CN212035091U - Agricultural greenhouse operation arm track system - Google Patents

Agricultural greenhouse operation arm track system Download PDF

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Publication number
CN212035091U
CN212035091U CN201922336650.4U CN201922336650U CN212035091U CN 212035091 U CN212035091 U CN 212035091U CN 201922336650 U CN201922336650 U CN 201922336650U CN 212035091 U CN212035091 U CN 212035091U
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China
Prior art keywords
district
track
planting
tunnel
plant
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CN201922336650.4U
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Chinese (zh)
Inventor
刘亮
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Guizhou Aerospace Intelligent Agriculture Co ltd
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Guizhou Aerospace Intelligent Agriculture Co ltd
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Priority to CN201922336650.4U priority Critical patent/CN212035091U/en
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    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02ATECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/10Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
    • Y02A40/25Greenhouse technology, e.g. cooling systems therefor

Abstract

The utility model provides an agricultural greenhouse operation arm track system, including planting district traveling system, plant and plant district traveling system including planting the district stand, plant district's track, coaster and arm, plant the district's track and set up in planting district middle part or upper portion along planting the district's depth direction, plant and plant the district's track and support fixedly through planting the district's stand of planting that the district's depth direction distributes along planting, the coaster walks on planting the district's track through the pulley wheel, and is provided with on the coaster and is used for driving pulley wheel pivoted drive arrangement, the arm is fixed in on the coaster, drives the arm through the coaster and plants the district interior removal along the depth direction of planting, plants the crop in the district through the arm and operates. The problems that the existing indoor operation mechanical arm is high in requirement on advancing control precision, the ground needs to be hardened, a part of the existing indoor operation mechanical arm adopts a ground track, the existing indoor operation mechanical arm still occupies ground space and affects ground operation, and ground sundries interfere with the track are solved. Belongs to the field of greenhouse mechanical equipment.

