Agricultural windproof type full-automatic small arched shed building machine

Abstract

The application discloses a kind of agricultural windproof type full-automatic small arched shed building machines, machine is made of two modules: pole building arch frame module and cover film press soil module.It is respectively installed with wheeled walking driving mechanism on its bearing frame, gap disc type automatic pole taking pole thrower, left-right symmetrical opposing double swing arm manipulator automatic bending pole inserting device, shed film pre-arched tensioning laying device, 4 groups of film pressing wheels and hydraulic lifting soil covering device.Two modules are connected together by cross beam, can be combined to carry out secondary operation to complete the building work of small arched shed.The application is automatic building shed, when tractor is pulled forward, left-right symmetrical opposing double swing arm manipulator automatic bending pole inserting device is bent after rotating 180 degrees after grabbing shed pole transferred by automatic pole thrower, and then it is inserted into soil, then it is covered by hydraulic lifting soil covering device to complete shed film covering, and small arched shed of unified height and width is built.The machine can provide fast small arched shed building capacity with fast pole throwing speed.Towed machine can guarantee long distance shed film laying and stable building shed, and can normally operate in 5-grade wind operating environment.Pole length is 1.6-2.5 meters, and small arched shed width is 70-150 centimeters, and height is 40-65 centimeters.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, and is a fully automatic small arched shed building machine for agricultural use with wind protection. Background Technology

[0002] Most existing small arched greenhouses used for agricultural planting are constructed in two steps: first, the greenhouse poles or bamboo strips are inserted into the ground manually, and then the film is covered manually. This construction method is not only inefficient, time-consuming, and uneven in quality, but it is also difficult to seize the farming season. It cannot be built when the soil is poor or during strong winds and heavy rains. The greenhouses are also prone to damage from being torn apart, requiring multiple reconstructions to achieve the protective effect of the small arched greenhouses.

[0003] Therefore, our invented fully automatic windproof small arched greenhouse erecting machine is a specialized agricultural machine designed to efficiently construct small arched greenhouses and successfully achieve protective effects. It requires minimal labor, is fast, adaptable to various soil types, and can successfully construct small arched greenhouses even in winds up to level 5. This helps growers seize the planting season, avoid disasters, reduce damage and reconstruction, and provides farmers with equipment for disaster resistance and high yields. Summary of the Invention

[0004] This invention provides a fully automatic small arched shed construction machine for agricultural use that requires less labor but is highly efficient.

[0005] To achieve the above objectives, this invention provides the following technical solution: a small arched shed construction machine composed of a pole-throwing arch frame module and a film covering and soil-pressing module, capable of constructing a small arched shed in one operation, featuring automatic pole throwing and windproof operation functions. The machine consists of a load-bearing frame, a wheeled walking mechanism, a notched disc-type automatic pole-throwing device, symmetrically opposed double-swing arm robotic arms for automatic pole-gripping and bending, a film pre-arching tensioning and laying device, and a hydraulic lifting and soil-pressing device. The entire machine is a traction-type structure, using a level 2 standard three-point suspension frame.

[0006] This invention enables fully automated construction of small arched sheds, eliminating the need for manual pole placement. The notched disc-type automatic pole picker and placer utilizes the friction of the notched disc to insert galvanized metal or fiberglass nylon poles into the notch, then rotates and delivers them to the designated position on the pole placement platform. When the symmetrically positioned double-arm robotic arms automatically bend and insert the poles to the platform, they simultaneously grasp the poles from both sides, inserting the bent poles into the soil to a set depth (15-30 cm).

[0007] The support frame has wheels on both sides at its bottom, with sprockets on the sides of the wheels. These sprockets are connected to the sprockets of the symmetrically opposed double-arm robotic arms for automatically bending and inserting poles on the frame via chains and a central shaft. The inner and outer telescopic cavity structures of the symmetrically opposed double-arm robotic arms are used to set the pole-throwing distance. The symmetrically opposed double-arm robotic arms are equipped with arc-shaped guard plates to prevent personnel from falling and getting stuck.

