KR102043755B1 - Up and down type movable work performance apparatus - Google Patents

Abstract

The present invention relates to an elevating type wide width work performing device and, more specifically, to an elevating type wide width work performing device which is able to: accurately and conveniently perform various works such as a detection of environmental data by freely and finely controlling the position of a task performing means seated in a hanging form; and safely perform various works while freely moving a relatively large area. The elevating type wide width work performing device according to the present invention includes: a driving unit which has a driving device moving along a rail; an elevating means which is installed in the driving device and performs an elevating operation of an elevating member; a work frame which is elevated by the elevating means; a work member which is installed in the work frame and moves an installed task performing means; a work member driving means which moves the work member; a work frame rotating means which is installed to rotate the work frame; and an elevating guide means which is installed between the work frame and the driving unit to guide the elevating operation of the elevating member.

Description

Lifting-type wide work performance device {UP AND DOWN TYPE MOVABLE WORK PERFORMANCE APPARATUS}

The present invention relates to a lifting type wide working apparatus, and more particularly, to precisely and precisely adjust the position of the task performing means mounted in a hanging form to precisely and conveniently perform various tasks such as sensing environmental data. It is possible to carry out, and to move freely to a relatively large area, and a lifting device capable of performing a variety of tasks safely.

Crop cultivation was generally selected from crops suitable for soil, climatic conditions, and seasons.However, due to the climatic characteristics of the four seasons, crop cultivation in the open land is limited to a certain period, while the income level of the people is increased day by day. As demand for fresh agricultural products continues to rise throughout the year, the demand for fresh agricultural products has been increasing throughout the year. As the abnormal temperature frequently occurs, uncertainty about domestic agricultural supply and demand fluctuations is increasing.

Accordingly, the facility horticulture industry is gradually expanding and various R & D is being progressed as a way to reduce the uncertainty caused by abnormal temperature and to meet the year-round demand of consumers.

For example, plant horticulture involves planting crops on cultivated lands such as glass greenhouses or plastic houses, and cultivating the environment while maintaining the environment such as temperature, humidity, and CO ₂ , which are ideal for growing crops. Done.

To this end, inside the gardening facility, sensors such as sensors and cameras (hereinafter referred to as 'sensing modules') are installed to monitor various information necessary for the cultivation of plants such as temperature, humidity, CO ₂ ratio, and plant status. have.

In addition, the inside of the horticultural facility has a difference in temperature, humidity, CO ₂ ratio, etc. according to the location and height, so in order to cultivate effective crops, each sensor must be installed and managed in several places. As is required, practical application is not possible.

In order to solve this problem, a variety of research and development is in progress, for example, a "crop object monitoring system using wired drone" disclosed in Korea Patent Publication No. 10-2016-0072519 has been proposed.

As shown in FIG. 1, the crop object monitoring system using the wired drone is mounted on the support 10 and the support 10 installed horizontally or vertically on the ceiling of the horticultural facility, and moves left and right along the support 10. The main line 30 connected to the moving unit 20 from a predetermined power supply unit or a power supply unit and a control unit, a wired drone 40 connected to a power line having a predetermined length or a power line and a communication line 41, and an image sensor mounted on a drone It is comprised including the sensor part 50 containing 51. FIG.

The above-described conventional monitoring system has an advantage of reducing the quantity of the sensor unit 50 installed inside the gardening facility, but there are limitations accompanying various problems as follows.

First, in the conventional monitoring system, since the sensor unit 50 is mounted on the wired drone 40, which is a flying vehicle, it is difficult to accurately position it at the detection position, and the accuracy of the detection signal detected by the sensor due to the vibration caused during the flight is high. There is a disadvantage in that falling, causing repeated damage to the mounted sensor due to repeated flight vibrations.

In addition, since the conventional monitoring system has a structure in which the sensor unit 50 is mounted on the wired drone 40, the number of sensors that can be mounted in consideration of the structure or operation method of the wired drone, which is a flying vehicle, has a limited disadvantage. There is a limit that a large load sensing module cannot be mounted.

In addition, the conventional monitoring system has a high risk of occurrence of safety accidents during flight of the wired drone, and the cultivated plant is not only easily damaged by the wings, but also the stress caused by the plants are stressed by the noise has a disadvantage that the adverse effect on the growth.

In particular, since the wired drone 40 of the conventional monitoring system is a flying vehicle flying in a limited space such as a greenhouse, only a small weight sensor can be mounted and other work tools of relatively high weight cannot be mounted, so limited work can be performed. Then there is a low utilization limit.

Korean Laid-Open Patent Publication No. 10-2016-0072519 "Crop Object Monitoring System Using Wired Drone" European Patent No. EP02599381B1 "Greenhouse table and method for producing plants in a greenhouse comprising a corresponding greenhouse table"

The present invention has been proposed in view of the above, and it is possible to precisely adjust the position of the task performing means capable of sensing the environmental data or various tasks in the space, thereby precisely adjusting various tasks such as the detection of the environmental data. An object of the present invention is to provide a lifting type wide work performance device that can be conveniently and conveniently performed.

SUMMARY OF THE INVENTION An object of the present invention is to provide a lifting type wide work performing apparatus capable of safely performing a variety of tasks while freely moving a large area.