Description

Agricultural greenhouse operation arm track system
Technical Field
The utility model relates to an agricultural greenhouse operation arm rail system belongs to greenhouse mechanized equipment field.
Background
The greenhouse operation mechanical arm is mechanized equipment capable of replacing manual transplanting, weeding, topping, picking, seedling removing and the like, integrates a computer vision system, a data analysis system, a control system and the like, can automatically identify objects to be processed, automatically plans an action route and automatically judges action results. Like outdoor strawberry picking arm, hot pepper picking arm etc. current agricultural greenhouse operation robot marchs and adopts the ground rail form or not wheeled, the crawler-type system of marcing of track more, and the control accuracy requirement of marcing is high, and ground needs the sclerosis to be handled, and the part has adopted the ground track, still exists to occupy ground space, influences ground operation, and ground debris disturb orbital problem.
Disclosure of Invention
The utility model aims to provide a: the utility model provides an agricultural greenhouse operation arm track system to solve current indoor operation arm and advance control accuracy and expect much, ground needs hardening treatment, partly has adopted the ground track, still exists to occupy ground space, influences ground operation, ground debris interference track scheduling problem.
For solving the problem, plan to adopt such agricultural greenhouse operation arm track system, including planting district's traveling system, plant and plant district's traveling system including planting the district's stand, plant and plant the district's track, coaster and arm, plant and plant the district's track and set up in planting district middle part or upper portion along planting the district's depth direction, it supports fixedly through planting the district's stand that distributes along planting the district's depth direction of planting the district's track to plant the district's track, the coaster walks on planting the district's track through the pulley wheel, and is provided with on the coaster and is used for driving pulley wheel pivoted drive arrangement, the arm is fixed in on the coaster, takes the arm to move along the depth direction in planting the district through the coaster, plants the crop in the district through the arm and operates.
The mechanical arm track system further comprises a tunnel walking system, the tunnel walking system comprises a tunnel upright, a tunnel track and a line changing trailer, the tunnel track is arranged in the middle or the upper part of a tunnel along the tunnel direction, the tunnel track is supported and fixed through the tunnel upright distributed along the tunnel direction, the line changing trailer walks on the tunnel track through trailer wheels, a plurality of groups of planting area walking systems are correspondingly arranged on each tunnel walking system, and one end of the planting area track in each group of planting area walking systems extends to the walking path of the line changing trailer on the tunnel track, so that the pulleys are mutually transferred on the planting area track and the line changing trailer;
in the mechanical arm track system, the tunnel walking system further comprises a line-changing trailer driving device, the line-changing trailer driving device comprises a rope and two winches rotatably arranged at two ends of the tunnel track, one end of the rope is fixed on the line-changing trailer, the other end of the rope is fixed on the line-changing trailer after sequentially bypassing the two winches at the two ends, the line-changing trailer can be driven to move on the tunnel track by pulling the rope, the pulley is driven to move from one end of the planting area track in one group of planting area walking systems to one end of the planting area track in the other group of planting area walking systems, and the mechanical arm is transferred among different groups of planting area walking systems;
in the mechanical arm track system, each planting area walking system comprises two groups of planting area stand columns, the two groups of planting area stand columns are distributed and arranged in parallel along the depth direction of the planting area, a planting area track is fixed on each group of planting area stand column along the distribution direction, the two planting area tracks are parallel to each other along the horizontal direction, and the sliding wheels on the two sides of the bottom of the pulley are respectively arranged on the two planting area tracks;
in the mechanical arm track system, the roadway traveling system comprises two groups of roadway stand columns, the two groups of roadway stand columns are distributed in parallel along the roadway direction, a roadway track is fixed on each group of roadway stand columns along the distribution direction, the two roadway tracks are parallel along the horizontal direction, and trailer wheels on two sides of the bottom of the line changing trailer are respectively arranged on the two roadway tracks;
in the mechanical arm track system, two pulley support rails are fixed on the line changing trailer, the two pulley support rails are both parallel to and arranged at the same height as the planting area track, the distance between the two pulley support rails is the same as the distance between the two planting area tracks in the planting area traveling system, and when the line changing trailer moves to the end part of the planting area track, the two pulley support rails are in butt joint with the two planting area tracks in the planting area traveling system, so that the pulleys are stably transferred between the line changing trailer and the planting area traveling system;
in the mechanical arm track system, the planting area stand column and the roadway stand column are greenhouse structure stand columns;
among the aforementioned arm rail system, plant and plant the orbital both ends in district and be provided with position sensor in planting the district traveling system, tunnel traveling system in tunnel orbital both ends all are provided with limit switch.
