CN112753436A

CN112753436A - Suspension type omnibearing greenhouse operation system

Info

Publication number: CN112753436A
Application number: CN202110012479.0A
Authority: CN
Inventors: 张忠强; 王一伦; 丁建宁; 石留余; 季晨; 程广贵
Original assignee: Jiangsu University
Current assignee: Jiangsu University
Priority date: 2021-01-06
Filing date: 2021-01-06
Publication date: 2021-05-07

Abstract

The invention provides a suspension type omnibearing greenhouse operation system, and belongs to the technical field of greenhouses. The system comprises a greenhouse, a rainwater collecting device, a ground rail, a square steel pipe, a suspension type guide rail module, an operation system, a control device and a power supply. The suspension type guide rail module comprises three groups of guide rails, three groups of servo motors and an upright post, and can realize the omnidirectional movement of the operation system in space, so that the operation system can realize operation in any space place, and the damage to ground plants is reduced. The integrated operation system can realize the functions of ploughing, sowing, weeding, irrigating, fertilizing, picking and the like, and has a compact structure. The invention has reliable structure, the operation system can move to any direction of the greenhouse and can realize all the work from planting to final harvest, the manpower constraint is eliminated, the automation degree is high, the work efficiency can be improved, and the planting industry can obtain more benefits.

Description

Suspension type omnibearing greenhouse operation system

Technical Field

The invention relates to the technical field of greenhouses, in particular to a suspension type all-dimensional greenhouse operation platform and an integrated operation system. Realize the operation platform of the greenhouse all-round covering and the integration of picking, plowing, weeding and spraying.

Background

The greenhouse adopts a light-transmitting covering material and environment control equipment to form local microclimate, and special facilities which are beneficial to the growth and development of crops are built. The greenhouse has the function of creating environmental conditions suitable for the growth and development of crops and performing high-efficiency production. At present, most of greenhouses still operate on the ground, the occupied area is large, and the function is not fully realized. The existing greenhouse technology can only meet the requirement of operation with single function and can not liberate the hands of workers. When the planting area is too large, the prior art cannot ensure that crops are not damaged, and thus, chinese patent application No. 201810984233.8 discloses a suspension type greenhouse operation platform, which is provided with a slide rail in the greenhouse to enable the operation platform to move in the inner circumference of the greenhouse. The work platform can be provided with different devices to realize different functions. However, for a large greenhouse, it is impossible to fully cover the greenhouse. Moreover, the existing greenhouse operation system has single function and cannot meet the requirement of integrated operation.

Disclosure of Invention

The invention provides a suspension type lifting operation system, aiming at solving the defects that the existing greenhouse operation system can not cover a greenhouse for operation in all directions and the operation system has a single function.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a but all-round operating system of suspension type which characterized in that: the device comprises a greenhouse, a rainwater collecting device, a ground rail, a square steel pipe, a suspension type guide rail module, an operating system, a control device and a power supply.

The greenhouse consists of a plurality of supports and films, the films outside the greenhouse are polyethylene films, and the polyethylene films are low in price and can be widely applied to the greenhouse; the support is the arch, and its material is 45 steel, and support bottom both ends are installed on two parallel ground rails, can expand in a flexible way and pack up, and it is convenient to remove, is convenient for move after packing up.

The rainwater collecting device is ship-shaped, hollow inside and placed on two sides of the greenhouse, the shell of the rainwater collecting device is made of ABS (acrylonitrile butadiene styrene) hard plastic, and the rainwater collecting device is mounted on the outer side of the greenhouse by means of a support and is mainly used for collecting rainwater and dew.

The ground rails are parallelly fixed on the ground and made of 45 steel, the support is in sliding connection with the ground rails, and the ground rails are used for mounting the support so that the support can move on the ground rails.

The square steel tube is 4 in total, and its material is 45 steel, places at the guide rail inboard, and square steel tube passes through bolted connection and fixes into a square, and square steel tube connects the department and places T type angle bar, with square steel tube fixed connection, mainly used fixed guide rail.

