Aerial motion platform for agricultural greenhouse
By designing an air movement platform for agricultural greenhouses, the problem that existing operating machines cannot be effectively applied in vegetable greenhouses is solved, and the four-degree-of-free air movement of the operating machine is realized, which improves the efficiency and accuracy of agricultural production.
Patent Information
- Application Number
- CN202510229511.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-28
- Publication Date
- 2025-05-23
AI Technical Summary
Existing operating machines cannot be effectively used in vegetable greenhouses because their movement method is not suitable for the narrow space environment, resulting in the inability to achieve large-scale actual agricultural production.
An air movement platform for agricultural greenhouses is designed, including a frame, translation device, lifting device and rotating device, and four-degree-of-free air movement of the operating machine is realized through a motor-driven reel and rope system.
It realizes the four-degree-of-free air movement of the operating machine in the agricultural greenhouse, reduces labor costs, improves the accuracy and efficiency of the operation, is suitable for various types of greenhouses, and promotes the intelligent management of facility agriculture.
Smart Images
Figure CN120024813A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of equipment for agricultural greenhouses, and in particular to an aerial motion platform for agricultural greenhouses. Background Art
[0002] With the continuous development of the economy, vegetable greenhouses have become an important way of agricultural development. According to statistics, the area of vegetable greenhouses in China has exceeded 100,000 mu, accounting for more than half of the total vegetable planting area. In today's extremely abundant material conditions, people are no longer looking for enough to eat but to eat well, and greenhouse vegetables have become the first choice for most people.
[0003] During the growth cycle of greenhouse vegetables, a lot of manpower and energy are needed to manage the greenhouse field. Accurate field management can promote the yield and quality of vegetables, thereby greatly improving the economic benefits of vegetables; however, accurate field management itself requires huge economic costs, especially labor costs. Faced with this dilemma, the role of operating machines such as watering, fertilizing, picking, spraying, and carrying is particularly important. The use of operating machines greatly reduces the cost of hiring labor during each planting cycle, and is more accurate than manual labor, reducing planting costs while improving crop quality.
[0004] Currently, most operating machines use crawler, track or wheel modes of movement, which are not suitable for narrow ground spaces such as vegetable greenhouses, making it impossible for these operating machines to be truly applied on a large scale in actual agricultural production. Summary of the invention
[0005] In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides an aerial motion platform for an agricultural greenhouse, which can drive an operating machine to move in the air with four degrees of freedom in the agricultural greenhouse.
[0006] In order to achieve the above object, the present invention adopts the following technical solutions:
[0007] An aerial motion platform for agricultural greenhouses, comprising a frame, a translation device, a lifting device and a rotating device; the frame is a rectangular frame structure corresponding to the size of the agricultural greenhouse; four translation devices are installed at the four corners of the frame, the translation device comprises a motor, a drum, a rope and a pulley block, the pulley block is fixedly connected to the top of the frame, one end of the rope is fixedly connected to the lifting device box, the rope passes around the pulley block, and the other end is wound on the drum, the motor drives the drum to rotate, drives the rope to be retracted and released, and the four ropes are retracted and released in coordination to achieve the translation of the lifting device, that is, the translation of the operating machine; the rotating device is fixedly connected to the bottom of the lifting device, the operating machine is fixedly connected to the bottom of the rotating device, the lifting device drives the rotating device to rise and fall, and the rotating device drives the operating machine to rotate.
[0008] Furthermore, the translation device also includes a driving pulley, a driven pulley and a belt; the driving pulley is installed on the output shaft of the motor, the driven pulley is installed on the rotating shaft of the reel, and the belt is installed on the driving pulley and the driven pulley.
[0009] Furthermore, the pulley block includes a first pulley block and a second pulley block; the first pulley block and the second pulley block are symmetrically fixed to the top of the frame.
[0010] Furthermore, the pulley block includes a base and a slewing wheel; the slewing wheel is hinged on a fixing bolt, and the fixing bolt is fixed on the base.
[0011] Furthermore, the lifting device includes a lifting device box, a rigid thrust chain, a driving sprocket, a driven sprocket and a lifting motor; the lifting motor is connected to the driving sprocket, one end of the rigid thrust chain is installed on the driving sprocket and the driven sprocket, and the other end of the rigid thrust chain is fixedly connected to the rotating device box.
[0012] Furthermore, the rigid thrust chain, the driving sprocket, the driven sprocket and the lifting motor are each in two pieces and are installed on both sides of the lifting device box.
[0013] Furthermore, the rotating device includes a rotating device housing, a rotating shaft, a large gear, a small gear and a rotating motor; the rotating shaft is hinged to the rotating device housing through a bearing, the large gear is installed on the rotating shaft, the large gear is meshed with the small gear, the small gear is installed on the output shaft of the rotating motor, and the rotating motor is fixed to the rotating device housing.
