KR20210154350A - Multi purpose running gear for greenhouse - Google Patents

Abstract

The present invention relates to a multipurpose traveling apparatus for greenhouses to provide excellent driving stability. According to the present invention, the multipurpose traveling apparatus comprises: a cart (100) including a loading unit (110) capable of loading a chemical tank or a container for harvesting provided on the upper part, and a driving wheel (120) for generating driving force when traveling on the rail (R) or driving on a paved road and a rail wheel (130) for riding on the rail, which are provided on the lower part; and a steering and manipulation unit (200) provided on the front or rear side of the cart (100) for steering and manipulation when moving on a road surface. The driving wheel (120) is disposed on the left and right sides of the middle part of the cart (100), the rail wheel (130) is disposed on the left and right sides of the front and rear parts of the bogie cart (100), and the left and right driving wheels (120) are driven by a driving motor (122). A battery pack (300) is disposed inside the cart (100) and an independent suspension mechanism (140) is provided on each of the left and right driving wheels (120).

Description

Multipurpose Greenhouse Running Device {MULTI PURPOSE RUNNING GEAR FOR GREENHOUSE}

The present invention relates to a running device for a multi-purpose greenhouse that can be used for purposes such as an unmanned control device for spraying a drug or liquid while passing between crops on a pipe rail installed in a greenhouse, or an unmanned transport vehicle for transporting harvested agricultural products.

In general, greenhouses made of greenhouses are facilities for harvesting special crops or fruits and vegetables at an earlier time than in season. It is necessary to spray various types of fluids, such as spraying water for the purpose of spraying and supplying moisture and temperature control. Pesticides are toxic substances that are fatal to the human body if they come into contact with the skin or enter the body through the respiratory system. In the summer season, since the inside of the greenhouse is in a high temperature state, it is more exposed to risks due to the poor working conditions.

As described above, a liquid spraying device capable of spraying a liquid such as a pesticide even when the operator does not enter the greenhouse through unmanned operation is being developed and used, away from the work of directly spraying pesticides inside the greenhouse. Patent Documents 1 to 8 and the like are disclosed as the technology.

The 'smart unmanned control system' of Patent Document 1 is of a wheel drive type, the 'Pesticide spraying truck operation method' of Patent Document 2 consists of a method that can be moved on rails and the general ground, and the 'Agricultural production unmanned method' of Patent Document 3 The 'driving robot for automation' is of a wheel-driven type for multi-purpose use, and the 'lateral movement device of an unmanned control vehicle' of Patent Document 4 changes from a rail to an adjacent rail on the road surface as the auxiliary caster goes up and down. The device for this purpose is disclosed, and the 'unmanned control system' of Patent Document 5 is of a wheel drive type, and the 'rail-moving automatic control system' of Patent Document 6 is capable of moving outside the rail with auxiliary wheels, but the hose is connected to the body It was necessary to take up work such as winding, and the 'multi-purpose unmanned control vehicle' of Patent Document 7 can run on rails and on the field, and the 'wheel-rail combined type multifunctional platform unmanned transport device for facility gardening' of Patent Document 8 is It consists of a wheel and a rail, and the 'greenhouse control device' of Patent Document 9 is also made to be able to run on rails and road surfaces.

On the other hand, in the prior art described above, in the case of a control robot in which the mother ship and the own ship are separated, the mother ship carries the own ship and moves between the furrows and the furrows, and when the own ship carries out the control, it plays a role of releasing and winding the drug hose. However, in this method, the hardware is separated from the mother ship and the structure is complicated, and there is a problem that the production cost is increased. The environment inside the greenhouse is always exposed to high temperature and humidity. There was a problem in that the durability against temperature, humidity and chemical resistance was poor. In particular, the pest control device runs on a dedicated rail inside the greenhouse. Since there is no separate suspension device in the rail driving part, driving is unstable, and in particular, a large shock is transmitted to the driving wheels due to the step difference occurring during movement from the paved road to the rail and from the rail to the road surface, resulting in the durability of the driving part. There was a problem that this sharply deteriorated.

In addition, when driving in a state in which the chemical tank is integrally mounted, there is also a problem that the load cannot be properly distributed, so that derailment or damage of the driving wheel or deformation of the rail occurs.

Korean Patent No. 10-2025386 (Registered on 2019.09.19.) Korean Patent No. 10-1368090 (Registered on February 20, 2014) Korean Patent Registration No. 10-2001517 (Registered on July 21, 2019) Korea Patent No. 10-1097355 (registered on December 15, 2011) Korean Patent Registration No. 10-1312462 (Registered on September 23, 2013) Korean Patent Registration No. 10-1804735 (Registered on November 28, 2017) Korean Patent Registration No. 10-1460991 (Registered on November 6, 2014) Korean Patent No. 10-1864712 (Registered on May 30, 2018) Korean Patent Publication No. 10-2014-0103231 (published on August 26, 2014)

Therefore, the present invention is to solve the above problems, and an object of the present invention is to mount an unmanned control device for spraying medicines or nutrient solution unmanned, and it can also be used as a transport vehicle for transporting harvested agricultural products, It can be used for various purposes inside the greenhouse, such as a robot to measure the growth state, so it can be freely moved on rails as well as on the road surface. An object of the present invention is to provide a multi-purpose running device for a greenhouse that can increase the durability of a driving unit by effectively absorbing shock when moving between the road surface and the rail.

