A large roof greenhouse non-turning single-side double-sided cleaning robot and cleaning method

Abstract

The present invention relates to a large-roof greenhouse without U-turning single-sided double-sided cleaning robot and cleaning method, wherein the cleaning robot includes a cleaning device moving along a guide rail frame and a line-changing and reversing vehicle moving along a line-changing bracket; the guide rail frame includes two mutually parallel guide rails, the plane where the two guide rails are located is located above the inclined surface of the greenhouse roof and is adapted to the inclined surface of the greenhouse roof; the line-changing and reversing vehicle is installed with reversing guide rods coaxial with the two guide rails, and a lifting mechanism that drives the two reversing guide rods to move vertically respectively, and the reversing guide rods and the guide rails form a through rail supporting the cleaning device. The present invention realizes the adjustable inclination direction of the cleaning device through the guide rail rod that can be lifted and lowered, thereby realizing the adaptation to the positive inclined surface and the reverse inclined surface of the greenhouse roof, meeting the cleaning requirements of the positive and negative bidirectional inclination of the greenhouse roof; because the roof surfaces with different inclination directions are cleaned separately during operation, the occupied volume of the cleaning device is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of facility agriculture equipment, and in particular to modern greenhouse glass cleaning machinery and equipment, and specifically refers to a large-roof greenhouse non-turning single-sided double-sided cleaning robot and a cleaning method. Background Art

[0002] As the earliest type of modern greenhouse, the glass greenhouse has the characteristics of high light transmittance and overall beauty. Its light transmittance is an important indicator in production. The glass roof of the greenhouse is in a complex environment and is easily contaminated by dust, tiny microorganisms, etc., which affects the light transmittance and indirectly has an adverse effect on the growth and development of crops. In order to achieve the best effect of the greenhouse glass, its roof needs to be cleaned regularly to improve the light transmittance.

[0003] Different from the general Venlo greenhouse, in order to achieve the purpose of heat preservation in winter and sunshade in summer, the roof of the large-roof multi-span greenhouse has a larger span and a higher ridge height, which is convenient for covering the top with a thermal blanket to keep warm at night in winter and cooling through the sunshade net in summer. Due to its unique structural characteristics, existing cleaning machines at home and abroad cannot achieve mechanized cleaning.

[0004] At present, greenhouse cleaning machines are mostly set up with an eight-shaped structure in order to achieve the cleaning of positive and negative inclined roofs. During the movement of the cleaning device, the positive and negative inclined roofs of the greenhouse are cleaned at the same time, resulting in a large cleaning device and a large turning radius required for turning around, which is very inconvenient to operate in the field. Therefore, there is an urgent need for a cleaning machine for cleaning the roof of a large roof greenhouse. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a large-roof greenhouse single-sided double-sided cleaning robot and a cleaning method without turning around, which separates the cleaning operations of the positive and reverse inclined roofs, greatly reduces the volume of the cleaning device, and avoids the turning around of the cleaning device.

[0006] The present invention is achieved through the following technical scheme, providing a large-roof greenhouse without turning around single-sided double-sided cleaning robot, including a cleaning device moving along a guide rail frame and a line-changing and reversing vehicle moving along a line-changing bracket; the guide rail frame includes two mutually parallel guide rails, and the plane where the two guide rails are located is located above the inclined surface of the greenhouse roof and is adapted to the inclined surface of the greenhouse roof; the line-changing and reversing vehicle is equipped with reversing guide rods that are coaxial with the two guide rods, and lifting mechanisms that drive the two reversing guide rods to move vertically respectively, and the reversing guide rods and the guide rails form a through rail supporting the cleaning device.

[0007] When the present scheme is in use, the greenhouse roof is cleaned while the cleaning device is moving along the guide rail frame. After cleaning one row of greenhouse roofs, the cleaning device is moved along the guide rail rod to the reversing guide rod of the row-changing and reversing vehicle, and the row-changing and reversing vehicle sends the cleaning device to the next row of greenhouse roofs without the need to turn around. The height of the two reversing guide rods is driven alternately by the lifting mechanism, thereby realizing the change of the inclination angle of the cleaning device to adapt to the slope of the greenhouse roof in different inclination directions.

[0008] As an optimization, the lifting mechanism includes at least two first screw rods fixedly connected to one of the reversing guide rods, at least two second screw rods fixedly connected to the other reversing guide rod, and a driving mechanism for driving the first screw rods and the second screw rods to move vertically respectively. This optimization scheme drives the height of the two reversing rods to change respectively through the vertical movement of the first screw rod and the second screw rod, thereby realizing the separate adjustment of the height of the two reversing rods, and the structure is simple.

