CN205193519U - Greenhouse initiatively turns to automatic operation car with single track - Google Patents
Greenhouse initiatively turns to automatic operation car with single track Download PDFInfo
- Publication number
- CN205193519U CN205193519U CN201521015039.7U CN201521015039U CN205193519U CN 205193519 U CN205193519 U CN 205193519U CN 201521015039 U CN201521015039 U CN 201521015039U CN 205193519 U CN205193519 U CN 205193519U
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- wheel
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- greenhouse
- operation car
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Abstract
The utility model relates to a greenhouse initiatively turns to automatic operation car with single track, including guide rail, chassis, lift -launch platform, motion, feedback control system and battery. The chassis be used for fixed carrying on platform, motion, feedback control system and battery with supporting, the lift -launch platform be used for carrying on machines with the transportation material, the motion be used for drive and the motion of control operation car in the track on the one hand and stop, on the other hand is used for controlling the rotation of drive wheel at the track turn, feedback control system be used for fixing a position that operation car position, control operation car are kept away the barrier and is reported to the police, control operation car is from main motion to assigned position. The utility model discloses a preceding rear wheel drive chassis that the class rhombus was arranged, compact structure, the operational environment of operation car is single recess track, reduces the non - cultivated area in greenhouse, improves land use and rates. The operation car can carry on agricultural machines and active transport material, and degree of automation is high, conveying efficiency is high, save the labour.
Description
Technical field
The utility model relates to machine of establishment agriculture field, especially a kind of greenhouse single track active steering automated job car, for material intelligentization transport in greenhouse and lift-launch chamber facility farm machinery.
Background technology
Heliogreenhouse is the important component part of China's agricultural modernization, and agriculture in greenhouse mechanization and precision are the inexorable trends of greenhouse future development.Heliogreenhouse needs to carry out in a short time to sow, gathers in the crops, irrigates, sprays the several work such as medicine, also often needs transported material, instrument etc. simultaneously., there is supporting level and the defect such as intelligence degree is low, standardization effort imperfection in current China's chamber operation mechanical facility automatization level comparatively backwardness.
Due to the restriction by present stage Facility Agriculture Development feature, in greenhouse, Operation Van's technology is well innovated always.Existing chamber operation car is mostly function singleness and operation needs manual intervention, and production efficiency is low.The driving of current chamber operation car generally has two kinds of modes: one is manual control, and manpower drives Operation Van's wheel to move on the ground; Another way builds greenhouse track, allows chamber operation car move in orbit.But two kinds of type of drive all exist certain deficiency, and manual control needs manual operation, increase labour intensity and cost of labor; Build greenhouse two-orbit or electromagnetic guiding device and have that Operation Van's radius of turn is large, production cost is high and the outstanding problem such as greenhouse land utilization ratio is low.
Therefore, in the urgent need to inventing a kind of portable construction, adaptability is high, intelligence degree is high, work efficiency much higher function chamber operation car, realize carrying automatical and efficient the fulfiling assignment of work tool, stablize fast transportation material and facility, accurate control Operation Van runs, and to raising chamber operation car versatility, reduces labour intensity, reduce production cost, enhance productivity and there is great economy and social effect.
Summary of the invention
The utility model is for the defect of prior art, solve the problem that chamber operation car intelligence degree is low, function singleness, the area that occupies cultivated land are large and a kind of greenhouse single track active steering automated job car invented, there is lift-launch farm implements fulfil assignment, autonomous transport material and instrument, multiple goal position sets, the multiple complex functions such as accurate positioning control campaign and autonomous backhaul.
