a direct irrigation mode for directly injecting water sources upwards into the planting tray and a self-flowing mode for guiding water from the water tray downwards into the planting tray according to the water flow direction during irrigation.
When the direct irrigation mode is adopted, automatic control needs to be realized by means of the water quantity mark in the planting disc, namely when the water level line in soil around the water quantity mark reaches a preset value, the water quantity mark generates a feedback signal that the planting disc is full of water, and the intelligent control system turns off the water source according to the signal; or digital metering equipment (such as a water meter with a digital information feedback function) can be additionally arranged on the water supply pipe to feed back water supply information to the intelligent control system in real time, and when the irrigation amount reaches a preset value, the control system cuts off water supply; however, the wetting soil has hysteresis, which often causes the condition of less irrigation water; the water tray irrigation mode is similar to direct pumping irrigation, whether the irrigation water quantity reaches the standard is judged by only depending on water supply quantity information or water level mark information, deviations exist, and reasonable irrigation can be realized only by comprehensively judging by using an intelligent system.
As can be seen from the above and fig. 1 and 5, the irrigation system in the self-flowing mode mainly comprises a water supply pipe of a water source, a water tray, an irrigation pipe, a control valve, a water level indicator and a control mechanism; the water tray is arranged at the top of the machine, and various planting trays use the water tray in time; when the water tray is special, the water tray is correspondingly arranged above each planting tray and is special for the planting trays below the water tray.
The irrigation system is arranged outside the frame, and water is upwards guided by the base and is injected into the water tray; the irrigation pipe is led out from the bottom plate of the water tray and is provided with a branch pipe, and an irrigation valve is arranged on the branch pipe; the branch pipe conveys water into the planting tray; when the water tray common mode is used for metering irrigation, irrigation branch pipes need to be gated by the irrigation valves, namely only the irrigation valves of the branch pipes corresponding to the planting trays to be irrigated are gated, the stop valves of the irrigation pipes corresponding to the other planting trays are stopped, and the water tray only serves the currently gated planting tray in the period. When the irrigation system is arranged outside the frame, the water tray can be eliminated or replaced by a fixed tray.
Valves used in irrigation systems are all normally closed stop valves (for short, stop valves); on the robot, the opening and closing of the stop valve are realized by a mode of controlling a circuit to supply power or cut off a power supply according to sensor information and the operation logic of the intelligent bag mechanism; if manual control is carried out, only a circuit controlled by a mechanical switch needs to be contacted.
A water tray. The water tray is a water container arranged on the top frame of the machine, is a facility for extracting and storing the stored water or tap water of the bottom water tank, and is also a measuring tool for supplying water and irrigating by taking the capacity of the tray as a measuring unit.
The water tray is constructed (figure 5) in a way similar to the planting tray, and a box with an upper opening is formed by surrounding a bottom plate and four walls; a water level sensor (water level mark for short) is arranged at the bottom of the box, and the real-time water level value is monitored and fed back to the intelligent control system; arranging an outlet of an irrigation pipe on the bottom plate or the side wall, and irrigating the planting disc through the irrigation pipe; the water supply pipe for supplying water from bottom to top is arranged on the outer wall of the water tray, and the pipe orifice of the water supply pipe is higher than the water tray and injects water into the water tray.
The wall of the water tray can be provided with an observation window by transparent materials, and the water level of the water tray can be observed manually.
When the water in the water tray reaches the upper limit of the water level (full) or the preset water level (not full), the intelligent system instructs the control system to cut off the water supply circuit (to electrify the normally open stop valve and to deenergize the normally closed stop valve) according to the feedback information of the water level indicator, and then closes the water supply valve; when a certain planting disc is irrigated by the specified water amount, the irrigation amount can be measured by adopting a water level control mode.
When the water level control (non-whole-tray water volume) mode is preset, the water is stopped when the water is filled to the water tray to reach the preset water level, and then the whole water volume is supplied to the selected planting tray. The whole water tray can be filled with water first and then the water is discharged for irrigation, wherein the real-time irrigation amount is the upper water level descending amount (used during manual control), or the difference value obtained after the current water level value is subtracted from the full water height value is used as the irrigation amount (used during intelligent control).
If the area of the water tray is large, a part of area of the water tray can be divided to be used as the planting tray on the premise of ensuring the water consumption of the planting tray.
A power system and a control system. The power system is a power mechanism which generates actions on the machine, is distributed at different positions of the machine according to functional requirements, and mainly comprises a water supply valve, an irrigation valve, a breather, a drainage pump, a lifting mechanism power and the like which are controlled by an intelligent control system; the water supply valve controls tap water to supply water to the water tray and directly injects water to the planting tray for irrigation; the irrigation valve is used for gating the irrigation branch pipe and irrigating the gated planting tray; the respirator usually opens the breathing port to communicate the interlayer air with the outside; when the planting disc is irrigated, the breathing hole is blocked, so that the interlayer becomes a closed space; the drainage pump is used for draining accumulated water in the interlayer and the soil to fill the interlayer with air; the lifting mechanism (the power on the movable frame can be accessed by a flexible cable) is used for lifting the planting tray. Because the intelligent control system realizes the machine action by controlling the circuit of the power mechanism, the power system can be additionally provided with a circuit for manually controlling the electric mechanism to implement manual control and forced execution.
The artificial light supplementing mechanism belongs to a non-moving power mechanism, an electronic light source is additionally arranged above a planting plate (can be arranged on a bottom plate of an upper planting plate and a bottom plate of a water plate), and the electronic element is used for emitting light to irradiate plants so as to promote the growth of the plants.
On the machine, a control system mainly comprises an intelligent system (arithmetic unit), a matching circuit, a control circuit of an execution mechanism, an information mechanism and the like, wherein the information mechanism is used for collecting state information of the planting disc and the plants, and the intelligent system makes a decision according to the information of the information mechanism and instructs the execution mechanism to complete a preset action.
Drawings
FIG. 1: this figure is a perspective schematic view of the machine. For clearly describing the relationship among the systems, the front panel of the planting tray is cut away for description.
Base: in the drawings, 1 represents a chassis; 1.1 represents an adjusting bolt; 1.2 represents a water leakage hole; 1.3 represents a chassis base plate; 1.4 represents a side wall; 2 represents a water tank; 3 represents a vertical rod; 4, a fixed frame (only 2 layers of planting plates are arranged in the figure, so the fixed frame is called as an underframe); 5 represents a bottom plate of the planting tray; 5.1 represents a water supply pipe for injecting water into the fixed disc interlayer; 5.2 represents a water supply pipe for injecting water to the interlayer of the movable disc; 5.3 represents a drain pump; 5.4 represents a water level mark; 5.5 represents the hose that injects water into the moving plate sandwich (bending as the moving plate descends); 6.1 represents the left wall plate of the planting tray; 6.2 represents the right wall plate of the planting tray; 6.3 represents the rear wall plate of the planting tray (the front wall plate of the planting tray is cut away in the figure for clearly describing the ventilating plate and the upper part of the ventilating plate); 6.4 the bottom plate is provided with a breathing hole of the respirator; 7 represents a rack and pinion mechanism of the lifting mechanism; 7.1 represents a transmission rod; 8 represents a movable frame; 9 represents a fixed frame; 10 represents a gas permeable plate; 10.1 represents an air vent; 11.1 represents a spray irrigation water supply pipe of the upper planting plate; 11.2 represents a spray irrigation water supply pipe of the lower planting plate; 11.3 represents a water supply pipe upright post (a lower sprinkling irrigation rod for short) for installing a sprinkling can on the lower planting plate; 11.4 represents a water supply pipe upright post (called an upper sprinkling irrigation rod for short) for installing a sprinkling can on the lower planting plate; 11.5 represents a hose section of an upper-layer sprinkling irrigation water supply pipe; 12 represents a water feed valve; 12.1 represents a water pump for pumping water stored in the water tank (referred to as a water tank pump for short); 12.2 represents a tap water pipe interface; 12.3 represents a switching valve of an infiltration irrigation mode and a sprinkling irrigation mode; 12.4 represents the water supply connection pipe between the filtration irrigation mode and the sprinkling irrigation mode; 12.5 represents a sink valve; 12.6, 12.7 both represent filtration irrigation valves; 12.8, 12.9 both represent sprinkler valves.
