CN113647273A - Intelligent greenhouse building equipment - Google Patents
Intelligent greenhouse building equipment Download PDFInfo
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- CN113647273A CN113647273A CN202110861466.0A CN202110861466A CN113647273A CN 113647273 A CN113647273 A CN 113647273A CN 202110861466 A CN202110861466 A CN 202110861466A CN 113647273 A CN113647273 A CN 113647273A
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- frame
- fixed mounting
- carriage
- hole
- soil
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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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
Abstract
The invention belongs to the technical field of intelligent greenhouses, and particularly relates to intelligent greenhouse building equipment which comprises a moving trolley, a hole turning device, a blanking device, a building mechanical arm and a soil filling device, wherein the hole turning device is positioned on the outer surface of one side of a carriage of the moving trolley and is used for opening a hole in the ground built in the greenhouse. This equipment is built to intelligent big-arch shelter, through setting up the device of filling out soil, soil can be backfilled automatically, catch the member of grafting through the second camera, control moving platform's start-up, regulation hydraulic cylinder group can remove, the regulation hydraulic cylinder group of the cylinder member both sides of grafting equals apart from the distance of cylinder member, the promotion of regulation hydraulic cylinder group, fill out the arc board and can contact ground, can drive the soil that drills out by the drilling machine on ground and be pushed to downtheholely, backfill, current intelligent big-arch shelter is being built, it is big still to have intensity of labour to build with the manual work, the technical problem of shortcoming such as work efficiency is low.
Description
Technical Field
The invention relates to the technical field of greenhouses, in particular to intelligent greenhouse building equipment.
Background
The intelligent greenhouse has the effects that the intelligent control system is applied to greenhouse planting, the most advanced biological simulation technology is utilized to simulate the environment most suitable for the growth of plants in the greenhouse, various environmental indexes of the greenhouse are sensed by adopting temperature, humidity, CO2, a light intensity sensor and the like, data analysis is carried out through a microcomputer, and the microcomputer monitors facilities such as a water curtain, a fan, a sun shield and the like in the greenhouse, so that the biological growth environment in the greenhouse is changed.
The intelligent big-arch shelter that has now is putting up, dig the hole back through artifical use tool, the cylinder branch that will put up the big-arch shelter and use is pegged graft at downthehole back, backfill soil, need operating personnel to carry cylinder branch, can't guarantee one row of cylinder branch on a water flat line through artifical fixed cylinder branch, it can't fix to cause the branch of subsequent top connection easily, need many to put up the workman simultaneously and put up, not only the cost of labor is high, it is big still to have intensity of labour to put up with the people, shortcomings such as work efficiency is low.
Disclosure of Invention
Based on the technical problems that when an existing intelligent greenhouse is built, a row of cylindrical supporting rods cannot be guaranteed to be on the same horizontal line by manually fixing the cylindrical supporting rods, a subsequent top supporting beam cannot be fixed easily, meanwhile, an operator needs to carry the cylindrical supporting rods back and forth, and the defects of high labor intensity, low working efficiency and the like exist when the intelligent greenhouse is built manually.
The invention provides intelligent greenhouse building equipment which comprises a moving trolley, a hole turning device, a blanking device, a building manipulator and a soil filling device, wherein the hole turning device is positioned on the outer surface of one side of a carriage of the moving trolley and is used for opening a hole in the ground built in a greenhouse;
the blanking device is positioned on the upper surface of the carriage of the moving trolley and used for storing and transporting the cylindrical rods built in the greenhouse one by one;
the building manipulator is positioned on the upper surface of the carriage of the moving trolley and clamps the cylindrical rod piece conveyed by the blanking device and then turns to and is inserted into a hole formed in the ground by the hole turning device;
the soil filling device is positioned on the lower surface of the carriage of the moving trolley and fills soil around the hole formed by the hole rotating device back to the periphery where the cylindrical rod piece is placed.
Preferably, the hole turning device comprises an adjusting mechanism and a drilling machine, the adjusting mechanism adjusts the position of the drilling mechanism according to the position of the hole to be turned, and the drilling machine turns the hole on the ground.
Through the technical scheme, the drilling machine is an engineering drilling machine and is composed of the motor and the spiral drill bit, and soil can be discharged to the ground while drilling.