The technical solution adopted in the utility model:
A kind of based on greenhouse inner groovy single track automated job car, it is characterized in that comprising guide rail, chassis, carrying platform, motion, feedback control system and accumulator; Described guide rail, for carrying Operation Van's motion, plans Operation Van's running orbit; Described chassis is used for fixing and supports carrying platform, motion, feedback control system and accumulator; Described carrying platform is for carrying facility farm implements and transported material; Described motion is used for driving and control Operation Van on the one hand and moves in grooved tracks and stop, and is used for Operation Van controls driving wheel rotation at grooved tracks turning on the other hand; Described feedback control system be used for positioning operation car position and feed back to electronic chart, control Operation Van's automatic obstacle-avoiding and report to the police, in controlled motion mechanism each motor duty and control Operation Van's autokinetic movement to assigned work position;
Described guide rail is the reeded shaped steel of band, and guide rail comprises linear pattern track and circular arc type track, and guide rail is laid between main aisle in greenhouse and furrow on passageway, on guide rail along and greenhouse floor level, guide rail is provided with metal anchors; Described motion comprises drive unit, slave unit, direct current generator, motor fixing frame and gib screw; Described drive unit is made up of In-wheel motor driving wheel, wheelhouse portions, cleaning shovel, link, set nut, damping spring, guide wheel and guide wheel fixed mount; Described In-wheel motor driving wheel is two and is arranged in the wheelhouse portions below centre position, front and back end, chassis respectively; Described wheelhouse portions is fixedly mounted between In-wheel motor driving wheel and link, is fixed with guide wheel fixed mount below wheelhouse portions; Described guide wheel is divided into two rows and is arranged on guide wheel fixed mount; Described set nut is fixedly mounted on link both sides, is locked in link by In-wheel motor driving wheel and wheelhouse portions; Described link is two and is fixedly connected on the direct current generator of rear and front end, chassis respectively, and link both sides are provided with damping spring; Described cleaning shovel is fixed on wheelhouse portions front end, for removing the foreign material in grooved tracks; Described slave unit is made up of engaged wheel, Wheel mounting bracket, coupling bolt, attaching nut, stationary shaft and hold-down nut; Described Wheel mounting bracket is universal wheel swivel mount, and two Wheel mounting brackets are fixed on the middle left and right sides of operating vehicle chassis respectively by coupling bolt and attaching nut; Described engaged wheel is fixedly mounted in Wheel mounting bracket by stationary shaft; Described hold-down nut is arranged on the both sides of stationary shaft, for fixing engaged wheel and Wheel mounting bracket; Described motor fixing frame is two and is separately fixed at the centre position of rear and front end, chassis by gib screw; Described direct current generator is fixedly mounted on motor fixing frame;
Described feedback control system comprises single-chip microcomputer, control box, DC motor controller, proximity switch, absolute value encoder, ultrasonic sensor, Wi-Fi module and panel computer; Described control box is fixedly mounted on inside chassis, for placing single-chip microcomputer, Wi-Fi module and DC motor controller; Wireless router is fixed on rear wall of greenhouse; Described DC motor controller receives SCM PWM signal and controls the startup of direct current generator, stopping and rotating; Described proximity switch is four and is arranged on the left and right sides of operating vehicle chassis front-end and back-end respectively, wherein former and later two proximity switches of left side take turns place, axis planar registration with In-wheel motor driving respectively, two, right side proximity switch is arranged on the front and back of former and later two In-wheel motor drivings wheel respectively, proximity switch is concatenated on single-chip microcomputer, for the metal signal of detecting groove track both sides; Described absolute value encoder is arranged on In-wheel motor driving wheel side, and absolute value encoder is concatenated on single-chip microcomputer, for determining the rotational angle that In-wheel motor driving is taken turns, and then the current location of computational tasks car; Described ultrasonic sensor is arranged on both sides, Operation Van's carrying platform forward position, and ultrasonic sensor is concatenated into the analog signals input interface of single-chip microcomputer, and whether detect Operation Van front has obstacle signal; Described Wi-Fi module is concatenated into single-chip microcomputer, carries out communication with wireless router, realizes the signal transmitting and receiving function with panel computer.
The beneficial effects of the utility model:
1) the utility model adopts the chassis that front and back wheel drives, compact conformation, and the working environment of Operation Van is single grooved tracks, reduces the non-cultivated area in greenhouse, improves land utilization ratio.