The suspension type guide rail module comprises three groups of guide rails, three groups of servo motors and an upright post; the guide rail is composed of a ball screw, a slide block and a polish rod. Wherein, ball and polished rod parallel are placed, and ball is fixed with the both ends of polished rod. One end of the sliding block is fixed on the ball screw, and the other end of the sliding block penetrates through the polish rod and can slide on the polish rod. The servo motor drives the ball screw to move, so that the sliding block slides on the polished rod, and the polished rod mainly limits the moving direction of the sliding block; the first guide rail has two rails in total, is arranged on the inner sides of the ground rails on the two sides in parallel and on the outer side of the square steel tube, and is driven by a servo motor to drive a sliding block arranged on the first guide rail to move back and forth; the upright column belongs to a suspension type guide rail module, is made of 45 steel, is in a door shape in appearance, is arranged on a sliding block of the first guide rail and can move back and forth along with the sliding block; the first guide rail I is provided with two rails which are arranged on two sides of the vertical direction of the upright column in parallel and driven by a second servo motor to drive a sliding block arranged on the second guide rail to move up and down; the first third guide rail has two rails which are arranged on the slide block of the second guide rail in parallel and driven by a third servo motor, and can drive an operating system arranged on the third guide rail to move left and right. The suspension type guide rail module can realize the omnidirectional movement of the operation system in space, so that the operation of the operation system can be realized in any space place.

The operation system comprises a box body, an installation mechanism, a four-axis mechanical arm, a soft picking hand, a funnel device, a seeding device, a plowing device, a soil leveling device, a weeding device, a spraying device and a control device; the box body is in a cuboid shape and is made of 45 steel, and the box body has high strength and high deformation resistance. The mounting mechanism is fixed in the middle of the upper surface of the box body and is used for being mounted on the third guide rail; a four-axis mechanical arm of the operation system is fixedly arranged on the upper surface of the box body, and a soft picking hand on the four-axis mechanical arm can be replaced and used for grabbing different crops; the funnel device is fixedly arranged on the upper surface of the box body, the opening of the funnel device is rectangular and can be communicated with the box body and used for storing crop seeds, the switch is arranged at the bottom of the funnel device, when the funnel device is needed to be used, the switch is turned on, and the materials in the funnel can be sown through the sowing device below the box body; the seeding device is in a hollow thin rod shape and can make seeds fall slowly. The plowing device is arranged on the lower surface of the box body, the front end of the plowing device is triangular, the material is 45 steel, the plowing device has high strength and high deformation resistance, and the plowing device can be used for digging soil; the soil leveling device is arranged behind the seeding device and used for leveling the land after seeding. Weeding device installs at the box lower surface, is fan-shaped blade, is made by sharp 45 steel, and servo motor begins to rotate in the box when starting, drives the blade rotation for weed. The spraying device mainly comprises two cylindrical structures, is arranged on two sides of the box body and is used for spraying pesticides or irrigating the land.

The control device is arranged in the box body, takes the ARM processor as a core control part and is responsible for command issuing and data processing. According to the position of the operation system and the position of the operation area, the control device controls the three groups of servo motors of the suspension type guide rail module to move, so that the operation system moves in a three-dimensional space; the control device controls the servo motor on the four-axis mechanical arm to move, so that the mechanical arm can work in multiple degrees of freedom; when weeding operation is carried out, the control device controls the servo motor in the box body to move, so that the weeding device starts to work; and finally, calling devices with different functions in the operating system to complete the operation according to different working conditions.

The power supply is firstly connected with the control device through a lead, and then is respectively connected with each servo motor and the operating system through a plurality of output ports of the control device to supply power for the servo motors and the operating system.

The invention has the beneficial effects that:

the invention relates to a suspension type omnibearing greenhouse operation system which is simple in structure, the main body is mainly made of No. 45 steel materials, the structure is firm, the function is complete, the system is suitable for areas where the soil is dry, barren, large in day and night temperature difference and unsuitable for plant growth, and the problem of labor force shortage can be solved.

The greenhouse main body is supported by the plurality of supports, the supports are arranged on the sliding rails, the greenhouse main body can be flexibly unfolded and folded, the movement is convenient, the greenhouse main body can be conveniently moved after being folded, the greenhouse main body can be repeatedly utilized, and the waste is reduced. The rainwater collection device utilizes the difference in temperature about morning and evening can collect the dew on the film, and the rainy season water storage is used for irrigating at ordinary times.

The invention adopts the suspension type guide rail, the operation system is arranged on the suspension type guide rail, so that the operation system can freely move in the air by means of the guide rail, and the movement range covers the whole greenhouse. The invention can completely break through a two-dimensional operation mode, realize the operation in a three-dimensional space and fully improve the ground land utilization efficiency. The invention can further enhance the universality of the operation system and can adapt to different types of crops and different height requirements in different periods. In addition, the guide rail type operation can greatly improve the operation speed and the operation precision, and simultaneously avoid the damage of the ground operation to crops.