In order to achieve the above object, the lifting type wide working apparatus according to the present invention, the lifting type wide working apparatus, a traveling unit having a traveling device moved along the rail; Elevating means installed on the traveling device and performing elevating operation of the elevating member; A working frame lifted by the lifting means; A work member for moving the task performing means installed and mounted to the work frame; And a work member driving means for moving the work member.

And, in order to achieve the above object, the lifting type wide work performing apparatus according to the present invention, the lifting type wide working apparatus, a traveling unit provided with a traveling device moved along the rail; Elevating means installed on the traveling device and performing elevating operation of the elevating member; A working frame lifted by the lifting means; A work member for moving the task performing means installed and mounted to the work frame; Working member driving means for moving the working member; And a work frame rotating means installed to rotate the work frame.

Preferably, in order to achieve the above object, the lifting type wide working apparatus according to the present invention, the lifting type wide working apparatus, a traveling unit provided with a traveling device moved along the rail; Elevating means installed on the traveling device and performing elevating operation of the elevating member; A working frame lifted by the lifting means; A work member for moving the task performing means installed and mounted to the work frame; Working member driving means for moving the working member; Work frame rotating means installed to rotate the work frame; And an elevating guide means installed between the working frame and the driving unit to guide the elevating operation of the elevating member.

The elevating guide means may be composed of an X arm assembly in which the X arms arranged in multiple stages are arranged in a pair so as to face each other by the arm axis.

Here, the lifting guide means is composed of a pair of the upper end of the X arm assembly is coupled to the arm fixing plate is formed arm arm length hole so that the arm axis is moved; It may be configured to include a work member binding plate to which the upper portion of the arm fixing plate is bound.

On the other hand, the work frame rotation means, the work frame rotation motor is installed in the running portion; A work frame driving pulley installed on the motor shaft of the work frame rotating motor; A work frame driven pulley installed on the elevating guide means; And a work frame driving belt connected to the work frame driving pulley and the work frame driven pulley.

In addition, the work frame rotating means, the work part support boss installed in the running portion; A work member binding plate installed at an upper portion of the elevating guide means and having a work part support boss inserting hole formed therein so as to insert the work part support boss; A work part support boss bearing coupled to the work part support boss; A boss bearing hub coupled to a bottom surface of the work member binding plate and inserted into the inner circumferential surface of the work support bearing bearing; It may be configured to include a slip generating member which is fastened to the upper surface of the work member binding plate facing the boss bearing hub and the work frame driven pulley is connected but the slip phenomenon occurs when the overload occurs.

On the other hand, the working member includes a multi-stage rod assembly configured to allow a plurality of rods to be sunk, the work member driving means, one end is bound to the tape spring installed in the roll case is wound in a roll form and the most rod of the rod A rod moving reel having a rod exiting member connected to the other end thereof, a withdrawal roller unit for applying a moving force to the rod exiting member, a withdrawal roller driving motor for generating a rotational force for driving the withdrawal roller unit, and the withdrawal roller driving motor It may be configured to include a draw roller power transmission unit for transmitting the rotational force of the draw roller.

The take-out roller power transmission unit includes a take-out roller drive gear coupled to the motor shaft of the take-out roller drive motor, a first take-out roller motor gear meshed with the take-out roller drive gear, and a second take-out gear engaged with the first take-out roller drive gear. It may be configured to include a pullout roller electric gear, a driven gear meshed with the second draw roller electric gear.

The take-out roller part may be configured to include a feeding roller installed on the roller shaft inserted into the driven gear to apply a feed force to the surface of the rod exiting member, and an idle roller disposed to face the feeding roller.

And a driving unit mounting frame for installing the work member driving means, wherein the driving unit mounting frame includes a buffer member mounting portion having a hollow hole perforated therein, and the work member driving means is disposed at the bottom of the hollow hole of the buffer member mounting portion. A cylindrical spring housing, which is coaxial with the spring housing is disposed on the upper portion of the shock absorbing member mounting portion and the rope binding rod is coupled to the lifting member, the compression spring is installed in the spring housing, the compression spring is inserted into the A shock absorbing means including a fastening member fastened to the rope binding rod and provided with a washer may be provided.

On the other hand, the lifting type wide work performing apparatus according to the present invention is provided with an auxiliary load supporting means which is installed between the running portion to assist the load of the work frame, the work member and the work member driving means. Can be.

The auxiliary load supporting means, the auxiliary roller shaft is installed in the transverse direction to the rope binding rod; A first load supporting roller installed at one side of the auxiliary roller shaft; A second load bearing roller installed on the other side of the auxiliary roller shaft; A third load supporting roller installed at an upper portion of the driving part, the upper part of which is adjacent to the driving part; And a tension coil spring having one end and the other end coupled to an upper portion close to the driving part and disposed through the first load supporting roller, the third load supporting roller, and the second load supporting roller. .

On the other hand, the traveling device, a plurality of running rollers seated on the rail; A driving motor installed in the driving body of the driving unit; A bevel gear comprising an input side bevel gear unit installed on the motor shaft of the traveling motor and an output side bevel gear unit installed on the roller shaft of the traveling roller; A power transmission pulley installed on the roller shaft of the traveling roller; And it may be configured to include a power transmission belt that is bound to the power transmission pulley.