Preferably, the adjusting mechanism comprises a pushing hydraulic cylinder, the outer surface of the pushing hydraulic cylinder is fixedly installed inside a carriage of the moving trolley through a through hole, a moving frame is fixedly installed after one end of a piston rod of the pushing hydraulic cylinder penetrates through the outer surface of the carriage of the moving trolley, a first camera is fixedly installed on one side of the lower surface of a moving plate of the moving frame, a displacement sensor is fixedly installed on the other side of the lower surface of the moving plate of the moving frame, and the outer surface of the drilling machine is fixedly installed on the upper surface of the moving plate of the moving frame;
through the technical scheme, the pushing hydraulic cylinder can push the moving frame to move, so that the next punching point can be kept on the same horizontal line with the previous punching point, the moving distance of the moving frame is controlled and adjusted through the camera, the moving frame is composed of a support, a driving motor, threaded rods and a moving plate, the driving motor is arranged on the upper surfaces of two ends of the support, the threaded rods are fixedly installed on output shafts of the driving motor, two ends of the moving plate are respectively in threaded connection with the outer surfaces of the two threaded rods, the drilling mechanism can be driven to move up and down through the movement of the moving plate, the first camera can control the movement of the building manipulator, the building manipulator can move a captured cylindrical rod piece while a drilling machine drills a hole, and the building manipulator can be ensured to accurately plug the cylindrical rod piece to be plugged into the previous hole to be placed, and the cylindrical rod piece and the previous inserted cylindrical rod piece are kept on the same horizontal line.
Preferably, the blanking device comprises a blanking groove body and a material distribution mechanism, the lower surface of the blanking groove body is fixedly installed on the upper surface of a carriage of the movable trolley, and the material distribution mechanism is used for conveying the cylindrical rod pieces in the blanking groove body one by one;
through above-mentioned technical scheme, unloading cell body inner wall is the slope form, and many cylinder member can roll to feed mechanism, and the feed mechanism of being convenient for is carried one by one.
Preferably, the material distribution mechanism comprises a support frame, the lower surface of the support frame is fixedly mounted on the upper surface of the carriage of the moving trolley, the outer surface of one side of the support frame is fixedly provided with a material distribution motor, both sides of the upper surface of the bottom plate of the support frame are fixedly provided with lower arc plates, both ends of the support frame are fixedly provided with upper arc plates, a rotating shaft of the material distribution motor penetrates through the outer surface of the lower arc plate on one side and is fixedly mounted on the outer surface of the lower arc plate on the other side through a bearing, both ends of the rotating shaft of the material distribution motor are fixedly provided with material distribution wheels, and the outer side surfaces of the two lower arc plates are fixedly provided with material discharge frames;
through the technical scheme, the lower arc plate is located right above the upper arc plate, the groove is formed between the upper arc plate and the lower arc plate, the cylindrical rod can be conveniently driven by the material distributing wheel to move along the position between the upper arc plate and the lower arc plate, the cylindrical rod can be limited by the upper arc plate and the lower arc plate, the cylindrical rod in the gap between the upper arc plate and the lower arc plate can fall on the discharging frame, and the claw can be conveniently grabbed.
Preferably, the building manipulator comprises a three-axis platform, a steering mechanism and a clamping mechanism, the three-axis platform is fixedly mounted on the upper surface of a carriage of the mobile trolley, the steering mechanism drives the steering mechanism to steer, and the clamping mechanism can grab the cylindrical rod piece in the blanking groove body;
through above-mentioned technical scheme, three-axis platform passes through the motor and is the drive with the threaded rod, the position of the regulation steering mechanism that can be accurate, and a cross axle length of three-axis platform is greater than the width in carriage, and the steering mechanism of being convenient for can remove to the outside of travelling car, is convenient for overturn the cylinder member.
