A greenhouse film covering robot

Abstract

The application relates to a greenhouse film covering robot, which belongs to the field of greenhouse installation equipment and is composed of a moving device, a supporting device, a film placing device, a poking device and a soil covering device. The robot can automatically complete the film covering operation by adopting automatic components such as electric push rods, driving motors and encoders, greatly improves the work efficiency and shortens the film covering time; the output signals of the first hollow encoder and the second hollow encoder are compared through a control system, so that the overall displacement distance and the film placing length of the device are always kept consistent, thereby ensuring the tension and flatness of the film covering; the device can adapt to greenhouses with different heights and widths by the cooperation of the first electric push rod and the second electric push rod, and can meet various operation requirements; the third electric push rod and the third electric push rod execution rod can push the sliding sleeve rod to move up and down, so that the placing groove is kept in height consistency with the clamping spring fixing groove on the greenhouse framework, and the smooth placement of the clamping spring is ensured.

Description

TECHNICAL FIELD

[0001] The present application 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 poking device and a soil covering device, belonging to the field of agricultural machinery. BACKGROUND

[0002] Traditional film covering operations mostly rely on manual operation, which not only consumes time and effort, but also the quality of film covering largely depends on the skill level of 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 high technical level and rich practical experience. However, due to the uneven skill levels of different workers, the film covering quality also has great differences, sometimes even the film is laid unevenly and sealed poorly, which not only affects the growth environment of crops, but also may lead to the occurrence of diseases and pests, thereby affecting the yield and quality of crops.

[0003] In addition, the traditional film covering operation is particularly cumbersome and inefficient in the process of placing the snap spring. During the process of using the snap spring to fix the film, the worker needs to gradually compress the snap spring so that the outer diameter of the snap spring is smaller than the inner diameter of the slot on the greenhouse skeleton, and then press the snap spring into the snap spring fixing slot. After the snap spring enters the snap spring fixing slot, it restores to its original state, achieving the fixation of the greenhouse film. This process is time-consuming, especially in large or continuous greenhouse, the required time and labor cost is more significant. Due to the complexity of the snap spring placement process, improper operation may cause the snap spring to fall off or be damaged, thereby affecting the overall effect of film covering. Therefore, manual film covering operation is not only inefficient, but also difficult to guarantee the quality and stability. SUMMARY

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

[0005] The application is realized by the following technical scheme: a greenhouse film covering robot is composed of a supporting device, a moving device, a film placing device, a poking device and a soil covering device, the supporting device is connected with the moving device through bolts, the film placing device and the poking device are fixed on the supporting device through bolts, and the soil covering device is fixed on the moving device through 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 execution 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 execution 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 on both ends of the lower part of the supporting main frame through bolts, the lower part of the supporting main frame is connected with the moving device through bolts, the first connecting block is connected with the supporting main frame through bolts, the first connecting block is also connected with the first electric push rod, the first electric push rod can be used in cooperation with the first electric push rod execution rod, the first electric push rod execution rod is connected with the second connecting block, the second connecting block is also connected with the first right angle rod through bolts, the first hollow head is installed on the upper part of the supporting main frame and connected through 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 with the first right angle rod through bolts, the first right angle rod is connected with the third connecting block through bolts, the third connecting block is connected with the second electric push rod, the second electric push rod execution rod can be matched with the second electric push rod, the second electric push rod execution rod is also connected with the fourth connecting block, the fourth connecting block is also connected with the second right angle rod, the third hollow head is installed on the upper part of the second right angle rod and connected through 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 with the first right angle rod through bolts, the guide wheel fixing frame is fixed on the first right angle rod through bolts, and the guide wheel is arranged on the guide wheel fixing frame and can rotate with the guide wheel fixing frame.

[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, the moving wheel device is multiple, the first hollow encoder is installed on the first shaft of the moving wheel device, the first hollow encoder is one or more, and the moving device is one on the left and one on the right.