[0009] As an optimization, the driving mechanism includes a lifting drive motor, a main control gear box, two first lifting gear boxes and two second lifting gear boxes, the output shaft of the lifting drive motor is connected to the input shaft of the main control gear box, and the two opposite output shafts of the main control gear box are connected to the input shafts of the two first lifting gear boxes respectively; a first gear is rotatably arranged in the first lifting gear box, the center hole of the first gear is connected to the first screw rod by threading, and the first gear is meshed with the driving gear on the input shaft of the first lifting gear box; the output shafts of the two first lifting gear boxes are respectively connected to the input shafts of the two second lifting gear boxes, and a second gear is rotatably arranged in the second lifting gear box, the center hole of the second gear is connected to the second screw rod by threading, and the second gear is meshed with the driving gear on the input shaft of the second lifting gear box. This optimization scheme provides power through the lifting drive motor, utilizes the rotation of the first gear and the second gear, and makes the first screw rod and the second screw rod move vertically respectively through the action of the thread, and the transmission is reliable; and the vertical movement of the first screw rod and the second screw rod is powered by the same lifting drive motor, which simplifies the structure and ensures the synchronization of the two screw rods.

[0010] As an optimization, a positioning proximity switch adapted to the axis of the guide rod is installed at one end of the reversing guide rod close to the guide rod, and the positioning proximity switch is electrically connected to the travel drive motor of the line-changing and reversing vehicle. This optimization scheme sets a positioning proximity switch, and after the positioning proximity switch detects the axis of the guide rod, the line-changing and reversing vehicle stops moving, thereby ensuring the coaxial position relationship between the reversing guide rod and the guide rod.

[0011] As an optimization, a deceleration stroke switch is installed on the line-changing reversing vehicle, and the deceleration stroke switch is electrically connected to the travel drive motor of the line-changing reversing vehicle. A first contact device adapted to the deceleration stroke switch is provided on the outer side of the line-changing bracket. When the deceleration stroke switch touches the first contact device, the line-changing reversing vehicle decelerates, and the time point when the deceleration stroke switch touches the first contact device is earlier than the time point when the positioning proximity switch detects the axis of the guide rod. According to the setting of this optimization scheme, after the deceleration stroke switch is touched, the line-changing reversing vehicle decelerates and moves, thereby avoiding the problem of misalignment between the reversing guide rod and the guide rod due to excessive speed.

[0012] As an optimization, a pressing slot is provided on the upper surface of the end of the reversing guide rod away from the guide rail rod, and a first reversing stroke switch electrically connected to the travel drive motor of the line-changing and reversing vehicle is provided in the pressing slot, and a pressing plate adapted to the first reversing stroke switch contact and flush with the upper surface of the reversing guide rod is provided in the pressing slot, and the pressing plate is connected to the bottom of the pressing slot through a limit spring. Through the setting of this optimization scheme, when the walking device presses the pressing plate, the first reversing stroke switch is triggered, providing a judgment basis for stopping the movement of the cleaning device and starting the line-changing and reversing vehicle.

[0013] As an optimization, the cleaning device includes a cleaning frame with a rotating wheel, a travel motor driving the rotating wheel to rotate, and a cleaning mechanism installed on the cleaning frame, wherein the rotating wheel is provided with an arc groove adapted to the guide rod and the reversing guide rod. This optimization scheme drives the cleaning device to move by the travel motor, and by providing an arc groove on the rotating wheel, the stability of the cleaning frame in an inclined state is improved.

[0014] As an optimization, the cleaning mechanism includes a water pipe fixed to the cleaning frame, a plurality of nozzles installed on the water pipe, and a cleaning brush located behind the nozzle and adapted to the greenhouse roof, and the cleaning brush is connected to the cleaning drive motor. The cleaning mechanism of this optimization scheme sprays water to the greenhouse roof through the nozzle, and brushes the greenhouse roof through the cleaning brush, thereby achieving the cleaning of the greenhouse roof.

[0015] The present invention also provides a cleaning method using the large roof greenhouse non-turning single-sided double-sided cleaning robot, comprising the following steps:

[0016] 1. The cleaning device moves along the guide rod corresponding to the positively inclined greenhouse roof, the cleaning mechanism sprays water toward the greenhouse roof, and uses the rotating cleaning brush to clean the greenhouse roof;

[0017] 2. When the cleaning of a positively inclined greenhouse roof is completed, the cleaning device returns to the reversing guide rod on the line-changing and reversing vehicle, the line-changing and reversing vehicle moves forward, and sends the cleaning device to the position corresponding to the next positively inclined greenhouse roof, and the cleaning device moves along the corresponding guide rod to complete the cleaning of the greenhouse roof; repeat this step to complete the cleaning of each positively inclined greenhouse roof in turn;