[0014] Compared with the prior art, the present invention has the following beneficial effects:
[0015] 1. The present invention is provided with a translation device, which is driven by a motor and transmits traction through a drum and a rope. By retracting the rope on one side and releasing the rope on the other side, the operation machine can move in the X and Y directions in the horizontal plane of the space in the agricultural greenhouse, that is, the horizontal movement of the operation machine is achieved. Four translation devices are respectively installed at the four top corners of the frame to adjust the direction of the transmission rope to ensure that the rope path is smooth and unobstructed, and can still rotate flexibly when bearing loads, thereby ensuring the efficient operation of the system. The present invention is provided with a lifting device, through which the operation machine can move in the Z direction, that is, the lifting and lowering of the operation machine is achieved. The present invention is provided with a rotating device, through which the operation machine can rotate around the Z axis, that is, the rotation of the operation machine around the vertical axis is achieved.
[0016] The present invention can drive the operating machines to move in the air with four degrees of freedom in the agricultural greenhouse, so that the operating machines such as watering, fertilizing, picking, spraying, and carrying can fully play their roles in the agricultural greenhouse, which is conducive to realizing functions such as intelligent transportation, intelligent picking, and intelligent spraying, and is suitable for various types of greenhouses, making the field management in the facility greenhouse more simple and efficient, and can effectively improve the efficiency of field management in facility agriculture, which is of great significance to the transformation from traditional agriculture to smart agriculture.
[0017] 2. The lifting device of the present invention adopts a double rigid thrust chain transmission mechanism. The lifting motor drives the rigid thrust chain to move through the sprocket. When each chain unit of the rigid thrust chain enters the vertical position, it is tightly engaged with the previous chain link unit to form a chain column with strong bearing capacity, thereby realizing rigid linear motion along the Z direction, that is, realizing the lifting and lowering of the operating machine.
[0018] 3. The rotating device of the present invention adopts a gear rotation system, and the small gear is driven to rotate by the rotary motor in the gear rotation system, thereby driving the large gear and the rotating shaft to rotate, so that the working machine fixed to the bottom end of the rotating shaft can perform stable rotation operation around the rotating shaft, ensuring the stability and response time of the motion platform at different angles. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.
[0020] Figure 2 It is a schematic diagram of the three-dimensional structure of the translation device of the present invention.
[0021] Figure 3 It is a schematic diagram of the pulley block structure of the translation device of the present invention.
[0022] Figure 4 It is a schematic diagram of the three-dimensional structure of the lifting device of the present invention.
[0023] Figure 5 It is a schematic cross-sectional view of the lifting device structure of the present invention.
[0024] Figure 6 It is a schematic diagram of the rigid thrust chain structure of the lifting device of the present invention.
[0025] Figure 7 This is a working principle diagram of the rigid thrust chain of the lifting device of the present invention.
[0026] Figure 8 It is a schematic diagram of the three-dimensional structure of the rotary device of the present invention.
[0027] Markings in the figure: 1. frame; 2. translation device; 21. motor; 22. drum; 23. wire rope; 24. first pulley block; 25. second pulley block; 26. driving pulley; 27. driven pulley; 28. belt; 29. base; 210 slewing wheel; 211. fixing bolt; 212. fixing nut; 3. lifting device; 31. lifting device box; 32. rigid thrust chain; 321. first chain link; 322. second chain link; 323. pin shaft; 33. driving sprocket; 34. driven sprocket; 35. lifting motor; 4. rotating device; 41. slewing device box; 42. slewing shaft; 43. large gear; 44. small gear; 45. slewing motor; 46. mounting plate. DETAILED DESCRIPTION
[0028] The embodiments of the present invention are described in detail below. In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described in combination with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0029] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.
[0030] 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 direct connection, or an indirect connection 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.
[0031] In the description of the present invention, it should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.
[0032] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.
[0033] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.
[0034] like Figure 1-8 As shown, an aerial motion platform for agricultural greenhouses includes a frame 1, a translation device 2, a lifting device 3 and a rotating device 4.
[0035] The frame 1 is a rectangular parallelepiped frame structure corresponding to the size of an agricultural greenhouse, and the frame 1 is a rectangular parallelepiped frame welded by section steel.
[0036] Four translation devices 2 are installed at the four corners of the frame 1. Figure 2 As shown, the translation device 2 includes a motor 21, a drum 22, a wire rope 23, a first pulley group 24, a second pulley group 25, a driving pulley 26, a driven pulley 27, a belt 28, a base 29, a rotating wheel 210, a fixing bolt 211 and a fixing nut 212.
