Greenhouse film mulching robot

Abstract

The invention discloses a greenhouse film covering robot, and belongs to the field of greenhouse installation equipment. The device is composed of a moving device, a supporting device, a film releasing device, a stirring device and a soil covering device. Automatic assemblies such as the electric push rod, the driving motor and the encoder are adopted, the film laminating operation can be automatically completed, the working efficiency is greatly improved, and the film laminating time is shortened; output signals of the first hollow encoder and output signals of the second hollow encoder are compared through a control system, it is guaranteed that the overall displacement distance and the film releasing length of the device are always kept consistent, and therefore the tension degree and the flatness of a film are guaranteed; through cooperative use of a first electric push rod and a second electric push rod, the device can adapt to greenhouses with different heights and widths, and various operation requirements are met; and a third electric push rod and a third electric push rod execution rod can push a sliding sleeve rod to move up and down, so that the height of a placement groove is consistent with that of a snap spring fixing groove in the greenhouse framework, and smooth placement of the snap spring is ensured.

Description

Technical Field

[0001] The invention relates to a greenhouse film covering robot, in particular to a film covering device composed of a supporting device, a moving device, a film placing device, a shifting device and a soil covering device, and belongs to the field of agricultural machinery. Background Art

[0002] Traditional film covering operations mostly rely on manual operations, which is not only time-consuming and labor-intensive, but the quality of the film covering depends largely on the skill level of the workers. Specifically, during the manual film covering process, workers need to manually lay the film and ensure that the film is flat and wrinkle-free. This series of operations requires workers to have a high level of technical skills and rich practical experience. However, due to the uneven skill levels of different workers, there are also large differences in the quality of film covering. Sometimes there are even problems such as uneven film laying and poor sealing. These problems not only affect the growth environment of crops, but may also lead to the occurrence of pests and diseases, thereby affecting the yield and quality of crops.

[0003] In addition, in traditional film laminating operations, the process of placing the retaining spring is particularly cumbersome and inefficient. In the process of using the retaining spring to fix the film, the worker needs to gradually compress the retaining spring so that the outer diameter of the retaining spring is smaller than the inner diameter of the notch of the retaining spring fixing groove on the greenhouse frame, and then press the retaining spring into the retaining spring fixing groove. After the retaining spring enters the retaining spring fixing groove, it returns to its original state to fix the greenhouse film. This process is time-consuming, especially in large or multi-span greenhouses, where the time and labor costs required are more significant. Due to the complex process of placing the retaining spring, improper operation can easily cause the retaining spring to fall off or be damaged, thereby affecting the overall effect of the film laminating. Therefore, manual film laminating operations are not only inefficient, but also difficult to guarantee in terms of quality and stability. Summary of the invention

[0004] In view of the problems that manual film covering operation is difficult and the efficiency of manually fixing greenhouse film is low, the present invention provides a greenhouse film covering robot.

[0005] The present invention is realized through the following technical scheme: a greenhouse film covering robot, which is composed of a supporting device, a moving device, a film placing device, a shifting device and a soil covering device, wherein the supporting device is connected to the moving device by bolts, the film placing device and the shifting device are both fixed to the supporting device by bolts, and the soil covering device is fixed to the moving device by bolts, and the supporting device is composed of a square tube head, a supporting main frame, a first connecting block, a first electric push rod, a first electric push rod actuator rod, a first hollow head, a second connecting block, a second hollow head, a first right angle rod , a guide wheel fixing frame, a guide wheel, a third connecting block, a second electric push rod, a second electric push rod executing rod, a fourth connecting block, a first thin square tube, a second right-angle rod, a third hollow head, a second thin square tube and a fourth hollow head, the square tube head is fixed to both ends of the lower part of the support main frame by bolts, the lower part of the support main frame is connected to the moving device by bolts, the first connecting block is connected to the support main frame by bolts, the first connecting block is also connected to the first electric push rod, the first electric push rod can be used in conjunction with the first electric push rod executing rod, the first An electric push rod actuator rod is connected to the second connecting block, and the second connecting block is also connected to the first right-angle rod by bolts. The first hollow head is installed on the upper part of the supporting main frame and is connected by bolts. The first thin square tube can be nested in the supporting main frame and the first right-angle rod and slide along the inner walls of the first hollow head and the second hollow head. The second hollow head is connected to the first right-angle rod by bolts, and the first right-angle rod is connected to the third connecting block by bolts. The third connecting block is connected to the second electric push rod. The second electric push rod actuator rod can be connected to the second electric The second electric push rod is cooperated with the fourth connecting block, the fourth connecting block is also connected to the second right-angle rod, the third hollow head is installed on the upper part of the second right-angle rod and is connected by bolts, the second thin square tube can be nested in the first right-angle rod and the second right-angle rod and can slide along the inner walls of the third hollow head and the fourth hollow head, the fourth hollow head is connected to the first right-angle rod by bolts, the guide wheel fixing frame is fixed to the first right-angle rod by bolts, and the guide wheel is arranged on the guide wheel fixing frame and can rotate with it.