The lifting means, the winch base is installed in the running portion; A winch motor installed on the winch base; A winch drum rotatably installed on the winch base and the lifting member wound; A drive gear coupled to the motor shaft of the winch motor; And it may be configured to include a driven gear coupled to the winch drum and meshing with the drive gear.

According to the lifting type wide work execution apparatus according to the present invention, the front and rear position adjustment through the moving operation of the running portion in the space, and the lifting and lowering position adjustment of the task performing means and the work member driving means through the lifting operation by the lifting means. Not only can adjust the position left and right, but also has the advantage of adjusting the position (angle) in the circumferential direction of the task performing means by the work frame rotation means. As a result, the position of the task performing means can be freely and precisely adjusted, thereby effectively and conveniently performing various tasks such as sensing of environmental data.

In addition, according to the lifting type wide working apparatus according to the present invention, it is not a conventional wired drone system in which heavy weight task execution means cannot be mounted or vibration is generated, but a driving method using a mechanical driving mechanism whose operation is verified and Since the lifting guide means is provided to ensure stability, there is an advantage that can safely perform a variety of tasks by mounting a heavy weight task performing means.

1 is a view for explaining a conventional real-time crop object monitoring system,
2 is a perspective view showing an installed state of the lifting type wide work performance apparatus according to the first embodiment of the present invention;
3 is a perspective view showing the whole of the lifting type wide working apparatus according to the first embodiment of the present invention;
Figure 4a is a perspective view showing the running portion of the lifting wide width work performing apparatus according to the first embodiment of the present invention;
4B is a perspective view showing a traveling device of a traveling part of a lifting type wide work performance device according to a first embodiment of the present invention;
Figure 4c is a perspective view showing a portion of the lifting means of the lifting type wide working apparatus according to the first embodiment of the present invention;
5A is a perspective view showing a lower structure of a lifting type wide work performance device according to a first embodiment of the present invention;
5B is a view for explaining the lower structure of the lifting type wide working apparatus according to the first embodiment of the present invention;
5C is a view for explaining a work member and a work member driving means portion of the lifting type wide work performance device according to the first embodiment of the present invention;
Figure 5d is an exploded perspective view for explaining the buffer means of the lifting-type wide working apparatus according to the first embodiment of the present invention;
6 is a view for explaining the lifting guide means of the lifting type wide work performance apparatus according to the first embodiment of the present invention;
7A and 7B are views for explaining the work frame rotating means of the lifting type wide work performing apparatus according to the first embodiment of the present invention;
8A to 8C are views for explaining the operation of the lifting type wide working apparatus according to the first embodiment of the present invention.

Best Mode for Carrying Out the Invention Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, Figs. 2 to 8c, and like reference numerals designate like elements in Figs. Meanwhile, the drawings and detailed descriptions of configurations, operations, and effects that can be easily understood by those skilled in the art from general technology in each drawing are briefly or omitted, and are illustrated based on parts related to the present invention.

Figure 2 is a perspective view showing the installed state of the lifting type wide working apparatus according to the first embodiment of the present invention, Figure 3 is a perspective view showing the whole of the lifting type wide working apparatus according to the first embodiment of the present invention; 4A is a perspective view showing a traveling part of the lifting type wide work performing device according to the first embodiment of the present invention, and FIG. 4B is a perspective view showing a traveling part of the running part of the lifting type wide working device according to the first embodiment of the present invention; Figure 4c is a perspective view showing a portion of the lifting means of the lifting-type wide working apparatus according to the first embodiment of the present invention.

2 to 4C, the lifting type wide work performance device according to the first embodiment of the present invention is a traveling part 1, which is moved along a rail r installed in close proximity to the ceiling of the greenhouse h. Lifting means (2) installed in the unit (r) to perform the winding and unwinding operation of the lifting member, the work frame (3), which is lifted by the lifting means (2), the task installed and mounted on the work frame (3) A working member 5 for moving the performing means 4 and a working member driving means 6 for moving the working member 5 are provided.

The traveling unit 1 includes a traveling body 11 formed so that an accommodation space is provided therein by a plurality of plates so that the lifting means 2 and the like are installed, and a traveling device configured to move the traveling body 11 ( 12) is provided.

Here, the running body 11 is composed of a running main plate 111 disposed below and a plurality of side plates 112 coupled to the running main plate 111.

As shown in FIGS. 4A and 4B, the traveling device 12 includes a plurality of travel rollers 121 installed on the rail r, a travel motor 122 installed on the travel body 11, and a travel motor 122. On the roller shaft of the bevel gear 123, the traveling roller 121 of the input side bevel gear portion (123a) and the output side bevel gear portion (123b) provided on the roller shaft of the traveling roller 121 is installed on the motor shaft. Power transmission pulley 124 is installed, the power transmission belt 125 is coupled to the power transmission pulley 124 is provided. At this time, the output side bevel gear unit 123b is installed only on the roller shaft of the traveling roller 121 that faces the input side bevel gear unit 123a among the traveling rollers, and the rotational force transmitted to the output side bevel gear unit 123b transmits the lumbar force. The pulley 124 and the power transmission belt 125 is transmitted to each running roller 126.