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

[0008] The film feeding device is composed of a third bevel gear, a fourth bevel gear, a film feeding motor fixing plate, a film feeding motor, a greenhouse film roll, a second shaft, a second hollow encoder and a greenhouse film roll fixing frame, the film feeding motor fixing plate is installed on the first right-angle rod of the supporting device through bolts, the film feeding motor is installed on the film feeding motor fixing plate through bolts, the film feeding motor has an output shaft and other structures, the fourth bevel gear is installed on the output shaft of the film feeding motor through a key, the fourth bevel gear can be meshed with the third bevel gear, the third bevel gear is fixed on one end of the second shaft through a key, the second hollow encoder is installed on the other end of the second shaft, the greenhouse film roll is installed on the second shaft, the greenhouse film roll fixing frame is connected with the first right-angle rod of the supporting device through bolts, the greenhouse film roll fixing frame is also provided with a through hole matched 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 execution 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 clasp spring, a sliding sleeve rod, a spring, a first shaft sleeve, a toggle wheel and a toggle wheel fixing plate, the fifth connecting block is connected with the support main frame of the support device through bolts, the fifth connecting block is also connected with the third electric push rod, the third electric push rod can be used in cooperation with the third electric push rod execution rod, the third electric push rod execution rod is also connected with the sixth connecting block, the sixth connecting block is connected with the extension plate through bolts, the sliding sleeve rod is connected with the extension plate and the toggle wheel fixing plate through bolts respectively, one end of the extension plate has a protrusion, and the upper portion is provided with the placement slot fixing piece, the placement slot fixing piece is connected with the extension plate through bolts, a recess is formed in the placement slot fixing piece, the placement slot connecting piece has a protrusion which can cooperate with the placement slot fixing piece, the placement slot connecting piece is installed in 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 with the placement slot connecting piece through bolts, the clasp spring is placed in the placement slot, the first motor is connected with the toggle wheel fixing plate through bolts, the first motor also has a rotating shaft and other structures, the rotating shaft of the first motor is connected with the toggle wheel fixing plate through the first shaft sleeve and is connected with the toggle wheel through a key, and the toggle wheel can toggle the clasp spring.

[0010] The clasp spring has elasticity, can be compressed and can restore to the original state, the placement slot is hollow, the inner cavity of one end is large and will not compress the clasp spring, the inner cavity of the other end is small and can compress the clasp spring, and the inner cavity of the middle part connecting the two ends gradually becomes smaller from the larger end to the smaller end, so that the clasp spring is gradually compressed.

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

[0012] The application has the advantages that the automatic components such as the electric push rod, the driving motor and the encoder are adopted, the automatic film covering operation can be completed, the work efficiency is greatly improved, the film covering time is shortened, the device can simultaneously move, place the film, place the spring and cover the soil, the steps of manual operation are reduced, the overall operation speed is improved, the output signals of the first hollow encoder and the second hollow encoder are compared through the control system, the overall displacement distance and the film placing length of the device are always kept consistent, so that the tension and flatness of the film covering are ensured, the film can be uniformly laid, the problems such as unevenness and wrinkles that may occur in manual operation are avoided, the overall quality of the film covering is improved, the workers only need to perform simple starting and monitoring operations, and do not need to manually lay the film and place the spring, so the labor intensity is greatly reduced, the automatic design of the device reduces the dependence on the skill level of the workers, even the workers with low skills can easily operate, the consistency and stability of the film covering operation are ensured, through the cooperation of the first electric push rod and the second electric push rod, the device can adapt to the greenhouse with different heights and widths, and meet various operation requirements, the third electric push rod and the third electric push rod execution rod can push the sliding sleeve rod to move up and down, can adapt to the spring fixing grooves with different heights, make the placing groove and the spring fixing groove consistent in height, and ensure the smooth placement of the spring. BRIEF DESCRIPTION OF DRAWINGS

[0013] FIG. 1 is a structural schematic diagram of the device; Figure 1 FIG. 2 is a structural schematic diagram of the moving device;

[0014] FIG. 3 is a structural schematic diagram of the supporting device; Figure 2 FIG. 4 is a structural schematic diagram of the film placing device;

[0015] Figure 3 FIG. 5 is a structural schematic diagram of the pushing device;

[0016] FIG. 6 is a structural schematic diagram of the soil covering device; Figure 4 FIG. 7 is a structural schematic diagram of the moving wheel device;

[0017] Figure 5 FIG. 8 is a schematic diagram of the internal connection relationship between the placing groove fixing part and the placing groove connecting part.

[0018] FIG. 9 is a structural schematic diagram of the device. Figure 6 FIG. 10 is a structural schematic diagram of the device.

[0019] Figure 7 FIG. 11 is a structural schematic diagram of the device.