[0037] The first pulley block 24 is fixed to the top surface of the top crossbeam of the frame 1, and the second pulley block 25 is fixed to the bottom surface of the top crossbeam of the frame 1. The first pulley block 24 and the second pulley block 25 are fixed to the top of the frame 1 symmetrically from top to bottom. Figure 3As shown, the first pulley block 24 and the second pulley block 25 have the same structure, both including a base 29, a rotating wheel 210, a fixing bolt 211 and a fixing nut 212. The base 19 is U-shaped, and the rotating wheel 210 is hinged on the fixing bolt 211 through a bearing and can rotate around the axis of the fixing bolt 211. The fixing bolt 211 passes through the hole on the upper part of the base 19 and is fixed to the base 29 through the fixing nut 212. The rotating wheel 210 is located between the two side surfaces of the base 29.
[0038] like Figure 2 As shown, the driving pulley 26 is installed on the output shaft of the motor 21, the driven pulley 27 is installed on the rotating shaft of the drum 22, the belt 28 is installed on the driving pulley 26 and the driven pulley 27, the wire rope 23 is wound on the drum 22, and the motor 21 drives the drum 22 to rotate to achieve the scaling of the wire rope 23. In this embodiment, a driven pulley 27 is installed on both sides of the rotating shaft of the drum 22.
[0039] In this embodiment, the lifting device box 31 is a rectangular box. In a translation device 2 located at one of the four corners, a steel wire rope coming out of the drum 22 passes around the rotary wheel 210 of the first pulley block 24 and is fixed to the top of one side of the lifting device box 31; a steel wire rope coming out of the drum 22 passes around the rotary wheel 210 of the second pulley block 25 and is fixed to the bottom of the above side. In this embodiment, a total of 8 steel wire ropes are fixed to the lifting device box 31, fixed to the 8 top corners of the rectangular box.
[0040] The motor 21 is responsible for the retraction and release of the rope, ensuring smooth and precise control of the aerial motion platform in the X-axis and Y-axis directions of the horizontal plane. The rope drum 22 and the wire rope 23 transmit traction force, allowing the platform to move freely within the specified area; the first pulley group 24 and the second pulley group 25 assist the rope drive system to ensure the smoothness and stability of the rope path. The two motors on the front side drive the wire rope on the front side to be retracted, while the two motors on the rear side drive the wire rope on the rear side to be released, so that the operating machine can move to the front side, and so on and so forth to achieve the front, back, left, and right movement of the operating machine, that is, to achieve any movement of the operating machine on the horizontal plane. The four ropes of the present invention are coordinated to retract and release to achieve the translation of the lifting device 3, that is, to achieve the translation of the operating machine.
[0041] like Figure 4-7 As shown, the lifting device 3 includes a lifting device box 31, a rigid thrust chain 32, a driving sprocket 33, a driven sprocket 34 and a lifting motor 35. One end of the rigid thrust chain 32 is mounted on the driving sprocket 33 and the driven sprocket 34, and the other end of the rigid thrust chain is fixed to the top surface of the rotating device box 41.
[0042] The rigid thrust chain 32, driving sprocket 33, driven sprocket 34 and lifting motor 35 of the present invention are each two and are installed on both sides of the lifting device box 31. One of the two rigid thrust chains 32 is installed at the front end of the lifting device box 31, and the other is installed at the rear end of the lifting device box 31, and they are symmetrically arranged along the diagonal line.
[0043] The present invention adopts a rigid thrust chain 32, which is a chain specially designed to withstand thrust and tension, and has high rigidity and durability. In this embodiment, the rigid thrust chain 32 is composed of a plurality of first links 321, second links 322 and a pin 323. One end of the first link 321 is provided with an arc-shaped protrusion, and one end of the second link 322 is provided with an arc-shaped groove corresponding thereto. The first link 321 and the second link 322 are hinged at the protrusion and the groove through the pin 323.
[0044] The driving sprocket 33 is installed on the output shaft of the lifting motor 35. The lifting motor 35 drives the driving sprocket 33 and the driven sprocket 34 to rotate synchronously, and drives the rigid thrust chain 32 to move through the sprocket. When each chain unit enters the vertical position, they will be tightly engaged with the previous chain link unit to form a chain column with strong load-bearing capacity, pushing the rotating device box 41 to move downward or lifting the rotating device box 41.
[0045] The rigid thrust chain 32 (left / right) is used for linear motion of the vertical Z-axis. It cooperates with the sprocket and the drive motor to realize the conversion of the chain from flexible to rigid, and converts the flexible storage state of the chain into single-degree-of-freedom rigid linear motion, which solves the problem of limited space on the roof of the greenhouse and realizes the precise and high-thrust motion requirements of the Z-axis.
