CN210879696U - Greenhouse skeleton cuttage robot control system - Google Patents

Abstract

The utility model discloses a greenhouse skeleton cuttage robot control system, including walking base, support frame, stock device, feed divider, push down device and host system, the support frame is installed on the walking base, pushes down device, feed divider and stock device and installs on the support frame in proper order along the advancing direction of walking base. The utility model discloses a set gradually stock device, feed divider and push down the device on the walking base to through the electric putter work on motor A on the host system control stock device, the last motor B of feed divider and the push down device, make cuttage robot can be continuous, even, unanimous insert the skeleton on the bottom surface, thereby removed artificial intensity of labour from, improved the efficiency that the big-arch shelter was built.

Description

Greenhouse skeleton cuttage robot control system

Technical Field

The utility model relates to an agricultural robot field especially relates to a greenhouse skeleton cuttage robot control system.

Background

With the development of science and technology, the intelligent degree of agricultural machinery is continuously improved, and for vegetable planting, the trend of modern agriculture development is achieved by using a robot to replace manpower. The arched shed indispensable for vegetable planting is the key for seedling culture, and the arched shed can improve the land utilization rate, provide sufficient illumination conditions and prolong the vegetable cultivation period through a small occupied area. The arched shed is made by inversely pitching the adaptive U-shaped framework into the soil according to the size of the cultivated vegetables and covering a layer of film on the framework. Most of the existing frameworks are manually inserted, but the arch shed is installed manually, so that the labor intensity is high, the production efficiency is low, and the market competitiveness is restricted. In addition, the manual cutting mode causes lower cutting precision and difficult control of the distance of the cutting precision.

Disclosure of Invention

An object of the utility model is to provide a greenhouse skeleton cuttage robot control system that can automatic cuttage.

The utility model aims at realizing through the following technical scheme:

a greenhouse skeleton cuttage robot control system comprises a walking base, a supporting frame, a material storage device, a material distribution device, a pressing device and a main control module, wherein the supporting frame is installed on the walking base, the pressing device, the material distribution device and the material storage device are sequentially installed on the supporting frame along the advancing direction of the walking base, the material storage device comprises a rotating shaft A which is horizontally and rotatably installed on the supporting frame and fluted discs which are symmetrically installed at two ends of the rotating shaft A and used for clamping a skeleton, a motor A which drives the fluted discs to rotate and is provided with a controller is arranged on the walking base below the rotating shaft A, the material distribution device is arranged on the supporting frame below one side of the fluted discs, a photoelectric switch A is arranged on the supporting frame on one side of the fluted discs and the material distribution device, the material distribution device comprises a rotating shaft B which is horizontally and rotatably installed on the supporting frame and transport, be equipped with the motor B who drives the transport wheel pivoted and have the controller on the walking base of pivot B below, processing has a plurality of draw-in grooves of releasing the skeleton from the fluted disc on the transport wheel, the push down device in inserting the skeleton into soil is installed at the support frame top of draw-in groove one side, push down the device including the electric putter of suspension mounting on the support frame, electric putter's output is connected with the clamp plate, pass through spring coupling between clamp plate and the electric putter, be equipped with the photoelectric switch B who is used for detecting the skeleton on the clamp plate, photoelectric switch A and photoelectric switch B all are connected with host system, host system still is connected with motor A, motor B and electric putter.

The walking base comprises a mounting plate, a steering engine, a damper and a hub motor, wherein the steering engine is fixed on the bottom surface of the mounting plate and provided with a controller, the damper is connected to an output shaft of the steering engine, the hub motor is connected to the bottom of the damper and provided with a controller, and the steering engine and the hub motor are both connected with a main control module.

And the mounting plate is also provided with a gray sensor.

The utility model discloses has following effect:

(1) the material storage device, the material distribution device and the pressing device are sequentially arranged on the walking base, and the motor A on the material storage device, the motor B on the material distribution device and the electric push rod on the pressing device are controlled by the main control module to work, so that the cuttage robot can continuously, uniformly and consistently insert the skeleton on the bottom surface, the labor intensity of workers is avoided, and the greenhouse building efficiency is improved;

(2) the photoelectric switch A is arranged between the material storage device and the material distribution device, and the photoelectric switch B is arranged on the pressing device, so that the position of the framework on the robot can be detected, and the stability and the precision of cuttage are improved;

(3) the walking base is provided with the shock absorber, the steering engine with the controller, the hub machine with the controller and the gray level sensor, so that the walking base can perform cuttage operation according to a preset program.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural view of the walking base of the present invention.