[0020] FIG. 12 is a structural schematic diagram of the device. Figure 8 FIG. 13 is a structural schematic diagram of the device.

[0021] In the drawings, 1 is the moving device, 2 is the supporting device, 3 is the film placing device, 4 is the pushing device, and 5 is the soil covering device.

[0022] 101 is the connecting rod, 102 is the moving wheel device, and 103 is the first hollow encoder.​​​

[0023] 201, square tube head, 202, support main frame, 203, first connecting block, 204, first electric push rod, 205, first electric push rod execution rod, 206, first hollow head, 207, second connecting block, 208, second hollow head, 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 execution rod, 215, fourth connecting block, 216, first thin square tube, 217, second right angle rod, 218, third hollow head, 219, second thin square tube, 220, fourth hollow head;

[0024] 301, third bevel gear, 302, fourth bevel gear, 303, film unwinding motor fixing plate, 304, film unwinding motor, 305, greenhouse film roll, 306, second shaft, 307, second hollow encoder, 308, greenhouse film roll fixing frame;

[0025] 401, fifth connecting block, 402, third electric push rod, 403, third electric push rod execution rod, 404, sixth connecting block, 405, extension plate, 406, first motor, 407, placing groove fixing piece, 408, placing groove connecting piece, 409, placing groove, 410, clasp spring, 411, knob wheel, 412, knob wheel fixing plate, 413, sliding sleeve rod, 414, spring, 415, first shaft sleeve;

[0026] 501, soil covering shovel, 502, soil covering shovel fixing frame;

[0027] 1021, aluminum profile frame, 1022, drive motor, 1023, drive motor mounting plate, 1024, first bevel gear, 1025, second bevel gear, 1026, moving device shell, 1027, moving wheel, 1028, first shaft. DETAILED DESCRIPTION

[0028] The greenhouse film covering robot is composed of a supporting device 2, a moving device 1, a film placing device 3, a poking device 4 and a soil covering device 5, the supporting device 2 is connected with the moving device 1 through bolts, the film placing device 3 and the poking device 4 are fixed on the supporting device 2 through bolts, the soil covering device 5 is fixed on the moving device 1 through 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, a second electric push rod 213, a second electric push rod execution 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 at both ends of the lower part of the supporting main frame 202 through bolts, the lower part of the supporting main frame 202 is connected with the moving device 1 through bolts, the first connecting block 203 is connected with the supporting main frame 202 through bolts, the first connecting block 203 is also connected with the first electric push rod 204, the first electric push rod 204 can be used in cooperation with the first electric push rod execution rod 205, the first electric push rod execution rod 205 is connected with the second connecting block 207, the second connecting block 207 is also connected with the first right angle rod 209 through bolts, the first hollow head 206 is installed on the upper part of the supporting main frame 202 and connected through bolts, the first thin square tube 217 can be nested in the inside of the supporting main frame 202 and the first right angle rod 209 and slide along the inner wall of the first hollow head 206 and the second hollow head 208, the second hollow head 208 is connected with the first right angle rod 202 through bolts, the first right angle rod 202 is connected with the third connecting block 212 through bolts, the third connecting block 212 is connected with the second electric push rod 213, the second electric push rod execution rod 214 can cooperate with the second electric push rod 213, the second electric push rod execution rod 214 is also connected with the fourth connecting block 215, the fourth connecting block 215 is also connected with 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 through bolts, the second thin square tube 219 can be nested in the inside of the first right angle rod 209 and the second right angle rod 217 and slide along the inner wall of the third hollow head 218 and the fourth hollow head 220, the fourth hollow head 220 is connected with the first right angle rod 209 through bolts, the guide wheel fixing frame 210 is fixed on the first right angle rod 209 through bolts, the guide wheel 211 is arranged on the guide wheel fixing frame 210 and can rotate with it, the supporting device is provided with the same on the left and right sides except the second electric push rod 213 and the second electric push rod execution rod 214 on the upper end.

[0029] The protrusions on both ends of the first thin square tube 216 and the second thin square tube 219 ensure that the two ends of the first thin square tube 216 will not be separated 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 be separated 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 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. In this process, the first thin square tube 216 has a supporting and guiding effect. The second electric push rod 213 and the second electric push rod actuator 214 are used to push the first right-angle rod 209 and the second right-angle rod 217 to relatively displace in the horizontal direction to adapt to greenhouses of different widths. In this process, the second thin square tube 219 has a supporting and guiding effect.