Preferably, the steering mechanism comprises a rotating base, the outer surface of the rotating base is fixedly mounted on the outer surface of a Z shaft of the three-shaft platform through a sliding block, a steering hydraulic cylinder is fixedly mounted on the outer surface of the rotating base, one end of a piston rod of the steering hydraulic cylinder penetrates through the inner side wall of the rotating base and then is fixedly mounted with a rack, a steering half gear is fixedly mounted on the inner wall of the rotating base through a bearing, the outer surface of the rack is meshed with the outer surface of the steering half gear, and a turntable is fixedly mounted on the outer surface of the steering half gear through a connecting rod;
through the technical scheme, the three-axis platform can move in three directions, so that the clamping mechanism can move flexibly, errors caused by movement of the movable trolley can be adjusted, the cylindrical rod piece can be located on the same horizontal line, the steering half gear can rotate through rotation of the pushing rack of the steering hydraulic cylinder, steering of the clamping mechanism is changed, and the cylindrical rod piece parallel to the movable trolley can be perpendicular to the movable trolley.
Preferably, the clamping mechanism comprises a device box, the outer surface of the device box is fixedly arranged on the outer surface of the turntable, a clamping hydraulic cylinder is fixedly arranged on the inner side wall of the device box, a clamping frame is fixedly arranged on the outer surface of the device box, one end of a piston rod of the clamping hydraulic cylinder penetrates through the outer surface of the clamping frame and is hinged with a gripper jaw through a pin shaft, and two ends of the two gripper jaws are respectively hinged with the outer surface of the clamping frame through pin shafts;
through the technical scheme, the gripper comprises hinge bar and anchor clamps, the one end of hinge bar is articulated with the one end of anchor clamps, the other end of hinge bar articulates the piston rod one end at the centre gripping pneumatic cylinder, one side surface of anchor clamps articulates the surface at the holding frame through the round pin axle, make the flexible of centre gripping pneumatic cylinder, drive two anchor clamps through the hinge bar and carry out relative or opposite removal, can snatch the cylinder member, holding frame outward appearance center department sets up the camera and is convenient for catch the cylinder member, fix a position.
Preferably, the soil filling device comprises a driving mechanism and a soil filling mechanism, the driving mechanism comprises moving platforms, the upper surfaces of the two moving platforms are respectively and fixedly installed on the lower surface of a carriage of the moving trolley, the outer surfaces of the two moving platforms are respectively and fixedly provided with adjusting hydraulic cylinder groups, and the lower surface of the moving platform is fixedly provided with a second camera;
through the technical scheme, the movable platform consists of a frame, a main motor, a threaded rod and a sliding block, the upper surface of the frame is fixedly arranged on the lower surface of a carriage of the movable trolley, the main motor is fixedly arranged on the outer side surface of the frame, two ends of the threaded rod are fixedly arranged on the inner wall of the frame through bearings, the sliding block is in threaded sleeve joint with the outer surface of the threaded rod, the adjusting hydraulic cylinder groups are fixedly arranged on the outer surface of the sliding block and can be driven to move through the movement of the sliding block on the threaded rod, each adjusting hydraulic cylinder group consists of two hydraulic cylinders, a piston rod of one hydraulic cylinder is fixedly arranged on the outer surface of the other hydraulic cylinder, the two hydraulic cylinders are distributed in a vertical state, the two adjusting hydraulic cylinder groups can be correspondingly adjusted according to the movement of a claw, so that a cylindrical rod piece can be positioned in the middle, and the position of the vertical cylindrical rod piece is observed through the second camera, the position of mechanism is filled out in accurate regulation of being convenient for.
Preferably, the soil filling mechanism comprises a hinge frame, the upper surface of the hinge frame is fixedly installed at one end of a piston rod of the hydraulic cylinder group, two ends of the hinge frame are hinged to soil filling arc plates through hinge pins, the outer side surface of the hinge frame is fixedly connected with a tension spring, and the other end of the tension spring is fixedly installed on the outer side surface of the soil filling arc plate;
through above-mentioned technical scheme, be located the downthehole surface of seting up through two arc boards of filling out soil and remove, can will splash when drilling machine drilling and flow and stir downthehole soil outside the hole and backfill, can make through the extension spring and can deflect when meeting the hindrance of hard thing when the arc board of filling out soil removes, do not influence the work of backfill soil, articulated frame can make the arc board of filling out soil to deflect to the outside, carries on spacingly to the arc board of filling out soil.