Fig. 3 is a schematic structural view of the material storage device of the present invention.

Fig. 4 is a schematic structural diagram of the material separating device of the present invention.

Fig. 5 is a schematic structural view of the pressing device of the present invention.

Fig. 6 is a connection block diagram of the main control module of the present invention.

Reference numerals: 1. a traveling base; 11. mounting a plate; 12. a steering engine; 13. a shock absorber; 14. a hub motor; 15. a grayscale sensor; 2. a support frame; 21. a photoelectric switch A; 22. a photoelectric switch B; 3. a material storage device; 31. a rotating shaft A; 32. a fluted disc; 33. a motor A; 4. a material distributing device; 41. a rotating shaft B; 42. a transport wheel; 43. a motor B; 44. a card slot; 5. a pressing device; 51. an electric push rod; 52. pressing a plate; 53. a spring; 6. and a main control module.

Detailed Description

Examples

As shown in fig. 1 to 6, the greenhouse skeleton cuttage robot control system provided by this embodiment includes a walking base 1, a supporting frame 2, a material storage device 3, a material distribution device 4, a pressing device 5 and a main control module 6, where the walking base 1 includes a mounting plate 11, a steering engine 12 fixed on the bottom surface of the mounting plate 11 and having a controller, a shock absorber 13 connected to an output shaft of the steering engine 12, and a hub motor 14 connected to the bottom of the shock absorber 13 and having a controller, the steering engine 12 and the hub motor 14 are both connected to the main control module 6, the mounting plate 11 is further provided with a gray sensor 15, the supporting frame 2 is installed on the surface of the walking base 1, the pressing device 5, the material distribution device 4 and the material storage device 3 are sequentially installed on the supporting frame 2 along the traveling direction of the walking base 1, the material storage device 3 is installed on the front side where the walking base 1 travels, the pressing device 5 is installed on the, the material storage device 3 comprises a rotating shaft A31 which is horizontally and rotatably installed on the support frame 2 and fluted discs 32 which are symmetrically installed at two ends of the rotating shaft A31 and are used for clamping frameworks, the tooth number Z of the fluted discs 32 is 20, a motor A33 which drives the fluted discs 32 to rotate and is provided with a controller is arranged on the walking base 1 below the rotating shaft A31, a material distribution device 4 is arranged on the support frame 2 below one side of the fluted discs 32, a photoelectric switch A21 is arranged on the support frame 2 at one side of the fluted discs 32 and the material distribution device 4, the material distribution device 4 comprises a rotating shaft B41 which is horizontally and rotatably installed on the support frame 2 and transport wheels 42 which are installed at two ends of the rotating shaft B41, the two transport wheels 42 are arranged between the two fluted discs 32, a motor B43 which drives the transport wheels 42 to rotate and is provided with a controller is arranged on the walking base 1 below the rotating shaft B41, the push-down device 5 that inserts the skeleton in the soil is installed at the 2 tops of support frame of draw-in groove 44 one side, push-down device 5 is including the suspension mounting electric putter 51 on support frame 2, and electric putter 51's output is connected with clamp plate 52, be connected through spring 53 between clamp plate 52 and the electric putter 51, be equipped with the photoelectric switch B22 that is used for detecting the skeleton on the clamp plate 52, photoelectric switch A21 and photoelectric switch B22 all are connected with host system 6, and host system 6 mountable is put on walking base 1 or support frame 2, host system 6 still is connected with motor A33, motor B43 and electric putter 51. The walking base 1 is also provided with a power supply device for supplying electric quantity to the robot, such as a storage battery or a rechargeable battery, and the power supply device is arranged below the mounting plate 11 and is not shown in the figure.

