CN112930957A - Be applied to warmhouse booth's triaxial boat frame mechanism - Google Patents
Be applied to warmhouse booth's triaxial boat frame mechanism Download PDFInfo
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- CN112930957A CN112930957A CN202110229923.4A CN202110229923A CN112930957A CN 112930957 A CN112930957 A CN 112930957A CN 202110229923 A CN202110229923 A CN 202110229923A CN 112930957 A CN112930957 A CN 112930957A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 33
- 238000007689 inspection Methods 0.000 claims abstract description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 230000001050 lubricating effect Effects 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 241000607479 Yersinia pestis Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000004720 fertilization Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/14—Greenhouses
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2085—Undercarriages with or without wheels comprising means allowing sideward adjustment, i.e. left-right translation of the head relatively to the undercarriage
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2092—Undercarriages with or without wheels comprising means allowing depth adjustment, i.e. forward-backward translation of the head relatively to the undercarriage
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
- F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Automatic Assembly (AREA)
Abstract
The invention relates to the technical field of agricultural auxiliary devices, in particular to a three-axis navigation frame mechanism applied to a greenhouse, which is characterized in that a three-axis linkage navigation frame is erected by utilizing a framework in the greenhouse, the three-axis linkage navigation frame comprises three axial components of XYZ, and different functional units can be connected to the tail end of a Z axis to realize functions of routing inspection, plant protection, picking and the like; the three-axis gantry mechanism comprises a greenhouse framework, an X-axis track (left) sub-assembly, an X-axis track connecting support assembly A, a hexagon head bolt M16X 80, an X-axis slide seat (left) sub-assembly, a Y-axis beam component sub-assembly, an X-axis slide seat (right) sub-assembly, a hexagon socket head cap bolt M16X 70, a hexagon socket head cap bolt M16X 45, a flat washer 16, a spring washer 16, an X-axis track (right) sub-assembly, an adjusting cushion block, a hexagon thin nut M30, an adjusting bolt, an X-axis track support assembly, a hexagon nut M16, a Z-axis drag chain, a Z-axis component sub-assembly, a Y-axis slide seat component sub-assembly and a Y-axis drag chain.
Description
Technical Field
The invention relates to the technical field of agricultural accessories, in particular to a three-axis gantry mechanism applied to a greenhouse.
Background
The facility agriculture is a revolution in the development history of modern agriculture, can produce agricultural products completely according to human will, has the characteristics of high input and output, no pollution, sustainable development and the like, and is a system engineering with high technical content and fine management. The facility agriculture in China starts late, but develops rapidly, and as of 2006, the area of facilities such as greenhouses and the like mainly used for producing vegetables has developed to more than 250 ten thousand hm2And is the first in the world. Most facility agriculture works in a greenhouse, the space is narrow, and small, multifunctional and environment-friendly agricultural machinery suitable for the facility agriculture working environment is needed, so that the high-efficiency, energy-saving and environment-friendly intelligent facility agricultural machinery is the need and direction for the development of facility agriculture in China.
Most of the operations in the greenhouse at the present stage depend on manual work, and some simple devices with low automation degree are used as assistance, such as daily pest and disease damage monitoring, maturity monitoring, environment monitoring and even spraying pesticide, and final picking of fertilization, most of the operations depend on manual work to realize, the production efficiency is low, most of the cost is spent on manual work, aiming at operation requirements and standards, the operation depends on experience basically, some intelligent agricultural facilities can be used daily, and the operation is limited in planting row spacing, density and other agricultural technologies, and a plurality of supporting facilities need to be made, such as road surface hardening and the like, most of the existing air frame construction is a single guide rail, the number of guide rails needs to be laid, the working stroke is single, the function expansibility is limited, and the input is increased while the production efficiency or even the final yield is influenced.
Therefore, how to meet the agricultural technology and make facility agriculture with high intelligent degree and novel structure is a problem to be solved urgently.
Disclosure of Invention
The invention aims to provide a three-axis navigation frame mechanism applied to a greenhouse, which is characterized in that a three-axis linkage navigation frame is erected by utilizing a framework inside the greenhouse, the three-axis linkage navigation frame comprises three axial components of XYZ, and different functional units can be connected to the tail end of a Z axis, so that functions of routing inspection, plant protection, picking and the like are realized.
