CN206156246U - Warmhouse booth is with autonomic moving platform of no track - Google Patents
Warmhouse booth is with autonomic moving platform of no track Download PDFInfo
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- CN206156246U CN206156246U CN201621113551.XU CN201621113551U CN206156246U CN 206156246 U CN206156246 U CN 206156246U CN 201621113551 U CN201621113551 U CN 201621113551U CN 206156246 U CN206156246 U CN 206156246U
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Abstract
The utility model provides a technical scheme that warmhouse booth is with autonomic moving platform of no track adopted includes: chassis, running gear, turn guider, elevating gear, intelligent control module and semi -structured greenhouse road surface. The utility model discloses a rear wheel differential drive, the front wheel universal wheel turns to, combines low -cost greenhouse semi -structured structure, has practiced thrift the track and has laid the cost, has maximumly realized that the paleocinetic mode of no track the greenhouse in carries out the operation, improves labor efficiency, saves time, laborsaving, the easy operation. The utility model discloses can together use multiple agricultural machines and active transport material and staff to possessing long -range wireless control's raising and lowering functions, removing in a flexible way in can realizing collecting in the greenhouse and realize the commodity circulation transportation and have raising and lowering functions in the intelligent moving platform of an organic whole, be used for giving medicine to the poor free of charge, operations such as harvesting, crop arrangement, degree of automation is high, the operating efficiency is high, the function is comprehensive, the flexibility ratio is high, labour sparingly.
Description
Technical field
The utility model is related to a kind of machine of establishment agriculture, more particularly to a kind of warmhouse booth is put down with rail-free autonomous
Platform, integrates the interior Intelligent mobile platform for neatly moving and realizing logistics transportation and have elevating function in greenhouse, uses
In manipulation automated jobs such as dispenser, harvesting, crop arrangements.
Background technology
In recent years, with the continuous adjustment of agricultural structure, heliogreenhouse is developed rapidly in China rural area.But, day
Every farming operation in light greenhouse, is essentially all manual operations, high labor intensive, inefficiency, thus economic benefit
Still in low-level state.Heliogreenhouse is irrigated, fertilising, traditional furrow irrigation, flood irrigation are adopted dispenser more, and water requirement is big, and work is strong
Degree is big, and nutrient loss is serious, and to the water demand of crop effective control is difficult to.Meanwhile, also harm is brought to warm indoor environment, especially
High humidity in greenhouse, temperature is high, and staff's body can be caused damage, inefficiency.
In greenhouse existing mobile platform is only capable of realizing some simple straight lines or trackization motion, therefore it can be carried out
Warm office operation is very limited.In order to realize the flexible movement in flexible greenhouse, some mobile platforms need to put into high cost
Sensor, such as laser radar or machine vision so limit the large-area applications of common heliogreenhouse very much.
But greenhouse is the relatively-stationary generation place of cropping pattern, in the urgent need to invention one kind changes for existing greenhouse
Make less demanding, input cost is low, and neatly movement realizes logistics transportation and has elevating function in collecting in greenhouse
In the Intelligent mobile platform of one, for manipulation automated jobs such as dispenser, harvesting, crop arrangements.This light letter to greenhouse
Change, the propulsion of automatically working has very important practical significance.
Utility model content
The utility model is in view of the shortcomings of the prior art, there is provided a kind of warmhouse booth is flat with rail-free autonomous
Platform, can realize neatly moving the Intelligent mobile realized logistics transportation and have elevating function in integrating in greenhouse
Platform, for manipulation automated jobs such as dispenser, harvesting, crop arrangements.
The technical scheme that a kind of semi-structured heliogreenhouse intelligent family moving platform of the utility model is adopted includes：Bottom
Disk, running gear, turning guider, lowering or hoisting gear, intelligent control module and semi-structured greenhouse road surface.
