Land-rail dual-purpose split type operation equipment and operation method

Abstract

The invention discloses land-rail dual-purpose split type operation equipment and an operation method, the land-rail dual-purpose split type operation equipment comprises a driving vehicle, a visual sensor, a placement rail, a lifting rail, a driving assembly and an operation vehicle, the visual sensor is arranged on one side of the driving vehicle, and the placement rail is arranged on the top of the driving vehicle; moving wheels are arranged on the two sides of the operation vehicle, the moving wheels are located in the containing rail and matched with the round pipe rail, a lifting rail is arranged on the side, provided with the visual sensor, of the driving vehicle and corresponds to the containing rail, and a driving assembly is arranged in the driving vehicle to drive the lifting rail to ascend and descend. By arranging the driving vehicle and the placing track, the working vehicle can be placed on the driving vehicle, the length direction of the placing track is perpendicular to the moving direction of the driving vehicle, and meanwhile, the lifting track is matched, so that the land-track dual-purpose effect can be achieved, the problem of turning of the working vehicle can be avoided, and the moving space of the working vehicle is effectively reduced; the production cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of greenhouse operation equipment, and in particular to a land-rail dual-purpose split operation equipment and an operation method. Background Art

[0002] In the glass greenhouse of facility agriculture, there are generally coiled circular tube tracks. The circular tube tracks can not only provide temperature for the entire glass greenhouse, but also serve as tracks for various walking equipment (picking equipment, spraying equipment, inspection equipment) in the greenhouse.

[0003] At present, the driving force of greenhouse work vehicles generally uses round tubes as tracks, and the walking equipment is moved and worked in conjunction with the round tube tracks; however, when the greenhouse work vehicle changes tracks, it not only requires manual control to change tracks, increasing labor intensity and labor costs, but also causes its turning radius to be too large, resulting in high production costs and low greenhouse land utilization.

[0004] In view of this, the existing technology still needs to be improved and developed. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a land-rail dual-purpose split operating equipment and an operating method, aiming to solve the problem that the existing operating equipment requires manual control to change tracks and has a large turning radius, resulting in increased production costs.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0007] A land-rail dual-purpose split-type operating equipment, comprising:

[0008] Drive the car;

[0009] A visual sensor, disposed on one side of the driving vehicle, for detecting the circular tube track in the greenhouse;

[0010] A placement track is arranged on the top of the driving vehicle; the length direction of the placement track is perpendicular to the moving direction of the driving vehicle;

[0011] A lifting track is rotatably arranged on one side of the driving vehicle; the lifting track corresponds to the placement track;

[0012] A driving assembly is arranged inside the driving vehicle; the driving assembly is connected to the lifting track and is used to drive the lifting track to move up and down;

[0013] The working vehicle is arranged on the top of the driving vehicle; moving wheels are arranged on both sides of the working vehicle, the moving wheels are located in the placement track, and the moving wheels cooperate with the circular tube track.

[0014] According to the above technical means, by setting up a driving vehicle and placing the track, the work vehicle can be placed on the driving vehicle, and the length direction of the placement track can be arranged perpendicular to the moving direction of the driving vehicle. At the same time, in conjunction with the lifting track, it can not only achieve the dual-use effect of land and rail, but also avoid the problem of turning of the work vehicle, effectively reduce the moving space of the work vehicle, and reduce production costs.

[0015] Furthermore, the driving assembly includes:

[0016] An output motor is arranged inside the driving vehicle;

[0017] A reduction box is arranged on the driving vehicle; the output motor cooperates with the reduction box;

[0018] A rotating rod is rotatably arranged on the driving vehicle; the rotating rod cooperates with the lifting track, and the rotating rod is connected with the reduction box to drive the rotating rod to rotate.

[0019] According to the above technical means, the rotating rod is rotatably set on the driving vehicle and is located on the side of the driving vehicle where the lifting guide rail is set. The rotating rod cooperates with the reduction box. The output motor acts on the rotating rod through the reduction box and drives the rotating rod to rotate. The two ends of the rotating rod are respectively connected to the two lifting rails; the lifting rails can be driven to rotate by the output motor to facilitate the movement of the work vehicle.