The invention relates to a three-axis gantry mechanism applied to a greenhouse, which comprises a greenhouse framework, an X-axis track (left) subassembly, an X-axis track connecting support component A, a hexagon head bolt M16 multiplied by 80, an X-axis slide seat (left) subassembly, a Y-axis beam component subassembly, an X-axis slide seat (right) subassembly, an inner hexagon cylinder head bolt M16 multiplied by 70, an inner hexagon cylinder head bolt M16 multiplied by 45, a flat washer 16, a spring washer 16, an X-axis track (right) subassembly, an adjusting cushion block and a hexagon thin nut M30, the device comprises an adjusting bolt, an X-axis track support assembly, a hexagon nut M16, a Z-axis drag chain, a Z-axis component subassembly, a Y-axis slide seat component subassembly, a Y-axis drag chain, an X-axis support assembly B, X-axis track connecting plate, a hexagon head bolt M12X 45, a functional unit component, a motion control module, an unmanned module and a control terminal;
the X-axis track support assembly is fixed on the upright posts in the greenhouse framework by virtue of hexagonal head bolts M16 multiplied by 80, flat washers 16, spring washers 16 and hexagonal nuts M16;
the X-axis track (left) sub-assembly and the X-axis track (right) sub-assembly are fixedly arranged on an X-axis track support assembly which is already arranged on a greenhouse framework, and are bolted on mounting holes by virtue of inner hexagonal cylindrical head bolts M16 multiplied by 70, flat washers 16, spring washers 16 and hexagonal nuts M16, adjusting cushion blocks are added between the two workpieces, and adjusting bolts and hexagonal thin nuts M30 are added at the lower end of the X-axis track support assembly;
the X-axis track (left) sub-assembly and the X-axis track (right) sub-assembly comprise one or more X-axis beams, V-shaped racks and V-shaped guide rails;
the X-axis slide seat (left) sub-assembly and the X-axis slide seat (right) sub-assembly are respectively and correspondingly assembled on guide rails of the X-axis track (left) sub-assembly and the X-axis track (right) sub-assembly at two ends of the greenhouse framework and can slide along the X-axis guide rails;
the X-axis sliding seat (left) sub-assembly and the X-axis sliding seat (right) sub-assembly comprise sliding seat plates, planetary reducers, servo motors, driving gears, V-shaped pulleys, lubricating mechanisms and travel switches;
the Y-axis beam component sub-assembly is assembled between the X-axis sliding seat (left) sub-assembly and the X-axis sliding seat (right) sub-assembly and is bolted on mounting holes of the X-axis sliding seat (left) sub-assembly and the X-axis sliding seat (right) sub-assembly by inner hexagonal cylindrical head bolts M16 multiplied by 45;
the Y-axis beam assembly comprises a Y-axis beam, a V-shaped rack and a V-shaped guide rail;
the Y-axis sliding seat component sub-assembly is arranged on a V-shaped rack and a V-shaped guide rail on the Y-axis beam;
the Y-axis sliding seat component comprises a sliding seat plate, a planetary reducer, a servo motor, a driving gear, a V-shaped pulley and a lubricating mechanism;
one end of the Y-axis drag chain is fixed on the slide chair plate, and the other end of the Y-axis drag chain is fixed on the Y-axis beam and mainly used for accommodating a power supply line and a signal line;
the Z-axis component sub-assembly is assembled on the Y-axis sliding seat component, a V-shaped rack and a V-shaped guide rail on the Z-axis component sub-assembly are matched with the driving gear in a row, and the Z-axis drag chain is used for accommodating a power supply line and a signal line for the Z-axis component sub-assembly;
the X-axis track connecting support assembly A is fixed at the starting point of a greenhouse framework and is bolted to mounting holes of greenhouse framework upright columns at the upper ends of an X-axis track (left) sub-assembly and an X-axis track (right) sub-assembly by virtue of a hexagon bolt M16X 80, a flat washer 16, a spring washer 16 and a hexagon nut M16, and the X-axis track connecting support assembly A is connected with the X-axis track (left) sub-assembly and the X-axis track (right) sub-assembly by virtue of a hexagon bolt M12X 45;
the X-axis track connecting support assembly B is fixed on the rest parts of the greenhouse skeleton, is bolted on mounting holes of greenhouse skeleton upright posts at the upper ends of an X-axis track (left) sub-assembly and an X-axis track (right) sub-assembly by virtue of a hexagon bolt M16X 80, a flat washer 16, a spring washer 16 and a hexagon nut M16, and is connected with the X-axis track (left) sub-assembly and the X-axis track (right) sub-assembly together by virtue of a hexagon bolt M12X 45;
the X-axis track connecting plate is arranged between the X-axis track (left) sub-assembly, the X-axis track (right) sub-assembly and the X-axis track connecting bracket component A, X, and the axis track connecting bracket component B is arranged between the upper part and the lower part.