The chassis 1 is composed of a bottom plate and 4 vertical walls, namely a square plate (also can be designed into other shapes) with an upward opening, wherein the vertical walls are arranged at the front, the rear, the left and the right of the bottom plate and are used for installing a vertical rod 3 of the frame; a water leakage hole 1.2 for downward water drainage is arranged on the bottom plate, and an adjusting bolt 1.1 is installed; the adjusting screw 1.1 serves to level the base plate.
The chassis 1 is also a base for installing a water supply valve 12 for supplying water upwards and a switching valve 12.3 when the machine adopts a mode of directly irrigating the planting tray by tap water.
The water tank 2 is a box which is composed of a bottom plate and 4 vertical walls, namely a front vertical wall, a rear vertical wall, a left vertical wall and a right vertical wall, is used for receiving and accumulating accumulated water discharged by the planting disc and discharged from the water leakage holes 1.2, and is arranged below the chassis 1; when the area of the water tank 2 is larger than that of the chassis 1, the adjusting bolt 1.1 penetrates through a sleeve arranged on a bottom plate of the water tank (preventing the water tank from leaking water) and extends to the ground.
The chassis 1 can be used as a planting plate besides being provided with the upright stanchion 3, the water supply valve 12, the switching valve 12.3 and collecting upper drainage.
If the shape of the water tank 2 and the chassis 1 is the same, the two can be combined into one member (composite plate); the function of the composite disc should be dominated by water storage.
The fixed frame 4 is a frame for mounting a fixed planting disc (called fixed disc for short), and is represented as a rectangular horizontal frame mainly composed of 4 horizontal rods, namely a front horizontal rod, a rear horizontal rod, a left horizontal rod and a right horizontal rod; the top frame 9 is a frame for mounting a water tray and is also a horizontal frame consisting of 4 horizontal rods; the upright rods 3 are 4 vertical rods fixedly arranged on the planes of the fixed frame 4 and the top frame 9, and form a rigid frame (a frame for short) for mounting the fixed disc and the movable frame and mounting other facilities such as a water supply pipe, an irrigation pipe and the like outside the frame.
The movable frame 8 is constructed in the same way as the fixed frame 4, but is a movable planting disc (called a movable disc for short) mounting frame arranged in the middle of the machine frame, so that a lifting mechanism and a contact mechanism sliding along the vertical rod 3 are arranged (see also fig. 2, 6 and 7). The movable frame 8 is attached to the upright rod 3 and can slide up and down along the upright rod 3 under the driving of the lifting mechanism so as to adjust the height of the movable disc.
The bottom plate 5, the left wall plate 6.1, the right wall plate 6.2, the rear wall plate 6.3 and the front wall plate (not shown) form a box with an upper opening, the ventilating plate 10 is erected on the bottom plate 5, and an interlayer is formed between the bottom plate 5 and the ventilating plate 10; the air permeable plate 10 is provided with air vents and mounting holes for water absorbing materials, the water absorbing materials penetrate through the mounting holes and extend upwards from the bottom plate to the ground soil, and irrigation water in the absorbing interlayer is pumped upwards and conveyed into the soil; a respirator (see also fig. 8) is arranged in the interlayer, and two ports of the respirator are respectively arranged in breathing holes 6.4 on the left wall plate and the right wall plate which correspond to each other; when the ground is irrigated or needs to be soaked in a downward-upward penetration mode, the breathing holes 6.4 are blocked by the breathing apparatus, so that the interlayer becomes a closed space, and irrigation water injected into the interlayer (seeps into the interlayer from top to bottom during sprinkling irrigation) is soaked in the ground from bottom to top.
After irrigation is finished, irrigation water stored in the interlayer needs to be drained by the drainage pump 5.3, the breathing holes 6.4 are opened, the interlayer is filled with air, and the air permeability of the lower part of the enclave soil is improved.
In order to increase the air permeability of the soil under the flying ground, air is introduced from the air holes 10.1 on the air permeable plate 10, so that when the flying ground is irrigated without centralized drainage and by adopting a bottom-up infiltration mode, the planting disc formed by replacing the bottom plate 5 with the air permeable plate 10 also has the functions of accommodating the flying ground and ventilating.
In order to enhance the rigidity of the surface of the ventilation plate 10, a reinforcing rib can be arranged below the ventilation plate, if the reinforcing rib extends to the bottom plate (holes for air circulation are arranged on the reinforcing rib), a composite bottom plate for clamping the rib between the ventilation plate 10 and the bottom plate 5 is formed, the rigidity and the bearing capacity of the surface of the composite bottom plate can be greatly enhanced, and the composite bottom plate also has various functions of an interlayer, the ventilation plate and the bottom plate.
If part of the air holes (or the water absorbing material mounting holes) are designed to be big holes, and the peripheral plate surface (containing small air holes) of the big air holes is processed to be funnel-shaped (big opening facing to the ground) or cylindrical surface, the air permeable plate has the performance of a three-dimensional mechanism, after the air holes (namely funnel openings) are fixedly arranged on the bottom plate (the funnel openings are provided with water permeable and air permeable gaps), not only a new composite bottom plate is formed, but also reinforcing ribs can be omitted, and the composite bottom plate also has various functions of an interlayer, the air permeable plate and the bottom plate.
The planting plate is arranged on the fixed frame 4 or the movable frame 8, the fixed frame 4 and the movable frame 8 are arranged (or attached) on the upright stanchion 3, and the upright stanchion 3 is arranged on the chassis 1 to form a supporting system.
If the bottom plate or wall plate material of the planting tray has enough strength and plate rigidity, the fixed frame 4 and the movable frame 8 can be eliminated, and the planting tray is directly arranged on the vertical rod (the contact mechanism and the lifting mechanism of the movable frame 8 and the vertical rod 3 are also transferred to the planting tray), and the machine also has various functions.
A rack 3.1 of a lifting mechanism of a rack-and-pinion pair is arranged along the upright rod 3, and a gear mechanism 7 is arranged on a machine base 7.2 arranged on the side wall of the planting disc or the movable frame; the gear mechanism 7 obtains the supporting force of the vertical rod 3 through the meshing with the rack 3.1 and transmits the supporting force to the movable frame 8 through the machine base 7.2, and the movable frame 8 supports the planting disk and the flying field.