[0020] Furthermore, a limit rod is arranged on the rotating rod, and an upper limit proximity switch and a lower limit proximity switch are arranged on the side wall of the driving vehicle, and both the upper limit proximity switch and the lower limit proximity switch cooperate with the limit rod.

[0021] According to the above technical means, by setting an upper limit proximity switch and a lower limit proximity switch for detecting the limit rod, the rotation angle of the lifting track can be effectively controlled to prevent the lifting track from rotating too much, thereby causing damage to itself or damage to the driving vehicle; at the same time, through the upper limit proximity switch of the lifting track, the lifting track can be arranged vertically, and can also be used to cover the opening of the sinking groove in the track, play a limiting role, and prevent the work vehicle from slipping out of the opening.

[0022] Furthermore, a moving groove is provided on the surface of the lifting track, and a guide plate is provided in the moving groove.

[0023] According to the above technical means, the guide plate is arranged at an angle close to the end of the driving vehicle. Through the action of the guide plate, the width of the movable groove can be gradually reduced from the end close to the lifting track shaft to the end away from the lifting track shaft. The movable wheel moves in the movable groove and can be guided under the action of the guide plate to facilitate the accurate entry of the working vehicle onto the circular tube track after the working vehicle moves out of the surface of the lifting track, thereby avoiding the need to adjust the position of the working vehicle again, thereby further improving the efficiency of the working vehicle.

[0024] Furthermore, a U-shaped groove is provided at one end of the lifting track away from the driving vehicle, and the U-shaped groove cooperates with the circular tube track.

[0025] According to the above technical means, the U-shaped groove of the lifting track is matched with the circular tube track, so that the lifting track and the circular tube track are clamped, and the lifting track is partially located at the bottom of the circular tube track. At this time, with the guide plate in the lifting track, it is more convenient to match the work vehicle with the circular tube track, and there is no need to worry about the surface of the circular tube track being higher or lower than the ground;

[0026] Furthermore, the moving wheel comprises:

[0027] Mobile Department;

[0028] The guide part is arranged on one side of the moving part; and an inclined surface is arranged on one side of the guide part close to the moving part.

[0029] According to the above technical means, the work vehicle can be connected to the circular tube track through two relatively arranged guide parts. When the guide part is on the track, it can not only play a guiding role, but also play a limiting role during the movement of the work vehicle, thereby effectively preventing the work vehicle from being separated from the circular tube guide rail.

[0030] Furthermore, a limiter is provided at one end of the placement track away from the lifting track, and a limit assembly is provided on the driving vehicle.

[0031] According to the above technical means, the limiter can be a trigger button, and the limiter is connected to the controller. In the initial state, the moving wheel of the work vehicle abuts against the limiter, and the limit component limits the work vehicle to prevent the work vehicle from shaking or moving during movement.

[0032] Furthermore, the limiting component includes:

[0033] Two cylinders are arranged at both ends of the driving vehicle and are respectively located on both sides of the working vehicle;

[0034] A top plate is arranged at the extended end of the cylinder; the top plate is supported by the moving wheels of the working vehicle to limit the movement of the working vehicle.

[0035] According to the above technical means, the shaking and movement of the work vehicle can be effectively restricted by cooperating with the cylinder and the top plate, thereby ensuring the stability of the work vehicle during movement.

[0036] Furthermore, the visual sensor includes a front-end sensor and a rear-end sensor, and the front-end sensor and the rear-end sensor correspond to the circular tube track respectively.

[0037] According to the above technical means, the front-end sensor is located at the front end of the driving vehicle, and the rear-end sensor is located at the rear end of the driving vehicle. The front-end sensor and the rear-end sensor correspond to the circular tube track respectively; by setting the front-end sensor and the rear-end sensor, the position of the circular tube track can be accurately located to facilitate the lifting track to be connected to the circular tube track.