[0008] The film covering device includes a pre-arched, tensioned, and laid-out film preparation unit. The arch-forming device shapes the film into an arch in the middle before placing it over the pre-inserted arched greenhouse poles. Simultaneously, four sets of pressure rollers press the film down sequentially along the curve of the poles until it is level with the ground. A hydraulic lifting and soil-covering device then applies sufficient soil to the base of the horizontally laid film, enabling the machine to continuously construct small arched greenhouses even in winds up to force 5. When the machine is running, only one person is needed to supervise the automatic construction of the small arched greenhouses, thus saving time and labor.

[0009] This invention solves the following technical difficulties

[0010] 1. The first challenge is automatically selecting the correct long pole. Whether using galvanized iron or fiberglass nylon poles, those between 1.6 and 2.2 meters in length cannot be guaranteed to be straight and cannot be selected systematically, especially when pole boxes are mixed together. This machine utilizes the friction of a notched disc to automatically select only one long pole, thus solving the problem of automatic pole mounting.

[0011] 2. The dropped pole needs to remain stable and horizontal at the designated point on the delivery platform, unaffected by walking speed, bumps, or terrain slope, and will not fall, slide, or swing off prematurely.

[0012] 3. When the symmetrically positioned double-arm robotic arm automatically grabs and bends the insertion rod device and rotates to the positioning point of the delivery platform, it needs to accurately grab both sides of the long rod located at the positioning point at the same time to ensure that the rod is fully inserted into the groove of the bending rod baffle, and to ensure that both sides are of equal length and the bending angle is the same, so as to prevent the left and right sides from having inconsistent insertion depth, which would affect the subsequent film covering quality.

[0013] 4. To ensure the stability of small arched greenhouses during wind and rain disasters, the spacing between the greenhouse poles is fixed at 1.0-1.5 meters. This machine can complete the pole insertion at high speed in the field, and the greenhouse construction speed can reach more than 50 acres / day.

[0014] 5. For greenhouse films, non-woven fabrics, shade nets, and insect nets of different thicknesses, the tensile strength and tensile strength of the materials are different. The pre-formed arched tensioning and laying device for greenhouse films can ensure the formation of the correct film shape and successfully cover the film under various wind conditions.

[0015] The 6.4 set of film pressing wheels and hydraulic lifting and covering soil device have been optimized for different soil textures, ensuring that the greenhouse film can be accurately covered and compacted in crosswind and tailwind operating environments.

[0016] 7. When encountering obstacles in the field, such as stones, automatic valves, or pipelines of sprinkler and drip irrigation systems, the hydraulic retractable lever ensures timely lifting and lowering to avoid obstacles, thereby enabling operation without stopping the machine.

[0017] The beneficial effects of this invention compared to prior art

[0018] As can be seen from the above technical solution, compared with the prior art, this invention discloses an agricultural windproof fully automatic small arched greenhouse construction machine. It consists of a notched disc-type automatic pole-picking and throwing device, symmetrically opposed double-arm robotic arms for automatic pole-grabbing, bending, and inserting (anthropomorphic pole-grabbing, bending, and inserting), a pre-formed arched greenhouse film tensioning and laying device, and a hydraulic lifting and soil-covering device. Only one person is needed for quality supervision throughout the entire operation, eliminating the need for heavy manual labor in the fields. The machine requires minimal adjustment during use, providing a near-unmanned, lightweight operation method that significantly improves production efficiency. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0020] Figure 1 The attached figure is a schematic diagram of the main components of the present invention;

[0021] Figure 2 The attached figure is a schematic diagram of the notched disc-type automatic rod picker and thrower and the positioning point structure of the present invention;

[0022] Figure 3 The attached figure is a schematic diagram of the inner and outer telescopic cavity structure of the left-right symmetrical opposing double swing arm robotic arm automatic grasping and bending rod insertion device of the present invention.