The invention discloses a three-axis gantry mechanism applied to a greenhouse, wherein a functional unit assembly is assembled at the bottom end of a Z-axis beam and comprises a routing inspection functional module, a plant protection functional module and a picking functional module.
The invention discloses a three-axis gantry mechanism applied to a greenhouse, wherein a motion control module is assembled on a Y-axis beam and is close to a servo motor, and the three-axis gantry mechanism comprises a PLC module with a net port, a controller, a driver and a router.
The invention discloses a three-axis gantry mechanism applied to a greenhouse.
The invention discloses a three-axis gantry mechanism applied to a greenhouse, wherein a control terminal is placed in an office area in the greenhouse and comprises an industrial personal computer, a server, a workstation, a display screen and a data processing module.
Compared with the prior art, the invention has the beneficial effects that:
firstly, the invention adopts a three-axis linkage navigation frame, XYZ three axes can move, and the full-area coverage can be realized in the greenhouse with the same width;
secondly, the invention is a multifunctional platform, the functional units at the tail end can be switched rapidly, and one machine has multiple functions;
thirdly, the unmanned design is carried in the equipment, images can be collected through the camera, analysis and processing are carried out, instructions are output, corresponding functional modules are replaced according to the instructions, automatic disposal is carried out, and labor input is greatly reduced;
fourthly, the greenhouse hanger rail operation platform provided by the invention has a wide functional operation platform;
fifthly, the hanger rail facility agriculture provided by the invention can fill the technical blank in the prior art aiming at the application scene that the height of crops in the greenhouse is higher and the planting density is denser.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a left side view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is an enlarged view of a portion I of FIG. 1;
FIG. 5 is an enlarged view of a portion II of FIG. 2;
FIG. 6 is an enlarged view of a portion III of FIG. 3;
in the drawings, the reference numbers: 1. a greenhouse framework; 2. an X-axis track (left) subassembly; 3. an X-axis track connecting bracket assembly A; 4. a hexagon head bolt M16 multiplied by 80; 5. an X-axis slide carriage (left) subassembly; 6. a Y-axis beam component sub-assembly; 7. an X-axis slide carriage (right) subassembly; 8. the inner hexagon cylinder head bolt M16 is multiplied by 70; 9. a flat washer 16; 10. a spring washer 16; 11. an X-axis track (right) subassembly; 12. adjusting the cushion block; 13. hexagonal thin nuts M30; 14. adjusting the bolt; 15. an X-axis track support assembly; 16. a hexagonal nut M16; 17. a Z-axis drag chain; 18. a Z-axis component subassembly; 19. a Y-axis slide carriage component subassembly; 20. a Y-axis drag chain; 21. the X shaft is connected with a bracket component B; 22. an X-axis track connection plate; 23. a hexagon head bolt M12 multiplied by 45; 24. hexagon socket head cap screw M16 x 45.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1 to 6, the three-axis gantry mechanism applied to the greenhouse of the present invention comprises a greenhouse frame 1, an X-axis track (left) subassembly 2, an X-axis track connecting support assembly a3, a hexagon head bolt M16 × 804, an X-axis slide (left) subassembly 5, a Y-axis beam component subassembly 6, an X-axis slide (right) subassembly 7, a hexagon socket head bolt M16 × 708, a hexagon socket head bolt M16 × 4524, a flat washer 169, a spring washer 1610, an X-axis track (right) subassembly 11, an adjusting pad 12, a hexagon nut M3013, an adjusting bolt 14, an X-axis track support assembly 15, a hexagon nut M1616, a Z-axis drag chain 17, a Z-axis component subassembly 18, a Y-axis slide assembly 19, a Y-axis drag chain 20, an X-axis connecting support assembly B21, an X-axis track connecting plate 22, a hexagon head bolt M12 × 4523, and a functional unit component M12 × 4523, The system comprises a motion control module, an unmanned driving module and a control terminal;