Lifting means (2) is a device that can move the lifting member 21 up and down can be applied to a variety of winch device, etc. without particular limitation, in this embodiment, the winch base (installed in the running unit 1 ( 22, the winch motor 23 is installed on the winch base 22, the winch drum 24, the winch motor 23 is wound around the lifting member 21 is rotatably installed to the winch base 22 via a bearing Drive gear 25 is coupled to the motor shaft of the (), and driven gear 26 is coupled to the winch drum 24 and meshing with the drive gear 25 is provided.

The elevating member 21 is composed of a linear member such as a rope whose one end is bound to the position drum 24 and the other end is bound to the rope binding rod 662, which will be described later. The elevating member 21 raises and lowers the work frame 3 through vertical movement. Perform the action.

FIG. 5A is a perspective view showing a lower structure of the lifting type wide work performance device according to the first embodiment of the present invention, showing a part of the lifter. FIG. 5B is a perspective view illustrating a lower structure of the lifting guide means according to the first embodiment of the present invention. 5C is a view for explaining the working member and the work member driving means portion of the lifting type wide working apparatus according to the first embodiment of the present invention, and FIG. 5D is the lifting type wide working according to the first embodiment of the present invention. An exploded perspective view for explaining the cushioning means of the device.

Referring to FIG. 5A, the work frame 3 is a component that is lifted up and down by the elevating member 21. The work frame 3 is a pair of work frame plates that are spaced apart from each other and are coupled to each other by a plurality of fixing members 32 ( 31).

And, although not shown in the accompanying drawings in the work frame 3, the balance weight for providing a balance load to prevent the work frame 3 including the task performing means 4 at the time of appearance of the work member 140 (not tilted) ( Not shown) and a battery (not shown) for supplying power for driving a sensing module applied to the task performing means 4 or the like may be installed.

Task performing means (4) is equipped with a temperature sensor, humidity sensor, electrical conductivity sensor, etc. to detect the environmental information, such as temperature, humidity, carbon dioxide concentration of crop plantations such as greenhouses, and to communicate the detected environmental information It consists of a sensing module equipped with a communication module.

In addition to the above-described sensing module, the task performing means 4 may be configured to include, without limitation, an injector equipped with an injection nozzle or the like for spraying moisture or medicines, or a tool for harvesting crops.

5A and 5C, the working member 5 may be installed without particular limitation as long as the device is movably installed in the working frame 3, but in this embodiment, the task performing means 4 at the free end. It is provided and consists of the multi-stage rod assembly by which the several rod | rod was settled. Here, the multi-stage rod assembly is a structure in which a plurality of rods 51 are inserted in multiple stages with each other in an outer diameter similar to a wandering antenna or a fishing rod, and thus, a detailed description thereof will be omitted.

In addition, the multi-stage rod assembly is fixed by a rod support member that supports the uppermost rod 51 portion, and supports the first rod support member 55 through which the rod 51 is inserted and supports the upper portion of the rod. A second rod support member 56 and a third rod support member 57 for supporting the lower portion of the rod are provided.

On the other hand, the working member drive means 6 is a device capable of performing the wandering operation of the multi-stage rod assembly can be installed without any particular limitation, in this embodiment rod rod outgoing is connected to the other end of the rod 51 of the rod 51 A rod moving reel 61 having a member 611, a take-out roller part 62 for applying a moving force to the rod exiting member 611, and a take-out roller drive for generating a rotational force for driving the take-out roller part 62; A take-out roller power transmission unit 64 for transmitting the rotational force of the motor 63 and the take-out roller drive motor 63 to the take-out roller portion 62 is provided.

The rod moving reel 61 is one end of the rod exiting member 611 composed of a band-shaped thin plate (or wire) is attached to a tape spring (not shown) installed inside the roll case 612 and wound in a roll form. When the roller portion 62 applies a pulling force to the rod exiting member 611, it is drawn out from the inside of the roll case 612, and upon release of the pulling force, the roller 62 is moved outward by the elastic force of the tape spring compressed in the drawing process. Since the rod exiting member 611 which has been drawn out is constituted by a normal tape spring unit to be returned, the detailed description of the configuration will be omitted.

The take-out roller part 62 is installed on the roller shaft inserted into the driven gear 644 which will be described later to face the feeding roller 621 and the feeding roller 621 to apply a feed force to the surface of the rod exiting member 611. The idle roller 622 is disposed. At this time, the idle roller 622 is provided on the roller shaft coupled to the second draw roller electric gear (643).

The take-out roller power transmission unit 64 includes a take-out roller drive gear 641 coupled to the motor shaft of the take-out roller drive motor 63, a first take-out roller drive gear 642 engaged with the take-out roller drive gear 641. A second withdrawal roller electric gear 643 engaged with the first withdrawal roller electric gear 642 and a driven gear 644 with the second withdrawal roller electric gear 643 are provided.

Meanwhile, as shown in FIG. 5A, the work member driving means 6 includes a rod moving reel 61, a drawing roller part 62, a drawing roller driving motor 63, and a drawing roller power transmission unit 64. The drive unit mounting frame 65 is configured for.