2) before and after the utility model, driving wheel independently controls, and is convenient to control Operation Van's to-and-fro movement in passageway between greenhouse main aisle and furrow, simplifies the laying of greenhouse inner groovy track.
3) the utility model is sent to single-chip microcomputer by both sides proximity switch and absolute value encoder collected both signal in the course of the work and processes, and by electronic chart display position coordinate, realizes the accurate positioning control of Operation Van in greenhouse.
4) the utility model can carry facility farm implements and automatic transportation material, adopts various feedback to control, automaticity is high, conevying efficiency is high, saves labour.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of greenhouse of the utility model single track active steering automated job car;
Fig. 2 is the front view of automated job car;
Fig. 3 is the left view of automated job car;
Fig. 4 is the front view of automated job car drive unit;
Fig. 5 is the left view of automated job car drive unit;
In figure: 1, carrying platform 2, chassis 3, proximity switch 4, In-wheel motor driving wheel 5, engaged wheel 6, accumulator 7, direct current generator 8, ultrasonic sensor 9, Wi-Fi module 10, control box 11, single-chip microcomputer 12, Wheel mounting bracket 13, coupling bolt 14, stationary shaft 15, wheelhouse portions 16, absolute value encoder 17, hold-down nut 18, motor fixing frame 19, link 20, damping spring 21, set nut 22, guide wheel 23, guide wheel fixed mount 24, cleaning shovel
Embodiment
Below in conjunction with accompanying drawing, the utility model patent is further detailed.A kind of greenhouse described in the utility model single track active steering automated job car, as shown in Fig. 1,2,3,4,5.A kind of greenhouse single track active steering automated job car, comprises guide rail, chassis 2, carrying platform, motion, feedback control system and accumulator 6.Described guide rail is the reeded shaped steel of band, comprise linear pattern track and circular arc type track, guide rail is laid between main aisle in greenhouse and furrow on passageway, and keep on guide rail along and greenhouse floor level, and guide rail is provided with metal anchors.Described motion comprises drive unit, slave unit, direct current generator 7, motor fixing frame 18 and gib screw.Described drive unit is made up of In-wheel motor driving wheel 4, wheelhouse portions 15, cleaning shovel 24, link 19, set nut 21, damping spring 20, guide wheel 22 and guide wheel fixed mount 23; Described In-wheel motor driving is taken turns in 4 two wheelhouse portions 15 be arranged on respectively below centre position, front and back end, chassis; Described wheelhouse portions 15 is fixedly mounted between In-wheel motor driving wheel 4 and link 19, is fixed with guide wheel fixed mount 23 below wheelhouse portions 15; 22 liang, described guide wheel row is arranged on guide wheel fixed mount 23 respectively; Described set nut 21 is fixedly mounted on link 19 both sides, is locked in link 19 by In-wheel motor driving wheel 4 and wheelhouse portions 15; Described link 19 two is fixedly attached on the direct current generator 7 of rear and front end, chassis 2 respectively, and link 19 both sides are provided with damping spring 20; Described cleaning shovel 24 is fixed on wheelhouse portions 15 front end, and the foreign material in grooved tracks are removed in its effect; Described slave unit is made up of engaged wheel 5, Wheel mounting bracket 12, coupling bolt 13, attaching nut, stationary shaft 14 and hold-down nut 17; Described Wheel mounting bracket 12 is universal wheel swivel mounts, and two Wheel mounting brackets 12 are fixed on the left and right sides in the middle of operating vehicle chassis 2 respectively by coupling bolt 13 and attaching nut; Described engaged wheel 5 is fixedly mounted in Wheel mounting bracket 12; Described stationary shaft 14 is arranged between engaged wheel 5 and Wheel mounting bracket 12; Described hold-down nut is arranged on the both sides of stationary shaft 14, fixing engaged wheel 5 and Wheel mounting bracket 12; Described motor fixing frame 18 two is respectively fixed to the centre position of rear and front end, chassis 2 by gib screw; Described direct current generator 7 is fixedly installed on motor fixing frame 18.