[0006] The moving device is composed of a connecting rod, a moving wheel device and a first hollow encoder. The connecting rod connects two moving wheel devices. There are multiple moving wheel devices. The first hollow encoder is installed on the first axis of the moving wheel device. There are one or more first hollow encoders, and there is one on each side of the moving device.

[0007] The moving wheel device is composed of an aluminum profile frame, a drive motor, a drive motor mounting plate, a first bevel gear, a second bevel gear, a moving device housing, a moving wheel and a first shaft. The outer surface of the aluminum profile frame is connected to the moving device housing by bolts, the first shaft is connected to the moving device housing by a bearing, the first shaft is also connected to the moving wheel and rotates synchronously, the drive motor mounting plate is fixed to the outer surface of the moving device housing by bolts, the drive motor mounting plate is connected to the drive motor by bolts, the drive motor has a transmission shaft and other structures, the first bevel gear is connected to the drive shaft of the drive motor by a key, the first bevel gear and the second bevel gear are meshed with each other, and the second bevel gear is fixed to the first shaft by a key.

[0008] The film unwinding device is composed of a third bevel gear, a fourth bevel gear, a film unwinding motor fixing plate, a film unwinding motor, a greenhouse film roll, a second shaft, a second hollow encoder and a greenhouse film roll fixing frame. The film unwinding motor fixing plate is installed on the first right-angle rod of the supporting device by bolts, and the film unwinding motor is installed on the film unwinding motor fixing plate by bolts. The film unwinding motor has structures such as an output shaft, and the fourth bevel gear is installed on the output shaft of the film unwinding motor by a key. The fourth bevel gear can mesh with the third bevel gear, and the third bevel gear is fixed to one end of the second shaft by a key, and the second hollow encoder is installed at the other end of the second shaft. The greenhouse film roll is installed on the second shaft, and the greenhouse film roll fixing frame is connected to the first right-angle rod of the supporting device by bolts. The greenhouse film roll fixing frame is also provided with a through hole that can cooperate with the second shaft, and the second shaft passes through the through hole of the greenhouse film roll fixing frame.

[0009] The toggle device is composed of a fifth connecting block, a third electric push rod, a third electric push rod actuator rod, a sixth connecting block, an extension plate, a first motor, a placement slot fixing piece, a placement slot connecting piece, a placement slot, a retaining spring, a sliding rod, a spring, a first shaft sleeve, a toggle wheel and a toggle wheel fixing plate. The fifth connecting block is connected to the supporting main frame of the supporting device by bolts, and the fifth connecting block is also connected to the third electric push rod. The third electric push rod can be used in conjunction with the third electric push rod actuator rod, and the third electric push rod actuator rod is also connected to the sixth connecting block. The sixth connecting block is connected to the extension plate by bolts, and the sliding rod is respectively connected to the extension plate and the toggle wheel fixing plate by bolts. One end of the extension plate has a protrusion, and a The placement slot fixing piece is connected to the extension plate by bolts, a groove is provided inside the placement slot fixing piece, a protrusion is provided outside the placement slot connecting piece that can cooperate with the placement slot fixing piece, the placement slot connecting piece is installed inside the placement slot fixing piece and can slide relatively, the spring is arranged above the protrusion of the extension plate and below the placement slot connecting piece, the placement slot is connected to the placement slot connecting piece by bolts, the retaining spring is placed inside the placement slot, the first motor is connected to the toggle wheel fixing plate by bolts, the first motor also has structures such as a rotating shaft, the rotating shaft of the first motor is connected to the toggle wheel fixing plate through a first sleeve and connected to the toggle wheel through a key, and the toggle wheel can toggle the retaining spring.