the X-axis track support assembly 15 is fixed on the upright posts in the greenhouse framework 1 by hexagonal head bolts M16X 804, flat washers 169, spring washers 1610 and hexagonal nuts M1616;
the X-axis track (left) sub-assembly 2 and the X-axis track (right) sub-assembly 11 are fixedly arranged on an X-axis track support assembly 15 which is already arranged on the greenhouse framework 1, and are bolted on mounting holes by virtue of inner hexagonal cylindrical head bolts M16 multiplied by 708, flat washers 169, spring washers 1610 and hexagonal nuts M1616, adjusting cushion blocks 12 are added between the two workpieces, and adjusting bolts 14 and hexagonal thin nuts M3013 are added at the lower end of the X-axis track support assembly 15;
the X-axis track (left) sub-assembly 2 and the X-axis track (right) sub-assembly 11 comprise one or more X-axis beams, V-shaped racks and V-shaped guide rails;
the X-axis slide seat (left) sub-assembly 5 and the X-axis slide seat (right) sub-assembly 7 are respectively and correspondingly assembled on guide rails of the X-axis track (left) sub-assembly 2 and the X-axis track (right) sub-assembly 11 at two ends of the greenhouse framework 1 and can slide along the X-axis guide rails;
the X-axis sliding seat (left) sub-assembly 5 and the X-axis sliding seat (right) sub-assembly 7 comprise sliding seat plates, planetary reducers, servo motors, driving gears, V-shaped pulleys, lubricating mechanisms and travel switches;
the Y-axis beam component sub-assembly 6 is assembled between the X-axis sliding seat (left) sub-assembly 5 and the X-axis sliding seat (right) sub-assembly 7 and is bolted on the mounting holes of the X-axis sliding seat (left) sub-assembly 5 and the X-axis sliding seat (right) sub-assembly 7 by inner hexagonal cylindrical head bolts M16 multiplied by 4524;
the Y-axis beam assembly comprises a Y-axis beam, a V-shaped rack and a V-shaped guide rail;
the Y-axis slide seat component sub-assembly 19 is arranged on a V-shaped rack and a V-shaped guide rail on the Y-axis beam;
the Y-axis sliding seat component comprises a sliding seat plate, a planetary reducer, a servo motor, a driving gear, a V-shaped pulley and a lubricating mechanism;
one end of a Y-axis drag chain 20 is fixed on the slide chair plate, and the other end is fixed on the Y-axis beam and mainly used for accommodating a power supply line and a signal line;
the Z-axis component subassembly 18 is assembled on the Y-axis sliding seat component, a V-shaped rack and a V-shaped guide rail on the Z-axis component subassembly 18 are matched with a driving gear in a running mode, and a Z-axis drag chain 17 is used for containing a power supply line and a signal line for the Z-axis component subassembly;
the X-axis track connecting support assembly A3 is fixed at the starting point of the greenhouse skeleton 1, and is bolted on mounting holes of an upright post of the greenhouse skeleton 1 at the upper ends of the X-axis track (left) subassembly 2 and the X-axis track (right) subassembly 11 by virtue of a hexagon head bolt M16X 804, a flat washer 169, a spring washer 1610 and a hexagon nut M1616, and the X-axis track connecting support assembly A3 is connected with the X-axis track (left) subassembly 2 and the X-axis track (right) subassembly 11 by virtue of a hexagon head bolt M12X 4523;
the X-axis track connecting support assembly B is fixed on the rest of the greenhouse framework 1, is bolted on mounting holes of greenhouse framework 1 upright columns at the upper ends of the X-axis track (left) sub-assembly 2 and the X-axis track (right) sub-assembly 11 by virtue of a hexagon head bolt M16X 804, a flat washer 169, a spring washer 1610 and a hexagon nut M1616, and is connected with the X-axis track (left) sub-assembly 2 and the X-axis track (right) sub-assembly 11 together by virtue of a hexagon head bolt M12X 4523;