The driving unit mounting frame 65 is coupled to the driving member mounting portion 651 with a driving member mounting portion 651 having a pair of opposite sidewalls and a connection portion connected between the side walls, and a hollow hole 652a formed therein. The shock absorbing member mounting portion 652 is configured.

The work member drive means 6 is configured with a buffer means 66 for the buffering action of the work frame 3 including the work member 5 when the lifting means 2 are operated.

As shown in FIG. 5D, the shock absorbing means 66 is coaxial with the cylindrical spring housing 661 and the spring housing 661 disposed in the hollow hole 652a of the shock absorbing member installing part 652. The rope binding rod 662 disposed above the hollow hole 652a and the elevating member 21 is coupled to the compression spring 663 and the compression spring 663 installed inside the spring housing 661 to bind the rope. A fastening member 664 fastened to the rod 662 and provided with a washer 665 is configured. Here, an eye bolt (not shown) for easy binding of the elevating member 21 may be installed at an upper portion of the rope binding rod 662.

The above-mentioned shock absorbing means 66 is a compression spring 663 via the fastening member 644 including a washer when the dynamic load is applied in accordance with the sudden lifting operation of the elevating member 21 which is bound to the rope binding rod 662. In this case, it is buffered by the elastic force of the compression spring, thereby improving the stability and durability of the operation.

Referring to FIG. 5B, the lifting type wide work performance device according to the first embodiment of the present invention is provided with the traveling part 1 to assist the load of the work member 5 and the work member drive means 6. Auxiliary load supporting means (68) is installed at the side.

The auxiliary load supporting means 68 is the auxiliary roller shaft 681 which is installed on the rope binding rod 662 in the lateral direction, the first load supporting roller 682 installed on one side of the auxiliary roller shaft 681, the auxiliary roller shaft. The second load supporting roller 683 provided on the other side 681, and the third load provided on the upper portion (part of the work member binding plate 85) or the traveling portion 1 of the elevating guide means 8 described later. One end is bound to the support roller 684, the lifting guide means (8) and is disposed via the first load supporting roller 682, the third load supporting roller 684 and the second load supporting roller 683 in order. A long length of tension coil spring 685 is provided. Here, the tension coil spring 685 is shown in simplified form (broken line).

The above-mentioned auxiliary load supporting means 68 assists the load by the elastic force of the tension coil spring 685 during the lifting and lowering of the work frame 5 including the work member 5 according to the operation of the lifting means 2. It serves as a safety device that prevents the phenomenon of slipping or excessive impact force of the elevating member 21 due to the dynamic load caused by the rapid elevating.

FIG. 6 is a diagram illustrating the lifting guide means of the lifting type wide work performance device according to the first embodiment of the present invention.

Referring to FIG. 6, the lifting type wide work performing apparatus according to the first embodiment of the present invention guides the lifting operation of the lifting member 21 and prevents rocking during lifting to secure the stability of the operation. ) And the lifting guide means 8 which is installed between the working frame (3) is further configured.

More specifically, the elevating guide means 8 is composed of the X arm assembly (8a) that is operated in a folding structure so that the lifting member 21 is not twisted or oscillated during the process of elevating the work frame (3) It is characterized in that it is configured to perform a supporting action.

 The X arm assembly 8a is a pair of X arms 81 arranged in multiple stages facing each other by the arm axis 82 and coupled to each other. The X arm coupling bodies 8a are vertically adjacent to each other by the arm axis 82 which is bound to both ends. The X arms 81 are connected to each other, and the X arms 81 are connected to each other so that the X arms 81 can be folded to each other on the basis of the arm shaft 83 which is bound at the center.

And, as shown in Fig. 6, the X arm assembly 8a is a pair of arm fixing plates 84 to which the X arm located at the upper end of the X arms 81 is bound, and the upper part of the arm fixing plate 84 is shown. The work member binding plate 85 to which the member is bound is configured.

The arm fixing plate 84 is an arm shaft long hole 842 to which the arm shaft 82 is moved so that the uppermost X arm 81, which is bound via the arm shaft 82, can be moved, and the X arm. In the folding process of 81, the arm shaft center groove 843 is formed so that the arm shaft 82 bound to the center can be moved.

The work member binding plate 85 is formed in a substantially rectangular plate shape as shown in FIG. 6, and the upper and lower portions of the elevating guide means 8 are bound to both sides, and the work part supporting plate installed at the driving unit main plate 111 at the center thereof. The work part support boss insertion hole 852 is drilled so that the boss 95 part is installed.

7A and 7B are views for explaining the work frame rotating means of the lifting type wide work performing apparatus according to the first embodiment of the present invention.

4A, 7A and 7B, the lifting type wide working apparatus according to the first embodiment of the present invention rotates the work frame 3 including the lifting guide means 8 and is located within the rotation radius thereof. The work frame rotating means 9 is provided to detect a cultivation environment data such as temperature, humidity, carbon dioxide concentration, or perform a specific work in an area.

The work frame rotating means 9 is a work frame rotating motor 91 installed on the driving unit 1, a work frame driving pulley 92 installed on a motor shaft of the work frame rotating motor 91, and elevating guide means 8 There is provided a work frame driven pulley 93, a work frame driven pulley 92, and a work frame driven belt 94 connected to the work frame driven pulley 93.