Described feedback control system comprises single-chip microcomputer 11, control box 10, DC motor controller, proximity switch 3, absolute value encoder 16, ultrasonic sensor 8, Wi-Fi module 9 and panel computer.It is inner that described control box 10 is fixedly mounted on chassis 2, for placing single-chip microcomputer 11, Wi-Fi module 9 and DC motor controller; Described wireless router is fixed on rear wall of greenhouse; Described DC motor controller receives single-chip microcomputer 11PWM signal and controls the startup of direct current generator 7, stopping and rotating; Four described proximity switches 3 are arranged on the left and right sides of operating vehicle chassis 2 front-end and back-end respectively, wherein former and later two proximity switches 3 of left side take turns 4 place, axis planar registration respectively with In-wheel motor driving, two, right side proximity switch 3 is arranged on former and later two In-wheel motor drivings wheel 4 respectively before with afterwards, proximity switch 3 is concatenated on single-chip microcomputer 11, for the metal signal of detecting groove track both sides; Described absolute value encoder 16 is arranged on In-wheel motor driving and takes turns 4 sides, and absolute value encoder 16 is concatenated on single-chip microcomputer 11, for determining the rotational angle of In-wheel motor driving wheel 4, and then the current location of computational tasks car; Described ultrasonic sensor 8 is arranged on both sides, Operation Van's carrying platform 1 forward position, and ultrasonic sensor 8 is concatenated into the analog signals input interface of single-chip microcomputer 11, and whether detect Operation Van front has obstacle signal; Described Wi-Fi module 9 is concatenated into single-chip microcomputer 11, carries out communication with wireless router, realizes the signal transmitting and receiving function with panel computer.
Claims (1)
1. a greenhouse single track active steering automated job car, is characterized in that comprising guide rail, chassis, carrying platform, motion, feedback control system and accumulator; Described guide rail, for carrying Operation Van's motion, plans Operation Van's running orbit; Described chassis is used for fixing and supports carrying platform, motion, feedback control system and accumulator; Described carrying platform is for carrying facility farm implements and transported material; Described motion is used for driving and control Operation Van on the one hand and moves in grooved tracks and stop, and is used for Operation Van controls driving wheel rotation at grooved tracks turning on the other hand; Described feedback control system be used for positioning operation car position and feed back to electronic chart, control Operation Van's automatic obstacle-avoiding and report to the police, in controlled motion mechanism each motor duty and control Operation Van's autokinetic movement to assigned work position;
Described guide rail is the reeded shaped steel of band, and guide rail comprises linear pattern track and circular arc type track, and guide rail is laid between main aisle in greenhouse and furrow on passageway, on guide rail along and greenhouse floor level, guide rail is provided with metal anchors; Described motion comprises drive unit, slave unit, direct current generator, motor fixing frame and gib screw; Described drive unit is made up of In-wheel motor driving wheel, wheelhouse portions, cleaning shovel, link, set nut, damping spring, guide wheel and guide wheel fixed mount; Described In-wheel motor driving wheel is two and is arranged in the wheelhouse portions below centre position, front and back end, chassis respectively; Described wheelhouse portions is fixedly mounted between In-wheel motor driving wheel and link, is fixed with guide wheel fixed mount below wheelhouse portions; Described guide wheel is divided into two rows and is arranged on guide wheel fixed mount; Described set nut is fixedly mounted on link both sides, is locked in link by In-wheel motor driving wheel and wheelhouse portions; Described link is two and is fixedly connected on the direct current generator of rear and front end, chassis respectively, and link both sides are provided with damping spring; Described cleaning shovel is fixed on wheelhouse portions front end, for removing the foreign material in grooved tracks; Described slave unit is made up of engaged wheel, Wheel mounting bracket, coupling