[0010] The retaining spring has a certain elasticity, can be compressed and can return to its original state. The placement groove is hollow inside, one end has a larger inner cavity that will not compress the retaining spring, and the other end has a smaller inner cavity that can compress the retaining spring. The inner cavity of the middle part connecting the two ends gradually becomes smaller from the larger end to the smaller end, thereby achieving gradual compression of the retaining spring.

[0011] The soil covering device is composed of a soil covering shovel and a soil covering shovel fixing frame. The soil covering shovel fixing frame is connected to the moving device housing of the moving device through bolts. The soil covering shovel is welded to the soil covering shovel fixing frame. The lower end of the soil covering shovel is lower than the moving wheel.

[0012] The benefit of the invention is that the invention adopts automatic components such as electric push rods, drive motors and encoders, which can automatically complete the film covering operation, greatly improve work efficiency, shorten the film covering time, and the device can simultaneously perform tasks such as moving, film laying, spring placement and soil covering, reduce the steps of manual operation, and improve the overall operation speed. The control system compares the output signals of the first hollow encoder and the second hollow encoder to ensure that the overall displacement distance of the device and the film laying length are always consistent, thereby ensuring the tension and flatness of the film covering, and can evenly lay the film, avoiding problems such as unevenness and wrinkles that may occur in manual operation, and improving the covering efficiency. To improve the overall quality of the film, workers only need to perform simple startup and monitoring operations, without manually laying the film and placing the retaining ring, which greatly reduces the labor intensity. The automated design of the device reduces the dependence on the workers' skill level, and even workers with lower skills can easily operate it, ensuring the consistency and stability of the film covering operation. Through the coordinated use of the first electric push rod and the second electric push rod, the device can adapt to greenhouses of different heights and widths and meet a variety of operational requirements. The third electric push rod and the third electric push rod actuator rod can push the sliding rod up and down, and can adapt to retaining ring fixing grooves of different heights, so that the placement groove is consistent with the retaining ring fixing groove height, ensuring the smooth placement of the retaining ring. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Attached Figure 1 It is a structural schematic diagram of the present invention; Attached Figure 2 is a schematic diagram of the structure of the mobile device; Attached Figure 3 is a schematic diagram of the structure of the supporting device; Attached Figure 4 It is a structural schematic diagram of a film placing device; Attached Figure 5 It is a structural schematic diagram of the toggle device; Attached Figure 6 It is a structural schematic diagram of the soil covering device; Attached Figure 7 is a structural schematic diagram of a moving wheel device; Attached Figure 8 It is a schematic diagram of the internal connection relationship between the placement slot fixing piece and the placement slot connecting piece.

[0014] In the accompanying drawings, 1 is a moving device, 2 is a supporting device, 3 is a film placing device, 4 is a shifting device, and 5 is a soil covering device.