And, the work frame rotating means 9 is formed with a flange portion so that the upper portion is fastened to the running main plate 111 and the lower portion is inserted through the working part support boss insertion hole 852 of the work member binding plate 85. The work part support boss 95, the work part support boss bearings 96a and 96b coupled to the work part support boss 95, and the work part support boss bearing 96a coupled to the bottom of the work member binding plate 85. ) Is opposed to the boss bearing hub 97, the boss bearing hub 97 is inserted into the inner circumferential surface is fastened to each other by a bolt is coupled to the upper surface of the work member binding plate 85 and the work frame driven pulley 93 is A slip generating member 98 is provided, which is connected but generates slip when an overload occurs. Here, the lower working part support boss bearing 96a is inserted into the inner hole of the boss bearing hub 97, and the upper working part support boss bearing 96b is inserted into the inner hole of the slip generating member 98. In addition, reference numeral 99a is a bearing cover fastened to the lower end of the work part support boss 95, and 99b is a support ring fitted to the outer circumferential surface of the work part support boss 95 in contact with the upper work part support boss bearing 96b. to be.

The slip generating member 98 is fastened to the work member binding plate 85 and is disposed inside the slip base 981 and the slip base 981 where the sliding piece exposure hole 981a is formed, and thus the work part support boss 95. A plurality of sliding pieces 983 are disposed on the outer surface of the slip hub 982 so as to be exposed through the slip hub 982 and the sliding piece exposure hole 981a provided on the outer circumferential surface thereof. Here, the slip base 981 is formed of a structure in which a pulley binding boss portion 981c protruding from the work frame driven pulley 93 is formed on the flange portion 981b on which the bolt fastening hole is formed, and the sliding piece 983 is It has a roller pin shape and is formed of a material such as urethane, and the slip hub 982 is composed of a bearing.

In addition, the work frame rotation motor 91 is composed of a geared motor, the work frame drive pulley 92 and the work frame driven pulley 93 is a timing pulley in consideration of the stability of power transmission, work frame drive belt 94 ) Is composed of a timing belt.

The slip generating member 98 described above is overloaded in the power transfer process in order of the work frame driving pulley 92, the work frame driving belt 94, and the work frame driven pulley 93 in the operation of the work frame rotating motor 91. As a configuration to cause a slip phenomenon occurs when, for example, the work frame 3 pulley (93) even if an overload occurs because the rotational force is transmitted to the work frame driven pulley (93) in the state that the work frame (3) is caught by an obstacle and the rotation is impossible. Since the slip) slips in the state where the inner peripheral surface of the sliding piece 983 is in close contact, the component of the work frame rotating means 9 and the task performing means 4 due to the overload can be prevented in advance.

Meanwhile, in FIG. 4C, reference numeral 16 denotes a battery for supplying power for driving the driving motor 122, the winch motor 23, the work frame rotation motor 91, and the like.

Hereinafter, the operation of the lifting type wide working apparatus according to the first embodiment of the present invention will be briefly described.

8A to 8C are views for explaining the operation of the lifting type wide working apparatus according to the first embodiment of the present invention.

8A to 8C are views for explaining the operation of the lifting type wide work performance device according to the first embodiment of the present invention, and FIG. 8A is a perspective view for explaining an operation of moving the work member 5 inward and outward; FIG. 8B is a perspective view for explaining the lifting operation of the working member 5, and FIG. 8C is a perspective view for explaining the rotating operation of the working member 5.

First, as shown in Fig. 2 and Fig. 3, the traveling part 1 is mounted on the traveling rail r provided in the frame of the greenhouse h, and the task performing means as described above is attached to the traveling part 1. (4), the work member (5), and the lifting guide means (8) equipped with the work member drive means (6) is suspended by means of installation.

In such a state, in order to detect environmental information such as temperature, humidity, and carbon dioxide concentration at a specific location of the greenhouse, the driving unit 1 is moved to the corresponding position by the rail r according to an operator's input signal.

The driving operation of the driving unit 1 is the bevel gear 123 is rotated by the operation of the driving motor 122, each traveling roller 121 in accordance with the orbital movement of the power transmission belt 125 connected to the power transmission pulley 124. ) Will perform the rotation operation.

Thereafter, while unwinding or winding the elevating member 21 through the operation of the elevating means 2, the sensing module, which is the task performing means 4 coupled to the lower end thereof, is moved to a desired sensing position by the environment of the greenhouse. Information can be detected.

Then, when the lifting and unwinding operation of the elevating member 21, the work frame (3) bound to the lower end of the elevating member (21) is raised and lowered to perform the task performing means (4), at this time, the driving unit 1 and the work frame (3) The elevating guide means (8) installed between the unfolding to guide the lifting operation of the elevating member. Since the elevating guide means 8 is composed of a pair of X-arm combinations (8a), the X arm 81 is arranged in pairs in a multi-stage arrangement, the elevating member 21 is the process of elevating the work frame (3) To prevent the phenomenon of twisting or rocking in advance to ensure a stable lifting operation.

On the other hand, as described above by rotating the sensing module (task performing means) in the state in which the height is adjusted through the lifting operation of the elevating member 21 or moving in the front, rear, left and right directions to control the detection position at the correct position Can be done.