The invention designs an operation system integrating functions of ploughing, sowing, weeding, irrigating, fertilizing, picking and the like, has compact structure, can realize all the work from the beginning of planting to the final harvesting, gets rid of the constraint of manpower, can realize all-weather operation, can greatly improve the working efficiency and enables the planting industry to obtain more benefits.

The invention has the advantages of simple structure, complete functions, rapid assembly of parts after being manufactured and transported to the site, and wide market prospect.

Drawings

Fig. 1 is a schematic diagram of the overall structure of a suspension type omnibearing greenhouse operation system, which is marked with the numbers of corresponding components.

Fig. 2 is a top view of the present invention.

Fig. 3 is a schematic diagram of the overall structure of the working robot of the present invention, and the numbers of the corresponding constituent structures are marked.

Fig. 4 is a side view of the working robot of the invention, with the numbering of the corresponding components.

In the figure: 1-a rainwater collection device; 2-ground rail; 3-a scaffold; 4-square steel tube; 5-a power supply; 6-a first servo motor; 7-a first slider; 8-a first guide rail; 9-a second guide rail; 10-a third servo motor; 11-a second servo motor; 12-an operating system; 13-second slide, 14-third guide rail; 15-upright post; 16-box body, 17-four-axis mechanical arm, 18-soft picking hand, 19-spraying device, 20-mounting mechanism, 21-funnel device, 22-soil leveling device, 23-seeding device, 24-plowing device, 25-weeding device and 26-control device.

Detailed Description

The present invention will be described in detail with reference to the following embodiments in order to fully understand the objects, features and effects of the invention.

As shown in fig. 1, 2, 3 and 4, the suspension type omnibearing greenhouse operation system comprises a rainwater collection device 1, a ground rail 2, a support 3, a square steel pipe 4, a power supply 5, a first slide block 7, a second slide block 13, a first guide rail 8, a second guide rail 9, a first servo motor 6, a second servo motor 11, a third servo motor 10, a third guide rail 14, an operation system 12 and a vertical column 15; the rainwater collecting device 1 is the outermost part of the invention, the rainwater collecting device 1 is hung on the outer side of the bracket 3, the ground rail 2 is fixed on the ground, the bracket 3 is arranged on the ground rail 2, and the bracket 3 is in sliding contact with the ground rail 2, so that the bracket 3 can slide on the ground rail 2; the square steel pipe 4 is fixed on the ground, and the height of the square steel pipe can meet the working distance of an operating system. Two rails of a first guide rail 8 are fixed between the ground rail 2 and the square steel pipe 4 in parallel, a first sliding block 7 is installed on the first guide rail 8, and the first sliding block 7 is driven by a first servo motor 6 to move back and forth; an upright post 15 is fixedly arranged on the first sliding block 7, the upright post 15 is in a door shape, second guide rails 9 are arranged on two sides of the upright post 15 in the vertical direction, a second sliding block 13 is arranged on the second guide rails 9, and the second sliding block 13 is driven by a second servo motor 11 to move up and down; the third guide rail 14 is mounted on the second slider 13 of the second guide rail 9 to be movable up and down with the second slider 13. The operation system 12 is mounted on the third guide rail 14, and the third servo motor 10 controls the operation system 12 to move left and right. The work system 12 may be capable of omni-directional movement within the system space, allowing the work platform to perform work at any spatial location.