[0018] 3. When the line-changing and reversing vehicle moves to the position corresponding to the last positively tilted greenhouse roof, the second reversing stroke switch on the line-changing and reversing vehicle touches the second contact device on the line-changing bracket. After the cleaning device cleans the last positively tilted greenhouse roof, and the cleaning device touches the first reversing stroke switch on the reversing guide rod, the control system receives the signals of the first reversing stroke switch and the second reversing stroke switch, and the lifting drive motor is activated to drive the two reversing guide rods to rise and fall, so that the inclination direction of the cleaning device changes from positive inclination to reverse inclination; the line-changing and reversing vehicle moves backward, and sends the cleaning device to the position corresponding to the reversely tilted greenhouse roof. The cleaning device moves along the guide rod corresponding to the reversely tilted greenhouse roof, and cleans the greenhouse roof;

[0019] 4. When the cleaning of a reverse-inclined greenhouse roof is completed, the cleaning device returns to the reversing guide rod on the line-changing and reversing vehicle, the line-changing and reversing vehicle moves backward, and sends the cleaning device to the position corresponding to the next reverse-inclined greenhouse roof. The cleaning device moves along the corresponding guide rod and completes the cleaning of the greenhouse roof; repeat this step to complete the cleaning of each reverse-inclined greenhouse roof in turn.

[0020] As an optimization, when the line-switching vehicle moves to the corresponding position of the next greenhouse roof, the deceleration stroke switch of the line-switching vehicle is triggered, and the line-switching vehicle slows down and moves.

[0021] The beneficial effects of the present invention are as follows: the inclination direction of the cleaning device can be adjusted by the guide rod that can be raised and lowered, thereby achieving adaptation to the positively inclined surface and the reversely inclined surface of the greenhouse roof, and meeting the cleaning requirements of the positive and reverse bidirectional inclination of the greenhouse roof; since the roof surfaces with different inclination directions are cleaned separately during operation, the occupied volume of the cleaning device is greatly reduced; the cleaning device is driven to move forward and backward by the line-changing and reversing vehicle, and the cleaning device does not need to turn around during line-changing operations, which further improves the working efficiency and the convenience of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of the cleaning robot of the present invention;

[0023] Figure 2 It is a schematic diagram of the cleaning rack structure;

[0024] Figure 3 This is a schematic diagram of the cleaning brush structure;

[0025] Figure 4 This is a schematic diagram of the water pipe structure;

[0026] Figure 5 is a schematic diagram of the driving mechanism structure;

[0027] Figure 6 It is a schematic diagram of the switching guide rod structure;

[0028] Figure 7 It is a schematic flow chart of a method for single-side double-sided cleaning of a large roof greenhouse without U-turn of the present invention;

[0029] Figures 1 to 6 As shown in:

[0030] 1. Cleaning rack, 2. Wheeled walking mechanism, 3. Cleaning device, 4. Cleaning brush, 5. Cleaning mechanism, 6. Cleaning controller, 8. Auxiliary wheel, 9. Line change and reversing vehicle, 10. Driving mechanism, 11. Reversing controller, 12. Reversing guide rod, 13. Positioning proximity switch, 14. First reversing stroke switch, 15. Deceleration stroke switch, 16. Second reversing stroke switch, 17. External line change steel frame, 18. Distribution box, 21. Travel motor, 22. Gear transmission shaft, 23. Transmission chain, 24. Connecting rod, 25. Bearing, 26. Rotating wheel, 31. Cleaning drive motor, 32. Reducer, 33. Drive shaft, 51. Support rod, 52. Water pipe, 53. Sprinkler, 54. Water inlet valve, 101. Lifting drive motor, 102. Main control gear box, 103. First lifting gear box, 104. Second lifting gear box, 105. First screw rod, 106. Second screw rod, 141. Pressing slot, 142. Pressing plate, 143. Limit baffle, 171. Guide frame;

[0031] Figure 7 The numbers in the figure indicate the order of the corresponding steps in the cleaning method. DETAILED DESCRIPTION

[0032] In order to clearly illustrate the technical features of this solution, this solution is described below through a specific implementation method.