[0023] Figure 4 The attached figure is a schematic diagram of the pre-formed arched tensioning and laying device for greenhouse film of the present invention;

[0024] Figure 5 The attached figure is a schematic diagram of the structure of the four sets of pressure rollers and the hydraulic lifting and covering device of the present invention.

[0025] In the figure: (1) - pole-throwing arch frame module, (2) - walking wheel, (3) - pole-throwing platform, (4) - central shaft, (5) - left and right symmetrical opposing double swing arm manipulator automatic bending and inserting pole device, (5.2) - inner bending groove, (5.3) - cam, (5.4) - inner and outer telescopic cavity structure, (6) - arc guard plate, (7) - film covering and soil pressing module, (8) - 4 sets of film pressing wheels, (10) - hydraulic lifting and soil covering device, (11) - notched disc type automatic pole picking and throwing device, (12) - long pole, (13) - pole box, (14) - placement platform positioning point, (15) - hydraulic retraction and release rod, (16) - greenhouse film pre-formed arched tensioning and laying device, (17) - film roll, (18) - hanging frame trunnion, (19) - position of horizontal contact point between the foot of the greenhouse pole and the ground, (20) - support wheel film clamping device. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Please see the appendix Figure 1 This invention discloses an agricultural windproof fully automatic small arched shed building machine.

[0028] This invention includes: a pole-throwing arch frame module (1); the frame is welded from square steel, with two traveling wheels (2) at the bottom, and a pole-throwing platform (3) welded to the cross support. It is composed of an auxiliary pole-throwing component including a manual seat and a notched disc-type automatic pole-throwing device (11), a pole-throwing component, and a positioning frame for the throwing platform. It has a clutch on the side. The lower part of the pole-throwing platform has a support frame and sprocket for a symmetrically opposed double-swing arm manipulator automatic bending and inserting pole device (5), as well as traveling wheels (2) and a central shaft (4). The symmetrically opposed double-swing arm manipulator automatic bending and inserting pole device (5) passes through the shaft. Two arc guard plates (6) are installed on the outer perimeter of the swing arm rotation circumference. The membrane covering and soil pressing module (7) is also welded from square steel with a crossbeam, which is fixed to the main frame with square frame bolts. Four sets of membrane pressing wheels (8) and a hydraulic lifting and soil-covering device (10) on both sides are respectively equipped with hydraulic retracting and extending rods (15) that can be raised and lowered simultaneously. The two modules are combined together to build a small arched shed in one go.

[0029] To further optimize the above technical solution, see Figure 2The notched disc-shaped automatic pole picker (11) rotates and picks up the long pole (12). When the notch gripping force is insufficient to support the weight of the long pole, the long pole automatically falls into the pole box (13) and slides down the side wall of the pole box to the waiting position of the placement platform positioning point (14). The long pole waits here until the left and right symmetrical opposing double swing arm robot automatic bending and inserting pole device (5) picks it up. This position is composed of a detachable moving part and a magnetic fastener, and is normally closed. It will only open when the external force pushed out by the left and right symmetrical opposing double swing arm robot (5) reaches a certain value.

[0030] To further optimize the above technical solution, see Figure 3 The symmetrical double-arm robotic arm automatic bending and inserting rod device (5) has a symmetrical structure, consisting of... Figure 1 Driven by the walking wheels (2), the device can complete two gripping, bending, and inserting actions in one 360-degree rotation cycle, providing double the speed of inserting the canopy poles. The inner bending groove (5.2) of the left-right symmetrical opposing double-swing arm robotic automatic gripping and bending insertion device (5) allows long poles of different materials to be embedded, and the friction force ensures that no sliding displacement occurs during bending. The left-right symmetrical opposing double-swing arm robotic automatic gripping and bending insertion device (5) adopts anthropomorphic movements, thereby ensuring that the gripping and bending insertion action is stable and accurate, and that the pole will not jump off due to the elasticity of the material. The left-right symmetrical opposing double-swing arm robotic automatic gripping and bending insertion device (5) has an inner and outer telescopic cavity structure (5.4), and the length and rotation diameter can be adjusted according to the user's needs, which is suitable for building small arched canopies of corresponding width and height using canopy poles of different lengths.