the X-axis track connecting plate 22 is arranged between the X-axis track (left) sub-assembly 2, the X-axis track (right) sub-assembly 11, the X-axis track connecting bracket assembly A3 and the X-axis track connecting bracket assembly B;
the integral navigation frame is assembled inside a greenhouse framework 1, a Y-axis beam component sub-assembly 6 is assembled between an X-axis sliding seat (left) sub-assembly 5 and an X-axis sliding seat (right) sub-assembly 7 and is bolted on mounting holes of the X-axis sliding seat (left) sub-assembly 5 and the X-axis sliding seat (right) sub-assembly 7 by inner hexagonal cylindrical head bolts M16X 4524, the X-axis sliding seat (left) sub-assembly 5 and the X-axis sliding seat (right) sub-assembly 7 are respectively correspondingly assembled on guide rails of an X-axis track (left) sub-assembly 2 and an X-axis track (right) sub-assembly 11 at two ends of the greenhouse framework 1 and can slide along an X-axis guide rail, the X-axis sliding seat (left) sub-assembly 5 and the X-axis sliding seat (right) sub-assembly 7 comprise sliding seat plates, planetary reducers, servo motors, driving gears, V-shaped pulleys and lubricating mechanisms, the power is transmitted to the driving gears by the servo motors, thereby driving the Y-axis beam part to slide on the guide rails of the X-axis track (left) sub-assembly 2 and the X-axis track (right) sub-assembly 11, and performing pulse control through a motion-controlled PLC module to keep two sides synchronous; z axle part subassembly 18 assembles on Y axle slide subassembly, V type rack and V type guide rail on the Z axle part subassembly 18 and drive gear line cooperation, Z axle tow chain 17 is used for accomodating power supply line and signal line for Z axle part subassembly, Y axle slide subassembly contains slide plate, planetary reducer, servo motor, drive gear, V type pulley, lubricating mechanism, is driven by servo motor, passes through planetary reducer with power transmission to drive gear to drive Z axle spare and carry out the upper and lower slip on Y axle slide subassembly.
The invention discloses a three-axis gantry mechanism applied to a greenhouse. The functional unit assembly is assembled at the bottom end of the Z-axis beam and comprises a routing inspection functional module, a plant protection functional module and a picking functional module;
the inspection function module comprises a camera, a sensor and an image processing module, can monitor the conditions in the greenhouse in real time, including pest and disease conditions, fruit maturity, environment monitoring and the like, can process images according to the shot pictures, and outputs corresponding results (a hot spot diagram and a control instruction);
the plant protection function module comprises a spray head, a water tank, a controller and a driver, can realize foliar fertilization and pesticide spraying operation, can control on-off through the controller, and controls the flow rate and the atomization degree;
the picking module comprises a mechanical arm, a binocular camera, a picking power device, a picking claw, a binocular vision recognition module, a picking driver and an industrial personal computer, position and depth information of fruits are collected through a binocular vision recognition technology, the picking device is driven to complete stretching, opening, closing, rotating, transferring to a destination and loosening the claw.
The invention relates to a three-axis gantry mechanism applied to a greenhouse, wherein a motion control module is assembled on a Y-axis beam and is close to a servo motor, and the motion control module comprises a PLC module with a net port, a controller, a driver and a router; the motion control module adopts PLC, designs the switch board in each servo motor department, and the interpolation has driver and controller, and the design has communication interface in the PLC module, receives the instruction that the host computer was assigned, carries out corresponding operation, and servo motor is equipped with absolute encoder and electromagnetism band-type brake, can realize accurate location.