Compared with the prior art, greenhouse operation arm track system does not occupy the ground space, the automobile body can not subaerial walking again, need not to lay ground track or carry out sclerosis treatment to ground, but utilize the space of greenhouse middle part or upper portion vacant as the removal space of arm and automobile body, can not receive the influence of other factors such as ground debris, reliability and stability are stronger, this system simple structure, the operation is reliable, it is convenient to be equipped with the material, plant the district stand, the tunnel stand can rely on the current structure stand in greenhouse, need not to install separately, the district track is planted to the aforesaid, the tunnel track, the coaster asks the rail also for common steel pipe or angle bar can, suitable popularization and application.
Drawings
Fig. 1 is a plan view of the present invention in an applied state;
FIG. 2 is a left side view of the planting area of FIG. 1;
fig. 3 is a schematic front view of the present invention shown in fig. 1;
fig. 4 is a layout view of the planting area and the tracks in the roadway.
Detailed Description
To further clarify the objects, technical solutions and advantages of the present invention, a more particular description of the invention will be rendered by reference to the appended drawings, which are illustrated in the appended drawings.
Examples
Referring to fig. 1 to 4, the present embodiment provides an agricultural greenhouse operation mechanical arm track system, which includes a planting area traveling system and a roadway traveling system, wherein the planting area traveling system includes a planting area column 1, a planting area track 2, a pulley 3 and a mechanical arm 4, the planting area track 2 is disposed in the middle or upper portion of a planting area along the depth direction of the planting area, the planting area track 2 is supported and fixed by the planting area column 1 distributed along the depth direction of the planting area, the pulley 3 travels on the planting area track 2 via a pulley wheel 31, and the pulley 3 is provided with a driving device for driving the pulley wheel 31 to rotate, the mechanical arm 4 is fixed on the pulley 3, the mechanical arm 3 drives the mechanical arm 4 to move in the planting area along the depth direction, the mechanical arm 4 operates crops in the planting area, preferably, each group of the planting area traveling system includes two groups of planting area columns 1, two sets of planting district's stand 1 are along planting the setting that distributes of district's depth direction each other parallelly, and every group plants and all is fixed with one along the direction of distribution on the district's stand 1 and plants district's track 2, and two are planted district's track 2 and are parallel to each other along the horizontal direction, 3 bottom both sides of coaster sliding wheel 31 set up respectively in two plant and plant district's track 2, plant and plant the both ends of planting district's track 2 in the district's traveling system and still be provided with position sensor 10.
The roadway traveling system comprises roadway columns 5, roadway tracks 6 and a line-changing trailer 7, the roadway tracks 6 are arranged in the middle or upper part of a roadway along the roadway direction, the roadway tracks 6 are supported and fixed by the roadway columns 5 distributed along the roadway direction, the planting area columns 1 and the roadway columns 5 are all realized by using the existing structural columns of a greenhouse, the line-changing trailer 7 travels on the roadway tracks 6 through trailer wheels 71, each roadway traveling system is correspondingly provided with a plurality of groups of planting area traveling systems, one end of each group of planting area traveling system of the planting area track 2 extends to the traveling path of the line-changing trailer 7 on the roadway track 6, so that the pulleys 3 can be mutually transferred on the planting area track 2 and the line-changing trailer 7, the roadway traveling systems also comprise line-changing trailer driving devices 8, each line-changing trailer driving device 8 comprises a rope 81 and two winches 82 rotatably arranged at the two ends of the roadway tracks 6, on rope 81's one end was fixed in the trailer 7 that moves a new line, rope 81's the other end was walked around in proper order and is also fixed in the trailer 7 that moves a new line after two winches 82 at both ends, can drive the trailer 7 that moves a new line through dragging rope 81 and move on tunnel track 6, and one of them capstan winch 82 still corresponds and is provided with overspeed device tensioner for adjust rope 81's elasticity, rope 81 can use the cable wire replacement, and is more durable, takes coaster 3 to move to another group from a set of one end of planting district's track 2 in planting district's traveling system and plants the one end of planting district's track 2 in another group, realizes that arm 4 plants the transfer between the district's traveling system in different groups, and tunnel track 6's both ends still are provided with limit switch 11 in the tunnel traveling system.
Further preferably, including two sets of tunnel stands 5 in the tunnel traveling system, two sets of tunnel stands 5 distribute the setting along the tunnel direction with being parallel to each other, all are fixed with a tunnel track 6 along the direction of distribution on every group tunnel stand 5, and two tunnel tracks 6 are parallel to each other along the horizontal direction, the trailer wheel 71 of the trailer 7 bottom both sides of trading sets up respectively on two tunnel tracks 6.
Two pulley support rails 9 are fixed on the line changing trailer 7, the two pulley support rails 9 are parallel to the planting area track 2 and are arranged at the same height, the distance between the two pulley support rails 9 is the same as the distance between the two planting area tracks 2 in the planting area running system, when the line changing trailer 7 moves to the end part of the planting area track 2, the two pulley support rails 9 are in butt joint with the two planting area tracks 2 in the planting area running system, so that the smooth transfer of the pulley 3 between the line changing trailer 7 and the planting area running system is realized.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (8)