The chassis is used to fixing and carrying other devices and module, forms the basic framework of mobile platform frame for movement；
The running gear, including the universal front wheel assembly in left and right two and the driving rear wheel assembly of left and right two.The left and right
Two universal front wheel assemblies are separately fixed at chassis front end crossbeam both sides；The left and right two drives rear wheel assembly to include left and right two
Two trailing wheels of individual motor and left and right, the motor of left and right two is individually fixed in the left and right sides on the T-shaped frame of the extreme end of chassis,
Driving motor output shaft is fixed on rear-wheel hub, and the differential for realizing two trailing wheels drives.
The turning guider, including it is oriented to electric pushrod, bearing, spring, steering spindle, guide post.It is described to be oriented to electricity
Dynamic push rod has two, respectively positioned at the bottom surface of chassis rear and front end centre, is connected firmly with guide post by bolt；The bearing
Four are had, one group two-by-two, respectively positioned at the lower end of two guide posts, two bearings of each guide post bottom are respectively into level
With vertically placement；The spring is located at guide post and is oriented between electric pushrod；The steering spindle is used for guide post and is oriented to electricity
The connection and fixation of dynamic push rod and bearing and guide post；The guide post, for connecting electric pushrod and bearing are oriented to.
The lowering or hoisting gear, including bracing frame, connecting rod, lifting platform, lifting shaft, lifting electric push rod, base.Described
Support is used to link chassis and lifting platform；The fixation that the connecting rod is used on the inside of bracing frame, and be connected with electric pushrod；It is described
Lifting platform is located at the upper end of bracing frame；The lifting shaft is located in the channel-section steel on lifting platform and chassis；Described lifting electric push rod
It is fixed on base, is connected with connecting rod；The base is located at the centre foremost of chassis base plate.
The intelligent control module, including control cabinet, controller, driving wheel motor driver, laser ranging module, ultrasound
Ripple range finder module, WIFI module, wireless router, panel computer, scram button and battery.The control cabinet is fixed on chassis
On base plate, for arranging controller, driving wheel motor driver, electric pushrod driver, WIFI module, scram button and electric power storage
Pond；Described controller preferentially selects STM32 SCM systems, described guiding electric pushrod and lifting electric push rod respectively with
Controller is electrically connected, and realizes the flexible of electric pushrod and stops control；The input of described driving wheel motor driver with
Controller is electrically connected, and output end is electrically connected respectively with the motor of left and right two, for driving trailing wheel to rotate forward, invert respectively
And stopping；Described laser ranging module is installed on chassis foremost, is electrically connected with controller；The ultrasonic ranging
Module is provided with four, is individually fixed in the front and rear side of both sides on chassis along upper, is electrically connected with controller.The Laser Measuring
It is used to monitor the distance of detecting head and reflecting surface away from module and ultrasonic distance measuring module；The wireless router is installed on sunlight
On the rear wall of room；The WIFI module is concatenated into controller, is communicated with wireless router, realizes the signal with panel computer
Transmission-receiving function；The panel computer is used to carry out long distance wireless intelligent manipulation to mobile platform；The battery is used for movement
Platform provides electric energy.The scram button is located at the extreme end of chassis upper right corner, is electrically connected with battery, something unexpected happened
When staff can press scram button, mobile platform power supply is cut off at once, stop any operation.
The semi-structured greenhouse road surface, including passageway, excessively platform where rites are performed edge, planting groove, between ridge road surface, ground groove.It is described
Passageway is to be laid on rear wall of greenhouse or the straight paved road of first domatic, east-west along greenhouse for mobile platform
Advance；Along the platform edge that growing area side is left for passageway, platform is typically not less than 20cm to the platform where rites are performed of crossing along height；The planting groove
For long-term cropping area, generally a line or two row crop planting areas, the limited selection brick mix structure encirclement in its edge, trough rim is planted
Edge is typically not less than 20cm；Between the ridge road surface be located at two planting grooves between one it is straight mat formation or non-paved road, be used for
Mobile platform is advanced along the row of greenhouse south-north direction；The ground groove, positioned between passageway and ridge at the T-shaped crossing on road surface,
Respectively there is a ground groove at each T-shaped crossing, when in the ranks turning, play the work for limiting mobile platform movement locus
With.