The invention relates to a three-axis gantry mechanism applied to a greenhouse, wherein an unmanned module is assembled on a Y-axis beam and comprises an industrial personal computer, a camera, a laser radar and an ultrasonic sensor; unmanned module assembly contains industrial computer, camera, laser radar, ultrasonic sensor, router on the Y axle crossbeam, gathers road conditions information through the camera, transmits to the industrial computer, carries out the path planning by the industrial computer on the map of building, carries out information real-time collection through laser radar and ultrasonic sensor to pass back to the server, give down the instruction by the server, realize keeping away the function of barrier.
The invention discloses a three-axis gantry mechanism applied to a greenhouse.A control terminal is placed in an office area in the greenhouse and comprises an industrial personal computer, a server, a workstation, a display screen and a data processing module; the control terminal is placed in an office area in the greenhouse and comprises an industrial personal computer, a server, a workstation, a display screen and a data processing module, the industrial personal computer is responsible for data processing and conversion and transmits instructions to a motion control module (VCU), the server is responsible for information storage, uploading and downloading, and man-machine interaction is achieved through the workstation.
The three-axis truss mechanism applied to the greenhouse is characterized in that the installation mode, the connection mode or the arrangement mode of all the components are welding, riveting or other common mechanical modes, wherein the slidable/rotatable fixing mode is that the components do not fall off in the sliding/rotating state, the sealed communication is that the two connecting pieces are communicated and simultaneously sealed, the specific structures, the models and the coefficient indexes of all the components are self-contained technologies, the beneficial effects can be realized, all the electric modules and the electric appliances are common electric appliances in the market, the electric modules and the electric appliances can be used only by being electrically connected with each other according to the purchased use specifications when being bought back for use, and the control module is a common self-contained module, so the details are not repeated.
In the three-axis truss mechanism applied to the greenhouse of the invention, under the condition of not being described to the contrary, the orientation words contained in the terms of 'up-down, left-right, front-back, inside-out, vertical and horizontal' and the like only represent the orientation of the term in the normal use state, or be a trivial term understood by those skilled in the art, and should not be considered as limiting the term, at the same time, the numerical terms "first," "second," and "third," etc. do not denote any particular quantity or order, but rather are used to distinguish one from another, furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements, but also includes other elements not expressly listed or inherent to such process, method, article, or apparatus.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (5)
1. A three-axis truss mechanism applied to a greenhouse, which is characterized in that, the three-axis gantry mechanism consists of a greenhouse framework, an X-axis track (left) sub-assembly, an X-axis track connecting support assembly A, a hexagon head bolt M16X 80, an X-axis slide seat (left) sub-assembly, a Y-axis beam component sub-assembly, an X-axis slide seat (right) sub-assembly, a hexagon socket head cap bolt M16X 70, a hexagon socket head cap bolt M16X 45, a flat washer 16, a spring washer 16, an X-axis track (right) sub-assembly, an adjusting cushion block, a hexagon thin nut M30, an adjusting bolt, an X-axis track support assembly, a hexagon nut M16, a Z-axis drag chain, a Z-axis component sub-assembly, a Y-axis slide seat component sub-assembly, a Y-axis drag chain, an X-axis track support assembly B, X, a hexagon head bolt M12X 45, a functional unit component, a motion control module, an unmanned module and a control terminal;
the X-axis track support assembly is fixed on the upright posts in the greenhouse framework by virtue of hexagonal head bolts M16 multiplied by 80, flat washers 16, spring washers 16 and hexagonal nuts M16;
the X-axis track (left) sub-assembly and the X-axis track (right) sub-assembly are fixedly arranged on an X-axis track support assembly which is already arranged on a greenhouse framework, and are bolted on mounting holes by virtue of inner hexagonal cylindrical head bolts M16 multiplied by 70, flat washers 16, spring washers 16 and hexagonal nuts M16, adjusting cushion blocks are added between the two workpieces, and adjusting bolts and hexagonal thin nuts M30 are added at the lower end of the X-axis track support assembly;