[0046] like Figure 8 As shown, the rotating device 4 includes a rotating device housing 41, a rotating shaft 42, a large gear 43, a small gear 44, a rotating motor 45 and a mounting plate 46. The rotating shaft 42 is a Z-axis, which is hinged on the rotating device housing 41 through a bearing, and the large gear 43 is installed at the bottom of the rotating shaft 42. The large gear 43 meshes with the small gear 44, and the small gear 44 is installed on the output shaft of the rotating motor 45. The base of the rotating motor 45 is fixedly connected to the rotating device housing 41, and the mounting plate 46 is fixedly connected to the bottom of the rotating shaft 42. The working machine is installed on the mounting plate 46. The rotating motor 45 drives the rotating shaft 42 to rotate around its own axis, and then drives the working machine to rotate around the Z-axis.
[0047] The present invention is provided with a translation device 2 to realize the movement of the working machine in the X and Y directions on the horizontal plane of the space in the agricultural greenhouse, and to realize the horizontal movement of the working machine. A lifting device 3 is provided to realize the movement of the working machine in the Z direction through the lifting device 3. A rotating device 4 is provided to realize the rotation of the working machine around the Z axis through the rotating device 4. The present invention can drive the working machine to move in the air with four degrees of freedom in the agricultural greenhouse.
[0048] The present invention enables watering, fertilizing, picking, spraying, and carrying machines to fully play their roles in agricultural greenhouses, which is conducive to realizing functions such as intelligent transportation, intelligent picking, and intelligent spraying, and is suitable for various types of greenhouses, making field management in facility greenhouses more simple and efficient, and can effectively improve the efficiency of field management in facility agriculture, which is of great significance to the transformation from traditional agriculture to smart agriculture.
[0049] The above descriptions are only some specific implementation methods of the present invention, and the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, and they should be covered by the protection scope of the present invention.
Claims
1. An aerial motion platform for agricultural greenhouses, characterized by: It includes a frame, a translation device, a lifting device and a rotating device; The frame is a rectangular parallelepiped frame structure corresponding to the size of an agricultural greenhouse; The four translation devices are installed at the four corners of the frame. The translation device includes a motor, a drum, a rope and a pulley block. The pulley block is fixed to the top of the frame. One end of the rope is fixed to the lifting device box. The rope passes around the pulley block and the other end is wound on the drum. The motor drives the drum to rotate and drives the rope to be retracted and released. The four ropes are retracted and released in coordination to realize the translation of the lifting device, that is, the translation of the operating machine is realized. The rotating device is fixedly connected to the bottom of the lifting device, the working machine is fixedly connected to the bottom of the rotating device, the lifting device drives the rotating device to rise and fall, and the rotating device drives the working machine to rotate.
2. The aerial motion platform for agricultural greenhouses according to claim 1, characterized in that: The translation device also includes a driving pulley, a driven pulley and a belt; the driving pulley is installed on the output shaft of the motor, the driven pulley is installed on the rotating shaft of the reel, and the belt is installed on the driving pulley and the driven pulley.
3. The aerial motion platform for agricultural greenhouses according to claim 1, characterized in that: The pulley block comprises a first pulley block and a second pulley block; the first pulley block and the second pulley block are fixedly connected to the top of the frame symmetrically up and down.
4. The aerial motion platform for agricultural greenhouses according to claim 1, characterized in that: The pulley block comprises a base and a slewing wheel; the slewing wheel is hinged on a fixing bolt, and the fixing bolt is fixed on the base.
5. The aerial motion platform for agricultural greenhouse according to claim 1, characterized in that: The lifting device includes a lifting device box, a rigid thrust chain, a driving sprocket, a driven sprocket and a lifting motor; the lifting motor is connected to the driving sprocket, one end of the rigid thrust chain is installed on the driving sprocket and the driven sprocket, and the other end of the rigid thrust chain is fixed to the rotating device box.
6. The aerial motion platform for agricultural greenhouses according to claim 5, characterized in that: The rigid thrust chain, the driving sprocket, the driven sprocket and the lifting motor are all two in number and are installed on both sides of the lifting device box.
7. The aerial motion platform for agricultural greenhouses according to claim 1, characterized in that: The rotating device includes a rotating device housing, a rotating shaft, a large gear, a small gear and a rotating motor; the rotating shaft is hinged on the rotating device housing through a bearing, the large gear is installed on the rotating shaft, the large gear is meshed with the small gear, the small gear is installed on the output shaft of the rotating motor, and the rotating motor is fixed to the rotating device housing.