The top frame 9 is arranged at the top of the frame, a plane frame is formed by a front horizontal rod, a rear horizontal rod, a left horizontal rod and a right horizontal rod, and the upper part of the frame is provided with a water tray (see also figure 5) and mechanisms of pipelines, stop valves and the like of an irrigation mechanism.
Tap water 12.2 is introduced from the bottom, and a water supply valve 12 (normally closed) of the tap water is arranged on a bottom plate of the chassis 1; a water tank pump 12.1 penetrates through the bottom plate of the chassis 1 to pump the stored water in the water tank 2, and a water tank valve 12.5 (normally closed) arranged on the bottom plate of the chassis 1 is connected to the water tank pump; when tap water is selected for irrigation, the water valve 12 is gated; when water storage irrigation is selected by the water tank, the water valve 12.5 is gated.
After the irrigation water source is selected, two irrigation modes are selected; one is an irrigation mode of upward penetration from the interlayer, and the other is an irrigation mode of downward spraying above the planting disc.
When a direct irrigation mode is adopted, a tap water valve 12 or a water tank valve 12.5 is firstly gated to determine a water source, and then water is led into a spray irrigation mode switching valve 12.3 through a water supply connecting pipe 12.4; after the switching valve 12.3 is gated, the sprinkling irrigation valves 12.8 and 12.9 are gated as required, and the water supply pipe 11.1 on the upper plate and the water supply pipe 11.2 on the lower layer can obtain the sprinkling irrigation water.
When the direct irrigation mode is adopted, a tap water valve 12 or a water tank valve 12.5 is firstly gated to determine a water source, and then the water source is guided to the interlayer of the planting disc through water supply pipes 5.1 and 5.2; finally, the filtration irrigation valves 12.6 and 12.7 are gated as required, and irrigation water can be injected into the interlayer.
When the upper infiltration irrigation is adopted, the dynamic disc infiltration irrigation valve (normally closed) 13.6 and the lower layer infiltration irrigation valve (normally closed) 13.7 are respectively gated, after irrigation water reaches a preset requirement, water volume marks in the planting discs can feed back water full (namely water volume sufficient) information to the intelligent system, the intelligent system instructs the execution mechanism to cut off the power supply of the infiltration irrigation valve corresponding to the planting discs according to the water full information, and water supply is stopped. When operated manually, the sequence is still.
When spray irrigation is adopted, except that a movable disc spray irrigation valve (normally closed) 13.8 and a lower layer spray irrigation valve (normally closed) 13.9 need to be respectively gated, a switching valve 12.3 needs to be gated firstly, irrigation water is led to the switching valve 12.3 from a water source (tap water 12.2 and a water tank pump 12.1) through a connecting pipe 12.4, is conveyed to upper spray pipes 11.1 and 11.2 of a spray irrigation water supply pipe through the switching valve 12.3, and passes through a planting disc to reach a spray rod 11.3 (used for a chassis) and 11.4 (used for a movable disc); a hose 11.5 is arranged in the middle of a water supply pipe (a spray pipe) of the movable disc; so as to solve the problem that the length of the spray pipe 11.1 is shortened when the spray rod 11.4 descends along with the disk; when the hose is not arranged, the spray pipe 11.1 can be arranged to penetrate through the sleeve of the movable disc, so that the interlayer is prevented from leaking underwater, and the spray pipe 11.1 is not influenced by the movement of the movable disc.
FIG. 2: is a plan view showing the vertically movable frame by the rack and pinion mechanism. In the figure, the configuration between the two folding lines is omitted.
The movable frame is formed by fixedly connecting a left rod 8.1, a right rod 8.3, a front rod 8.2, a rear rod 8.4 and connecting blocks (triangular blocks for short) of 4 triangles (a triangular area enclosed by 2 dotted lines and one solid line) to form a plane for mounting the planting plate.
Two ends of the gear shaft (namely the transmission rod 7.1) are respectively arranged at the front end and the rear end of the left mounting rack 7.5 and the right mounting rack 7.12, and the left side and the right side of the movable rack are respectively and fixedly connected with the left mounting rack 7.5 and the right mounting rack 7.12.
The 4 feet of the movable frame are all arranged into notches (structures) which are matched with the upright stanchions 3, and are sleeved on a frame (in this example, a four-prism column formed by the 4 upright stanchions) formed by the upright stanchions 3, so that the horizontal degree of freedom of the movable frame is restricted.
The racks 3.1 are respectively arranged on the front and the back surfaces of the 4 upright posts and are meshed with the movable frame gears 7.6 and 7.7.
The movable frame gears 7.6 and 7.7 are gears synchronously rotating in the forward and reverse directions and are respectively arranged at the two ends of the front transmission rod 7.1 and the rear transmission rod 7.1; after the driven wheel 7.5 obtains the rotary power from the power mechanism, the forward (temporary) gear 7.6 and the driving wheel 7.10 are driven to rotate, the gear 7.6 is meshed with the rack, and the driving wheel 7.10 (synchronous wheel) drives the synchronous belt 7.9 to circularly move; the synchronous belt 7.9 drives the conversion synchronous wheel 7.8 and the conversion gear 8.9 to synchronously rotate, the conversion gear 8.9 is meshed with the reverse gear 8.10, and the reverse gear 8.10 drives the rear transmission rod and the reverse gear 7.7 to rotate; the conversion wheel 7.8, the synchronous belt 7.9 and the driving wheel 7.10 form a mechanism for transmitting power from the front part to the rear part of the frame, and the conversion wheel 7.8, the conversion gear 8.9 and the reverse gear 8.10 form a mechanism for reversely converting the power of the front part, so that the 4 gears on the front and rear surfaces are synchronously lifted, and further the movable frame and the movable disc are driven to stably slide.
The power source for lifting the movable frame consists of a motor 7.3, a transmission mechanism 7.4 and a driven wheel 7.5, the motor 7.3 generates rotary power, the transmission mechanism 7.4 obtains the power from the motor (gear) 7.3, converts the rotary speed and transmits the power to the driven wheel 7.5, and the driven wheel 7.5 drives a transmission rod 7.1 (namely a gear shaft) to rotate; if the motor is not provided with a band-type brake, a non-return mechanism needs to be arranged on the transmission mechanism 7.4 or the transmission rod 7.1 to prevent the movable frame from sliding downwards under the action of the gravity of the movable frame and the planting plate.
A blocking structure or mechanism is arranged on the upright rod at the parking position (planned conventional position) of the movable frame, and after the movable frame reaches the blocking height position, a clamping jaw in the blocking mechanism extends out to support the movable frame, so that the burden of the non-return mechanism can be reduced.
FIG. 3: is a plan view showing the vertically movable frame with the screw nut pair mechanism. In the figure, the configuration between the two folding lines is omitted.
The rack 13.9 is the same as the rack described in fig. 2, 4 mounting frames 13.7, 13.8, 13.1 and 13.4 of 4 nuts are respectively arranged at the front and rear corners of the movable frame, the nuts (13.3) mounted on the 4 mounting frames are driven by the same synchronous belt 13.6, the nuts 13.3 and the lead screws 13 form lead screw and nut pairs, the 4 nuts synchronously rotate and push the nuts to move in the same direction, and the movable frame 13.9 is driven to lift through the mounting frames; the power motor 13.0 is arranged on the mounting frame 13.1, and the transmission gear 13.2 is in meshed transmission with the driving wheel 13.5 on the motor 13.0 to drive the synchronous belt 13.6 to move circularly.