[0038] A land-rail dual-purpose split operation method, based on the land-rail dual-purpose split operation equipment as described above, comprises:

[0039] Starting the driving vehicle and detecting the circular tube track by the visual sensor;

[0040] After the circular tube track is detected, the driving vehicle is paused, and one end of the lifting track is placed close to the circular tube track;

[0041] The working vehicle is driven by the moving wheels to move onto the circular tube track, and the working vehicle performs operations;

[0042] After the operation is completed, the operating vehicle is driven back to the placing track by the moving wheels, and the lifting track is retracted.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] In the present invention, a visual sensor is arranged on one side of the driving vehicle for detecting the circular tube track in the greenhouse, and a placement track is arranged on the top of the driving vehicle for placing the working vehicle; moving wheels are arranged on both sides of the working vehicle, and the moving wheels are located in the placement track and cooperate with the circular tube track; a lifting track is arranged on the side of the driving vehicle where the visual sensor is arranged, and the lifting track corresponds to the placement track to facilitate the moving of the working vehicle onto the circular tube track, and a driving component is arranged inside the driving vehicle to drive the lifting track to lift and lower; by arranging the driving vehicle and the placement track, the working vehicle can be placed on the driving vehicle, and the length direction of the placement track is arranged perpendicular to the moving direction of the driving vehicle, and at the same time, in cooperation with the lifting track, the driving vehicle and the working vehicle can not only realize automated work and effectively save manpower and material resources, but also realize the dual-use effect of land and rail. Compared with the prior art, it effectively avoids the problem that the working vehicle needs to turn, reduces the moving space of the working vehicle, and reduces production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0046] Figure 2 It is a schematic diagram of the structure of the driving vehicle of the present invention.

[0047] Figure 3 for Figure 2 A magnified schematic diagram of center A.

[0048] Figure 4 It is a schematic diagram of the structure of the working vehicle of the present invention.

[0049] Figure 5 It is a schematic diagram of the lifting track structure of the present invention.

[0050] Figure 6 It is a schematic diagram of the driving vehicle and the circular tube track structure of the present invention.

[0051] Figure 7 The figure is a flow chart of the land-rail dual-purpose split operation method of the present invention.

[0052] The numbers in the figure are as follows: 1. Driving vehicle; 2. Visual sensor; 3. Placement track; 31. Limiter; 4. Lifting track; 41. Moving slot; 42. Guide plate; 43. U-shaped slot; 5. Driving assembly; 51. Rotating rod; 52. Limit rod; 53. Upper limit proximity switch; 54. Lower limit proximity switch; 6. Working vehicle; 61. Moving wheel; 62. Moving part; 63. Guide part; 7. Circular tube track. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0054] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0055] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] As attached Figure 6 As shown, the greenhouse layout in the prior art is generally to arrange the circular tube tracks 7 in an array, and they can be connected by connecting them end to end; since the interval between two crops in the greenhouse is relatively small, the spacing between the circular tube tracks 7 is relatively small, and the length of the general working vehicle 6 is relatively long, so it is not convenient to directly rotate on the circular tube track 7. The working vehicle 6 needs to be detached from the circular tube track 7 first, and then turn and move to the adjacent circular tube track 7, which results in low working efficiency of the working vehicle 6 and a large turning radius, requiring a large greenhouse space, causing space waste and increasing its cost; at the same time, it is also a relatively troublesome process to get the working vehicle 6 on and off the track, and the operation is relatively complicated, which greatly affects the working efficiency.

[0057] In view of the shortcomings of the prior art, this embodiment provides a land-rail dual-purpose split operation equipment and an operation method, which can be specifically referred to as follows:

[0058] As attached Figure 1 and attached Figure 2As shown, a land-rail dual-purpose split operating equipment includes a driving vehicle 1, a visual sensor 2, a placement track 3, a lifting track 4, a driving component 5 and a working vehicle 6; the driving vehicle 1 can move along the arrangement direction of the circular tube track 7, and a visual sensor 2 is arranged on one side of the driving vehicle 1 for detecting the circular tube track 7 in the greenhouse to facilitate the driving vehicle 1 to move to the position of the circular tube track 7; a placement track 3 is arranged on the top of the driving vehicle 1, and the length direction of the placement track 3 is perpendicular to the moving direction of the driving vehicle 1, and the working vehicle 6 is placed on the placement track 3, and the driving vehicle 1 is used to carry the working vehicle 6 through the placement track 3, and the placement track 3 can also limit the working vehicle 6 to prevent the working vehicle 6 from shaking or detaching from the driving vehicle 1 during movement; a lifting track 4 is also rotatably arranged on one side of the driving vehicle 1 where the visual sensor 2 is arranged, one end of the lifting track 4 rotates on the driving vehicle 1, and the other end can rotate, and the lifting track 4 Corresponding to the placement track 3, and the two cooperate with each other; a driving component 5 is also provided inside the driving vehicle 1, and the driving component 5 is connected to the lifting track 4, and is used to drive the lifting track 4 to rotate, so as to lift or drop the lifting track 4 to the ground away from the end of the driving vehicle 1; moving wheels 61 are provided on both sides of the driving vehicle 1, and a driver can be provided inside the moving wheel 61 so that the moving wheel 61 drives the working vehicle 6 to move, and the moving wheel 61 is located in the placement track 3, and the moving wheel 61 cooperates with the circular tube track 7, and can walk on the circular tube track 7; by setting the driving vehicle 1 and the placement track 3, the working vehicle 6 can be placed on the driving vehicle 1, and the length direction of the placement track 3 is arranged perpendicular to the moving direction of the driving vehicle 1, and at the same time, in conjunction with the lifting track 4, not only can the dual-use effect of land and rail be achieved, but also the problem of turning of the working vehicle 6 can be avoided, effectively reducing the moving space of the working vehicle 6 and reducing the production cost.

[0059] Specifically, the work vehicle 6 is located on the top of the driving vehicle 1, and the moving direction of the moving wheels 61 of the work vehicle 6 is perpendicular to the moving direction of the driving vehicle 1. The work vehicle 6 and the moving wheels 61 can realize the lateral and longitudinal movement of the work vehicle 6, thereby avoiding the problem that the work vehicle 6 needs to turn when changing the circular tube track 7; when performing greenhouse operations, the driving vehicle 1 drives the work vehicle 6 to move along the arrangement direction of the circular tube track 7. When the visual sensor 2 detects the circular tube track 7, it sends a signal to the controller in the driving vehicle 1, and the controller sends a signal to the driving vehicle 1. The driving source in the vehicle 1 (the driving source can be a motor) drives the driving vehicle 1 to move to the vicinity of the circular tube track 7, then stops moving and self-locks, and then the driving component 5 drives the lifting track 4 to rotate on the driving vehicle 1. After rotating a certain angle, one end of the lifting track 4 corresponds to the placement track 3, and the other end falls to the ground. At this time, the moving wheel 61 of the working vehicle 6 can be started, and the moving wheel 61 drives the working vehicle 6 to move along the placement track 3, and move to the lifting track 4, and then move to the circular tube track 7, and the working vehicle 6 can operate;

[0060] During the operation of the work vehicle 6, the driving vehicle 1 and the lifting track 4 can be in a locked state. When the operation is completed, the work vehicle 6 moves to the lifting track 4 under the action of the moving wheel 61, and moves along the lifting track 4 to the placement track 3, moves to the initial position, and finally drives the lifting track 4 to restore the initial state through the driving component 5, and the driving vehicle 1 drives the work vehicle 6 to perform the next operation.

[0061] In this embodiment, as shown in the attached Figure 2 As shown, there are two placement rails 3, and the two placement rails 3 are arranged at intervals on the top of the driving vehicle 1. The placement rails 3 include a placement slot plate, and a sink groove is opened on the placement slot plate, and the moving wheels 61 of the working vehicle 6 are located in the sink groove; through the arrangement of the sink groove, the moving wheels 61 can be restricted to prevent the working vehicle 6 from moving along the moving direction of the driving vehicle 1 during the movement of the driving vehicle 1. In this way, errors will occur when docking with the lifting rail 4 and the circular tube rail 7, and the working vehicle 6 will not be able to move onto the circular tube rail 7.

[0062] Furthermore, the opening direction of the trough is perpendicular to the moving direction of the driving vehicle 1, and a baffle is provided at the end of the trough away from the lifting rail 4, so as to prevent the working vehicle 6 from moving out from the end of the trough away from the lifting rail 4; and an opening is provided at the end of the trough close to the lifting rail 4, and the opening corresponds to the lifting rail 4. The opening is for facilitating the moving vehicle to move out from the opening and onto the lifting rail 4.