[0031] To further optimize the above technical solution, see Figure 4 The lower part of the film roll (17) at the front beam position of the film covering device is designed to be equipped with a pre-formed arched tensioning and laying device (16) for preforming the film. When the film is pulled and stretched, it passes through it first. The film is supported from the middle and matches the outward convex shape of the greenhouse pole, thereby increasing the adhesion and tension between the film and the greenhouse pole and improving wind resistance.

[0032] To further optimize the above technical solution, see Figure 5On the film-dropping structure on both sides of the windproof film covering device, there are 4 sets of film-pressing rollers (8) on each side, from high to low. After the film passes through the pre-arched tensioning and laying device (16), the film is pulled taut from both sides from the top of the arched greenhouse down to the horizontal contact point between the foot of the greenhouse pole and the ground (19). This method can increase the fit between the film and the greenhouse pole, so that the film and the greenhouse pole are tightly wrapped and not affected by the wind swaying, which will cause the film to tear. The film-pressing rollers (8) are made of special soft foam material, which is light and soft with no bumps on the surface, has high friction, and does not generate static electricity. At the same time, each film-pressing roller is equipped with a film clamping roller (20). When the film is lowered from high to low, it is always stretched taut from both sides to prevent slippage, and the film covering process is smooth and does not stick. Four sets of film-pressing wheels are installed on the rear beam with hydraulic retraction rods (15) on both sides. The pivot of the hydraulic retraction rods (15) is located on the hanger trunnion (18) of the rear beam. The quick hydraulic method and short shaft arm make it easy to adjust. The main functions are to provide downward pressure and quick lifting and lowering in the field to avoid obstacles, reducing the pauses during the covering process. The hydraulic lifting and covering device (10) can ensure that enough soil is scooped into the soil layer and covered at the horizontal contact point (19) between the film and the ground at the foot of the shed pole. Especially when the hydraulic retraction rods (15) are pressed down, large heavy soil clods can be scooped in from below the ground plane to prevent the film from being shaken by strong winds and the fine soil from being sieved away and carried away, causing air leakage and instability that damages the small arched shed.

[0033] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0034] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An agricultural windproof fully automatic small arched shed erecting machine, characterized in that... It consists of two modules: a pole-throwing arch frame module (1), which includes an automatic pole-throwing device (11) with a notched disc, an automatic pole-grabbing and bending device (5) with symmetrically opposed double-arm manipulators, a clutch, and a manual pole-throwing component; and a film-covering and soil-pressing module (7), which includes a pre-formed arched tensioning and laying device (16) for the greenhouse film, four sets of film-pressing wheels (8), and a hydraulic lifting and soil-covering device (10). The two modules are connected together by the crossbeam of the main frame and can be combined to complete the greenhouse construction operation in one go. The notched disc-type automatic pole picker (11) selects a single long pole every 180 degrees when the walking wheel (2) drives the left and right symmetrical opposing double swing arm manipulator automatic pole grabbing and inserting device (5) by chain transmission. The pole is placed at the positioning point (14) of the pole placement platform and waits to be grabbed. The symmetrically opposed double-arm robotic arm automatic bending and inserting rod device (5) can perform one rod-gripping, bending, and inserting action when rotating 180 degrees around the central axis (4), and complete two rod-gripping, bending, and inserting actions when rotating 360 degrees, effectively speeding up the insertion action; the common rod-gripping action of the symmetrically opposed double-arm robotic arm automatic bending and inserting rod device (5) is located at the position of the rod placement platform positioning point (14) directly above the symmetrically opposed double-arm robotic arm automatic bending and inserting rod device (5). The inner curved groove (5.2) space of the front and rear baffles (5) ensures that it will not pop out when it comes into contact with the shed poles of different materials. The bending point of the symmetrically opposed double swing arm robot automatic gripping and bending insertion device (5) is clamped by the friction of the inner curved groove (5.2), so the shed pole will not slip after it is in place. The gripping time and spacing of the symmetrically opposed double swing arm robot automatic gripping and bending insertion device (5) are driven by the walking wheel (2) on the main frame and the synchronous sprocket. The rotation speed is adjusted by connecting sprockets of different sizes through the chain, and the spacing of different shed poles is set. The film covering and soil pressing module (7) uses 4 sets of film pressing wheels (8) arranged from high to low starting from the pre-arched tensioning and laying device (16) of the greenhouse film. The greenhouse film is pulled from both sides from the top of the arched greenhouse all the way to the horizontal contact point (19) between the foot of the greenhouse pole and the ground. The whole greenhouse film gradually falls and tightens with the curvature of the arched greenhouse pole, thereby achieving the purpose of wind protection. The gravity of the 4 sets of film pressing wheels (8) on both sides sinks and pulls the greenhouse film, making it close to the greenhouse pole and wrapping it tightly, so that the two become a whole and prevent the wind from blowing the greenhouse down.