[0015] 101. connecting rod, 102. moving wheel device, 103. first hollow encoder; 201, square tube end cap, 202, supporting main frame, 203, first connecting block, 204, first electric push rod, 205, first electric push rod actuator rod, 206, first hollow end cap, 207, second connecting block, 208, second hollow end cap, 209, first right-angle rod, 210, guide wheel fixing frame, 211, guide wheel, 212, third connecting block, 213, second electric push rod, 214, second electric push rod actuator rod, 215, fourth connecting block, 216, first thin square tube, 217, second right-angle rod, 218, third hollow end cap, 219, second thin square tube, 220, fourth hollow end cap; 301, third bevel gear, 302, fourth bevel gear, 303, film placing motor fixing plate, 304, film placing motor, 305, greenhouse film roll, 306, second shaft, 307, second hollow encoder, 308, greenhouse film roll fixing frame; 401, a fifth connecting block, 402, a third electric push rod, 403, a third electric push rod actuator rod, 404, a sixth connecting block, 405, an extension plate, 406, a first motor, 407, a placement slot fixing member, 408, a placement slot connecting member, 409, a placement slot, 410, a retaining spring, 411, a toggle wheel, 412, a toggle wheel fixing plate, 413, a sliding sleeve rod, 414, a spring, 415, a first shaft sleeve; 501, soil covering shovel, 502, soil covering shovel fixing frame; 1021. Aluminum profile frame, 1022. Drive motor, 1023. Drive motor mounting plate, 1024. First bevel gear, 1025. Second bevel gear, 1026. Moving device housing, 1027. Moving wheel, 1028. First axis. DETAILED DESCRIPTION

[0016] A greenhouse film covering robot is composed of a supporting device 2, a moving device 1, a film placing device 3, a shifting device 4 and a soil covering device 5. The supporting device 2 is connected to the moving device 1 by bolts, the film placing device 3 and the shifting device 4 are both fixed to the supporting device 2 by bolts, and the soil covering device 5 is fixed to the moving device 1 by bolts. The supporting device is composed of a square tube head 201, a supporting main frame 202, a first connecting block 203, a first electric push rod 204, a first electric push rod execution rod 205, a first hollow head 206, a second connecting block 207, a second hollow head 208, a first right-angle rod 209, a guide wheel fixing frame 210, a guide wheel 211, a third connecting block 212, and a second electric push rod 213. , a second electric push rod actuator rod 214, a fourth connecting block 215, a first thin square tube 216, a second right-angle rod 217, a third hollow head 218, a second thin square tube 219 and a fourth hollow head 220, the square tube head 201 is fixed to the two ends of the lower part of the support main frame 202 by bolts, the lower part of the support main frame 202 is connected to the moving device 1 by bolts, the first connecting block 203 is connected to the support main frame 202 by bolts, the first connecting block 203 is also connected to the first electric push rod 204, the first electric push rod 204 can be used in conjunction with the first electric push rod actuator rod 205, the first electric push rod actuator rod 205 is connected to the second connecting block 207, the second connecting block 20 7 is also connected to the first right-angle rod 209 by bolts, the first hollow head 206 is installed on the upper part of the support main frame 202 and connected by bolts, the first thin square tube 217 can be nested in the support main frame 202 and the first right-angle rod 209 and slide along the inner walls of the first hollow head 206 and the second hollow head 208, the second hollow head 208 is connected to the first right-angle rod 202 by bolts, the first right-angle rod 202 is connected to the third connecting block 212 by bolts, the third connecting block 212 is connected to the second electric push rod 213, the second electric push rod execution rod 214 can cooperate with the second electric push rod 213, and the second electric push rod execution rod 214 is also connected to the fourth connecting block 215, The fourth connecting block 215 is also connected to the second right-angle rod 217, the third hollow head 218 is installed on the upper part of the second right-angle rod 217 and connected by bolts, the second thin square tube 219 can be nested in the first right-angle rod 209 and the second right-angle rod 217 and can slide along the inner walls of the third hollow head 218 and the fourth hollow head 220, the fourth hollow head 220 is connected to the first right-angle rod 209 by bolts, the guide wheel fixing frame 210 is fixed on the first right-angle rod 209 by bolts, the guide wheel 211 is arranged on the guide wheel fixing frame 210 and can rotate therewith, and the supporting device is arranged the same on the left and right sides except for the second electric push rod 213 and the second electric push rod actuator rod 214 at the upper end.