[0063] The visual sensor 2 is a prior art. The visual sensor 2 can be used to capture images and send them to the controller inside the driving vehicle 1. The controller analyzes and determines whether it is a circular tube track 7 through an internal program. When the visual sensor 2 detects the circular tube track 7, the controller sends a signal to the driving source of the driving vehicle 1, thereby stopping the movement of the driving vehicle 1. At this time, the working vehicle 6 can work.

[0064] The driving vehicle 1 is of prior art, and includes a driving wheel, a shell and electrical components. The driving wheel is driven by a driving source, so that the driving vehicle 1 can move. The placement track 3 is arranged on the surface of the shell. A controller is arranged inside the driving vehicle 1, and the controller is connected to the driving source and the electrical components. Furthermore, electrical components are also arranged inside the working vehicle 6, and the electrical components inside the working vehicle 6 are connected to the controller of the driving vehicle 1 through a wireless connection module, so that signals can be sent to each other between the controller and the working vehicle 6.

[0065] In this embodiment, a visual module is provided at the front end of the driving vehicle 1, and the visual module is connected to the controller. The visual module includes a camera. The visual module can facilitate the movement of the driving vehicle 1 and facilitate the avoidance or alarm of staff or obstacles to avoid accidents such as collision of the driving vehicle 1.

[0066] In one embodiment of the present application, as shown in the attached Figure 2 and attached Figure 3 As shown, the driving assembly 5 includes an output motor, a reduction gearbox and a rotating rod 51. The output motor is arranged inside the driving vehicle 1, and the reduction gearbox is also arranged on the driving vehicle 1, and the conveying motor is connected to the reduction gearbox. The reduction gearbox is used to reduce the speed of the output motor and increase its torque; the rotating rod 51 is rotatably arranged on the driving vehicle 1 and is located on the side where the lifting guide rail of the driving vehicle 1 is arranged. The rotating rod 51 cooperates with the reduction gearbox. The output motor acts on the rotating rod 51 through the reduction gearbox and drives the rotating rod 51 to rotate, and the two ends of the rotating rod 51 are respectively connected to the two lifting rails 4; the lifting rail 4 can be driven to rotate by the output motor to facilitate the movement of the working vehicle 6.

[0067] In this embodiment, the reduction gearbox partially protrudes from the driving vehicle 1, so that the rotating rod 51 can be located on the outside of the driving vehicle 1. A limit rod 52 is provided on the rotating rod 51. The limit rod 52 is arranged perpendicular to the rotating rod 51 and rotates with the rotation of the rotating rod 51. An upper limit proximity switch 53 and a lower limit proximity switch 54 are provided on one side of the reduction gearbox protruding from the driving vehicle 1. The upper limit proximity switch 53 and the lower limit proximity switch 54 are both matched with the limit rod 52 for detecting the position of the limit rod 52.

[0068] Specifically, the upper limit proximity switch 53 and the lower limit proximity switch 54 are both prior art. When the limit rod 52 rotates and contacts the upper limit proximity switch 53 and the lower limit proximity switch 54, the proximity switch can sense the position of the rotating rod 51, and then control the rotating rod 51 to pause; in the initial state, the lifting track 4 is in a retracted state, that is, one end of the lifting track 4 is rotatably set on the driving vehicle 1, and the other end is located on the top of the driving vehicle 1, so that the lifting track 4 is arranged vertically, and the limit rod 52 contacts the upper limit proximity switch 53 at this time; when the working vehicle 6 is working, the lifting track 4 rotates under the action of the output motor, and the limit rod 52 on the rotating rod 51 also rotates accordingly, and rotates in the direction away from the driving vehicle 1 until the limit rod 52 contacts the lower limit proximity switch 54, which means that one end of the lifting track 4 contacts the ground or the circular tube track 7, the output motor stops rotating, and sends a signal to the controller, the controller sends a signal to the working vehicle 6, the working vehicle 6 moves, and performs greenhouse operations.

[0069] By setting the limit rod 52, the upper limit proximity switch 53 and the lower limit proximity switch 54, the rotation angle of the lifting track 4 can be effectively controlled to prevent the lifting track 4 from rotating too much, thereby preventing itself from being damaged or causing damage to the driving vehicle 1; at the same time, through the upper limit proximity switch 53 of the lifting track 4, the lifting track 4 can be arranged vertically, and can also be used to cover the opening of the sinking groove in the track 3, play a limiting role, and prevent the working vehicle 6 from slipping out of the opening.