The beneficial effects of the utility model are：
1st, the utility model employs the driving of trailing wheel differential, and front-wheel universal wheel is turned to, with reference to the greenhouse half structure of low cost
Change structure, saved track laying cost, farthest realize the paleocinetic mode of operation of the rail-free in greenhouse and enter
Row operation, raises labour efficiency, and saves time, laborsaving, easy to operate.
2nd, lifting platform and chassis link are stable in structure design of the present utility model, it is possible to achieve stable lifting in walking
Reasonable employment chassis structure space, structural refinement is with low cost, and be provided with anticollision detector and scram button, secure side
Just, design accurate, simple to operate.
3rd, the utility model can support the use various farm implements and automatic transportation material and staff, and possess long-range
The elevating function of controlled in wireless, high degree of automation, operating efficiency height, complete function, flexibility ratio are high, save labour.
Description of the drawings
Fig. 1 is a kind of overall structure diagram of semi-structured heliogreenhouse intelligent family moving platform；
Fig. 2 is a kind of front view of semi-structured heliogreenhouse intelligent family moving platform；
Fig. 3 is a kind of bottom view of semi-structured heliogreenhouse intelligent family moving platform；
Fig. 4 is a kind of right view of semi-structured heliogreenhouse intelligent family moving platform；
Fig. 5 is a kind of chassis top view of semi-structured heliogreenhouse intelligent family moving platform；
Fig. 6 is a kind of semi-structured heliogreenhouse intelligent family moving platform operation road conditions figure；
Fig. 7 is a kind of semi-structured heliogreenhouse intelligent family moving platform turning guider figure.
In figure：1st, lifting platform 2, electric pushrod 3, laser ranging module 4, front-wheel 5, universal front fork 6, ultrasonic distance measuring module
7th, chassis 8, solid trailing wheel 9, motor 10, guiding electric pushrod 11, connecting rod 12, bracing frame 13, scram button 14, guiding
Wheel 15, base 16, driving wheel motor driver 17, single-chip microcomputer 18, WiFi module 19, battery 20, planting groove 21, passageway 22,
Cross platform where rites are performed road surface 25, guide post 26, spring 27, bearing along between 23, ground groove 24, ridge
Specific embodiment
This patent is further detailed below in conjunction with the accompanying drawings.The utility model is a kind of semi-structured heliogreenhouse
With intelligent family moving platform, as shown in Fig. 1,2,3,4,5,6,7.A kind of semi-structured heliogreenhouse intelligent family moving platform is adopted
Technical scheme include：Chassis 7, running gear, turning guider, lowering or hoisting gear, intelligent control module and semi-structured temperature
Room road surface.
The chassis 7 is used to fixing and carrying other devices and module, forms the basic framework of mobile platform frame for movement；
The running gear, including the universal front wheel assembly in left and right two and the driving rear wheel assembly of left and right two.The left and right
Two universal front wheel assemblies are separately fixed at the front end cross beam both sides of chassis 7；The left and right two drives rear wheel assembly to include left and right
Two trailing wheels 8 of two motors 9 and left and right, the motor 9 of left and right two is individually fixed on the T-shaped frame of the rear end of chassis 7 left
Right both sides, the output shaft of motor 9 is fixed on the wheel hub of trailing wheel 8, and the differential for realizing two trailing wheels 8 drives.
The turning guider, including it is oriented to electric pushrod 10, bearing 27, spring 26, steering spindle, guide post 25.Institute
State guiding electric pushrod 10 and have two, respectively positioned at the bottom surface of the rear and front end centre of chassis 7, by bolt and guide post 25
Connect firmly；The bearing 27 has four, one group two-by-two, respectively positioned at the lower end of two guide posts 25, each bottom of guide post 25
Two bearings 27 respectively into horizontally and vertically disposing；The spring 26 is located at guide post 25 and is oriented between electric pushrod 10；
The steering spindle is used for guide post 25 and is oriented to the connection and fixation of electric pushrod 10 and bearing 24 and guide post 25；It is described to lead
To bar 25, for connecting electric pushrod 10 and bearing 27 are oriented to.