If the thread slope of the lead screw (nut) is larger than the self-locking angle, an anti-sliding mechanism needs to be arranged on the motor 13.0 or the transmission gear 13.2 to prevent the movable frame from sliding downwards under the action of self weight.
FIG. 4: is a schematic diagram for describing the relationship among the upright stanchion, the bottom plate and the adjusting bolt; this is a situation where the level of the sink is smaller than the range of the uprights, i.e. the adjusting screw is outside the range of the sink. The partial bottom panel of the chassis is shown with broken lines.
The adjusting bolt 1.1 is arranged on the bottom plate 1, and the downward extending length of the bolt 1.1 can be adjusted through rotation; the upright stanchion 3 is fixedly arranged on the bottom plate 1, the upright stanchion 3 can be provided with a pair of 3.2 for preventing ants and insects from climbing, and the box is used for containing insect-proof liquid to block the crawling insects from crossing.
FIG. 5: is a schematic view of a water tray, which is a top view; in the figure, the configuration between the two folding lines is omitted.
The water tray is arranged on the top frame, the water supply pipe 16.3 spans across the water tank wall 16.4 from the outside to extend to the upper part of the water tray, and water is injected into the water tray; the irrigation pipe 16.1 penetrates from the bottom of the water tray and conveys water to the planting tray; the water level indicator 16.2 is arranged on the bottom plate of the water tray and feeds back the current water level information to the intelligent control system.
FIG. 6: the contact between the movable frame and the vertical rod and the rack is constructed by a clamping wheel structure, and the contact is partially horizontal sectional view. The broken line indicates that the other part of the movable frame is not drawn.
The gear 7.6 is arranged on the transmission shaft 7.1, two sides of the gear 7.6 are respectively provided with a roller 7.11 which is coaxial with the gear, the roller 7.11 has a rotational degree of freedom relative to the transmission shaft 7.1, and the axial degree of freedom is restricted by the roller 7.1; the gear 7.6 is meshed with the rack 3.1, and the roller 7.11 is in rolling contact with the cylindrical surfaces of the vertical rods 3 on the two sides of the rack 3.1; a power motor and a transmission mechanism on the movable frame 8.2 input power to a transmission shaft 7.1 through a transmission wheel 7.5, the transmission shaft 7.1 drives a gear 7.6 to rotate, the gear 7.6 rolls and crawls along a rack 3.1, the rack 3.1 is clamped by the left and right sides of the two idler wheels and props against the cylindrical surface of the vertical rod 3 in the front, so that the restraint of the movable frame in the left, right and front 3 displacement directions is formed; the rollers on the gear rack pair (not shown) at the rear part of the movable frame also prop against the cylindrical surface of the upright post 3 forwards in the same way, so that the restraint of 4 displacement directions of the front part, the rear part, the left part and the right part of the movable frame is formed, and the stable sliding of the movable frame along the upright post 3 is ensured.
FIG. 7: the lifting frame is a schematic diagram of a lifting frame adopting a rope or a chain wheel (or rope) mechanism for drawing, and is a side view of 1 chain wheel mechanism. A rope or a chain wheel mechanism is respectively arranged on the left side surface and the right side surface of the rack, and the lifting or the lowering is synchronous, so that the rack can be lifted stably.
The power 9.1 and the speed change mechanism 9.2 of the chain wheel mechanism are arranged on a mounting rack 9.8 extending out of the top rack 9, a driving wheel 9.3 (a wheel shaft extends out of the speed change mechanism 9.2) of the chain wheel mechanism is sleeved with a chain 9.4, and the lower part of the chain 9.4 is sleeved on a driven chain wheel 9.6; the driven chain wheel 9.6 is fixedly connected with the movable frame 8 through a chain wheel mounting frame 9.5; a hole 8.6 for the upright rod 3 to pass through is arranged on the movable frame 8, and the rollers 8.5 and 8.7 are arranged above and below the hole 8.6 through a mounting frame 9.7; the rollers 8.5 and 8.7 are grooved wheels, the main wheels of the grooved wheels are in rolling contact with the cylindrical surface of the upright rod 3, and the side wheels clamp two side surfaces of the upright rod 3 to form the constraint of 3 reverse displacement degrees of freedom left and front and back; on the other side of the movable frame, a synchronous chain wheel mechanism (not shown) is arranged according to the same method, so that the right displacement constraint of the movable frame 8 is formed; therefore, the movable frame can be ensured to slide up and down smoothly.
The power 9.1 is transmitted to the driving chain wheel 9.3 through the speed change of 9.2, the driving chain wheel 9.3 winds up the chain 9.4 to drive the movable frame 8 to move upwards (supposing), and the balance weight 9.9 correspondingly moves downwards; the output end of a power motor 9.1 of a synchronous belt 9.10 transmits power to a speed change mechanism arranged on the other side surface, so that the lifting mechanisms on the two sides can lift or put down the movable frame at the same time.
If the driving chain wheel 9.3 in the figure is replaced by a winding drum, the chain 9.4 is replaced by a rope, and the driven chain wheel 9.6 and the mounting frame 9.5 are replaced by a connecting piece of the rope, a mechanism for pulling the rope to lift and lower the movable frame is formed.
FIG. 8: is an assembly schematic diagram of the respirator and is a sectional view along the axial direction of the left air hole and the right air hole. The respirator mainly comprises power, air ports, pistons and breathing cavities, wherein after the pistons at two ends of the respirator contract towards the middle, the pistons are separated from the air ports, air can enter from the air ports at one end and flows out from the air ports at the other end after passing through the middle breathing cavity, and therefore air is supplied to the bottom of the flying ground; when the enclave is irrigated, the piston slides to both ends to block the air port, blocks up the air in the breathing cavity, and then utilizes irrigation water to extrude the air into the enclave, increases the air content of soil.
14.0 for the motor shaft; 14.1 represents a driving wheel; 14.2 represents the drive bay; 14.3 represents the respiratory cavity; 14.4 represents the left piston; 14.5 represents the left port; 14.6 represents the left staple; 14.7 represents a bearing; 14.8 for driven wheel; 14.9 represents the straight part of the bolt, which is mounted in the bearing 14.7 as the axle of the transmission wheel 14.8; 14.10 represents an electric motor; 14.11 represents the mounting position of the motor 14.10 on the drive frame 14.2 to isolate the motor 14.10 from the moisture in the respiratory chamber 14.3; 14.12 represents the right piston; 14.13 represents positive and negative screw bolts; 14.14 represents the right port; 14.15 represents the right staple; 14.16 represents the water vapor outlet; when the respirator is started, the moisture outlet 14.16 communicates the air ports (14.4, 14.14) with the interlayer to conduct air; during irrigation, the water vapor outlet 14.16 guides irrigation water injected from the irrigation pipe 15 into the interlayer; and 15 denotes an irrigation pipe joint.