[0017] Both ends of the first thin square tube 216 and the second thin square tube 219 have protrusions to ensure that the two ends of the first thin square tube 216 will not separate from the first hollow head 206 and the second hollow head 208, and the two ends of the second thin square tube 219 will not separate from the third hollow head 218 and the fourth hollow head 220. The first electric push rod 204 and the first electric push rod actuator rod 205 are used to push the first right-angle rod 209 and the second right-angle rod 217 to move in the vertical direction to adapt to greenhouses of different heights. During this process, the first thin square tube 216 has a supporting and guiding function. The second electric push rod 213 and the second electric push rod actuator rod 214 are used to push the first right-angle rod 209 and the second right-angle rod 217 to move relative to each other in the horizontal direction to adapt to greenhouses of different widths. During this process, the second thin square tube 219 has a supporting and guiding function.

[0018] The moving device 1 is composed of a connecting rod 101, a moving wheel device 102 and a first hollow encoder 103. The connecting rod 101 connects two moving wheel devices 102. There are multiple moving wheel devices 102. The first hollow encoder 103 is installed on the first axis 1028 of the moving wheel device 102. There are one or more first hollow encoders 103, and there is one on each side of the moving device 1.

[0019] The moving wheel device 102 is composed of an aluminum profile frame 1021, a drive motor 1022, a drive motor mounting plate 1023, a first bevel gear 1024, a second bevel gear 1025, a moving device housing 1026, a moving wheel 1027 and a first shaft 1028. The outer surface of the aluminum profile frame 1021 is connected to the moving device housing 1026 by bolts, and the first shaft 1028 is connected to the moving device housing 1026 by a bearing. The first shaft 1028 is also connected to the moving wheel 1027 and Synchronous rotation, the drive motor mounting plate 1023 is fixed to the outer surface of the mobile device housing 1026 by bolts, the drive motor mounting plate 1023 is connected to the drive motor 1022 by bolts, the drive motor 1022 has a transmission shaft and other structures, the first bevel gear 1024 is connected to the 1022 transmission shaft of the drive motor by a key, the first bevel gear 1024 and the second bevel gear 1025 are meshed with each other, and the second bevel gear 1025 is fixed to the first shaft 1028 by a key.

[0020] The driving motor 1022 transmits power through the first bevel gear 1024 and the second bevel gear 1025 to rotate the moving wheel 109 to drive the entire device to move. The moving wheel device 102 can be two on one side or multiple.

[0021] The film unwinding device 3 is composed of a third bevel gear 301, a fourth bevel gear 302, a film unwinding motor fixing plate 303, a film unwinding motor 304, a greenhouse film roll 305, a second shaft 306, a second hollow encoder 307 and a greenhouse film roll fixing frame 308. The film unwinding motor fixing plate 303 is installed on the first right-angle rod 209 by bolts, and the film unwinding motor 304 is installed on the film unwinding motor fixing plate 303 by bolts. The film unwinding motor 304 has an output shaft and other structures, and the fourth bevel gear 302 is installed on the output shaft of the film unwinding motor 304 by a key. The fourth bevel gear 302 can mesh with the third bevel gear 301, the third bevel gear 301 is fixed to one end of the second shaft 306 by a key, the second hollow encoder 307 is installed at the other end of the second shaft 306, the greenhouse film roll 305 is installed on the second shaft 306, and the greenhouse film roll fixing frame 308 is connected to the first right-angle rod 209 of the supporting device 2 by bolts. The greenhouse film roll fixing frame 308 is also provided with a through hole that can cooperate with the second shaft 306, and the second shaft 306 passes through the through hole of the greenhouse film roll fixing frame 308.

[0022] The film releasing motor 304 drives the second shaft 306 to rotate through the engagement of the third bevel gear 301 and the fourth bevel gear 302 to release the greenhouse film. The control system compares the output signals of the second hollow encoder 307 of the film releasing device 3 and the first hollow encoder 103 of the mobile device 1, and converts the number of rotations of the first shaft 1028 and the second shaft 306 output by the first hollow encoder 103 and the second hollow encoder 307 into the overall displacement distance of the device and the film releasing length. The control system always keeps the overall displacement distance of the device and the film releasing length consistent to ensure that the tension of the greenhouse film is appropriate.