The lowering or hoisting gear, including bracing frame 12, connecting rod 11, lifting platform 1, lifting shaft, lifting electric push rod, base
15.Support frame as described above 12 is used to link chassis 7 and lifting platform 1；The fixation that the connecting rod 11 is used on the inside of bracing frame 12, and with
Electric pushrod 2 connects；The lifting platform 1 is located at the upper end of bracing frame 12；The lifting shaft is located at the groove on lifting platform 1 and chassis 7
In steel；Described lifting electric push rod is fixed on base 15, is connected with connecting rod 11；The base 15 is located at the base plate of chassis 7
Centre foremost.
The intelligent control module, including control cabinet, controller, driving wheel motor driver 16, laser ranging module 3,
Ultrasonic distance measuring module 6, WIFI module 18, wireless router, panel computer, scram button 13 and battery 19.The control
Case is fixed on the base plate of chassis 7, for arranging controller, driving wheel motor driver 16, electric pushrod driver, WIFI module
18th, scram button 13 and battery 19；Described controller preferentially selects STM32 SCM systems, and described guiding is electronic to be pushed away
Bar 10 and lifting electric push rod are electrically connected respectively with controller, realize the flexible of electric pushrod 2 and stop control；Described drive
The input of driving wheel motor driver 16 is electrically connected with controller, and output end electrically connects respectively with two motors 9 in left and right
Connect, for driving trailing wheel 8 to rotate forward, invert and stop respectively；Described laser ranging module 3 is installed on chassis 7 foremost, with control
Device processed is electrically connected；The ultrasonic distance measuring module 6 is provided with four, is individually fixed in the front and rear side edge of the both sides on chassis 7
On, it is electrically connected with controller.The laser ranging module 3 and ultrasonic distance measuring module 6 be used to monitoring detecting head with it is anti-
Penetrate the distance in face；The wireless router is installed on the rear wall of heliogreenhouse；The WIFI module 18 is concatenated into controller, with
Wireless router is communicated, and realizes the signal transmitting and receiving function with panel computer；The panel computer is used to enter mobile platform
Row long distance wireless intelligent is manipulated；The battery 19 is used to provide electric energy to mobile platform.The scram button 13 is located at chassis 7
The rear end upper right corner, is electrically connected with battery 19, and staff can press scram button 13 during something unexpected happened, is stood
Cut-out mobile platform power supply is carved, stops any operation.
The semi-structured greenhouse road surface, including passageway 21, cross platform where rites are performed along 22, planting groove 20, and between ridge road surface 24, and ground is recessed
Groove 23.The passageway 21 to be laid on rear wall of greenhouse or the straight paved road of first domatic, for mobile platform along temperature
The east-west traveling in room；The platform where rites are performed of crossing is along the 22 platform edges that growing area side is left for passageway 21, and platform is not general low along height
In 20cm；The planting groove 20 is long-term cropping area, generally a line or two row crop planting areas, the limited selection brick in its edge
Mixed structure is surrounded, and the edge of planting groove 20 is typically not less than 20cm；Road surface 24 is located between two planting grooves 20 between the ridge
It is straight to mat formation or non-paved road, advance along the row of greenhouse south-north direction for mobile platform；The ground groove 23, is located at
Between passageway 21 and ridge at the T-shaped crossing on road surface 24, respectively there is a ground groove 23 at each T-shaped crossing, in the ranks turn entering
When, play a part of to limit mobile platform movement locus.