[0030] The moving device 1 is composed of a connecting rod 101, a plurality of moving wheel devices 102, and one or more first hollow encoders 103. The connecting rod 101 connects two moving wheel devices 102. The first hollow encoder 103 is installed on the first shaft 1028 of the moving wheel device 102. The moving device 1 has one on the left and one on the right.

[0031] 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. 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 rotates synchronously. The drive motor mounting plate 1023 is fixed on the outer surface of the moving 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 transmission shaft of the drive motor 1022 by a key. The first bevel gear 1024 and the second bevel gear 1025 mesh with each other. The second bevel gear 1025 is fixed on the first shaft 1028 by a key.

[0032] The drive motor 1022 transmits power through the first bevel gear 1024 and the second bevel gear 1025 to make the moving wheel 109 rotate to move the entire device. The moving wheel device 102 can have two on one side or multiple.

[0033] The film releasing device 3 is composed of a third bevel gear 301, a fourth bevel gear 302, a film releasing motor fixing plate 303, a film releasing 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 releasing motor fixing plate 303 is installed on the first right-angle rod 209 by bolts. The film releasing motor 304 is installed on the film releasing motor fixing plate 303 by bolts. The film releasing motor 304 has an output shaft and other structures. The fourth bevel gear 302 is installed on the output shaft of the film releasing motor 304 by a key. The fourth bevel gear 302 can be engaged with the third bevel gear 301. The third bevel gear 301 is fixed on one end of the second shaft 306 by a key. The second hollow encoder 307 is installed on the other end of the second shaft 306. The greenhouse film roll 305 is installed on the second shaft 306. The greenhouse film roll fixing frame 308 is connected with 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 which can cooperate with the second shaft 306. The second shaft 306 passes through the through hole of the greenhouse film roll fixing frame 308.

[0034] 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, so as 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 moving device 1, and converts the rotation numbers 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.

[0035] The toggle device 4 is composed of a fifth connecting block 401, a third electric push rod 402, a third electric push rod execution rod 403, a sixth connecting block 404, an extension plate 405, a first motor 406, a placement groove fixing piece 407, a placement groove connecting piece 408, a placement groove 409, a clamping spring 410, a toggle wheel 411, a toggle wheel fixing plate 412, a sliding sleeve rod 413, a spring 414 and a first shaft sleeve 415. The fifth connecting block 401 is connected with the support main frame 202 of the support device 2 through bolts. The fifth connecting block 401 is also connected with the third electric push rod 402. The third electric push rod 402 can be used in cooperation with the third electric push rod execution rod 403. The third electric push rod execution rod 403 is also connected with the sixth connecting block 404. The sixth connecting block 404 is connected with the extension plate 405 through bolts. The sliding sleeve rod 413 is connected with the extension plate 405 and the toggle wheel fixing plate 412 through bolts respectively. The extension plate 405 has a protrusion at one end and is provided with the placement groove fixing piece 407 above. The placement groove fixing piece 407 is connected with the extension plate 405 through bolts. The placement groove fixing piece 407 is internally provided with a groove. The placement groove connecting piece 408 is externally provided with a protrusion which can cooperate with the placement groove fixing piece 407. The placement groove connecting piece 408 is installed in the placement groove fixing piece 407 and can slide relatively. The spring 414 is arranged above the protrusion of the extension plate 405 and below the placement groove connecting piece 408. The placement groove 409 is connected with the placement groove connecting piece 408 through bolts. The clamping spring 410 is arranged in the placement groove 409. The first motor 406 is connected with the toggle wheel fixing plate 412 through bolts. The first motor 406 is also provided with a rotating shaft and other structures. The rotating shaft of the first motor 406 is connected with the toggle wheel fixing plate 412 through the first shaft sleeve 415 and is connected with the toggle wheel 411 through a key. The toggle wheel 411 is provided with gear teeth and can toggle the clamping spring 412.