[0023] The toggle device 4 is composed of a fifth connecting block 401, a third electric push rod 402, a third electric push rod actuator rod 403, a sixth connecting block 404, an extension plate 405, a first motor 406, a placement slot fixing member 407, a placement slot connecting member 408, a placement slot 409, a retaining spring 410, a toggle wheel 411, a toggle wheel fixing plate 412, a sliding rod 413, a spring 414 and a first sleeve 415. The fifth connecting block 401 is connected to the support main body of the support device 2 by bolts. The fifth connecting block 401 is also connected to the third electric push rod 402, the third electric push rod 402 can be used in conjunction with the third electric push rod actuator rod 403, the third electric push rod actuator rod 403 is also connected to the sixth connecting block 404, the sixth connecting block 404 is connected to the extension plate 405 by bolts, the sliding rod 413 is respectively connected to the extension plate 405 and the toggle wheel fixing plate 412 by bolts, and the extension plate 405 has a protruding end The placing groove fixing piece 407 is arranged on the top, and the placing groove fixing piece 407 is connected to the extending plate 405 by bolts. The placing groove fixing piece 407 is provided with a groove inside, and the placing groove connecting piece 408 has a protrusion that can cooperate with the placing groove fixing piece 407 on the outside. The placing groove connecting piece 408 is installed inside the placing groove fixing piece 407 and can slide relatively. The spring 414 is arranged above the protrusion of the extending plate 405 and below the placing groove connecting piece 408. The placing groove 409 is connected to the placing groove connecting piece 408 by bolts, and the retaining spring 410 is placed inside the placing groove 409. The first motor 406 is connected to the toggle wheel fixing plate 412 by bolts. The first motor 406 also has structures such as a rotating shaft. The rotating shaft of the first motor 406 is connected to the toggle wheel fixing plate 412 through a first shaft sleeve 415 and is connected to the toggle wheel 411 through a key. The toggle wheel 411 has gear teeth that can toggle the retaining spring 412.

[0024] The retaining spring 412 has a certain elasticity and can be compressed and restored to its original state. The placement groove 409 is hollow inside, and the inner cavity at one end is larger and will not compress the retaining spring 412, and the inner cavity at the other end is smaller and can compress the retaining spring 412. The inner cavity of the middle part connecting the two ends gradually decreases from the larger end to the smaller end, thereby gradually compressing the retaining spring 412. The third electric push rod 402 and the third electric push rod actuator rod 403 are used in combination to push the sliding rod 413 to slide up and down along the support main frame 202 of the support device 2, so as to realize the up and down movement of the placement groove 409 to adapt to the height difference of the retaining spring fixing grooves on different greenhouse frames. The first motor 406 drives the toggle wheel 411 to rotate and push the retaining spring 412 into the placement groove. The use of the spring 414 can effectively avoid the influence of ground fluctuations on the operation and life of the present invention.

[0025] The covering device 5 consists of a covering shovel 501 and a covering shovel fixing frame 502. The covering shovel fixing frame 502 is connected to the mobile device housing 102 of the mobile device 1 by bolts. The covering shovel 501 is welded to the covering shovel fixing frame 502. The lower end of the covering shovel 501 is lower than the moving wheel.

[0026] The soil covering device 5 is one on each side, and is used to cover soil on both sides of the greenhouse film in contact with the ground, so as to perform secondary fixation on the greenhouse film.

[0027] The control system is electrically connected to each controlled component.