[0033] like Figure 1The large roof greenhouse non-turning single-sided double-sided cleaning robot shown in the figure includes a cleaning device 3 moving along a guide rail frame 171 and a line-changing reversing vehicle 9 moving along a line-changing bracket. The guide rail frame extends left and right along the length direction of the greenhouse and is located above the greenhouse roof. The line-changing bracket extends front and back along the width direction of the greenhouse and is located on one side of the length direction of the greenhouse. The cleaning device is symmetrical on both sides and is obliquely hung on the external cleaning guide rail frame. The line-changing reversing vehicle is placed on the reversing track of the external line-changing bracket. After the cleaning device starts from the line-changing reversing vehicle, it enters the guide rail frame to perform cleaning operations. The distribution box is fixed on the cleaning device frame and on the same side as the water inlet valve, and is used to provide the power required for the normal operation of various mechanisms and controllers of the cleaning device.

[0034] The guide rail frame 171 includes two parallel guide rods, one of which is higher than the other, and the two guide rods are located on the same slope. The plane where the two guide rods are located is above the slope of the greenhouse roof and is compatible with the slope of the greenhouse roof.

[0035] The line-changing and reversing vehicle 9 is provided with a reversing guide rod 12 coaxial with the two guide rails, and a lifting mechanism driving the two reversing guide rods to move vertically. The reversing guide rod and the guide rails form a through rail supporting the cleaning device. A positioning proximity switch 13 adapted to the axis of the guide rail is installed at one end of the reversing guide rod close to the guide rail. The positioning proximity switch is electrically connected to the travel drive motor of the line-changing and reversing vehicle. When the positioning proximity switch senses the axis of the guide rail, the line-changing and reversing vehicle stops moving. In order to prevent the line-changing and shunting vehicle from being unable to stop in time due to excessive speed, a deceleration stroke switch 15 is installed on the line-changing and shunting vehicle 9 in this embodiment. The deceleration stroke switch is electrically connected to the travel drive motor of the line-changing and shunting vehicle. A first contact device adapted to the deceleration stroke switch is provided on the outer side of the line-changing bracket. When the deceleration stroke switch touches the first contact device, the line-changing and shunting vehicle slows down, and the time point when the deceleration stroke switch touches the first contact device is earlier than the time point when the positioning proximity switch detects the axis of the guide rod. After the deceleration stroke switch is triggered, the travel drive motor of the line-changing and shunting vehicle slows down, causing the line-changing and shunting vehicle to move at a slower speed. Specifically, the deceleration stroke switch 15 is located on the upper plane of the line-changing and reversing vehicle away from the greenhouse, and a corresponding contact device is installed on the external line-changing steel frame 17. After the deceleration stroke switch hits the contact device, it sends an electrical signal to the reversing controller 11, so that the line-changing and reversing vehicle slows down. The positioning proximity switch is installed on the side of the high and low reversing guide rod close to the greenhouse, which is used to align the reversing guide rod with the external cleaning guide rail frame, and sends an electrical signal to the reversing controller, so that the line-changing and reversing vehicle stops moving forward. A second reversing stroke switch 16 is also installed on the line-changing and reversing vehicle, and a second contact device adapted to the second reversing stroke switch is installed on the line-changing bracket, and the second contact device is located at the corresponding position of the roof cleaning position at the front and rear sides. When the second reversing stroke switch touches the second contact device, the reversing guide rod on the line-changing and reversing vehicle is aligned with the front or rear guide rail rod.

[0036] The lifting mechanism includes at least two first screw rods 105 fixedly connected to one of the reversing guide rods, at least two second screw rods 106 fixedly connected to the other reversing guide rod, and a driving mechanism 10 for driving the first screw rod and the second screw rod to move vertically respectively. The first screw rod and the second screw rod of this embodiment are two pieces respectively, and the first screw rod and the second screw rod are both arranged in the vertical direction, and the two first screw rods and the two second screw rods are arranged along the axial direction of their corresponding reversing guide rods respectively.

[0037] The driving mechanism 10 includes a lifting drive motor 101, a main control gear box 102, two first lifting gear boxes 103 and two second lifting gear boxes 104. The output shaft of the lifting drive motor 101 is connected to the input shaft of the main control gear box 102 through a coupling, and the two opposite output shafts of the main control gear box are connected to the input shafts of the two first lifting gear boxes through a coupling, and the input shaft of the main control gear box is connected to the two output shafts through bevel gear meshing. The two first lifting gear boxes are located under one of the reversing guide rods, and the two second lifting gear boxes are located under the other reversing guide rod. The two first lifting gear boxes are located at the front and rear sides of the main control gear box, respectively, and the two first lifting gear boxes and the two second lifting gear boxes are arranged in a rectangular shape.