The beneficial effects of the invention are as follows:
1. the feeding device can automatically convey the cylindrical rod pieces one by one, and the plurality of cylindrical rod pieces are placed in the feeding groove body with the cambered surface, so that the rolling characteristic of the cylindrical rod pieces on the inclined surface is facilitated, the cylindrical rod pieces can be contacted with the outer surface of the distributing wheel, when the material distributing wheel rotates along with the driving of the material distributing motor, the cylindrical rod piece can roll down in the groove on the material distributing wheel, along with the rotation of the material distributing wheel, the cylindrical rod piece can move along with the gap formed between the upper arc plate and the lower arc plate, the upper arc plate and the lower arc plate can limit the cylindrical rod piece, the cylindrical rod piece can fall on the material placing frame, thereby can carry the cylinder member automatically, solve current intelligent big-arch shelter and in the construction, need operating personnel to make a round trip to carry cylinder branch, build the technical problem that still has the shortcoming such as intensity of labour is big, work efficiency hangs down with the manual work.
2. By arranging the building manipulator, the cylindrical rod piece on the material placing frame can be automatically grabbed, the three-axis platform can drive the steering mechanism to move in multiple directions, the clamping mechanism can be driven to turn by the rotation of the steering half gear in the rotary base, so that the cylindrical rod piece grabbed on the gripper is changed into a state vertical to the trolley from a state parallel to the moving trolley and can be inserted into a hole formed by the drilling machine, thereby being capable of automatically placing the cylindrical rod pieces, reducing the labor input, solving the problems of the prior intelligent greenhouse in the construction, the manual fixation of the cylindrical supporting rods can not ensure that the cylindrical supporting rods in a row are on the same horizontal line, the subsequent top supporting beam can not be fixed easily, meanwhile, an operator needs to carry the cylindrical supporting rod back and forth, and the technical problems of high labor intensity, low working efficiency and the like exist when the cylindrical supporting rod is manually built.
3. Through setting up the device of banketing, soil can be backfilled automatically, catch the member of pegging graft through the second camera, control moving platform's start, make regulation hydraulic cylinder group can remove, make the distance of the regulation hydraulic cylinder group apart from the cylinder member of the cylinder member both sides of pegging graft equal, along with the promotion of regulation hydraulic cylinder group, the arc board of banketing can contact ground, along with the arc board relative movement of banketing, can drive the soil that drills out by the drilling machine on ground and be pushed to downtheholely, backfill, thereby soil can be backfilled automatically, current intelligent greenhouse is being built, it still has intensity of labour big still to build by the user, the technical problem of shortcoming such as work efficiency is low.
Drawings
Fig. 1 is a schematic diagram of an intelligent greenhouse building device provided by the invention;
FIG. 2 is a perspective view of a movable frame structure of the intelligent greenhouse building equipment provided by the invention;
FIG. 3 is a perspective view of a pushing hydraulic cylinder structure of the intelligent greenhouse building equipment provided by the invention;
fig. 4 is a perspective view of a blanking groove structure of the intelligent greenhouse building equipment provided by the invention;
FIG. 5 is a perspective view of a material distributing motor structure of the intelligent greenhouse building equipment provided by the invention;
FIG. 6 is a perspective view of a construction manipulator structure of the intelligent greenhouse construction equipment provided by the invention;
FIG. 7 is a perspective view of a turntable structure of the intelligent greenhouse building equipment provided by the invention;
FIG. 8 is a perspective view of a mobile platform structure of the intelligent greenhouse building equipment provided by the invention;
fig. 9 is a perspective view of a regulating hydraulic cylinder group structure of the intelligent greenhouse building equipment provided by the invention.
In the figure: 1. moving the trolley; 2. pushing the hydraulic cylinder; 21. a movable frame; 22. a first camera; 23. a displacement sensor; 24. a drilling machine; 3. a blanking groove body; 31. a support frame; 32. a material distributing motor; 33. a lower arc plate; 34. an upper arc plate; 35. a material distributing wheel; 36. a material placing frame; 40. building a mechanical arm; 4. a three-axis platform; 41. rotating the base; 42. a steering hydraulic cylinder; 43. a rack; 44. a steering half gear; 45. a turntable; 46. a device case; 47. a clamping hydraulic cylinder; 48. a clamping frame; 49. a gripper; 5. a mobile platform; 51. adjusting a hydraulic cylinder group; 52. a second camera; 53. a hinged frame; 54. filling the arc plates; 55. a tension spring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-9, the intelligent greenhouse building equipment comprises a moving trolley 1, and further comprises a hole turning device, a blanking device, a building mechanical arm 40 and a soil filling device, wherein the hole turning device is located on the outer surface of one side of a carriage of the moving trolley 1 and is used for forming holes in the ground built by the greenhouse.