[0028] During operation, the control system controls the first electric push rod 204, the first electric push rod actuator rod 205, the second electric push rod 213, and the second electric push rod actuator rod 214 to adjust the film covering height and width, controls the third electric push rod 402 and the third electric push rod actuator rod 403 to make the placement slot 409 consistent with the height of the retaining spring fixing slot of the greenhouse frame, controls the drive motor 1023 to move the whole to one end of the greenhouse frame, and controls the film placing motor 304 to release a section of greenhouse film that can cover the end face of the greenhouse frame in advance, and fix it to the end face manually. After the end face is fixed, the control system controls the drive motor 1023 to move forward, and at the same time, controls the film placing motor 30 4 works to release the greenhouse film with a length equal to the overall moving distance of the device. At the same time, the first motor 406 is controlled to work, driving the toggle wheel 411 to rotate, toggling the retaining spring 414 into the placement slot 409, and the retaining spring 414 enters the retaining spring fixing slot of the greenhouse frame after being compressed and guided by the placement slot 409. The length of the retaining spring 414 entering the retaining spring fixing slot is equal to the overall moving distance of the device. After the device moves to the other end of the greenhouse frame as a whole, the control system controls the driving motor 1023 and the first motor 406 to stop working, the device stops moving, stops toggling the retaining spring 414, and at the same time, the film releasing motor 304 continues to work to release a section of greenhouse film that can cover the end face of the greenhouse frame. The film releasing motor 304 stops working, and the work process ends.

[0029] For those skilled in the art, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, substitutions and variations made to the implementation methods are still within the protection scope of the present invention.

Claims

1. A greenhouse film covering robot, which is composed of a supporting device, a moving device, a film placing device, a shifting device and a soil covering device, and is characterized in that: The supporting device is connected to the moving device by bolts, the film placing device and the shifting device are both fixed to the supporting device by bolts, and the covering device is fixed to the moving device by bolts. The supporting device is composed of a square tube head, a supporting main frame, a first connecting block, a first electric push rod, a first electric push rod actuator rod, a first hollow head, a second connecting block, a second hollow head, a first right-angle rod, a guide wheel fixing frame, a guide wheel, a third connecting block, a second electric push rod, a second electric push rod actuator rod, a fourth connecting block, a first thin square tube, a second right-angle rod, a third hollow head, a second thin square tube and a fourth hollow head. The square tube head is fixed to the two ends of the lower part of the supporting main frame by bolts, the lower part of the supporting main frame is connected to the moving device by bolts, the first connecting block is connected to the supporting main frame by bolts, the first connecting block is also connected to the first electric push rod, the first electric push rod can be used in conjunction with the first electric push rod actuator rod, the first electric push rod actuator rod is connected to the second connecting block, and the second connecting block is also connected to the first The right-angle rod is connected by bolts, the first hollow head is installed on the upper part of the supporting main frame and is connected by bolts, the first thin square tube can be nested in the supporting main frame and the first right-angle rod and slide along the inner walls of the first hollow head and the second hollow head, the second hollow head is connected to the first right-angle rod by bolts, the first right-angle rod is connected to the third connecting block by bolts, the third connecting block is connected to the second electric push rod, the second electric push rod actuator rod can cooperate with the second electric push rod, the second electric push rod actuator rod is also connected to the fourth connecting block, the fourth connecting block is also connected to the second right-angle rod, the third hollow head is installed on the upper part of the second right-angle rod and is connected by bolts, the second thin square tube can be nested in the first right-angle rod and the second right-angle rod and slide along the inner walls of the third hollow head and the fourth hollow head, the fourth hollow head is connected to the first right-angle rod by bolts, the guide wheel fixing frame is fixed to the first right-angle rod by bolts, and the guide wheel is arranged on the guide wheel fixing frame and can rotate with it.

2. A greenhouse film covering robot as claimed in claim 1, characterized in that: The moving device is composed of a connecting rod, a moving wheel device and a first hollow encoder. The connecting rod connects two moving wheel devices. There are multiple moving wheel devices. The first hollow encoder is installed on the first axis of the moving wheel device. There are one or more first hollow encoders, and there is one on each side of the moving device.

3. A greenhouse film covering robot as claimed in claim 2, characterized in that: The moving wheel device is composed of an aluminum profile frame, a drive motor, a drive motor mounting plate, a first bevel gear, a second bevel gear, a moving device housing, a moving wheel and a first shaft. The outer surface of the aluminum profile frame is connected to the moving device housing by bolts, the first shaft is connected to the moving device housing by a bearing, the first shaft is also connected to the moving wheel and rotates synchronously, the drive motor mounting plate is fixed to the outer surface of the moving device housing by bolts, the drive motor mounting plate is connected to the drive motor by bolts, the drive motor has a transmission shaft and other structures, the first bevel gear is connected to the drive shaft of the drive motor by a key, the first bevel gear and the second bevel gear are meshed with each other, and the second bevel gear is fixed to the first shaft by a key.