As shown in fig. 3 and 4, the operation system is a high-integration operation system, and mainly comprises a box 16, a four-axis mechanical arm 17, a soft picking hand 18, a spraying device 19, a mounting mechanism 20, a hopper device 21, a soil leveling device 22, a seeding device 23, a plowing device 24, a weeding device 25 and a control device 26. The box 16 is a main structure of the work system. The picking operation hand consists of a four-shaft mechanical arm 17 and a soft picking hand 18, is arranged on the upper surface of the box body 16, and each shaft joint is driven by a servo motor which is used for the multi-degree-of-freedom work of the four-shaft mechanical arm 17. The soft picking hands 18 are detachable structures and are used for replacing different soft picking hands 18 to adapt to different working conditions. The spraying device 19 is installed on the left side and the right side of the box body 16 and is of a cylindrical structure, the lower surface of the spraying device 19 is provided with a pore, and the spraying device 19 is externally connected with a water pipe or a rainwater collecting device 1. A mounting mechanism 20 is disposed on an upper surface of the housing 16 for securing to the third rail 14. Funnel device 21 is installed at box 16 upper surface, and funnel device 21 opening is rectangular form, can communicate with box 16. The soil leveling device 22, the seeding device 23, the plowing device 24 and the weeding device 25 are respectively arranged on the lower surface of the box body 16 and are electrically controlled by a control device 26, and can be retracted into the box body 16 when not in use. The weeding device 25 is a fan-shaped blade and is made of sharp 45 steel, and when the weeding device is used, a servo motor in the box body 16 starts to work to drive the blade to rotate for weeding. The front end of the plowing device 24 is in a triangular shape and is used for digging soil, the seeding device 23 is used for seeding through seeds falling from the hopper device 21, and the spraying devices 19 are arranged on two sides of the box body 16 and are used for spraying pesticide or irrigating the land. The control device 26 is installed in the box 16, and is a control component taking an ARM processor as a core and responsible for command issuing and data processing. Controls the omni-directional movement of the suspended guide rail and implements the functions of different devices of the operating system 12 according to different instructions.

The working process is as follows:

first, the rainwater collecting device 1 automatically collects dew water and rainwater without the power supply 5 and the control device 26. After the operating system is powered on by the power supply 5, the first servo motor 6 starts to work to enable the first sliding block 7 to reciprocate in the front-back direction after receiving an instruction. The column 15 is fixed to the first slider 7 and moves forward and backward along with the first slider 7. Then, the second servomotor 11 installed in the vertical direction of the column 15 is operated to move the second slider 13 up and down in the vertical direction. The third guide rail 14 fixed to the second slider 13 is slid up and down in the vertical direction of the column 15; while the work system 12 mounted on the third rail 14 also moves up and down in the vertical direction along with the third rail 14. And finally, the third servo motor 10 is started, so that the operation system 12 arranged on the third track 14 starts to move left and right in the horizontal direction, the operation of the operation system 12 in any spatial direction is realized, a two-dimensional plane operation mode is completely broken, and the ground land utilization efficiency is fully improved.

When the operating system 12 is powered on, the control device 26 performs various operations. The operation system 12 comprises a picking operation hand consisting of a four-axis mechanical arm 17 and a soft picking hand 18, wherein each axis joint is driven by a servo motor, and the servo motor is used for the multi-degree-of-freedom operation of the four-axis mechanical arm 17. Rotation type weeding device 25 has been designed to operating system 12 bottom, and weeding device 25 is fan-shaped blade, is made by sharp 45 steel, and servo motor begins to rotate in the box 16 when starting, drives the blade rotation for weed, and box 16 bottom can be opened, can take in operating system 12 middle box 16 when weeding device 25 is out of work. Top funnel device 21 can store seed or solid particle fertilizer, and funnel device 21 communicates the seeder 23 of lower extreme, and the device collects and ploughs, sows, soil preparation function in an organic whole, and the plowing device 24 of front end is opened native, and the seed flows into seeder 23 of lower extreme intercommunication from funnel device 21 through hollow groove and sows, and the flat native device 22 of passing through the rear again accomplishes the fill soil. And spraying devices 19 are arranged at two ends of the side surface of the operating system 12, and an available water pipe is connected with the external rainwater collecting device 1 and used for irrigating or spraying pesticides.

The above-mentioned embodiments are intended to illustrate the technical solutions and advantages of the present invention, and it should be understood that the above-mentioned embodiments are only the most preferred embodiments of the present invention, and are not intended to limit the present invention, and any modifications, additions, equivalents, etc. made within the scope of the principles of the present invention should be included in the scope of the present invention.

Claims

1. A suspension type omnibearing greenhouse operation system is characterized by comprising a greenhouse, a rainwater collecting device, a ground rail, a square steel pipe, a suspension type guide rail module, an operation system, a control device and a power supply;

the greenhouse consists of a plurality of supports and films, wherein the films cover the supports, and two ends of the bottom of each support are arranged on two parallel ground rails;

the rainwater collecting device is arranged on the outer side of the greenhouse by a support;

the two ground rails are fixed on the ground in parallel, the bracket is connected with the ground rails in a sliding manner, and the ground rails are used for mounting the bracket so that the bracket can move on the ground rails;

the number of the square steel tubes is 4, the square steel tubes are arranged on the inner side of the guide rail and are fixedly connected into a square shape through bolts, and T-shaped angle irons are arranged at joints of the square steel tubes and are fixedly connected with the square steel tubes and mainly used for fixing the guide rail;