[0036] The clamping spring 412 has a certain elasticity and can be compressed and restored to its original state. The placement groove 409 is hollow. The inner cavity of one end is large and will not compress the clamping spring 412. The inner cavity of the other end is small and can compress the clamping spring 412. The inner cavity of the middle part connecting the two ends gradually becomes smaller from the larger end to the smaller end, thereby gradually compressing the clamping spring 412. The third electric push rod 402 and the third electric push rod execution rod 403 can be used in cooperation to push the sliding sleeve rod 413 to slide up and down along the support main frame 202 of the support device 2, thereby realizing the up and down movement of the placement groove 409 to adapt to the height difference of the clamping spring fixing groove on the different greenhouse frameworks. The first motor 406 drives the toggle wheel 411 to rotate and toggle the clamping spring 412 into the placement groove. The use of the spring 414 can effectively avoid the influence of ground undulation on the operation and service life of the invention.

[0037] The covering device 5 is composed of a covering shovel 501 and a covering shovel fixing frame 502, the covering shovel fixing frame 502 is connected with the moving device shell 102 of the moving device 1 through bolts, the covering shovel 501 is welded with the covering shovel fixing frame 502, and the lower end of the covering shovel 501 is lower than the moving wheel.

[0038] The covering device 5 is composed of a covering shovel 501 and a covering shovel fixing frame 502, the covering shovel fixing frame 502 is connected with the moving device shell 102 of the moving device 1 through bolts, the covering shovel 501 is welded with the covering shovel fixing frame 502, and the lower end of the covering shovel 501 is lower than the moving wheel.

[0039] The control system is electrically connected with each controlled component.

[0040] During operation, the control system controls the first electric push rod 204, the first electric push rod execution rod 205, the second electric push rod 213 and the second electric push rod execution rod 214 to work, so as to realize the adjustment of the film covering height and width, controls the third electric push rod 402 and the third electric push rod execution rod 403 to work, so as to realize that the placing groove 409 is consistent with the height of the clasp spring fixing groove of the greenhouse framework, controls the driving motor 1023 to work, so as to realize the overall movement to one end of the greenhouse framework, controls the film placing motor 304 to work, so as to release a piece of greenhouse film which can cover the end face of the greenhouse framework in advance, and manually fix it on the end face, after the end face is fixed, the control system controls the driving motor 1023 to work, so as to move forward, at the same time, the film placing motor 304 is controlled to work, so as to release the greenhouse film with a length equal to the overall movement distance of the device, at the same time, the first motor 406 is controlled to work, so as to drive the driving wheel 411 to rotate, the clasp spring 414 is driven into the placing groove 409, and after being compressed and guided in the placing groove 409, the clasp spring 414 enters the clasp spring fixing groove of the greenhouse framework, the length of the clasp spring 414 entering the clasp spring fixing groove is equal to the overall movement distance of the device, after the overall movement to the other end of the greenhouse framework, the control system controls the driving motor 1023 and the first motor 406 to stop working, so as to stop the movement of the device and the driving of the clasp spring 414, at the same time, the film placing motor 304 continues to work, so as to release a piece of greenhouse film which can cover the end face of the greenhouse framework, and the film placing motor 304 stops working, and the work process ends.

[0041] For those skilled in the art, according to the teaching of the present application, the changes, modifications, replacements and variations made to the embodiments without departing from the principles and spirits of the present application still fall within the protection scope of the present application.