For example, the process of adjusting the sensing position of the sensing module from a position close to the work frame 3 to a distant position will be performed while the take-out roller drive gear 641 is rotated by the operation of the take-out roller drive motor 63. The first draw roller electric gear 642, the second draw roller electric gear 643, and the driven gear 644 are rotated. As such, when the second drawing roller electric gear 643 and the driven gear 644 are rotated, the feeding roller 621 and the idle roller 622 are rotated in different directions, and thus the load moving roll wound around the rod moving reel 61 is carried out. A friction force is applied to the member 611 to pull or push. At this time, when the drawing roller driving motor 63 is rotated in the forward direction, the rod drawing member 611 is pulled out to protrude the rod 51 so that the task performing means 4 is moved to the outside. On the contrary, when the withdrawal roller drive motor 63 is rotated in the reverse direction, the rod exiting member 611 can be pulled in the opposite direction by the reverse action so that the rod 51 can be inserted at the opposite end. The direction position can be adjusted.

On the other hand, the lifting type wide work performing apparatus according to the present invention can operate the work frame rotating means 9 as shown in Figure 8c to adjust the sensing position of the sensing module (task performing means) in the circumferential direction.

In more detail, when the work frame rotation motor 91 is operated, the work frame driving pulley 92 is rotated and the rotational force is transmitted through the work frame driving belt 94 so that the work frame driven pulley 93 is rotated. do. When the work frame driven pulley 93 is rotated, the work member binding plate 85 of the lifting guide means 8 is rotatably coupled to the work support support boss 95 by the work support support bearings 96a and 96b. Therefore, the rotation operation can be performed.

When the elevating guide means 8 is rotated through the above-described rotation of the work frame driven pulley 93, the work frame 3 coupled to the lower end of the elevating guide means 8 is interlocked to rotate the work member coupled thereto ( 5) can adjust the rotation angle can adjust the circumferential detection position of the sensing module coupled to the working member (5).

As described above, the lifting type wide work performing apparatus according to the present invention can adjust the height direction detecting position of the sensing module through the lifting operation of the lifting member 21, and the multi-stage rod through the operation of the work member driving means (6). The rod 51 of the assembly can be raised and lowered to adjust the sensing position from a position close to the work frame 3 to a distant position, as well as to rotate the rod 51 by the work frame rotating means 9. Direction can be adjusted.

Accordingly, the lifting type wide work performing apparatus according to the present invention can precisely adjust the position of the task performing means 4 freely as described above, so that various tasks such as sensing of environmental data can be performed accurately and conveniently. In addition to the sensing module, there are advantages in that it is possible to perform various tasks by installing various kinds of task performing means.

What has been described above is just one embodiment for carrying out the lifting type wide working apparatus according to the present invention, and the present invention is not limited to the above-described embodiment, and as claimed in the following claims, the present invention Those skilled in the art to which the present invention pertains without departing from the spirit of the present invention will have the technical idea of the present invention to the extent that various changes can be made.

The terminology used in the above embodiments is only used to describe specific embodiments and is not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

1: driving body 11: driving body
12: Driving device 2: lifting means
21: lifting member 22: winch base
23: winch motor 24: winch drum
25: Drive Gear 26: Drive Gear
3: Working frame 4: Task performance means
5: working member 51: rod
6: work member driving means 61: rod moving reel
62: take out roller part 63: take out roller driving motor
64: take-out roller power transmission unit 65: drive unit mounting frame
66: buffer means 68: auxiliary load supporting means
8: Lift guide means 8a: X arm assembly
9: working frame rotating means 91: working frame rotating motor
92: working frame driven pulley 93: working frame driven pulley
94: work frame drive belt 95: work part support boss
96a, 96a: Work part support boss bearing 98: Slip generating member

Claims (14)