As shown in fig. 1-3, the hole turning device includes an adjusting mechanism and a drilling machine 24, the adjusting mechanism adjusts the position of the drilling machine 24 according to the position of the hole to be turned, the outer surface of the drilling machine 24 is fixedly installed on the upper surface of the moving plate of the moving frame 21, and the drilling machine 24 turns the hole on the ground;
an adjusting mechanism, which is installed at the position inside the movable trolley 1, in order to keep the drilling position of the drilling machine 24 on the same horizontal line, the pushing hydraulic cylinder 2 is fixedly installed inside the carriage of the movable trolley 1 through a through hole, in order to support the drilling machine 24 and drive the drilling machine 24 to move, the movable frame 21 is fixedly installed at one end of the piston rod of the pushing hydraulic cylinder 2, the movable frame 21 is composed of a support, a driving motor, a threaded rod and a movable plate, in order to accurately adjust the position of the drilling machine 24, a first camera 22 is fixedly installed at one side of the lower surface of the movable frame 21, then the first camera 22 is electrically connected with the pushing hydraulic cylinder 2 to control the distance of the pushing hydraulic cylinder 2 to push the movable frame 21, in order to make the hole depth of the hole turning of the drilling machine 24 the same, a displacement sensor 23 is fixedly installed at one side of the lower surface of the movable plate of the movable frame 21, then the displacement sensor 23 is electrically connected with the driving motor of the movable frame 21 to control the drilling machine 24 to drill to the same horizontal line And returning after the set depth.
As shown in fig. 1 and fig. 4-5, the blanking device is positioned on the upper surface of the carriage of the mobile trolley 1 and used for storing and transporting cylindrical rods built in the greenhouse one by one;
the blanking device comprises a blanking groove body 3 and a material distribution mechanism, the lower surface of the blanking groove body 3 is fixedly arranged on the upper surface of the carriage of the mobile trolley 1, and the material distribution mechanism conveys the cylindrical rod pieces in the blanking groove body 3 one by one;
a material distributing mechanism, which is arranged on the upper surface of the carriage of the movable trolley 1, for conveying the cylindrical rod pieces placed in the blanking groove body 3 one by one, a support frame 31 is fixedly arranged on the upper surface of the carriage of the movable trolley 1, the support frame 31 is positioned on one side of the blanking groove body 3, for automatically distributing the material, a material distributing motor 32 is fixedly arranged on the outer surface of one side of the support frame 31, for carrying out limit conveying on the conveyed cylindrical rod pieces and preventing the cylindrical rod pieces from falling, lower arc plates 33 are fixedly arranged on the upper surfaces of two ends of a bottom plate of the support frame 31, then upper arc plates 34 are fixedly arranged on the side plates of two sides of the support frame 31, the upper arc plates 34 are positioned above the lower arc plates 33, so that gaps can be formed, for automatically conveying the cylindrical rod pieces of the blanking groove body 3, after a rotating shaft of the material distributing motor 32 penetrates through the outer surface of the lower arc plate 33 on one side, the outer surface of the lower arc plate 33 on the other side is fixedly arranged on the outer surface of the lower arc plate 33 through a bearing, then divide material motor 32's pivot both ends fixed mounting have a branch material wheel 35, and two branch material wheels 35 are located two relative lateral surfaces of lower arc board 33 respectively, in order to place the cylinder member, are convenient for build grabbing of manipulator 40, at the equal fixed mounting blowing frame 36 of the lateral surface of two lower arc boards 33.