Claims (1)
1. a kind of warmhouse booth rail-free autonomous mobile platform, it is characterised in that including chassis, running gear, turning is oriented to dress
Put, lowering or hoisting gear, intelligent control module and semi-structured greenhouse road surface；
The chassis is used to fixing and carrying other devices and module, forms the basic framework of mobile platform frame for movement；
The running gear, including the universal front wheel assembly in left and right two and the driving rear wheel assembly of left and right two；The left and right two
Universal front wheel assembly is separately fixed at chassis front end crossbeam both sides；The left and right two drives rear wheel assembly to include the drive of left and right two
Two trailing wheels of dynamic motor and left and right, the motor of left and right two is individually fixed in the left and right sides on the T-shaped frame of the extreme end of chassis, drives
Motor output shaft is fixed on rear-wheel hub, and the differential for realizing two trailing wheels drives；
The turning guider, including it is oriented to electric pushrod, bearing, spring, steering spindle, guide post；It is described to be oriented to electronic pushing away
Bar has two, respectively positioned at the bottom surface of chassis rear and front end centre, is connected firmly with guide post by bolt；The bearing has
Four, one group two-by-two, respectively positioned at the lower end of two guide posts, two bearings of each guide post bottom into level and are erected respectively
Straight placement；The spring is located at guide post and is oriented between electric pushrod；The steering spindle is used for guide post and is oriented to electronic pushing away
The connection and fixation of bar and bearing and guide post；The guide post, for connecting electric pushrod and bearing are oriented to；
The lowering or hoisting gear, including bracing frame, connecting rod, lifting platform, lifting shaft, lifting electric push rod, base；Support frame as described above
For linking chassis and lifting platform；The fixation that the connecting rod is used on the inside of bracing frame, and be connected with electric pushrod；The lifting
Platform is located at the upper end of bracing frame；The lifting shaft is located in the channel-section steel on lifting platform and chassis；Described lifting electric push rod is fixed
On base, it is connected with connecting rod；The base is located at the centre foremost of chassis base plate；
The intelligent control module, including control cabinet, controller, driving wheel motor driver, laser ranging module, ultrasound
Away from module, WIFI module, wireless router, panel computer, scram button and battery；The control cabinet is fixed on chassis base plate
On, for arranging controller, driving wheel motor driver, electric pushrod driver, WIFI module, scram button and battery；
Described controller selects STM32 SCM systems, described guiding electric pushrod and lifting electric push rod respectively with controller
Electrical connection, realizes the flexible of electric pushrod and stops control；The input and controller of described driving wheel motor driver
Electrical connection, output end is electrically connected respectively with the motor of left and right two, for driving trailing wheel to rotate forward, invert and stop respectively
Only；Described laser ranging module is installed on chassis foremost, is electrically connected with controller；The ultrasonic distance measuring module
Four are provided with, the front and rear side of both sides on chassis is individually fixed in along upper, are electrically connected with controller；The laser ranging mould
Block and ultrasonic distance measuring module are used to monitor the distance of detecting head and reflecting surface；The wireless router is installed on heliogreenhouse
Afterwards on wall；The WIFI module is concatenated into controller, is communicated with wireless router, realizes the signal transmitting and receiving with panel computer
Function；The panel computer is used to carry out long distance wireless intelligent manipulation to mobile platform；The battery is used for mobile platform
Electric energy is provided；The scram button is located at the extreme end of chassis upper right corner, is electrically connected with battery, work during something unexpected happened
Making personnel can press scram button, and mobile platform power supply is cut off at once, stop any operation；