[0038] A first gear is rotatably arranged in the first lifting gearbox, the center hole of the first gear is connected to the first screw rod by a thread, and the first gear is meshed with the driving gear on the input shaft of the first lifting gearbox, the first gear is a horizontally arranged bevel gear, in this embodiment, the first gear is simultaneously meshed with the driving gear of the input shaft of the first lifting gearbox and the gear of the output shaft of the first lifting gearbox, and the input shaft of the first lifting gearbox is perpendicular to the output shaft of the first lifting gearbox. The output shafts of the two first lifting gearboxes 103 are respectively connected to the input shafts of the two second lifting gearboxes 104 by a coupling, and a second gear is rotatably arranged in the second lifting gearbox, the center hole of the second gear is connected to the second screw rod by a thread, and the second gear is meshed with the driving gear on the input shaft of the second lifting gearbox. In this embodiment, the second gear is a horizontally arranged bevel gear, and the second gear is meshed with the driving gear on the input shaft of the second lifting gearbox. The two first screw rods and the two second screw rods are respectively fixed as one by a reversing guide rod, so as to prevent the first screw rod from rotating with the first gear and the second screw rod from rotating with the second gear. When the lifting drive motor rotates forward, the first screw rod corresponding to the first lifting gear box rises, and the second screw rod corresponding to the second lifting gear box falls. When the lifting drive motor rotates reversely, the corresponding screw rod moves in the opposite state. A high and low reversing guide rod is fixedly installed on the top of the screw rod to support the cleaning device. During the reversing process of the cleaning device, the screw rod retracts and contracts at a predetermined rate, so that the cleaning device changes from tilting on one side to tilting on the other side, thereby realizing the cleaning of the other roof slope by the cleaning device, effectively ensuring the high efficiency of the cleaning device.

[0039] A pressing slot 141 is provided on the upper surface of the end of the reversing guide rod away from the guide rod, and a first reversing stroke switch 14 electrically connected to the travel drive motor of the line-changing and reversing vehicle is provided in the pressing slot. A pressing plate 142 adapted to the contact of the first reversing stroke switch and flush with the upper surface of the reversing guide rod is provided in the pressing slot, and the pressing plate is connected to the bottom of the pressing slot through a limiting spring. A limiting baffle 143 fixed to the reversing guide rod is provided on the side of the pressing slot away from the guide rod, which plays a role in limiting the cleaning device to prevent the cleaning device from falling off the reversing guide rod. The first reversing stroke switch is used to detect the position of the cleaning device. When the auxiliary wheel 8 of the cleaning device moves to the position of the pressing plate, the pressing plate compresses the limiting spring and touches the first reversing stroke switch. The signal of the first reversing stroke switch is transmitted to the reversing controller, so that the line-changing and reversing vehicle changes lines, which effectively and reliably ensures the normal line-changing process of the cleaning robot.

[0040] The cleaning device 3 comprises a cleaning frame 1 with a rotating wheel 26 installed, a travel motor 21 driving the rotating wheel to rotate, and a cleaning mechanism 5 installed on the cleaning frame. The rotating wheel is provided with an arc groove adapted to the guide rod and the reversing guide rod. The cleaning frame adopts a wheeled walking mechanism 2, and a distribution box 18 is arranged on the right side of the inner cavity of the cleaning frame. Specifically, the wheeled walking mechanism 2 is a front-to-rear symmetrical structure, and the power source is provided by a walking motor 21. The gear transmission shaft 22 is fixedly connected to the output shaft of the walking motor. One side of the transmission chain 23 is installed on the gear transmission shaft, and the other side is installed on the connecting rod 24. The connecting rod is fixed to the top of the cleaning frame 1 through a bearing 25, and the bearing seat is fixed by bolts. Rubber wheels 26 are installed on both sides of the connecting rod. When the line change and reversing vehicle 9 stops, the reversing controller 11 will send an electrical signal to the cleaning controller 6, and the walking motor 21 starts to work, indicating that the cleaning operation has started. The walking motor transmits power by means of the gear transmission shaft, and transmits power to the connecting rod 24 through the rotation of the chain 11. The connecting rod drives the rubber wheel 26 to rotate, and the cleaning device starts to move forward and drives into the peripheral cleaning guide frame from the reversing guide rod. Auxiliary pulleys 8 are respectively installed at the front, rear, left and right corners of the upper support frame of the cleaning frame 1, which are used to trigger the travel switch and limit the working state of the cleaning device. When the cleaning device finishes cleaning one side, the auxiliary pulley slides off the guide rail frame. After the cleaning controller receives the electrical signal of the auxiliary pulley sliding off in front, it controls the cleaning device to start returning backward to the reversing guide rod to prevent the cleaning device from continuing to move forward and causing the machine to fall.