The respirator is provided with an air circulation channel consisting of a breathing cavity 14.3, a left air opening 14.5 and a right air opening 14.14; a driving frame 14.2 is arranged in the breathing cavity 14.3, and a motor 14.10 and a positive and negative screw bolt 14.13 are arranged on the driving frame 14.2; the power of the motor 14.10 is meshed and transmitted to a driven wheel 14.8 on a positive and negative screw bolt 14.13 to rotate through a driving wheel 14.1 arranged on a motor shaft 14.0; the two ends of the positive and negative screw bolt 14.13 are respectively connected with a piston corresponding to the air port, the pistons at the two ends are respectively restricted by the left staple 14.6 and the right staple 14.15 which are arranged on the breathing cavity 14.3, the rotary freedom degree (only left and right sliding) is restricted, and when the negative screw bolt 14.13 rotates, the left piston 14.4 and the right piston 14.12 can be driven to simultaneously contract towards the breathing cavity 14.3 or expand towards the left and right air ports.
When the respirator is used for the robot, a stroke sensor or a stroke switch of the piston is correspondingly added to realize intelligent control or automatic control. The setting method is similar to a same-section mechanism.
Detailed description of the preferred embodiments
A square double-layer planter is planned, a water tray irrigation mode is adopted, and a main reference sample is shown in the figure 1, the figure 3 and the figure 5; the mechanism action is controlled manually (intelligent control system, not this type of content, but otherwise disclosed).
The machine mainly comprises a base, a frame, a planting disc, a water disc, an irrigation mechanism and a lifting mechanism; combining the base of fig. 1 with a sink to form a comprehensive new base (also referred to as a base); the planting tray bottom plate is combined with a movable frame (fixed frame), and a mechanism or a structure related to the movable frame (fixed frame) is transferred to the bottom plate; a lifting mechanism of a screw nut pair is adopted to lift the movable disc.
Firstly, manufacturing a base
The base mainly comprises a bottom plate, wall plates (4 blocks in the front, the back, the left and the right), adjusting bolts and a water tray water supply mechanism, wherein the bottom plate and the wall plates construct a square box larger than the planting tray; the nut of the adjusting bolt is arranged on the outer wall of the square box; a tap water valve and a water tank pump valve of the water supply mechanism are arranged on a platform and respectively control a tap water pipe and a water tank pump water pipe (called a water tank pump pipe for short); the tap water pipe and the water tank pump pipe are turned into a water feeding pipe leading to the water tray through a tee joint.
A. Drawing up the specification and the size of the mechanism:
the length, width and height of the bottom planting plate (chassis) and the length, width and height of the upper planting plate (movable plate) are designed, and the two planting plates have the same specification (under the conventional condition, the length and width of the chassis can be larger than the movable plate).
The size of a base (a water storage box) is drawn up according to the length and the width of the base plate, so that the base exceeds the projection range of the base plate, and the purpose is to receive the drainage of the planting plate and install a water supply pipe of a water plate outside the frame.
B. And (3) purchasing: one tap water pipe (namely a proper amount), 1 part of the stop valve; 1 water tank pump, one water pipe and 1 stop valve; 1 part of tee joint; one water supply pipe is provided with 1 elbow; the water pipe is provided with a fixing piece.
Firstly, planning the specification and the size of the planting tray, purchasing a thick plate with stronger plate surface rigidity as a base bottom plate, wherein the area of the bottom plate is larger than that of the planting tray (so as to catch accumulated water discharged from the planting tray); 4 plates of battens with higher rigidity are also selected as the four walls of the base, and the battens are also used for manufacturing the water valve mounting frame, so the purchasing length is comprehensively considered.
And 4 bolt and nut pairs are purchased to be used as adjusting bolts.
C. According to the size of the purchased bottom plate, 4 wall plates are manufactured and fixedly connected to form a box with an upward opening.
D. 4 bolt and nut pairs are arranged on wall plates at four corners of the box, and the screw rods are perpendicular to the bottom plate and can extend out of the bottom plate for a certain length so as to level the base.
E. Manufacturing an installation frame of the stop valve and the tee joint according to the specifications of the tap water stop valve and the water tank pump stop valve and the installation position of the tee joint; the mounting frame is arranged on the edge of the base, so that the water feeding pipe avoids the planting disc and leads to the water disc; meanwhile, the mounting frame is higher than the base wall plate, so that the valve stopping mechanism is prevented from being corroded by accumulated water in the base (box);
the tap water source pipe and the water tank pump pipe are respectively connected to the input ends of the corresponding stop valves, and the output pipes of the stop valves are connected to the tee.
Secondly, manufacturing a planting tray and a water tray; the fixed disc, the movable disc and the water disc are used for replacing the bottom frame (fixed frame), the movable frame and the top frame in the specification, and the lead screw is used for replacing the vertical rod in the specification, namely the planting disc, the water disc and the lead screw form the frame of the machine.
According to the proposed specification of the planting tray, purchasing 2 thick plates with stronger plate surface rigidity as a bottom plate of the planting tray; 8 (4 plates each) of battens with higher surface rigidity are selected as the four walls of the planting tray.
The bearing is purchased according to the outer diameter dimension of the nut, and the nut is installed in the bearing, so that the nut can rotate, namely, a screw rod of a screw-nut pair mechanism is fixed, and the nut rotates. Each nut is provided with 2 bearings, and the total number of the bearings is 8.
One piece of back-wall tubing is purchased for making the bearing block (i.e., the mounting bracket for the nut mechanism).
1 electric stop valve (manual stop valve can be used for replacing) for purchasing drainage; 1 motor (single phase) for driving the moving disc by purchasing (lifting mechanism) and matched equipment such as electric wires, manual switches and the like.
A. According to the size of the inner diameter of the bearing, cutting two ends of the long nut, and processing into a shaft end structure which accords with the inner diameter of the bearing; except the bearing position, one end of 3 nuts is provided with a synchronous belt wheel, and the rest 1 nut is provided with a driving wheel of a driving mechanism besides the bearing and the synchronous wheel; the synchronizing wheel and the driving wheel are both arranged outside the bearing (aiming at arranging the synchronizing wheel and the power below the bottom plate and approaching the bottom plate as much as possible).
(if the nut is short, the sleeve can be used to install the bearing, the synchronizing wheel and the driving wheel, namely, the nut is sleeved in the sleeve to be used as the internal thread of the sleeve, and the sleeve is equivalent to the lengthened nut barrel
B. According to the outer diameter of the bearing, a bearing seat (a cylinder seat for short) is manufactured by a thick-wall pipe; the bearing seat is inserted into a hole position reserved on the bottom plate of the planting plate and then fixed.
C. According to the size of a planned movable disc, cutting a bottom plate (a planting disc bottom plate and a lifting mechanism mounting frame are connected) as shown in figure 3, simultaneously cutting a mounting hole of a bearing seat, a mounting hole of a drain valve, a mounting position of a tension pulley for adjusting the tightness of a synchronous belt, a mounting position of a motor and a speed change mechanism and the like.
And manufacturing and fixedly installing a movable disc side wall plate to construct a box with an upper opening. A plurality of ventilation ports (located in the height range of the interlayer) and 1 vertical long hole are formed in 2 wall plates in the length direction of the box, the ventilation ports are used for ventilation of the interlayer, and the vertical long holes are plugged by transparent materials and used as observation windows for manually detecting the water level in the flying soil.