The semi-structured greenhouse road surface, including passageway, excessively platform where rites are performed edge, planting groove, between ridge road surface, ground groove；The passageway
To be laid on rear wall of greenhouse or the straight paved road of first domatic, for mobile platform along the east-west row in greenhouse
Enter；Along the platform edge that growing area side is left for passageway, platform is not less than 20cm to the platform where rites are performed of crossing along height；The planting groove is plantation
Crop belts, are a line or two row crop planting areas, and its edge is surrounded using brick mix structure, and plantation groove edge is not less than 20cm；
Between the ridge road surface be located at two planting grooves between one it is straight mat formation or non-paved road, for mobile platform along greenhouse north and south
Advance in the row of trend；The ground groove, positioned between passageway and ridge at the T-shaped crossing on road surface, respectively has one at each T-shaped crossing
Individual ground groove, when in the ranks turning, is playing a part of to limit mobile platform movement locus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621113551.XU CN206156246U (en) | 2016-10-11 | 2016-10-11 | Warmhouse booth is with autonomic moving platform of no track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621113551.XU CN206156246U (en) | 2016-10-11 | 2016-10-11 | Warmhouse booth is with autonomic moving platform of no track |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206156246U true CN206156246U (en) | 2017-05-10 |
Family
ID=58652766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621113551.XU Withdrawn - After Issue CN206156246U (en) | 2016-10-11 | 2016-10-11 | Warmhouse booth is with autonomic moving platform of no track |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206156246U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106276113A (en) * | 2016-10-11 | 2017-01-04 | 山东农业大学 | A kind of semi-structured heliogreenhouse intelligent family moving platform and control method thereof |
| CN109518550A (en) * | 2018-12-20 | 2019-03-26 | 河北创恒智能装备科技有限公司 | Walking type intelligent multifunctional track girder and the method for carrying out constructing tunnel using the track girder |
| CN109693728A (en) * | 2017-10-23 | 2019-04-30 | 西北农林科技大学 | A kind of intelligent family moving platform for monitor on field |
| GB2572127A (en) * | 2018-01-10 | 2019-09-25 | Xihelm Ltd | Method and system for agriculture |
| CN110353195A (en) * | 2019-08-16 | 2019-10-22 | 广州回味源蛋类食品有限公司 | A kind of Intelligent Production System of salted egg |
| CN113138595A (en) * | 2021-03-22 | 2021-07-20 | 广东省现代农业装备研究所 | Rail-mounted mobile monitoring platform for greenhouse overhead cultivated crops and control method thereof |
-
2016
- 2016-10-11 CN CN201621113551.XU patent/CN206156246U/en not_active Withdrawn - After Issue
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106276113A (en) * | 2016-10-11 | 2017-01-04 | 山东农业大学 | A kind of semi-structured heliogreenhouse intelligent family moving platform and control method thereof |
| CN106276113B (en) * | 2016-10-11 | 2018-07-24 | 山东农业大学 | A kind of semi-structured heliogreenhouse intelligent family moving platform and its control method |
| CN109693728A (en) * | 2017-10-23 | 2019-04-30 | 西北农林科技大学 | A kind of intelligent family moving platform for monitor on field |
| GB2572127A (en) * | 2018-01-10 | 2019-09-25 | Xihelm Ltd | Method and system for agriculture |
| GB2572127B (en) * | 2018-01-10 | 2022-09-14 | Xihelm Ltd | Method and system for agriculture |
| CN109518550A (en) * | 2018-12-20 | 2019-03-26 | 河北创恒智能装备科技有限公司 | Walking type intelligent multifunctional track girder and the method for carrying out constructing tunnel using the track girder |
| CN109518550B (en) * | 2018-12-20 | 2023-11-17 | 河北创恒智能装备科技有限公司 | Walking intelligent multifunctional track beam and method for carrying out tunnel construction by using same |
| CN110353195A (en) * | 2019-08-16 | 2019-10-22 | 广州回味源蛋类食品有限公司 | A kind of Intelligent Production System of salted egg |
| CN113138595A (en) * | 2021-03-22 | 2021-07-20 | 广东省现代农业装备研究所 | Rail-mounted mobile monitoring platform for greenhouse overhead cultivated crops and control method thereof |
| CN113138595B (en) * | 2021-03-22 | 2022-11-18 | 广东省现代农业装备研究所 | Rail-mounted mobile monitoring platform for greenhouse overhead cultivated crops and control method thereof |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170510 Effective date of abandoning: 20180724 |