[0041] The cleaning mechanism 5 includes a water pipe 52 fixedly connected to the cleaning frame, a plurality of nozzles 53 installed on the water pipe, and a cleaning brush 4 located behind the nozzle and adapted to the greenhouse roof. The cleaning brush 4 is connected to the cleaning drive motor 31 by transmission. Specifically, the cleaning drive motor 31 is connected to the bidirectional worm reducer 32 by transmission, and the drive shaft 33 is connected to the output shaft of the reducer 32 by transmission. The cleaning brush 4 is fixedly installed on the surface of the drive shaft 33. The cleaning drive motor drives the drive shaft to rotate through the bidirectional worm reducer, so that the cleaning brush completes synchronous rotation. The cleaning mechanism of this embodiment adopts a connecting rod type water spraying mechanism. The connecting rod type water spraying mechanism 5 is fixed to the front of the cleaning device through three support rods 51. The water pipe is fixedly installed at the bottom of the support frame formed by the support rods, which is used to connect the water flow input by the water inlet valve 54. There are 6 to 7 nozzles evenly installed on the surface of the water pipe. A pressure valve is installed in the nozzle. The water entering the nozzle through the water pipe will be sprayed out through the pressure valve, effectively expanding the wetting effect of the water spray on the surface of the greenhouse glass.

[0042] A cleaning method using the large roof greenhouse non-turning single-sided double-sided cleaning robot of this embodiment comprises the following steps:

[0043] 1. The cleaning device moves along the guide rod corresponding to the positively inclined greenhouse roof, and the cleaning mechanism sprays water toward the greenhouse roof, and uses the rotating cleaning brush to clean the greenhouse roof; the two cleaning brushes rotate synchronously, and the external water source flows into the water inlet valve and enters the nozzle through the water pipe, and is pressurized by the built-in pressure valve of the nozzle and sprayed onto the cleaning plane. Two auxiliary pulleys are respectively set at the front and rear ends of the top of the cleaning machine frame. When the auxiliary pulley falls or collides, an electrical signal will be generated and transmitted to the cleaning controller to control the cleaning device to stop working, effectively improving the smooth operation of the cleaning machine;

[0044] 2. When the cleaning of a positively inclined greenhouse roof is completed, the cleaning device returns to the reversing guide rod on the line-changing and reversing vehicle. After the two auxiliary pulleys at the rear end of the cleaning device press the pressure plate, the first reversing stroke switch is triggered. The line-changing and reversing controller receives the signal of the first reversing stroke switch and controls the line-changing and reversing vehicle to move. The line-changing and reversing vehicle moves forward and sends the cleaning device to the position corresponding to the next positively inclined greenhouse roof. The cleaning device moves along the corresponding guide rod and completes the cleaning of the greenhouse roof. Repeat this step to complete the cleaning of each positively inclined greenhouse roof in turn, ensuring the high efficiency of the cleaning method of the cleaning robot.

[0045] 3. When the row-changing and reversing vehicle moves to the position corresponding to the last positively tilted greenhouse roof, the second reversing stroke switch 16 on the row-changing and reversing vehicle touches the second touching device on the row-changing bracket. After the cleaning device cleans the last positively tilted greenhouse roof, and the cleaning device touches the first reversing stroke switch on the reversing guide rod, the control system receives the signals of the first reversing stroke switch and the second reversing stroke switch, and the lifting and lowering drive motor is activated to drive the two reversing guide rods to rise and fall, completing the "high side to low side, low side to high side" flip-over conversion, so that the inclination direction of the cleaning device changes from positive inclination to reverse inclination; the row-changing and reversing vehicle moves backward, and sends the cleaning device to the position corresponding to the reversely tilted greenhouse roof. The cleaning device moves along the guide rod corresponding to the reversely tilted greenhouse roof, and cleans the greenhouse roof;

[0046] 4. When the cleaning of a reverse-inclined greenhouse roof is completed, the cleaning device returns to the reversing guide rod on the line-changing and reversing vehicle, the line-changing and reversing vehicle moves backward, and sends the cleaning device to the position corresponding to the next reverse-inclined greenhouse roof. The cleaning device moves along the corresponding guide rod and completes the cleaning of the greenhouse roof; repeat this step to complete the cleaning of each reverse-inclined greenhouse roof in turn.

[0047] In the process of the line change and reversing vehicle moving to the corresponding position of the next greenhouse roof, after the deceleration stroke switch of the line change and reversing vehicle is triggered, the line change and reversing vehicle slows down and moves. The positioning proximity switch is located at the axis of the reversing guide rod close to the cleaning roof side, which is used to align the reversing guide rod and the external cleaning guide frame. After the line change and reversing vehicle slows down, the positioning proximity switch detects the corresponding track. After the positioning proximity switch approaches the guide axis of the external cleaning guide frame, it will send an electrical signal to stop the line change and reversing vehicle and wait for the cleaning machine to complete the operation, effectively ensuring the effectiveness of the cleaning robot's cleaning work.