[0070] In one embodiment of the present application, as shown in the attached Figure 2 and attached Figure 5 As shown, a movable groove 41 is provided on the surface of the lifting track 4, and a guide plate 42 is provided in the movable groove 41. The movable groove 41 corresponds to the sink groove where the groove plate is placed, and can be used for the movable wheel 61 to move; a guide plate 42 is provided in the movable groove 41, and the guide plate 42 is arranged at an angle close to the end of the driving vehicle 1, and the two guide plates 42 of the two lifting tracks 4 are arranged symmetrically; through the action of the guide plate 42, the width of the movable groove 41 can be gradually reduced from the end close to the rotating shaft of the lifting track 4 to the end away from the rotating shaft of the lifting track 4, and the movable wheel 61 can be moved in the movable groove 41, and can be guided under the action of the guide plate 42, so that after the working vehicle 6 moves out of the surface of the lifting track 4, it can accurately enter the circular tube track 7, avoid adjusting the position of the working vehicle 6 again, and further improve the efficiency of the working vehicle 6.

[0071] In the prior art, the circular tube track 7 may protrude from the ground, or a step may be provided on one side of the circular tube track 7 so that the surface of the step is flush with the surface of the circular tube track 7; the above two arrangements of the circular tube track 7 are both troublesome or cumbersome when the working vehicle 6 is on or off the track, thereby affecting the working efficiency of the working vehicle 6; when the circular tube track 7 protrudes from the ground, it is not convenient for the wheels of the working vehicle 6 to cooperate with the circular tube track 7, so that it is necessary to use an external lifting device to conveniently place the working vehicle 6 on the circular tube track 7; when the circular tube track 7 is flush with the ground, although it is convenient for the working vehicle 6 to be connected to the circular tube track 7, it is not convenient for the working vehicle 6 to detach from the circular tube track 7.

[0072] In this embodiment, a U-shaped groove 43 is provided at the end of the lifting track 4 away from the driving vehicle 1, and the U-shaped groove 43 cooperates with the circular tube track 7; specifically, in the initial state, the lifting track 4 is in a vertical state. When the working vehicle 6 needs to work, the end of the lifting track 4 away from the driving vehicle 1 is rotated and rotated to the top of the circular tube track 7. Under continuous rotation, the U-shaped groove 43 of the lifting track 4 cooperates with the circular tube track 7, so that the lifting track 4 is clamped with the circular tube track 7, and the lifting track 4 is partially located at the bottom of the circular tube track 7. At this time, with the guide plate 42 in the lifting track 4, it is more convenient to move the working vehicle 6 cooperates with the circular tube track 7, and there is no need to worry about the surface of the circular tube track 7 being higher or lower than the ground; when the working vehicle 6 completes the operation and is ready to be recovered, the lifting track 4 is in a state of cooperating with the circular tube track 7, and the working vehicle 6 can move along the circular tube track 7 to the vicinity of the lifting track 4, and the lifting track 4 is partially inclined and located at the bottom of the circular tube track 7. When the working vehicle 6 continues to move toward the lifting track 4, the moving wheel 61 of the working vehicle 6 can contact one end of the lifting track 4 where the U-shaped groove 43 is set, and under the effect of its inclination, it is convenient for the moving wheel 61 of the working vehicle 6 to move to the lifting track 4, so as to facilitate the recovery of the working vehicle 6.

[0073] Compared with the prior art, in which the work vehicle 6 is operated on the upper and lower rails manually or with auxiliary equipment, the present application provides a lifting rail 4 and a U-shaped groove 43 on the lifting rail 4, so that the lifting rail 4 can be docked with the circular tube rail 7, thereby avoiding the influence of the circular tube rail 7 being higher or lower than the ground, thereby improving the working efficiency of the work vehicle 6.

[0074] In one embodiment of the present application, as shown in the attached Figure 1 and attached Figure 4 As shown, the moving wheel 61 includes a moving part 62 and a guide part 63. The moving part 62 is cylindrical. The moving wheels 61 on both sides of the working vehicle 6 are connected by a connecting shaft. The guide part 63 is arranged on the side of the moving part 62 away from the working vehicle 6. The side of the guide plate 42 close to the moving part 62 is provided with an inclined surface. Through the two relatively arranged guide parts 63, the working vehicle 6 can be connected with the circular tube track 7. When the guide part 63 is on the track, it can not only play a guiding role, but also play a limiting role during the movement of the working vehicle 6, thereby effectively preventing the working vehicle 6 from being separated from the circular tube guide rail.