Meanwhile, according to the size of the ventilation opening, a corresponding number of plugs are manufactured, and the ventilation opening is plugged during irrigation, so that an interlayer forms a closed space (at the moment, the ventilation opening is closed equivalently by adopting an intelligent control system); after the irrigation finishes and the drainage is finished, the blockage is opened, the interlayer is communicated with the outside (at the moment, a respirator is opened when an intelligent control system is adopted), and the air content of the lower-part enclave soil is increased (namely the air permeability of the soil is increased).
E. The processed nuts are arranged in the barrel seat, then the synchronizing wheel and the driven wheel (one of the nuts is arranged) are sequentially arranged on the nuts, the synchronous belt is sleeved on the 4 synchronizing wheels, and the running condition is tested manually.
According to the tightness of the synchronous belt, a tension pulley is installed to ensure that the tightness of the synchronous belt is proper.
F. A driving motor and a speed change mechanism of the lifting mechanism are arranged on the bottom plate, so that an output wheel of the speed change mechanism is meshed with a driving wheel on the nut for transmission.
A power circuit (a circuit and a control switch) is installed and connected with a power supply, and the machine is started to observe whether the operation is normal or not, so that the requirements on smooth mechanical operation, effective control and safe and reliable circuit are met.
G. The drain valve is arranged on a hole position on the bottom plate, the control circuit is arranged below the bottom plate, and the water outlet is connected with the bent pipe, so that water flow falls into the base (the water tank); the circuit control needs to be guaranteed to be effective, safe and reliable.
H. And installing the air permeable plate in a box of the planting tray, and forming a height space of the interlayer by using the bracket.
I. Making a surface plate (i.e., a bottom plate) as shown in FIG. 3 and described in item C; and the axis position and the diameter of the screw rod on the press disc are pressed to process the screw rod through hole (straight hole) of the fixed disc, and simultaneously, the drain hole is drilled.
J. Making a water tray according to figure 3 and as described in item C, I; the I drain holes are changed into irrigation pipe holes, and the C ventilation holes are eliminated.
K. And (4) drilling a screw mounting hole (straight hole) on the base according to the positions of the screw holes of the movable disc and the water disc. A connecting piece between the screw rod and the base can be additionally arranged, and an internal thread is arranged on the connecting piece to be connected with the screw rod.
4 nuts (called adjusting nuts for short) for adjusting the height of the water tray can be additionally arranged and also used as temporary components during installation.
L, screwing the upper parts of the 4 lead screw driven discs into nuts, extending out of the bottom plate for a certain length and enabling the lower ends of the lead screws to be flush;
installing an adjusting nut at the upper end of the screw rod to enable the upper end of the nut to be flush and expose a screw rod end with a certain length; then, sleeving a water tray on the upper end of the screw rod;
finely adjusting the adjusting nut to enable the water disc to be parallel to the movable disc, and enabling the screw rod to be perpendicular to the water disc and the movable disc; temporarily fixedly connecting the water tray and the screw rod together; at this point, a basic prototype of the rack has been formed (referred to as a chick rack);
according to the height position of the chassis, sleeving the chassis on a lead screw of a young frame, adjusting the chassis to be vertical to the lead screw, and temporarily fixing the chassis and the lead screw;
mounting a young chicken frame with a chassis in a screw hole on a base, adjusting the young chicken frame to be vertical to the base, and temporarily and fixedly connecting a young chicken frame screw and the base;
starting the power of the movable disc to drive the synchronous mechanism to operate; checking whether the movable disc lifting mechanism operates normally and whether the movable disc lifting is stable;
if the problem exists, finding out the reason, and continuously debugging until the lifting mechanism runs normally and the movable disc is lifted stably;
if there is no problem or the problem found has been eliminated, the temporary connection is changed to a fixed connection.
So far, a rigid frame which uses a screw rod as a vertical rod, a planting plate and a water plate as a fixed frame, a top frame and a movable frame has been constructed and molded.
Since there is only one layer of moving frame, the mechanical part of the lifting mechanism is completed.
In addition to the fact that the disc can be lifted by electrical power, the lifting mechanism is also characterized by the fact that it can be automatically stopped at a predetermined parking point (parking for short). In the scheme, parking at the parking point can be realized by manually cutting off the power supply through visual inspection, namely, the intelligent control system is feasible to implement automatic parking.
The simplest and more automated parking test method is: the normally closed travel switches are respectively installed on the vertical rods of the upper parking space and the lower parking space, the lower end switch supplies power for the moving frame in a descending mode, the upper end switch supplies power for the moving frame in an ascending mode, and then the power supply line of the switch is connected to a double-throw knife (power supply) to form two one-way power supply loops.
When the switch blade is switched on (connected with) a downward circuit, a downward running power circuit is connected, the movable frame slides downward, when the movable frame touches a lower travel switch, the downward circuit is cut off, the motor loses power and stops rotating, and the movable frame stops sliding due to the loss of driving force; similarly, when the switch blade is thrown (connected) to the uplink circuit, the power circuit which runs upwards is connected, the movable frame slides upwards, and when the upper travel switch is touched, the movable frame stops.
Thirdly, manufacturing an irrigation system:
the water source of the planned irrigation system is provided by tap water and base water storage, and the water source water is delivered to the upper part of the water tray by the water feeding pipe and is injected into the water tray.
The irrigation pipe of the irrigation system is designed to be a branch pipe system sharing a water tray, and each branch pipe is provided with 1 stop valve serving as a gate valve (namely a control switch) of the planting tray to be irrigated.
The water level sensor (water level indicator) in the water tray can be replaced by a floating body with the same height as the depth of the water tray, namely, the water level of the water tray is identified by visual inspection.
When water is injected into the water tray: when the floating body is completely exposed out of the water tray, the water tray is determined to be full of water (the water tray is equivalent to a third layer of planting tray, the height of the water tray is often higher than that of a human body, or the water tray is directly viewed and inaccessible); when the floating body part is exposed, the floating body part is not full.
When the water tray discharges water outwards for irrigation: when the floating body disappears completely, the water tray is determined to be empty; when the floating body is partially exposed, the difference value of the exposed height subtracted from the height of the floating body is determined as the irrigation water consumption of the planting disc.
Except the mode of the water tray water yield is confirmed to above-mentioned eye measurement, can also confirm the water tray water yield through the signal of telecommunication to can realize irrigation system's intelligent control according to this signal of telecommunication:
A. purchasing a proper amount of drain pipes, 1 tee joint, 2 elbows and 2 manual irrigation stop valves; and (5) manufacturing an irrigation pipeline system.
As shown in fig. 5, the irrigation pipe hole contacts the irrigation main pipe, and two branch pipes are branched by a tee joint and respectively led to the upper parts of the movable disc and the base plate; each branch pipe is provided with 1 irrigation stop valve (arranged on a bottom plate of a water tray or an upright post) for gating a planting tray to be irrigated; the water trays are used by the two planting trays in a time-sharing manner due to the metering requirement.
When the planting disc to be irrigated is gated, the irrigation valve of the branch is manually opened (which is equivalent to the intelligent control system opening the electric water valve), and irrigation water in the water disc flows to the planting disc to be irrigated through the branch.
3 ball-cock units are modified, only the floating ball, lever and frame are used, and other parts can be removed. The floating ball lifts up the lever (long arm) under the action of buoyancy in water, and when the water tray is free of water, the floating ball presses down the lever by virtue of self gravity. By utilizing the lever principle, a linkage pull wire is arranged at the fulcrum, and the circuit can be switched on or off.