As shown in fig. 1 and fig. 6-7, the building manipulator 40 is positioned on the upper surface of the carriage of the moving trolley 1, clamps the cylindrical rod delivered by the blanking device, and then turns to and inserts into a hole formed in the ground by the hole-turning device;
the building mechanical arm 40 comprises a three-axis platform 4, a steering mechanism and a clamping mechanism, wherein the three-axis platform 4 is fixedly arranged on the upper surface of the carriage of the movable trolley 1, in order to drive the building mechanical arm 40 to move and adjust different distances between cylindrical rod pieces, the steering mechanism drives the steering mechanism to steer, and the clamping mechanism can grab the cylindrical rod pieces in the blanking groove body 3;
the steering mechanism is fixedly arranged on the outer side surface of the three-axis platform 4, in order to turn the cylindrical rod piece from a state parallel to the movable trolley 1 to a state vertical to the movable trolley 1, a rotary base 41 is fixedly arranged on the outer surface of the Z axis of the three-axis platform 4 through a slide block, and in order to automatically turn over, a steering cylinder 42 is fixedly mounted on the outer surface of the swivel base 41, and in order to accurately adjust the steering, one end of a piston rod of the steering hydraulic cylinder 42 penetrates through the inner side wall of the rotating base 41, and then a rack 43 is fixedly arranged, so that in order to keep the rotating angle more accurate, a steering half gear 44 is fixedly arranged on the inner wall of the rotating base 41 through a bearing, then the outer surface of the rack 43 is meshed with the outer surface of the steering half gear 44, and a turntable 45 is fixedly arranged on the outer surface of the steering half gear 44 through a connecting rod and used for driving the clamping mechanism to turn over;
fixture, install at the lateral surface of carousel 45, in order to carry out centre gripping cylinder member, lateral surface fixed mounting device case 46 at carousel 45, snatch the cylinder member for automatic, inside wall fixed mounting at device case 46 has centre gripping hydraulic cylinder 47, then install clamping frame 48 at the external fixed surface of device case 46, for stable cylinder member of snatching, articulate claw 49 through the round pin axle behind the surface of clamping frame 48 is run through to piston rod one end at centre gripping hydraulic cylinder 47, further claw 49's both ends articulate the surface at clamping frame 48 respectively through the round pin axle, claw 49 comprises articulated rod and anchor clamps, fixed mounting has half-circular arc clamp splice on the anchor clamps, be convenient for snatch the cylinder member.
As shown in fig. 1 and fig. 8-9, the soil filling device is positioned on the lower surface of the carriage of the mobile trolley 1 and fills the soil around the hole formed by the rotary hole device back to the periphery where the cylindrical rod is placed, and the soil filling device comprises a driving mechanism and a soil filling mechanism;
a driving mechanism which is arranged on the lower surface of the carriage of the movable trolley 1 and is used for adjusting the position of the soil filling mechanism according to the position of the rod piece, the movable platform 5 is fixedly arranged on the lower surface of the carriage of the movable trolley 1, the movable platform 5 is composed of a frame, a main motor, a threaded rod and a sliding block, the two movable platforms 5 can be controlled independently, corresponding adjustment can be conveniently carried out according to the position of a cylindrical rod piece, the movable platform is suitable for the cylindrical rod pieces with different intervals, the practicability is increased, the soil filling mechanism can be accurately adjusted in multiple directions, the outer surfaces of the two moving platforms 5 are fixedly provided with adjusting hydraulic cylinder groups 51, the two adjusting hydraulic cylinder groups 51 can accurately and stably adjust the soil filling mechanism, in order to automatically catch the cylindrical rod pieces inserted in the holes, a second camera 52 is fixedly arranged on the lower surface of the mobile platform 5, and the second camera 52 is positioned on the lower surface of the joint of the two mobile platforms 5;
the soil filling mechanism is installed at one end of a piston rod of the adjusting hydraulic cylinder group 51, in order to backfill soil drilled by the drilling machine 24, a hinged frame 53 is fixedly installed at one end of the piston rod of the adjusting hydraulic cylinder group 51, then two ends of the hinged frame 53 are hinged with soil filling arc plates 54 through pin shafts, the soil filling arc plates 54 are formed by arc plates, the two adjusting arc plates are symmetrically distributed, in order to prevent the soil filling arc plates 54 from moving when encountering hard objects, a tension spring 55 is fixedly connected to the outer side face of the hinged frame 53, and then the other end of the tension spring 55 is fixedly installed on the outer side face of the soil filling arc plates 54.