1. Agricultural greenhouse operation arm track system, its characterized in that: including planting district traveling system, plant and plant district traveling system including planting district stand (1), plant district track (2), coaster (3) and arm (4), plant district track (2) and set up in planting district middle part or upper portion along planting the district depth direction, it supports fixedly to plant district track (2) through planting district stand (1) along planting the district depth direction distribution setting of planting, coaster (3) walk on planting district track (2) through coaster wheel (31), and be provided with on coaster (3) and be used for driving coaster wheel (31) pivoted drive arrangement, arm (4) are fixed in on coaster (3), drive arm (4) through coaster (3) and plant and distinguish along the depth direction removal, plant the crop of planting in the district through arm (4) and operate.
2. The agricultural greenhouse work robotic arm track system of claim 1, wherein: still including tunnel traveling system, tunnel traveling system includes tunnel stand (5), tunnel track (6) and trailer (7) of trading, tunnel track (6) set up in the middle part or the upper portion in the tunnel along the tunnel direction, tunnel track (6) are fixed through tunnel stand (5) support along the distribution of tunnel direction setting, trailer (7) of trading walks on tunnel track (6) through trailer wheel (71), every tunnel traveling system corresponds and sets up the multiunit and plants district's traveling system, and the one end of planting in the district's traveling system of planting of every group all extends the walking route department of trailer (7) of trading on tunnel track (6), shift each other on planting district's track (2) and trailer (7) in order to realize coaster (3).
3. The agricultural greenhouse work robotic arm track system of claim 2, wherein: still include trailer drive arrangement (8) of trading in the tunnel running system, trailer drive arrangement (8) of trading includes rope (81) and rotates and sets up in two capstan winch (82) at tunnel track (6) both ends, the one end of rope (81) is fixed in on trailer (7) of trading, and the other end of rope (81) is walked around in proper order also be fixed in on trailer (7) of trading after two capstan winch (82) at both ends, can drive trailer (7) of trading and move on tunnel track (6) through pulling rope (81), takes coaster (3) to move the one end of planting district track (2) to another group from a set of planting district running system and plants the one end of planting district track (2) in the district running system of planting, realizes that arm (4) plant the transfer between the district running system at the multiunit.
4. The agricultural greenhouse work robotic arm track system of claim 1, wherein: every group plants and plants district traveling system including two sets of planting district stand (1), two sets of planting district stand (1) along planting the district depth direction and distribute the setting parallel to each other, every group plants and all is fixed with one along the direction of distribution on district stand (1) and plants district track (2), two are planted and plant district track (2) and be parallel to each other along the horizontal direction, smooth wheel (31) of coaster (3) bottom both sides set up respectively in two are planted and plant on district track (2).
5. The agricultural greenhouse work robotic arm track system of claim 2, wherein: including two sets of tunnel stands (5) in the tunnel traveling system, two sets of tunnel stands (5) distribute the setting along the tunnel direction with being parallel to each other, all are fixed with a tunnel track (6) along the direction of distribution on every group tunnel stand (5), and two tunnel tracks (6) are parallel to each other along the horizontal direction, driving wheel (71) of trailer (7) bottom both sides of trading set up respectively on two tunnel tracks (6).
6. The agricultural greenhouse work robotic arm track system of claim 2, wherein: be fixed with two coaster riding rails (9) on the trailer of trading (7), two coaster riding rails (9) all with plant and plant district track (2) parallel and equal altitude setting, the distance between two coaster riding rails (9) is the same with plant the distance of planting between district's running system two and plant between district's track (2), when the trailer of trading (7) removed to the tip of planting district track (2), two coaster riding rails (9) with plant two in the district's running system and plant district track (2) butt joint to realize that coaster (3) are trading trailer (7) and plant between the district's running system steadily to shift.
7. The agricultural greenhouse work robotic arm track system of claim 2, wherein: the planting area upright post (1) and the roadway upright post (5) are greenhouse structure upright posts.
8. The agricultural greenhouse work robotic arm track system of claim 2, wherein: the two ends of the planting area track (2) in the planting area walking system are provided with position sensors (10), and the two ends of the roadway track (6) in the roadway walking system are provided with limit switches (11).
CN201922336650.4U 2019-12-24 2019-12-24 Agricultural greenhouse operation arm track system Active CN212035091U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201922336650.4U CN212035091U (en) 2019-12-24 2019-12-24 Agricultural greenhouse operation arm track system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201922336650.4U CN212035091U (en) 2019-12-24 2019-12-24 Agricultural greenhouse operation arm track system

Publications (1)

Publication Number Publication Date
CN212035091U true CN212035091U (en) 2020-12-01

Family

ID=73512607

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201922336650.4U Active CN212035091U (en) 2019-12-24 2019-12-24 Agricultural greenhouse operation arm track system

Country Status (1)

Country Link
CN (1) CN212035091U (en)

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