The utility model discloses a use method is:

before use, a worker mounts a framework on the fluted disc 32 in advance, when the framework is mounted, a cross rod in the middle of the U-shaped framework is clamped on the framework, then the worker controls the hub motor 14 to start through the main control module 6 with an input program, when the hub motor 14 works, the steering engine 12 controls the rotation angle of the hub motor 14 to realize steering and turning operation of the walking base 1, then a preset mark on the ground, such as a guide line (providing reference for a traveling line of the robot), is detected through the gray sensor 15, the main control module 6 controls the walking base 1 to advance along the guide line according to data fed back by the gray sensor 15, after the walking base 1 advances for a certain distance, the main control module 6 controls the walking base 1 to stop, the motor A33 is started, the motor A33 drives the fluted disc 32 to rotate through a belt pulley, and when the framework is detected by the photoelectric switch A21, the main control module, meanwhile, the motor B43 is started, the motor B43 drives the transportation wheel 42 to rotate, when the transportation wheel 42 rotates, the framework clamped on the fluted disc 32 is taken out through the clamping groove 44, and the framework is driven to rotate around the rotating shaft B41, because the framework is U-shaped, when the framework rotates around the rotating shaft B41 in the clamping groove 44, the insertion parts at the two ends of the framework keep a vertical state due to self gravity, after the framework is detected by the photoelectric switch B22, the main control module 6 controls the motor B43 to pause, then the electric push rod 51 on the pressing device 5 is controlled to extend out, when the electric push rod 51 extends out, the framework is extruded out from the clamping groove 44 by the pressing plate 52 on the electric push rod 51, so that the framework is vertically inserted on the ground, then the electric push rod 51 drives the pressing plate 52 to continuously move downwards for pressing the framework, the spring 53 connected between the pressing plate 52 and the electric push rod 51 can slow down the vibration generated, after the electric push rod 51 extends out of the designated length, the main control module 6 controls the electric push rod 51 to go upwards, meanwhile, the main control module 6 controls the walking base 1 to continue to advance along the current path, and after the walking base 1 moves to the designated distance (the length can be set through a program and is executed by the hub motor 14), the main control module 6 controls the walking base 1 to stop again, and then the steps are repeated to perform the cuttage operation of the framework.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any modification and replacement based on the technical solution and inventive concept provided by the present invention should be covered within the protection scope of the present invention.

Claims (3)

1. The utility model provides a greenhouse skeleton cuttage robot control system which characterized in that: the automatic material storage device comprises a walking base, a supporting frame, a material storage device, a material distribution device, a pressing device and a main control module, wherein the supporting frame is installed on the walking base, the pressing device, the material distribution device and the material storage device are sequentially installed on the supporting frame along the advancing direction of the walking base, the material storage device comprises a rotating shaft A which is horizontally and rotatably installed on the supporting frame and fluted discs which are symmetrically installed at two ends of the rotating shaft A and used for clamping a framework, a motor A which drives the fluted discs to rotate and is provided with a controller is arranged on the walking base below the rotating shaft A, the material distribution device is arranged on the supporting frame below one side of the fluted discs, a photoelectric switch A is arranged on the supporting frame on one side of the fluted discs and one side of the material distribution device, the material distribution device comprises a rotating shaft B which is horizontally and rotatably installed on the supporting frame and transport wheels which are installed at two ends of, processing has a plurality of draw-in grooves of releasing the skeleton from the fluted disc on the haulage wheel, install the push down device in inserting the skeleton into soil at the support frame top of draw-in groove one side, push down the device including the suspension mounting electric putter on the support frame, electric putter's output is connected with the clamp plate, through spring coupling between clamp plate and the electric putter, be equipped with the photoelectric switch B who is used for detecting the skeleton on the clamp plate, photoelectric switch A and photoelectric switch B all are connected with host system, host system still is connected with motor A, motor B and electric putter.

2. The greenhouse skeleton cutting robot control system of claim 1, wherein: the walking base comprises a mounting plate, a steering engine, a damper and a hub motor, wherein the steering engine is fixed on the bottom surface of the mounting plate and provided with a controller, the damper is connected to an output shaft of the steering engine, the hub motor is connected to the bottom of the damper and provided with a controller, and the steering engine and the hub motor are both connected with a main control module.

3. The greenhouse skeleton cutting robot control system of claim 2, wherein: and the mounting plate is also provided with a gray sensor.

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