In the lifting type wide work performance device,
A driving unit having a traveling device moved along the rail; Elevating means installed on the traveling device and performing elevating operation of the elevating member; A working frame lifted by the lifting means; A work member for moving the task performing means installed and mounted to the work frame; And a work member driving means for moving the work member,
The working member includes a multi-stage rod assembly configured to allow a plurality of rods to be sunk,
The work member driving means is a rod moving reel having a rod projecting member having one end coupled to a tape spring installed in a roll case and wound in a roll shape and the other end connected to the rod of the most end of the rod, and moving to the rod exiting member. And a take-out roller power transmission unit for transferring a rotational force of the take-out roller driving motor to generate a rotational force for driving the take-out roller unit, and a take-out roller driving unit for applying the force. Elevated wide work implements.
In the lifting type wide work performance device,
A driving unit having a traveling device moved along the rail; Elevating means installed on the traveling device and performing elevating operation of the elevating member; A working frame lifted by the lifting means; A work member for moving the task performing means installed and mounted to the work frame; Working member driving means for moving the working member; And a work frame rotating means installed to rotate the work frame,
The working member includes a multi-stage rod assembly configured to allow a plurality of rods to be sunk,
The work member driving means is a rod moving reel having a rod projecting member having one end coupled to a tape spring installed in a roll case and wound in a roll shape and the other end connected to the rod of the most end of the rod, and moving to the rod exiting member. And a take-out roller power transmission unit for transferring a rotational force of the take-out roller driving motor to generate a rotational force for driving the take-out roller unit, and a take-out roller driving unit for applying the force. Elevated wide work implements.
In the lifting type wide work performance device,
A driving unit having a traveling device moved along the rail; Elevating means installed on the traveling device and performing elevating operation of the elevating member; A working frame lifted by the lifting means; A work member for moving the task performing means installed and mounted to the work frame; Working member driving means for moving the working member; Work frame rotating means installed to rotate the work frame; And an elevating guide means installed between the working frame and the driving unit to guide the elevating operation of the elevating member.
The working member includes a multi-stage rod assembly configured to allow a plurality of rods to be sunk,
The work member driving means is a rod moving reel having a rod projecting member having one end coupled to a tape spring installed in a roll case and wound in a roll shape and the other end connected to the rod of the most end of the rod, and moving to the rod exiting member. And a take-out roller power transmission unit for transferring a rotational force of the take-out roller driving motor to generate a rotational force for driving the take-out roller unit, and a take-out roller driving unit for applying the force. Elevated wide work implements.
The method of claim 3,
The lifting guide means is a lifting type wide work performance device, characterized in that the X-arms arranged in a pair is arranged in a pair so as to face each other by the arm axis.
The method of claim 4, wherein
The elevating guide means comprises: an arm fixing plate formed of a pair so that the upper end of the X arm assembly is coupled and the arm shaft hole is formed to move the arm shaft; And
And a work member binding plate on which an upper portion of the arm fixing plate is bound.
The method of claim 3,
The work frame rotating means,
A work frame rotating motor installed in the running part;
A work frame driving pulley installed on the motor shaft of the work frame rotating motor;
A work frame driven pulley installed on the elevating guide means; And
And a work frame driving belt connected to the work frame driving pulley and the work frame driven pulley.
The method of claim 6,
The work frame rotating means,
A work part support boss installed in the driving part;
A work member binding plate installed at an upper portion of the elevating guide means and having a work part support boss inserting hole formed therein so as to insert the work part support boss;
A work part support boss bearing coupled to the work part support boss;
A boss bearing hub coupled to a bottom surface of the work member binding plate and inserted into the inner circumferential surface of the work support bearing bearing; And
And a slip generating member fastened to an upper surface of the work member binding plate to face the boss bearing hub and connected to the work frame driven pulley to generate a slip phenomenon when an overload occurs.
delete The method according to any one of claims 1 to 3,
The take-out roller power transmission unit includes a take-out roller drive gear coupled to the motor shaft of the take-out roller drive motor, a first take-out roller motor gear meshed with the take-out roller drive gear, and a second take-out gear engaged with the first take-out roller drive gear. And a driven gear meshed with the drawer roller gear gear and the second drawer roller gear gear.
The take-out roller part is provided on the roller shaft is inserted into the driven gear, the feeding roller for applying a feed force to the surface of the rod exiting member, the lifting roller, characterized in that it comprises an idle roller disposed facing the feeding roller Work performing equipment.
The method according to any one of claims 1 to 3,
The driving member installation frame is provided with a drive unit installation frame, the drive unit installation frame is provided with a buffer member installation portion perforated hollow hole in the upper,
The work member driving means is a cylindrical spring housing disposed in the bottom of the hollow hole of the buffer member installation portion, a rope binding rod disposed on the buffer member installation portion so as to be coaxial with the spring housing, and the lifting member is coupled, the spring And a cushioning means including a compression spring installed inside the housing and a fastening member inserted into the compression spring and fastened to the rope binding rod and provided with a washer.
The method of claim 10,
Elevated work type wide lifting apparatus, characterized in that the auxiliary load supporting means is provided between the running portion for supporting the load of the working frame, the working member and the working member driving means.
The method of claim 11,
The auxiliary load supporting means,
Auxiliary roller shaft is installed in the transverse direction to the rope binding rod;
A first load supporting roller installed at one side of the auxiliary roller shaft;
A second load bearing roller installed on the other side of the auxiliary roller shaft;
A third load supporting roller installed at an upper portion of the driving part, the upper part of which is adjacent to the driving part; And
One end and the other end is coupled to the upper portion close to the running portion, characterized in that it comprises a tension coil spring disposed via the first load supporting roller, the third load supporting roller and the second load supporting roller. Wide working equipment.
The method according to any one of claims 1 to 3,
The traveling device,
A plurality of traveling rollers seated on the rails;
A driving motor installed in the driving body of the driving unit;
A bevel gear comprising an input side bevel gear unit installed on the motor shaft of the traveling motor and an output side bevel gear unit installed on the roller shaft of the traveling roller;
A power transmission pulley installed on the roller shaft of the traveling roller; And
Elevated wide work performance device comprising a power transmission belt which is coupled to the power transmission pulley.
The method according to any one of claims 1 to 3,
The lifting means,
A winch base installed in the driving unit;
A winch motor installed on the winch base;
A winch drum rotatably installed on the winch base and the lifting member wound;
A drive gear coupled to the motor shaft of the winch motor; And
And a driven gear coupled to the winch drum and engaged with the drive gear.

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