[0075] In one embodiment of the present application, a limiter 31 is provided at one end of the placement track 3 away from the lifting track 4, and a limiter assembly is provided on the driving vehicle 1; the limiter 31 can be a trigger button, and the limiter 31 is connected to the controller. In the initial state, the moving wheel 61 of the working vehicle 6 abuts against the limiter 31, and the limiter assembly limits the working vehicle 6. When the working vehicle 6 needs to operate, the limiter assembly can be started first to contact and lock the working vehicle 6, and then the working vehicle 6 can be moved to the circular tube track 7 to operate under the action of the placement track 3 and the lifting track 4;

[0076] When the operation is completed, the work vehicle 6 moves to the placement track 3, and the moving wheel 61 of the work vehicle 6 will abut against the limiter 31 while continuing to move. The limiter 31 sends a signal to the controller, and the controller sends a signal to the limit component. The limit component limits the work vehicle 6 to prevent the work vehicle 6 from shaking or moving.

[0077] In this embodiment, the limit assembly includes two cylinders and a top plate. The two cylinders are respectively arranged on both sides of the work vehicle 6, and the top plate is arranged at the protruding end of the cylinder, and the two top plates are arranged opposite to each other; when the limiter 31 detects the work vehicle 6, it sends a signal to the controller, and the controller sends a signal to the cylinder, and the cylinder starts, so that the top plate is supported on the moving wheel 61 of the work vehicle 6, thereby limiting the movement of the work vehicle 6; when the work vehicle 6 needs to be started, the cylinder can be retracted by manual remote control or manual clicking of a button.

[0078] In one embodiment of the present application, the visual sensor 2 includes a front-end sensor and a rear-end sensor. The front-end sensor is located at the front end of the driving vehicle 1, and the rear-end sensor is located at the rear end of the driving vehicle 1. The front-end sensor and the rear-end sensor correspond to the circular tube track 7 respectively. By setting the front-end sensor and the rear-end sensor, the position of the circular tube track 7 can be accurately located to facilitate the lifting track 4 to be clamped on the circular tube track 7.

[0079] In one embodiment of the present application, a plurality of inspection baffles are detachably provided on the top of the driving vehicle 1 to facilitate the inspection of the driving assembly 5 and the electrical components inside the driving vehicle 1 .

[0080] As attached Figure 7 As shown, the present application also provides a land-rail dual-purpose split operation method, based on the above-mentioned land-rail dual-purpose split operation equipment, comprising the following steps:

[0081] S100, starting the driving vehicle and detecting the circular tube track by the visual sensor;

[0082] In the initial state, the working vehicle 6 is located on the top of the driving vehicle 1, and the driving vehicle 1 is located on one side of the circular tube track 7. The driving vehicle 1 can move along the arrangement direction of the circular tube track 7, and a visual sensor 2 is provided on one side of the driving vehicle 1, and the circular tube track 7 can be detected by the visual sensor 2; when the visual sensor 2 detects the circular tube track 7, the driving vehicle 1 stops moving.

[0083] S200, after detecting the circular tube track, pausing the driving vehicle, and placing one end of the lifting track close to the circular tube track;

[0084] When the visual sensor 2 detects the circular tube track 7, it sends a signal to the controller, and the controller sends a signal to the driving vehicle 1 and the driving component 5. The driving vehicle 1 stops moving, and the driving component 5 drives the lifting track 4 to rotate, and is clamped on the circular tube track 7 under the action of its lower limit proximity switch 54 and the U-shaped groove 43 of the lifting track 4.

[0085] S300, driving the working vehicle to move onto the circular tube track by the moving wheels, and the working vehicle performs operations;

[0086] When the lifting track 4 is engaged with the circular tube track 7, the limit rod 52 on the rotating rod 51 contacts the lower limit proximity switch 54, the lower limit proximity switch 54 sends a signal to the controller, and the controller sends a signal to the work vehicle 6. The moving wheel 61 of the work vehicle 6 starts and drives the work vehicle 6 to move onto the circular tube track 7 and continue working.