[0048] The cleaning device of the present invention is hung obliquely on the external guide rail frame of the greenhouse glass ceiling, and the guide rail frame is fixed on the original sunshade net support frame, which occupies a small ground space, uses less motors for the whole machine, and is light in weight. The wheeled walking mechanism is controlled to start and stop by the walking drive motor, and the cleaning controller detects the state of the auxiliary wheels to realize the forward travel, return and shutdown of the cleaning machine, which fully guarantees the safe operation of the cleaning machine; the line change and reversing vehicle of the present invention is placed on the reversing track of the external line change steel frame, and the position and state of the line change and reversing vehicle and the cleaning device are detected and controlled by using the deceleration stroke switch, the line change pressing slot and the positioning proximity switch; the retractable screw rod lifting mechanism controls the screw rod lifting through the gear box to complete the reversing of the cleaning machine, effectively ensuring the safe operation of the cleaning machine. The cleaning efficiency is guaranteed; two positioning proximity switches are arranged on the side of the high and low reversing guide rod close to the cleaning plane, and a deceleration stroke switch is arranged on the side of the line change and reversing vehicle away from the cleaning plane, which effectively ensures the matching positioning of the high and low reversing guide rod and the external cleaning guide frame, and two line change pressing slots are arranged on the other side of the high and low reversing guide rod. The auxiliary wheels of the cleaning device correspond to the corresponding line change pressing slots to send electrical signals to the reversing controller of the line change and reversing vehicle, which effectively ensures the waiting and starting status of the line change and reversing vehicle; the retractable screw lifting mechanism can achieve different lifting speeds of the screw by changing the gear box, and can adjust the angle to adapt to the cleaning needs of slopes of different degrees, effectively ensuring the practicality and reliability of the cleaning device.

[0049] Of course, the above description is not limited to the above examples. Technical features not described in the present invention can be achieved by or by using existing technologies, which will not be described here. The above embodiments and drawings are only used to illustrate the technical scheme of the present invention and are not limitations of the present invention. The present invention is described in detail with reference to the preferred implementation methods. Ordinary technicians in this field should understand that changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention do not depart from the purpose of the present invention, and should also fall within the scope of protection of the claims of the present invention.

Claims

1. A large roof greenhouse non-turning single-sided double-sided cleaning robot, characterized by: It comprises a cleaning device that moves along a guide rail frame (171) and a row-changing and reversing vehicle (9) that moves along a row-changing support, wherein the row-changing support extends forward and backward along the width direction of the greenhouse; The guide rail frame (171) comprises two mutually parallel guide rail rods, and the plane where the two guide rail rods are located is located above the inclined surface of the greenhouse roof and is adapted to the inclined surface of the greenhouse roof; The row-changing and reversing vehicle (9) is provided with a reversing guide rod (12) coaxial with the two guide rail rods, and a lifting mechanism for driving the two reversing guide rods to move vertically, respectively; the reversing guide rod and the guide rail rod form a through rail supporting the cleaning device; The lifting mechanism comprises at least two first screw rods (105) fixedly connected to one of the reversing guide rods, at least two second screw rods fixedly connected to the other reversing guide rod, and a driving mechanism (10) for driving the first screw rods and the second screw rods to move vertically respectively; A pressing slot (141) is provided on the upper surface of the end of the reversing guide rod away from the guide rail rod, wherein a first reversing stroke switch electrically connected to the travel drive motor of the line-changing and reversing vehicle is provided in the pressing slot, and a pressing plate (142) adapted to the contact of the first reversing stroke switch and flush with the upper surface of the reversing guide rod is provided in the pressing slot, and the pressing plate is connected to the bottom of the pressing slot via a limit spring; A second reversing stroke switch (16) is also installed on the row-changing reversing vehicle, and a second contact device adapted to the second reversing stroke switch is installed on the row-changing bracket, and the second contact device is located at positions corresponding to the frontmost and rearmost roof cleaning positions; The lifting guide rod makes the inclination direction of the cleaning device adjustable, and the roof surfaces with different inclination directions can be cleaned separately during operation.