Claims

1. A greenhouse film covering robot, which is composed of a supporting device, a moving device, a film placing device, a poking device and a soil covering device, characterized in that: The supporting device is connected with the moving device through bolts, the film placing device and the pushing device are fixed on the supporting device through bolts, the soil covering device is fixed on the moving device through 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 execution 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 execution 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 at the two ends of the lower part of the supporting main frame through bolts. The lower part of the supporting main frame is connected with the moving device through bolts. The first connecting block is connected with the supporting main frame through bolts. The first connecting block is also connected with the first electric push rod. The first electric push rod can be used in cooperation with the first electric push rod execution rod. The first electric push rod execution rod is connected with the second connecting block. The second connecting block is also connected with the first right-angle rod through bolts. The first hollow head is installed on the upper part of the supporting main frame and is connected through bolts. The first thin square tube can be nested in the supporting main frame and the first right-angle rod and slides along the inner walls of the first hollow head and the second hollow head. The second hollow head is connected with the first right-angle rod through bolts. The first right-angle rod is connected with the third connecting block through bolts. The third connecting block is connected with the second electric push rod. The second electric push rod execution rod can be matched with the second electric push rod. The second electric push rod execution rod is also connected with the fourth connecting block. The fourth connecting block is also connected with the second right-angle rod. The third hollow head is installed on the upper part of the second right-angle rod and is connected through 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 with the first right-angle rod through bolts. The guide wheel fixing frame is fixed on the first right-angle rod through bolts. The guide wheel is arranged on the guide wheel fixing frame and can rotate together.The dial device is composed of a fifth connecting block, a third electric push rod, a third electric push rod execution 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 clasp spring, a sliding sleeve rod, a spring, a first shaft sleeve, a dial wheel and a dial wheel fixing plate. The fifth connecting block is connected with the support main frame of the support device through bolts. The fifth connecting block is also connected with the third electric push rod. The third electric push rod can be used in cooperation with the third electric push rod execution rod. The third electric push rod execution rod is also connected with the sixth connecting block. The sixth connecting block is connected with the extension plate through bolts. The sliding sleeve rod is connected with the extension plate and the dial wheel fixing plate through bolts respectively. One end of the extension plate has a protrusion, and the upper part is provided with the placement slot fixing piece. The placement slot fixing piece is connected with the extension plate through bolts. The placement slot fixing piece is internally provided with a groove. The placement slot connecting piece is externally provided with a protrusion which can cooperate with the placement slot fixing piece. The placement slot connecting piece is installed in 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 with the placement slot connecting piece through bolts. The clasp spring is placed in the placement slot. The first motor is connected with the dial wheel fixing plate through bolts. The first motor also has a rotating shaft structure. The rotating shaft of the first motor is connected with the dial wheel fixing plate through the first shaft sleeve and connected with the dial wheel through a key. The dial wheel can dial the clasp spring. The clasp spring has a certain elasticity and can be compressed and restored to its original state. The placement slot is hollow. The larger one end cavity will not compress the clasp spring, and the smaller one end cavity can compress the clasp spring. The cavity of the intermediate part connecting the two ends gradually becomes smaller from the larger one end to the smaller one end, so as to gradually compress the clasp spring.

2. The greenhouse film-laying robot according to claim 1, characterized in that: The mobile device is composed of a connecting rod, a plurality of mobile wheel devices and a first hollow encoder, the connecting rod connects two mobile wheel devices, the first hollow encoder is installed on a first shaft of the mobile wheel device, and the mobile device has one on the left and one on the right.

3. The greenhouse film-laying robot according to claim 2, characterized in that: The mobile wheel device is composed of an aluminum profile frame, a driving motor, a driving motor mounting plate, a first bevel gear, a second bevel gear, a mobile device housing, a mobile wheel and a first shaft, the outer surface of the aluminum profile frame is connected to the mobile device housing through bolts, the first shaft is connected to the mobile device housing through a bearing, the first shaft is also connected to the mobile wheel and rotates synchronously, the driving motor mounting plate is fixed on the outer surface of the mobile device housing through bolts, the driving motor mounting plate is connected to the driving motor through bolts, the driving motor has a transmission shaft structure, the first bevel gear is connected to the transmission shaft of the driving motor through a key, the first bevel gear and the second bevel gear are meshed with each other, and the second bevel gear is fixed on the first shaft through a key.

4. The greenhouse film-laying 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 straight rod of the supporting device through bolts, the film unwinding motor is installed on the film unwinding motor fixing plate through bolts, the film unwinding motor has an output shaft structure, the fourth bevel gear is installed on the output shaft of the film unwinding motor through a key, the fourth bevel gear can be meshed with the third bevel gear, the third bevel gear is fixed on one end of the second shaft through a key, the second hollow encoder is installed on the other end of the second shaft, the greenhouse film roll is installed on the second shaft, the greenhouse film roll fixing frame is connected to the first straight rod of the supporting device through bolts, the greenhouse film roll fixing frame is also provided with a through hole matched with the second shaft, and the second shaft passes through the through hole of the greenhouse film roll fixing frame.

5. The greenhouse film-laying robot according to claim 1, characterized in that: The covering device is composed of a covering shovel and a covering shovel fixing frame, and the covering shovel fixing frame is connected to the mobile device housing of the mobile device through bolts.

6. A greenhouse mulching robot according to claim 5, characterized in that: The covering shovel is welded with the covering shovel fixing frame, and the lower end of the covering shovel is lower than the mobile wheel.

Images