[0087] S400, after the operation is completed, the operating vehicle is driven back to the placement track by the moving wheels, and the lifting track is retracted.

[0088] When the work vehicle 6 finishes its operation, the work vehicle 6 can move along the circular tube track 7 under the action of the moving wheel 61, and move to the placement track 3, the moving wheel 61 abuts on the limiter 31, the limiting component abuts and limits the moving wheel 61, and then the lifting track 4 is retracted through the driving component 5, and the driving vehicle 1 drives the work vehicle 6 to perform the next operation.

[0089] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the schemes disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed in this scheme. The description and examples are to be regarded as exemplary only, and the true scope and spirit of the present invention are indicated by the claims.

Claims

1. A land-rail dual-purpose split-type operating equipment, characterized in that: include: Drive the car; A visual sensor, disposed on one side of the driving vehicle, for detecting the circular tube track in the greenhouse; A placement track is arranged on the top of the driving vehicle; the length direction of the placement track is perpendicular to the moving direction of the driving vehicle; A lifting track is rotatably arranged on one side of the driving vehicle; the lifting track corresponds to the placement track; A driving assembly is arranged inside the driving vehicle; the driving assembly is connected to the lifting track and is used to drive the lifting track to move up and down; The working vehicle is arranged on the top of the driving vehicle; moving wheels are arranged on both sides of the working vehicle, the moving wheels are located in the placement track, and the moving wheels cooperate with the circular tube track.

2. The land-rail dual-purpose split-type operating equipment according to claim 1, characterized in that: The drive assembly comprises: An output motor is arranged inside the driving vehicle; A reduction box is arranged on the driving vehicle; the output motor cooperates with the reduction box; A rotating rod is rotatably arranged on the driving vehicle; the rotating rod cooperates with the lifting track, and the rotating rod is connected with the reduction box to drive the rotating rod to rotate.

3. The land-rail dual-purpose split-type operating equipment according to claim 2, characterized in that: A limit rod is arranged on the rotating rod, an upper limit proximity switch and a lower limit proximity switch are arranged on the side wall of the driving vehicle, and both the upper limit proximity switch and the lower limit proximity switch are matched with the limit rod.

4. The land-rail dual-purpose split operation equipment according to claim 1, characterized in that: A moving groove is arranged on the surface of the lifting track, and a guide plate is arranged in the moving groove.

5. The land-rail dual-purpose split-type operating equipment according to claim 1, characterized in that: A U-shaped groove is arranged at one end of the lifting track away from the driving vehicle, and the U-shaped groove matches with the circular tube track.

6. The land-rail dual-purpose split-type operating equipment according to claim 1, characterized in that: The moving wheel comprises: Mobile Department; The guide part is arranged on one side of the moving part; and an inclined surface is arranged on one side of the guide part close to the moving part.

7. The land-rail dual-purpose split-type operating equipment according to claim 1, characterized in that: A limiter is arranged at one end of the placement track away from the lifting track, and a limit assembly is arranged on the driving vehicle.

8. The land-rail dual-purpose split-type operating equipment according to claim 7, characterized in that: The limiting component comprises: Two cylinders are arranged at both ends of the driving vehicle and are respectively located on both sides of the working vehicle; A top plate is arranged at the extended end of the cylinder; the top plate is supported by the moving wheels of the working vehicle to limit the movement of the working vehicle.

9. The land-rail dual-purpose split-type operation equipment according to claim 1, characterized in that: The visual sensor comprises a front-end sensor and a rear-end sensor, and the front-end sensor and the rear-end sensor correspond to the circular tube track respectively.

10. A land-rail dual-purpose split operation method, based on a land-rail dual-purpose split operation device according to any one of claims 1 to 9, characterized in that: include: Starting the driving vehicle and detecting the circular tube track by the visual sensor; After the circular tube track is detected, the driving vehicle is paused, and one end of the lifting track is placed close to the circular tube track; The working vehicle is driven by the moving wheels to move onto the circular tube track, and the working vehicle performs operations; After the operation is completed, the operating vehicle is driven back to the placing track by the moving wheels, and the lifting track is retracted.

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