the suspension type guide rail module comprises three groups of guide rails, three groups of servo motors and an upright post; the guide rail consists of a ball screw, a slide block and a polished rod; the ball screw is arranged in parallel with the polish rod, and the ball screw is fixed with two ends of the polish rod; one end of the sliding block is fixed on the ball screw, and the other end of the sliding block penetrates through the polished rod and can slide on the polished rod; the servo motor drives the ball screw to move, so that the sliding block slides on the polished rod, and the polished rod mainly limits the moving direction of the sliding block; the first guide rail has two rails in total, is arranged on the inner sides of the ground rails on the two sides in parallel and on the outer side of the square steel tube, and is driven by a servo motor to drive a sliding block arranged on the first guide rail to move back and forth; the upright post belongs to a suspended guide rail module, is in a door shape in appearance, is arranged on a sliding block of the first guide rail and can move back and forth along with the sliding block; the first guide rail I is provided with two rails which are arranged on two sides of the vertical direction of the upright column in parallel and driven by a second servo motor to drive a sliding block arranged on the second guide rail to move up and down; the first third guide rail is provided with two rails, is arranged on the sliding block of the second guide rail in parallel, is driven by a third servo motor, and can drive an operating system arranged on the third guide rail to move left and right; the suspension type guide rail module can realize the omnidirectional movement of the operating system in space, so that the operating system can realize operation in any space place;

the operation system comprises a box body, an installation mechanism, a four-axis mechanical arm, a soft picking hand, a funnel device, a seeding device, a plowing device, a soil leveling device, a weeding device, a spraying device and a control device; the box body is in a cuboid shape, and the mounting mechanism is fixed in the middle of the upper surface of the box body and is used for being mounted on the third guide rail; a four-axis mechanical arm of the operation system is fixedly arranged on the upper surface of the box body, and a soft picking hand on the four-axis mechanical arm can be replaced and used for grabbing different crops; the funnel device is fixedly arranged on the upper surface of the box body, the opening of the funnel device is rectangular and can be communicated with the box body and used for storing crop seeds, the switch is arranged at the bottom of the funnel device, when the funnel device is needed to be used, the switch is turned on, and the materials in the funnel can be sown through the sowing device below the box body; the soil leveling device, the seeding device, the plowing device and the weeding device are sequentially arranged on the lower surface of the box body from back to front; the spraying devices are arranged on two sides of the box body and are used for spraying pesticides or irrigating the land;

the control device is arranged in the box body, takes the ARM processor as a core control part and is responsible for command issuing and data processing; according to the position of the operation system and the position of the operation area, the control device controls the three groups of servo motors of the suspension type guide rail module to move, so that the operation system moves in a three-dimensional space; the control device controls the servo motor on the four-axis mechanical arm to move, so that the mechanical arm can work in multiple degrees of freedom; when weeding operation is carried out, the control device controls the servo motor in the box body to move, so that the weeding device starts to work; finally, according to different working conditions, devices with different functions in the operating system are called to complete operation;

2. The suspension type omnibearing greenhouse operation system as claimed in claim 1, wherein the seeding device is in the shape of a hollow thin rod, so that seeds can fall slowly; the front end of the plowing device is triangular, and the plowing device is made of 45 steel and used for digging soil; the soil leveling device is arranged behind the seeding device and is used for leveling the land after seeding; the weeding device is arranged on the lower surface of the box body, is a fan-shaped blade and is made of sharp 45 steel, and when the weeding device is started, the servo motor in the box body starts to rotate to drive the blade to rotate for weeding; the spraying device is of a cylindrical structure, the lower surface of the spraying device is provided with a pore, and the spraying device is externally connected with a water pipe or a rainwater collecting device.

3. The suspended all-directional greenhouse working system as claimed in claim 1, wherein the film is polyethylene film; the bracket is arched and is made of 45 steel.

4. The suspended all-directional greenhouse working system as claimed in claim 1, wherein the rainwater collecting device is boat-shaped and hollow.

5. The suspended all-directional greenhouse operation system as claimed in claim 1, wherein the ground rail, the square steel pipe and the upright are made of 45 steel.

6. The suspended all-directional greenhouse working system as claimed in claim 1, wherein the lower part of the housing is openable, and the soil leveling device, the seeding device, the plowing device and the weeding device are electrically controlled by the control device and can be retracted into the housing when not in use.