In order to achieve the above object, the present invention is provided with a loading part capable of loading a chemical tank or a container for harvesting, etc. on the upper part, and a driving wheel for generating a driving force when running on a rail or driving on a paved road surface in the lower part And a bogie equipped with rail wheels for riding on the rails; It is provided at the front or rear of the bogie and includes a steering and manipulation unit for steering and manipulation when moving the road surface,

The driving wheels are arranged on the left and right sides of the middle portion of the bogie, the rail wheels are arranged on the left and right sides of the front and rear portions of the bogie, the left and right driving wheels are each driven by a driving motor, and a battery pack is disposed inside the bogie, , The drive wheels on the left and right are each maintained in close contact with the road surface and the rail by an independent suspension mechanism to absorb the impact when driving and moving between the rail and the road surface. Provide a running device for a greenhouse do.

In a preferred embodiment, between the driving wheel and the rail wheel, a rotatable caster for assisting when changing directions on a road surface and a fixed caster for distributing a load when driving on a rail are provided.

According to the present invention, it is possible to provide a platform that can be used for multiple purposes, such as an unmanned control driving device, an unmanned transport vehicle for transporting harvested agricultural products, or a agricultural product growth measurement robot inside a greenhouse made of a smart farm, and can be operated remotely on a rail. Alternatively, it is possible to move forward and backward by automatic program control, and it is easy to change direction even on the road surface, and the structure of the bogie is strong and simple, so it can be manufactured and distributed at low cost. It has useful effects such as being able to effectively absorb shock during movement and improving the durability and stability of the driving unit.

1 is a partially separated state perspective view in which the driving device according to the present invention is applied as an unmanned control system;
Figure 2 is a combined perspective view of the unmanned control device shown in Figure 1,
3 is a bottom perspective view of the unmanned control unit shown in FIG. 1;
4 is an enlarged view of a front view and an independent suspension mechanism part of the unmanned control system shown in FIG. 1;
5 is an enlarged perspective view of the independent suspension mechanism part;
6 is a bottom perspective view of a driving wheel provided with an independent suspension mechanism;
7 is a front view of a driving wheel provided with an independent suspension mechanism.

Hereinafter, preferred embodiments that do not limit the present invention will be described in detail with reference to the accompanying drawings.

1 to 7, there is shown a multi-purpose greenhouse running device 1 used as an unmanned control system according to an embodiment of the present invention, which has a loading unit 110 capable of loading a chemical tank (T) on the upper part. The bogie 100 provided with a driving wheel 120 for generating a driving force when driving on a rail R or driving on a paved road and a rail wheel 130 for riding on the rail R at the lower part )Wow; It is provided at the front or rear of the bogie 100 and includes a steering and manipulation unit 200 for steering and manipulation when moving on the road.

The driving wheels 120 are arranged on the left and right sides of the middle portion of the bogie 100 , the rail wheels 130 are arranged on the left and right sides of the front and rear portions of the bogie 100 , and the driving wheels 120 on the left and right are respectively driving motors 122, the battery pack 300 is disposed inside the bogie 100, and the left and right driving wheels 120 are driven by an independent suspension mechanism 140, respectively, on the left and right driving wheels 120 It maintains close contact with the road surface and the rail to absorb the shock when driving and moving between the rail and the road surface.

In this embodiment, between the driving wheel 120 and the rail wheel 130, a rotary caster 150 for assisting when changing directions on the road surface and a fixed caster 160 for distributing the load when driving on the rail are further provided. It is available.

In the drawing, reference numeral 400 denotes a pump for pressurizing the chemical liquid in the chemical tank T, and reference numeral 500 denotes a nozzle stand.

In the drawing, the nozzle bar 500 is stretchable in the vertical direction, and the crossbars extending in the left and right directions are omitted for convenience. to be omitted.

The steering and operation unit 200 is provided with a handle 210 with a switch (not shown) for separately controlling the drive wheels 120 on the left and right by gripping when the operator is manually driving, and the upper portion is provided with a switch (not shown). A start switch 220 , a program selection switch 230 , an on/off switch 240 , and an HDMI display unit 250 are provided, and a main controller 260 , a pump motor controller 270 and a driving motor controller are provided inside. (280) is provided.

In this embodiment, the battery pack 300 and the pump 400 are respectively covered with the battery cover 310 and the pump cover 410 under the loading unit 110, and the controller of the steering and operation unit 200 is also detachable. A cover (not shown) is covered so that it can be protected from the high temperature and high humidity environment inside the greenhouse.

In addition, in order to prevent the bogie 100 itself from directly exposing the lower driving motor 122 and the driving wheels 120 to the aforementioned moisture or moisture, the perimeters of the front, rear, left and right sides are all covered with a cover. It is covered, and it is only open to the extent that it does not interfere with the turning of the rotary caster 150 .