The working principle is as follows: when a greenhouse needs to be built, a cylindrical rod piece to be used is placed in the blanking groove body 3 on the carriage of the moving trolley 1, after the moving trolley 1 moves to a proper position, the driving motor on the moving frame 21 is controlled to rotate, the threaded rod on the moving frame 21 is driven to rotate, the drilling machine 24 is controlled to start, the moving frame 21 can drive the drilling machine 24 to descend and can control the threaded drill bit to rotate, the drilling machine 24 performs drilling, after the distance measured by the displacement sensor 23 reaches a set value, the moving frame is controlled to move to drive the drilling machine 24 to ascend and leave a drilled hole, and after the drilling machine 24 stops rotating, the moving trolley 1 moves forwards;
the first camera 22 on the moving frame 21 captures the position of the first hole, after the position of the hole-turning machine has a deviation, the hydraulic cylinder 2 is controlled to be pushed to push the moving frame 21 to move, the drilling machine 24 turns the hole on the ground again, and meanwhile, the material-dividing motor 32 on the supporting frame 31 is started to drive the material-dividing wheel 35 to rotate, so that the cylindrical rod piece in the blanking groove body 3 can rotate, roll down in the groove on the material-dividing wheel 35, and along with the rotation of the material-dividing wheel 35, the cylindrical rod piece can pass through the gap formed between the upper arc plate 34 and the lower arc plate 33 and fall on the blanking frame 36;
the rotating base 41 on the three-axis platform 4 is controlled to move, so that the gripper 49 can be located at the center of a cylindrical rod, the two grippers 49 can be pulled to move relatively on the clamping frame 48 through retraction of the clamping hydraulic cylinder 47, the cylindrical rod is fixed, the first camera 22 controls the movement of the three-axis platform 4, so that the cylindrical rod can leave the discharging frame 36, the steering hydraulic cylinder 42 on the outer surface of the rotating base 41 is started after the steering mechanism is moved out of the carriage of the moving trolley 1, the cylindrical rod on the gripper 49 can be changed from a state parallel to the moving trolley 1 to a state perpendicular to the moving trolley 1 through the matching of the rack 43 and the steering half gear 44, the cylindrical rod can be located right above a hole formed in the drilling machine 24, the rotating base 41 moves downwards, and the cylindrical rod can be inserted into the hole;
after the position of vertical cylinder member is caught to second camera 52 among the device of filling up, control regulation hydraulic cylinder group 51 promotes the mechanism of filling up and carries out relative movement, make simultaneously fill up the earth arc board 54 and can contact ground, it is downthehole to move subaerial soil to the institute, extension spring 55 can make fill up earth arc board 54 when meetting uneven ground, can advance to deflect and remove, fill downthehole back with soil, the cylinder member is loosened to gripper 49, repeat above operation, use compactor or manual work to carry out the compaction back through building the workman, adopt grit or concrete to stabilize.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. The intelligent greenhouse building equipment comprises a mobile trolley (1), and is characterized by further comprising a hole turning device, a blanking device, a building manipulator (40) and a soil filling device, wherein the hole turning device is located on the outer surface of one side of a carriage of the mobile trolley (1) and is used for opening a hole in the ground built by a greenhouse;
the blanking device is positioned on the upper surface of the carriage of the moving trolley (1) and used for storing and transporting cylindrical rod pieces built in the greenhouse one by one;
the building mechanical arm (40) is positioned on the upper surface of the carriage of the moving trolley (1), clamps the cylindrical rod piece conveyed by the blanking device, and then turns to and is inserted into a hole formed in the ground by the hole turning device;
the soil filling device is positioned on the lower surface of the carriage of the movable trolley (1) and fills soil around the hole formed by the hole rotating device back to the periphery where the cylindrical rod piece is placed.
2. The intelligent greenhouse building equipment according to claim 1, characterized in that: the hole turning device comprises an adjusting mechanism and a drilling machine (24), the adjusting mechanism adjusts the position of the drilling machine (24) according to the position of the hole to be turned, and the drilling machine (24) turns the hole on the ground.