2. The agricultural windproof fully automatic small arched shed erecting machine according to claim 1, characterized in that, The clutch equipped with the rod insertion device engages and disengages with the walking wheel. During transportation, stopping the construction of the shed, and turning around, the clutch disengages, and the left and right symmetrical opposing double swing arm manipulator automatic bending rod insertion device (5) does not move to prevent reversal and damage caused by encountering obstacles. When working, the clutch engages, and the left and right symmetrical opposing double swing arm manipulator automatic bending rod insertion device (5) connects to the walking wheel to start working.

3. The agricultural windproof fully automatic small arched shed erecting machine according to claim 1, characterized in that, The symmetrically opposed double-arm manipulator automatic bending and inserting device (5) uses a human-like manual method to grasp the shed pole. It relies on the friction between the pole surface and the inner curved groove (5.2) of the symmetrically opposed double-arm manipulator automatic bending and inserting device (5) to achieve a series of actions such as gripping, bending, inserting and detaching the shed pole. The curvature of the bending pole is adjusted according to the material of the shed pole to be suitable for gripping the surface of poles of different materials. At the same time, the detachment part uses a cam (5.3) and a spring to synchronize and ensure that the shed pole is detached in time after bending and inserting into the soil without causing any entanglement to the shed pole and preventing the shed pole from tilting forward. The support arm of the symmetrically opposed double-arm manipulator automatic bending and inserting device (5) adopts an inner and outer telescopic cavity structure (5.4) and can be adjusted in length to adapt to different shed pole lengths. It can adjust the height and width of the small arched shed and limit the depth of the shed pole inserted into the soil.

4. The agricultural windproof fully automatic small arched shed erecting machine according to claim 1, characterized in that, When the film covering and soil pressing module (7) starts working, before the film is pulled out from the film roll (17) and covered to the arched shed pole, it first passes through the film pre-arched tensioning and laying device (16) to create a small arched shape in the center of the film in advance, so as to adapt to the curvature of the arched shed pole of the small arched shed that has been inserted on the ground; the film pre-arched tensioning and laying device (16) also includes a film roll pressure plate with adjustable pressure, which is used to keep the film in a taut state, so that it does not shift when encountering wind, and avoids the situation where the film does not stick to the pole.

5. The agricultural windproof fully automatic small arched shed erecting machine according to claim 1, characterized in that, The hydraulic lifting and lowering soil covering device (10) in the covering and pressing soil module (7) uses the hydraulic retracting rod (15) to raise and lower the soil. By adjusting the hydraulic pressure, it can lift a suitable weight of soil to press down the base of the greenhouse film to resist the wind. When encountering field stones, field automatic valves, or drip irrigation system pipelines, the covering and pressing soil module (7) uses the hydraulic retracting rod (15) to raise the soil, and after avoiding the obstacle, it is lowered to continue building the greenhouse.

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