bolt, attaching nut, stationary shaft and hold-down nut; Described Wheel mounting bracket is universal wheel swivel mount, and two Wheel mounting brackets are fixed on the middle left and right sides of operating vehicle chassis respectively by coupling bolt and attaching nut; Described engaged wheel is fixedly mounted in Wheel mounting bracket by stationary shaft; Described hold-down nut is arranged on the both sides of stationary shaft, for fixing engaged wheel and Wheel mounting bracket; Described motor fixing frame is two and is separately fixed at the centre position of rear and front end, chassis by gib screw; Described direct current generator is fixedly mounted on motor fixing frame;
Described feedback control system comprises single-chip microcomputer, control box, DC motor controller, proximity switch, absolute value encoder, ultrasonic sensor, Wi-Fi module and panel computer; Described control box is fixedly mounted on inside chassis, for placing single-chip microcomputer, Wi-Fi module and DC motor controller; Wireless router is fixed on rear wall of greenhouse; Described DC motor controller receives SCM PWM signal and controls the startup of direct current generator, stopping and rotating; Described proximity switch is four and is arranged on the left and right sides of operating vehicle chassis front-end and back-end respectively, wherein former and later two proximity switches of left side take turns place, axis planar registration with In-wheel motor driving respectively, two, right side proximity switch is arranged on the front and back of former and later two In-wheel motor drivings wheel respectively, proximity switch is concatenated on single-chip microcomputer, for the metal signal of detecting groove track both sides; Described absolute value encoder is arranged on In-wheel motor driving wheel side, and absolute value encoder is concatenated on single-chip microcomputer, for determining the rotational angle that In-wheel motor driving is taken turns, and then the current location of computational tasks car; Described ultrasonic sensor is arranged on both sides, Operation Van's carrying platform forward position, and ultrasonic sensor is concatenated into the analog signals input interface of single-chip microcomputer, and whether detect Operation Van front has obstacle signal; Described Wi-Fi module is concatenated into single-chip microcomputer, carries out communication with wireless router, realizes the signal transmitting and receiving function with panel computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521015039.7U CN205193519U (en) | 2015-12-08 | 2015-12-08 | Greenhouse initiatively turns to automatic operation car with single track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521015039.7U CN205193519U (en) | 2015-12-08 | 2015-12-08 | Greenhouse initiatively turns to automatic operation car with single track |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205193519U true CN205193519U (en) | 2016-04-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521015039.7U Withdrawn - After Issue CN205193519U (en) | 2015-12-08 | 2015-12-08 | Greenhouse initiatively turns to automatic operation car with single track |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205193519U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105467892A (en) * | 2015-12-08 | 2016-04-06 | 山东农业大学 | An automatic working vehicle based on a groove monorail inside a greenhouse and a control method thereof |
| CN107046879A (en) * | 2017-05-17 | 2017-08-18 | 南京信息工程大学 | The full-automatic unmanned seeder of warmhouse booth |
| CN109178145A (en) * | 2018-09-04 | 2019-01-11 | 北京航空航天大学 | A kind of transportation trolley and transportation trolley component |
-
2015
- 2015-12-08 CN CN201521015039.7U patent/CN205193519U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105467892A (en) * | 2015-12-08 | 2016-04-06 | 山东农业大学 | An automatic working vehicle based on a groove monorail inside a greenhouse and a control method thereof |
| CN107046879A (en) * | 2017-05-17 | 2017-08-18 | 南京信息工程大学 | The full-automatic unmanned seeder of warmhouse booth |
| CN107046879B (en) * | 2017-05-17 | 2024-02-06 | 南京信息工程大学 | Full-automatic unmanned seeder for greenhouse |
| CN109178145A (en) * | 2018-09-04 | 2019-01-11 | 北京航空航天大学 | A kind of transportation trolley and transportation trolley component |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160427 Effective date of abandoning: 20171107 |
|
| AV01 | Patent right actively abandoned |