the X-axis track (left) sub-assembly and the X-axis track (right) sub-assembly comprise one or more X-axis beams, V-shaped racks and V-shaped guide rails;
the X-axis slide seat (left) sub-assembly and the X-axis slide seat (right) sub-assembly are respectively and correspondingly assembled on guide rails of the X-axis track (left) sub-assembly and the X-axis track (right) sub-assembly at two ends of the greenhouse framework and can slide along the X-axis guide rails;
the X-axis sliding seat (left) sub-assembly and the X-axis sliding seat (right) sub-assembly comprise sliding seat plates, planetary reducers, servo motors, driving gears, V-shaped pulleys, lubricating mechanisms and travel switches;
the Y-axis beam component sub-assembly is assembled between the X-axis sliding seat (left) sub-assembly and the X-axis sliding seat (right) sub-assembly and is bolted on mounting holes of the X-axis sliding seat (left) sub-assembly and the X-axis sliding seat (right) sub-assembly by inner hexagonal cylindrical head bolts M16 multiplied by 45;
the Y-axis beam assembly comprises a Y-axis beam, a V-shaped rack and a V-shaped guide rail;
the Y-axis sliding seat component sub-assembly is arranged on a V-shaped rack and a V-shaped guide rail on the Y-axis beam;
the Y-axis sliding seat component comprises a sliding seat plate, a planetary reducer, a servo motor, a driving gear, a V-shaped pulley and a lubricating mechanism;
one end of the Y-axis drag chain is fixed on the slide chair plate, and the other end of the Y-axis drag chain is fixed on the Y-axis beam and mainly used for accommodating a power supply line and a signal line;
the Z-axis component sub-assembly is assembled on the Y-axis sliding seat component, a V-shaped rack and a V-shaped guide rail on the Z-axis component sub-assembly are matched with the driving gear in a row, and the Z-axis drag chain is used for accommodating a power supply line and a signal line for the Z-axis component sub-assembly;
the X-axis track connecting support assembly A is fixed at the starting point of a greenhouse framework and is bolted to mounting holes of greenhouse framework upright columns at the upper ends of an X-axis track (left) sub-assembly and an X-axis track (right) sub-assembly by virtue of a hexagon bolt M16X 80, a flat washer 16, a spring washer 16 and a hexagon nut M16, and the X-axis track connecting support assembly A is connected with the X-axis track (left) sub-assembly and the X-axis track (right) sub-assembly by virtue of a hexagon bolt M12X 45;
the X-axis track connecting support assembly B is fixed on the rest parts of the greenhouse skeleton, is bolted on mounting holes of greenhouse skeleton upright posts at the upper ends of an X-axis track (left) sub-assembly and an X-axis track (right) sub-assembly by virtue of a hexagon bolt M16X 80, a flat washer 16, a spring washer 16 and a hexagon nut M16, and is connected with the X-axis track (left) sub-assembly and the X-axis track (right) sub-assembly together by virtue of a hexagon bolt M12X 45;
the X-axis track connecting plate is arranged between the X-axis track (left) sub-assembly, the X-axis track (right) sub-assembly and the X-axis track connecting bracket component A, X, and the axis track connecting bracket component B is arranged between the upper part and the lower part.
2. The three-axis gantry mechanism applied to the greenhouse as claimed in claim 1, wherein the functional unit assembly is assembled at the bottom end of the Z-axis beam and comprises an inspection functional module, a plant protection functional module and a picking functional module.
3. The three-axis gantry mechanism applied to the greenhouse of claim 1, wherein the motion control module is assembled on the Y-axis beam near the servo motor and comprises a PLC module with a net port, a controller, a driver and a router.
4. The three-axis gantry mechanism applied to a greenhouse of claim 1, wherein the unmanned module is assembled on a Y-axis beam and comprises an industrial personal computer, a camera, a laser radar and an ultrasonic sensor.
5. The three-axis gantry mechanism applied to the greenhouse as claimed in claim 1, wherein the control terminal is placed in an office area in the greenhouse and comprises an industrial personal computer, a server, a workstation, a display screen and a data processing module.
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| CN202110229923.4A CN112930957A (en) | 2021-03-02 | 2021-03-02 | Be applied to warmhouse booth's triaxial boat frame mechanism |
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| CN202110229923.4A CN112930957A (en) | 2021-03-02 | 2021-03-02 | Be applied to warmhouse booth's triaxial boat frame mechanism |
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Application publication date: 20210611 |