2. The large roof greenhouse non-turning single-sided double-sided cleaning robot according to claim 1, characterized in that: The driving mechanism (10) comprises a lifting drive motor (101), a main control gear box (102), two first lifting gear boxes (103) and two second lifting gear boxes (104); the output shaft of the lifting drive motor (101) is drivingly connected to the input shaft of the main control gear box (102); the two opposite output shafts of the main control gear box are respectively drivingly connected to the input shafts of the two first lifting gear boxes; a first gear is rotatably arranged in the first lifting gear box, the center hole of the first gear is connected to the first screw rod by a thread, and the first gear is meshed with the driving gear on the input shaft of the first lifting gear box; the output shafts of the two first lifting gear boxes (103) are respectively drivingly connected to the input shafts of the two second lifting gear boxes (104); a second gear is rotatably arranged in the second lifting gear box, the center hole of the second gear is connected to the second screw rod by a thread, and the second gear is meshed with the driving gear on the input shaft of the second lifting gear box.

3. The large roof greenhouse non-turning single-sided double-sided cleaning robot according to claim 2, characterized in that: A positioning proximity switch (13) adapted to the axis of the guide rail is installed at one end of the reversing guide rod close to the guide rail rod, and the positioning proximity switch is electrically connected to the travel drive motor of the line change and reversing vehicle.

4. The large roof greenhouse non-turning single-sided double-sided cleaning robot according to claim 3 is characterized by: A deceleration stroke switch (15) is installed on the line-changing and reversing vehicle (9), and the deceleration stroke switch is electrically connected to the travel drive motor of the line-changing and reversing vehicle. A first contact device adapted to the deceleration stroke switch is provided on the outer side of the line-changing bracket. When the deceleration stroke switch touches the first contact device, the line-changing and reversing vehicle decelerates, and the time point when the deceleration stroke switch touches the first contact device is earlier than the time point when the positioning proximity switch detects the axis of the guide rail rod.

5. The large roof greenhouse non-turning single-sided double-sided cleaning robot according to claim 4, characterized in that: The cleaning device comprises a cleaning frame (1) on which a rotating wheel (26) is mounted, a travel motor (21) for driving the rotating wheel to rotate, and a cleaning mechanism mounted on the cleaning frame. The rotating wheel is provided with an arc-shaped groove adapted to the guide rail rod and the reversing guide rod.

6. The large roof greenhouse non-turning single-sided double-sided cleaning robot according to claim 5, characterized in that: The cleaning mechanism comprises a water pipe (52) fixedly connected to a cleaning frame, a plurality of nozzles (53) mounted on the water pipe, and a cleaning brush (4) located behind the nozzle and adapted to the greenhouse roof, wherein the cleaning brush (4) is drivingly connected to a cleaning drive motor (31).

7. A cleaning method using the large roof greenhouse non-turning single-sided double-sided cleaning robot as claimed in claim 6, characterized in that: The steps include: (1) The cleaning device moves along the guide rod corresponding to the positively inclined greenhouse roof, the cleaning mechanism sprays water toward the greenhouse roof, and uses a rotating cleaning brush to clean the greenhouse roof; (2) When the cleaning of a positively inclined greenhouse roof is completed, the cleaning device returns to the reversing guide rod on the line-changing and reversing vehicle, the line-changing and reversing vehicle moves forward, and sends the cleaning device to the position corresponding to the next positively inclined greenhouse roof. The cleaning device moves along the corresponding guide rod and completes the cleaning of the greenhouse roof; repeat this step to complete the cleaning of each positively inclined greenhouse roof in turn; (3) When the row-changing and reversing vehicle moves to the position corresponding to the last positively tilted greenhouse roof, the second reversing stroke switch on the row-changing and reversing vehicle touches the second contact device on the row-changing bracket. After the cleaning device cleans the last positively tilted greenhouse roof, and the cleaning device touches the first reversing stroke switch on the reversing guide rod, the control system receives the signals of the first reversing stroke switch and the second reversing stroke switch, and the lifting drive motor is activated to drive the two reversing guide rods to rise and fall, so that the inclination direction of the cleaning device changes from positive inclination to reverse inclination; the row-changing and reversing vehicle moves backward, and sends the cleaning device to the position corresponding to the reversely tilted greenhouse roof. The cleaning device moves along the guide rod corresponding to the reversely tilted greenhouse roof, and cleans the greenhouse roof; (4) When the cleaning of a reverse-inclined greenhouse roof is completed, the cleaning device returns to the reversing guide rod on the row-changing and reversing vehicle, the row-changing and reversing vehicle moves backward, and sends the cleaning device to the position corresponding to the next reverse-inclined greenhouse roof. The cleaning device moves along the corresponding guide rod and completes the cleaning of the greenhouse roof; repeat this step to complete the cleaning of each reverse-inclined greenhouse roof in turn.

8. The cleaning method according to claim 7, characterized in that: When the line-changing and reversing vehicle moves to the corresponding position of the next greenhouse roof, the deceleration travel switch of the line-changing and reversing vehicle is triggered, and the line-changing and reversing vehicle decelerates and moves.

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