3. An intelligent greenhouse building apparatus according to claim 2, wherein: adjustment mechanism is including promoting pneumatic cylinder (2), the surface that promotes pneumatic cylinder (2) passes through-hole fixed mounting inside the carriage of travelling car (1), the piston rod one end that promotes pneumatic cylinder (2) runs through fixed mounting has removal frame (21) behind the carriage surface of travelling car (1), the movable plate lower surface one side fixed mounting who removes frame (21) has first camera (22), the movable plate lower surface opposite side fixed mounting who removes frame (21) has displacement sensor (23), the fixed surface of drilling machine (24) is installed the movable plate upper surface that removes frame (21).
4. The intelligent greenhouse building equipment according to claim 1, characterized in that: the blanking device comprises a blanking groove body (3) and a distributing mechanism, wherein the lower surface of the blanking groove body (3) is fixedly installed on the upper surface of the carriage of the movable trolley (1), and the distributing mechanism is used for conveying cylindrical rod pieces in the blanking groove body (3) one by one.
5. An intelligent greenhouse building apparatus according to claim 4, wherein: the feed mechanism includes support frame (31), the lower fixed surface of support frame (31) is installed the carriage upper surface of travelling car (1), one side fixed surface of support frame (31) installs branch material motor (32), the equal fixed mounting in bottom plate upper surface both sides of support frame (31) has lower arc board (33), the both ends fixed mounting of support frame (31) has last arc board (34), the pivot of dividing material motor (32) runs through one side pass through bearing fixed mounting at the opposite side behind the surface of lower arc board (33), the pivot both ends fixed mounting of dividing material motor (32) has branch material wheel (35), two the equal fixed mounting of lateral surface of lower arc board (33) has blowing frame (36).
6. An intelligent greenhouse building apparatus according to claim 4, wherein: the mechanical hand (40) is built and comprises a three-axis platform (4), a steering mechanism and a clamping mechanism, wherein the three-axis platform (4) is fixedly installed on the upper surface of the carriage of the movable trolley (1), the steering mechanism drives the steering mechanism to steer, and the clamping mechanism can grab the cylindrical rod piece in the blanking groove body (3).
7. An intelligent greenhouse building apparatus according to claim 6, wherein: steering mechanism includes rotating base (41), the surface of rotating base (41) passes through slider fixed mounting and is in the Z axle surface of three-axis platform (4), the outer fixed surface of rotating base (41) installs steering cylinder (42), the piston rod one end that turns to hydraulic cylinder (42) pole runs through fixed mounting has rack (43) behind the inside wall of rotating base (41), the inner wall of rotating base (41) has through bearing fixed mounting and turns to half gear (44), the surface of rack (43) with turn to the surface engagement of half gear (44), the surface that turns to half gear (44) has carousel (45) through connecting rod fixed mounting.
8. An intelligent greenhouse building apparatus according to claim 7, wherein: fixture includes device case (46), the fixed surface of device case (46) is installed the surface of carousel (45), the inside wall fixed mounting of device case (46) has centre gripping pneumatic cylinder (47), the fixed surface of device case (46) installs holding frame (48), the piston rod one end of centre gripping pneumatic cylinder (47) is run through it has gripper (49), two to articulate through the round pin axle behind the surface of holding frame (48) the both ends of gripper (49) articulate respectively through the round pin axle the surface of holding frame (48).
9. The intelligent greenhouse building equipment according to claim 1, characterized in that: the soil filling device comprises a driving mechanism and a soil filling mechanism, the driving mechanism comprises a moving platform (5), the upper surfaces of the moving platform (5) are fixedly installed on the lower surface of a carriage of the moving trolley (1) respectively, the outer surface of the moving platform (5) is fixedly provided with a regulating hydraulic cylinder group (51), and the lower surface of the moving platform (5) is fixedly provided with a second camera (52).
10. An intelligent greenhouse building apparatus according to claim 9, wherein: the mechanism of filling out soil includes articulated frame (53), the last fixed surface of articulated frame (53) is installed the piston rod one end of adjusting hydraulic cylinder group (51), the both ends of articulated frame (53) are articulated through the round pin axle and are had fill out soil arc board (54), the lateral surface fixedly connected with extension spring (55) of articulated frame (53), the other end fixed mounting of extension spring (55) is in the lateral surface of fill out soil arc board (54).
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| CN113647273B (en) | 2023-04-07 |
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