Manufacturing a mounting rack vertical to the bottom plate of the water tray (the upper end of the mounting rack is higher than the water tray by a certain distance); in the range of the water tray, installing modified floating ball levers at the height of the bottom plate, the upper limit water level and the middle water level respectively; the lever at the upper limit water level and the middle water level 2 is normally installed (the floating ball can only float to be level with the support), the lever at the bottom plate is reversely installed (the floating ball can only descend to be level with the support, and the end of the short arm (the end opposite to the long arm) is removed, so that the long arm can rotate upwards by taking the support as a circle center); the upper end of the mounting rack is respectively provided with 3 travel switches, and the 3 travel switches are positively arranged (the contact heads are upward) and respectively control 1 power supply line; 1 flexible wire (stay wire for short) is connected to the trigger bar of each travel switch, and the contact is started in a pull-down mode; the pull wire of the top switch is correspondingly connected to the short arm of the upper limit water level floating ball lever, the pull wire of the middle switch is correspondingly connected to the short arm of the middle water level floating ball lever, and the pull wire of the lower switch is correspondingly connected to the position close to the fulcrum of the long arm of the bottom plate floating ball lever (the point drives the pull wire to generate displacement enough to pull down the switch lever, namely, the contact of the normally closed switch is opened).
A bus circuit (temporarily disconnected) is connected from a weak current power supply (single-phase current), a phase line is connected to the input end of the lower travel switch, and the output end of the lower travel switch is divided into 2 branches; one branch is connected with 1 LED and then is connected with a zero line to form a power supply loop of the LED when the water level of the bottom plate is formed; the other branch is divided into 2 secondary branches, one secondary branch is connected to the input end of the middle travel switch, the output end of the secondary branch is connected to the zero line after 1 LED, and a power supply loop of the LED at the middle water level is formed; the other secondary branch is connected with the input end of the upper travel switch, and the output end of the secondary branch is connected with the zero line after 1 LED, so that a power supply loop of the LED at the upper water level is formed. And switching on a power supply and debugging.
Therefore, the power supply supplies power to the lower travel switch, and the lower travel switch controls the logic of the middle travel switch and the upper travel switch; when a certain travel switch is electrified, the LED connected with the travel switch is electrified and lightened to send out an optical signal. Corresponding to this are: when the lower travel switch is in the state that the water tray is not water, the lever rotates to the lowest point due to the gravity of the floating ball, the normally closed contact is driven to be disconnected, the power supply is cut off, and the LED in the lower travel switch is not bright (the water tray is determined to be water-free); when water exists in the water tray (water is injected from the upper water pipe), the lower floating ball lever rotates upwards, the pull wire is loosened, the lower travel switch contact is closed, and therefore the power supply is switched on to supply power to the secondary branch, and meanwhile, the LED which is opened at the lower travel is electrified and lightened to send a water signal; when the water level of the water tray continues to rise to the middle height, the middle floating ball lever starts to rotate upwards, when the water tray rotates to the middle water level control line, the lever presses a normally open travel switch contact through a pull wire, a middle LED is switched on and sends out light signals, and therefore the water in the middle can be judged (combined with a bottom LED signal); if the water level continues to rise and reaches the upper limit of the water level, the upper travel switch is switched on in the same way and a signal that the water level reaches the upper limit is sent out.
When the manual control is carried out, the water supply and irrigation can be controlled according to the signals. When water is filled into the water tray, the lower LED is lightened to represent that water is filled, the middle LED is lightened to represent that the water volume of the half tray is reached, and the upper LED is lightened to represent that the water is full; if the half disc water quantity needs to be injected, the water valve is closed when the middle LED is lightened; and if the whole disc of water needs to be filled, the water valve is closed when the upper LED is lightened. On the premise of full water, if the whole disk of water is used for irrigation, if 3 LEDs are completely extinguished, the quantity of the water is determined as the irrigation quantity of the whole disk of water; when the two LEDs at the upper part are completely extinguished (the LEDs at the lower part are on), the water quantity of the half dish is reached at the moment. Corresponding to the optical signal, the valve is manually opened or closed, and quantitative supply or output can be realized.
Corresponding to the mode of controlling the water quantity through the optical signal, 3 LED electricity obtaining signals can be compiled into information of 4 groups of binary numbers, namely the water tray is compiled into 000 when no water exists, the water tray is compiled into 001 when water exists but is less than half the water tray (the right position represents water level information of the bottom plate, 1 represents water, and 0 represents no water), the water level is compiled into 011 when half the water tray is reached (the middle position represents water level of the half the water tray), and the water level is compiled into 111 when the upper limit is reached (the left position represents water level of the whole water tray).
Inputting the binary number into an intelligent control system, and then metering and controlling water supply and irrigation; therefore, the intelligent control of each function of the machine can be realized in such a way, so that the machine becomes a robot.
Or digital metering equipment (such as a water meter with a digital information feedback function) can be additionally arranged on the water supply pipe to feed back water supply information to the intelligent control system in real time, and when the irrigation amount reaches a preset value, the control system cuts off water supply; however, the wetting soil has hysteresis, which often causes the condition of less irrigation water; the water tray irrigation mode is similar to direct pumping irrigation, whether the irrigation water quantity reaches the standard is judged by only depending on water supply quantity information or water level mark information, deviations exist, and reasonable irrigation can be realized only by comprehensively judging by using an intelligent system.
As can be seen from the above and fig. 1 and 5, the irrigation system mainly comprises a water supply pipe of a water source, a water tray, an irrigation pipe, a control valve, water level information and a control mechanism; when the water tray is used, the water tray is arranged at the top of the machine, and various planting trays use the water tray in time division; when the water tray is special, the water tray is respectively arranged above each planting tray and is special for the planting trays below the water tray.