On the other hand, a proximity sensor (S1) for detecting an obstacle during driving is provided in the lower front of the bogie 100, and a rail sensor (S2) is installed on the rails on both front and rear sides, respectively, so that the rail (R) ) by continuously detecting the rail wheel 130 is not derailed on the rail (R) by sending an alarm when the rail is not detected normally.

The driving wheel 120 receives the rotational force of the driving motor 122 through a worm gear reduction box 124 to move forward and backward, and the left and right driving wheels 120 are respectively attached to the independent suspension mechanism 140 . As a result, the left and right driving wheels 120 are kept in close contact with the road surface and the rail to absorb shocks when driving and moving between the rail and the road surface. The independent suspension mechanism 140 is shown in FIGS. 4 to 7 As shown in Fig., the compression coil spring 143 is installed on the upper part of the pivot arm 142 having one end (lower end) fixed with a pin 141 to the fixing bracket 101 attached to the bogie 100, so that the pivot arm ( 142) The drive wheel 120 of the other end maintains a state in close contact with the rail (R) or the road surface by the elasticity of the compression coil spring 143, and the compression coil spring 143 This is to be absorbed, and the rotating arm 142 is configured to rotate only within a limited range while the limiting pin 144 fixed to the bogie 100 is inserted into the slot 145 .

A driving motor 122 is fixed to the inside of the rotating arm 142 , a reduction box 124 is shaft-coupled to a shaft of the drive motor 122 , and a driving wheel 120 is shaft-coupled to an output shaft of the reduction box. are connected

As described above, the multi-purpose greenhouse driving device of the present invention configured as described above can be used as an unmanned control device inside a greenhouse constructed as a smart farm, as well as an unmanned transport vehicle or a growth measuring robot for transporting harvested agricultural products. On the rail made of pipes, unmanned spraying of pharmaceuticals or nutrient solutions is possible while moving forward and backward by remote or automatic program control, preventing safety accidents and maximizing work efficiency. When moving the vehicle, the operator can move the position by manual operation, so it can be moved to the rail of another ridge. This is because it consists of a platform that is easy to load chemical containers for unmanned control or other containers for transporting harvested crops, as well as the electronic control unit and the drive wheels under the bogie to ensure durability in the high-temperature and high-humidity environment inside the greenhouse. It has a structure that can protect Since it can effectively absorb the shock received during movement between the road and rail as well as on the paved road and rail, it is possible to prevent failure and has excellent practical field applicability.

1: Driving device for multi-purpose greenhouse
100: bogie
101: fixed bracket
110: loading part
120: drive wheel
122: drive motor
124: reduction box
130: rail wheel
140: independent suspension mechanism
141: pin
142: Hoedongam
143: compression coil spring
144: limit pin
145: slot
150: rotary caster
160: fixed caster
200: steering and control unit
210: handle
220: start switch
230: program selection switch
240: on/off switch
250: HDMI display unit
260: main controller
270: pump motor controller
280: drive motor controller
300: battery pack
310: battery cover
400: pump
410: pump cover
500: nozzle stand
R: rail
T : chemical tank
S1 : Proximity sensor
S2 : Rail sensor

Claims (4)

A loading part 110 capable of loading a chemical tank or a container for harvesting, etc. is provided on the upper part, and a driving wheel 120 for generating a driving force when driving on a rail (R) or driving on a paved road surface in the lower part. And a bogie 100 provided with a rail wheel 130 for riding on the rail; It is provided at the front or rear of the bogie 100 and includes a steering and manipulation unit 200 for steering and manipulation when moving on the road.
The driving wheels 120 are disposed on the left and right sides of the middle part of the bogie 100 , the rail wheels 130 are disposed on the left and right sides of the front and rear parts of the bogie 100 , and the driving wheels 120 on the left and right are respectively driving motors 122, the battery pack 300 is disposed inside the bogie 100, and the left and right driving wheels 120 are driven by the independent suspension mechanism 140 on the left and right sides respectively. A multi-purpose greenhouse running device, characterized in that it can absorb the shock when driving and moving between the rail and the road by maintaining close contact with the road surface and the rail.
The method according to claim 1,
Between the driving wheel 120 and the rail wheel 130, a rotary caster 150 for assisting when changing directions on the road surface and a fixed caster 160 for distributing the load when driving on the rail are further provided. A multi-purpose greenhouse driving device.
The method according to claim 1,
The independent suspension mechanism 140 has a compression coil spring 143 installed on the upper part of the pivot arm 142, one end fixed with a pin 141 to the fixing bracket 101 attached to the bogie 100, so that the pivot arm ( 142) The drive wheel 120 of the other end maintains a state in close contact with the rail (R) or the road surface by the elasticity of the compression coil spring 143, and the compression coil spring 143 This is to be absorbed, and the pivot arm 142 is a multipurpose on, characterized in that the limiting pin 144 fixed to the bogie 100 side is rotated only in a limited range while being inserted into the slot 145. Practical driving device.
The method according to claim 1,
In this embodiment, the battery pack 300 is a multi-purpose greenhouse running device, characterized in that the battery cover 310 under the loading part 110, respectively.

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