4. The greenhouse film covering robot according to claim 1, characterized in that: The film unwinding device is composed of a third bevel gear, a fourth bevel gear, a film unwinding motor fixing plate, a film unwinding motor, a greenhouse film roll, a second shaft, a second hollow encoder and a greenhouse film roll fixing frame. The film unwinding motor fixing plate is installed on the first right-angle rod of the supporting device by bolts, and the film unwinding motor is installed on the film unwinding motor fixing plate by bolts. The film unwinding motor has structures such as an output shaft, and the fourth bevel gear is installed on the output shaft of the film unwinding motor by a key. The fourth bevel gear can mesh with the third bevel gear, and the third bevel gear is fixed to one end of the second shaft by a key, and the second hollow encoder is installed at the other end of the second shaft. The greenhouse film roll is installed on the second shaft, and the greenhouse film roll fixing frame is connected to the first right-angle rod of the supporting device by bolts. The greenhouse film roll fixing frame is also provided with a through hole that can cooperate with the second shaft, and the second shaft passes through the through hole of the greenhouse film roll fixing frame.

5. The greenhouse film covering robot according to claim 1, characterized in that: The toggle device is composed of a fifth connecting block, a third electric push rod, a third electric push rod actuator rod, a sixth connecting block, an extension plate, a first motor, a placement slot fixing piece, a placement slot connecting piece, a placement slot, a retaining spring, a sliding rod, a spring, a first shaft sleeve, a toggle wheel and a toggle wheel fixing plate. The fifth connecting block is connected to the supporting main frame of the supporting device by bolts, and the fifth connecting block is also connected to the third electric push rod. The third electric push rod can be used in conjunction with the third electric push rod actuator rod, and the third electric push rod actuator rod is also connected to the sixth connecting block. The sixth connecting block is connected to the extension plate by bolts, and the sliding rod is respectively connected to the extension plate and the toggle wheel fixing plate by bolts. One end of the extension plate has a protrusion, and a The placement slot fixing piece is connected to the extension plate by bolts, a groove is provided inside the placement slot fixing piece, a protrusion is provided outside the placement slot connecting piece that can cooperate with the placement slot fixing piece, the placement slot connecting piece is installed inside the placement slot fixing piece and can slide relatively, the spring is arranged above the protrusion of the extension plate and below the placement slot connecting piece, the placement slot is connected to the placement slot connecting piece by bolts, the retaining spring is placed inside the placement slot, the first motor is connected to the toggle wheel fixing plate by bolts, the first motor also has structures such as a rotating shaft, the rotating shaft of the first motor is connected to the toggle wheel fixing plate through a first sleeve and connected to the toggle wheel through a key, and the toggle wheel can toggle the retaining spring.

6. A greenhouse film covering robot as claimed in claim 5, characterized in that: The clamping spring has a certain elasticity and can be compressed and restored to its original state.

7. The greenhouse film covering robot according to claim 5, characterized in that: The placement groove is hollow inside, with a larger inner cavity at one end that will not compress the retaining spring, and a smaller inner cavity at the other end that can compress the retaining spring. The inner cavity of the middle part connecting the two ends gradually becomes smaller from the larger end to the smaller end, thereby achieving gradual compression of the retaining spring.

8. The greenhouse film covering robot according to claim 1, characterized in that: The soil covering device is composed of a soil covering shovel and a soil covering shovel fixing frame, and the soil covering shovel fixing frame is connected to the moving device shell of the moving device through bolts.

9. A greenhouse film covering robot as claimed in claim 8, characterized in that: The soil covering shovel is welded to the soil covering shovel fixing frame, and the lower end of the soil covering shovel is lower than the moving wheel.

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