Claims (16)
1. The utility model provides an agricultural planting machine, is the equipment that constructs and be suitable for intelligent management and control with the modularization mode, mainly by base, frame, planting dish, elevating system, liquid manure system, power unit, its characterized in that: the base is placed on the ground to install a rack and a direct irrigation mechanism of the machine, the water tank is arranged below the base to collect and accumulate accumulated water drained by the planting disc, and a lower water mark for detecting the water level value is arranged in the water tank; the frame is a multilayer frame which is arranged on the base and bears the planting tray, the water tray, the lifting mechanism, the irrigation system and the intelligent control system; mainly comprises a fixed frame, a movable frame, a top frame and upright rods; the fixed frame is arranged at the lower part of the rack, and the movable frame is arranged at the middle upper part of the rack; the top frame is arranged at the top of the frame; the fixed frame, the top frame and the upright stanchion form a rigid frame which is fixed on the base; the movable frame can slide up and down along the upright stanchion through the connecting mechanism; the planting tray is a box which is formed by a bottom plate and a wall plate and used for containing the flying land; the ventilating plate is erected above the bottom plate and forms an interlayer space between the bottom plate and the bottom plate, and the ventilating plate is provided with a ventilating hole and a water absorbing material mounting hole; a breather is arranged in the interlayer, and a water volume indicator and a drainage pump are arranged on the bottom plate; the planting disc is divided into a fixed disc and a movable disc, the fixed disc is arranged on the fixed frame, and the movable disc is arranged on the movable frame; the water tray is arranged on the top frame, and the water feeding pipe injects running water or water storage water of the water tank supplied by the water tank pump into the water tray and distributes the water to the planting tray through an irrigation main pipe and branch pipes arranged at the bottom of the water tray; the water level indicator is arranged on the bottom plate of the water tray and provides water level information of irrigation water in the water tray; a rack of a lifting mechanism consisting of a gear rack pair is arranged on a vertical rod at the front and the back of the frame, and a gear is arranged on the movable frame; two crawling gears on the same side face of the rack are arranged on the same shaft and rotate synchronously; two transmission shafts on the front side and the rear side are connected, and gears on the rear side face reversely rotate and crawl through a synchronous belt transmission mechanism and a reverse mechanism; the gears on the front and the back drive the movable frame to stably lift; the irrigation system is a distribution system, is provided with two irrigation systems of a direct irrigation mode and a self-flowing mode, and mainly comprises a water tray, a water tank, a tap water source, a water tank pump, a direct irrigation mechanism and a self-flowing irrigation mechanism; the direct irrigation mechanism is divided into an infiltrating irrigation mode of injecting irrigation water into the interlayer and a sprinkling irrigation mode of guiding the irrigation water above the planting disc; the infiltrating irrigation mode is composed of a water supply valve, an infiltrating irrigation pipe and an infiltrating irrigation valve which are arranged on a base bottom plate, and the sprinkling irrigation is mainly composed of a switching valve, a sprinkling irrigation pipe and a sprinkling irrigation valve which are arranged on the base; the self-flowing mode mainly comprises a water tray, an irrigation main pipe, irrigation valves, irrigation branch pipes and a water supply pipe, wherein the water supply pipe is arranged outside the rack, the irrigation main pipe is arranged at the bottom of the water tray and connected with the irrigation branch pipes, and the branch pipes are provided with gating irrigation valves and are arranged on a bottom plate of the water tray; the self-flow mode is divided into a flood irrigation mode and an infiltrating irrigation mode, a branch pipe water outlet of the flood irrigation mode is arranged above the planting disc, and the infiltrating irrigation mode is to guide irrigation water into the interlayer; the power system is a distribution system and mainly comprises a tap water feed valve, a water tank pump, an infiltration irrigation valve, an electric switching valve, a sprinkling irrigation valve, a water tray irrigation valve, a breather, a drainage pump, a power motor of a lifting mechanism, a manual light supplementing mechanism and the like; each water valve is a normally closed valve and used for gating the pipeline; the water supply valve is used for gating a tap water source, the water tank pump pumps the water tank to store water and supply the water to the irrigation system, the water tank valve is used for gating the water tank pump source, and the tap water source and the water tank pump source are not allowed to be gated simultaneously; the filtration irrigation valve is used for gating the filtration irrigation branch; the switching valve is used for gating a sprinkling irrigation mode in a direct irrigation mode, and the sprinkling irrigation valve is used for gating a sprinkling irrigation branch; the sprinkling irrigation pipe is connected with the sprinkling irrigation rod of the movable disc through a hose; the irrigation valve is used for gating the irrigation branch in the self-flow mode; the respirator is communicated with the outside of the planting disc through the interlayer, and the drainage pump is used for draining accumulated water in the planting disc; the power of the lifting mechanism is used for driving the movable disc to lift; the artificial light supplementing mechanism is used for intelligently controlling an artificial light source under the system; the information system is a distribution system and mainly comprises a lower water mark, a water quantity mark, a water level mark, a humidity sensor, a moving disc parking position signal mechanism and the like which are used for controlling the functions of the lower mechanism of the intelligent control system; the water level of the water tank is detected by a lower water level indicator, the water level of the planting tray is detected by a water consumption indicator, the water level of the water tray is detected by a water level indicator, and the lifting power is controlled by a movable tray parking position signal mechanism.
2. An agricultural planting machine as defined in claim 1, wherein: the air permeable plate and the bottom plate of the planting tray are connected into a whole to form a composite bottom plate.
3. An agricultural planting machine as defined in claim 1, wherein: the lifting mechanism adopts a screw-nut pair and a synchronous mechanism to push the movable frame and the movable disc to lift.
4. An agricultural planting machine as defined in claim 1, wherein: the lifting mechanism adopts a chain wheel or a rope mechanism to draw the movable frame and the movable disc to lift.
5. An agricultural planting machine as defined in claim 1, wherein: the original planting plate bottom plate is eliminated, and the ventilating plate is arranged at the bottom plate position to form the planting plate with natural drainage and ventilation.
6. An agricultural planting machine as defined in claim 1, wherein: and a driving mechanism of the movable disc is cancelled, and the movable disc is completely changed into a fixed disc.
7. An agricultural planting machine as defined in claim 1, wherein: a lead screw of a lifting system replaces a vertical rod to support mechanisms such as an upper planting plate, a water plate and the like, so that a rack with the lead screw as the vertical rod is formed.
8. An agricultural planting machine as defined in claim 1, wherein: the air permeable plate is a deformation plate which deforms the water absorbing material mounting hole into a funnel surface or a cylindrical surface.
9. An agricultural planting machine as defined in claim 1, wherein: the movable frame and the fixed frame are replaced by the planting plate bottom plate, namely the planting plate has the functions of the fixed frame or the movable frame.
10. An agricultural planting machine as defined in claim 1, wherein: the base is a box body which integrates a chassis and a water tank into a whole.
11. An agricultural planting machine as defined in claim 1, wherein: the top frame and the corresponding water tray are eliminated, and the upper end of the upper picker base is provided with upright posts for supporting the planting tray, namely the rack is composed of the upright posts.
12. An agricultural planting machine as defined in claim 1, wherein: the sprinkling irrigation system is arranged outside the frame, and the irrigation branch pipes are filled with water from the outside to the planting.
13. An agricultural planting machine as defined in claim 1, wherein: the planting plate of each layer is formed by connecting a plurality of plate sections.
14. An agricultural planting machine as defined in claim 1, wherein: the water tray is divided into a planting area and a water storage area.
15. An agricultural planting machine according to claim 1 and an irrigation system according to claim 12, wherein: a fixed plate is used for replacing a water plate to form the layout that the fixed plate is arranged at the upper end and the lower end, and the movable plate is arranged in the middle.
16. The lift mechanism of claim 3 and the frame of claim 11, wherein: the vertical rod of the frame is replaced by a screw rod of the lifting mechanism.
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CN201911027477.8A CN112753412A (en) | 2019-10-17 | 2019-10-17 | Machine structure of box-type lifting planting robot |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113243289A (en) * | 2021-05-26 | 2021-08-13 | 吴斌 | Intelligent vegetable planting device with automatic water level compensation function |
CN114667871A (en) * | 2022-02-16 | 2022-06-28 | 南京信息职业技术学院 | Freely piece together formula wisdom big-arch shelter device |
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2019
- 2019-10-17 CN CN201911027477.8A patent/CN112753412A/en active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113243289A (en) * | 2021-05-26 | 2021-08-13 | 吴斌 | Intelligent vegetable planting device with automatic water level compensation function |
CN114667871A (en) * | 2022-02-16 | 2022-06-28 | 南京信息职业技术学院 | Freely piece together formula wisdom big-arch shelter device |
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