Large potted green plant planting base and maintenance device

Abstract

The maintenance device comprises a maintenance trolley which is arranged on a track and walks along the track, a watering mechanical arm is installed in the middle of the upper surface of the maintenance trolley, a spraying water gun is installed at the movable end of the watering mechanical arm, and a trimming mechanical arm is installed at the tail of the upper surface of the maintenance trolley. And a pair of pneumatic scissors is mounted at the movable end of the trimming mechanical arm. According to the integrated maintenance device, the stepped flower stand body, the track, the water tank and the maintenance trolley are combined, the integrated maintenance device is formed, efficient coverage of three-dimensional planting and maintenance paths is achieved, meanwhile, the mechanical arm is used for driving the spraying water gun and the pneumatic scissors, 360-degree dead-angle-free operation is achieved, maintenance work such as watering and trimming is conducted on green plants in the working range, and the maintenance efficiency is improved. Compared with manual maintenance in the prior art, the maintenance management cost of large-scale batch potted green plant planting can be reduced, and the plant growth conditions can be accurately controlled.

Description

Technical Field

[0001] The present invention relates to the technical field of gardening automation equipment, and in particular to a large-scale potted green plant planting base and a maintenance device. Background Art

[0002] Potted green plants are plants grown in pots. They come in a wide variety and are often used for interior decoration and landscaping. With people's pursuit of a better living environment and the support of national policies, the plant care industry is developing rapidly.

[0003] Currently, plant maintenance is still mainly done by manual labor, with the main tasks including watering, fertilizing, pruning, etc. These processes require maintenance workers to frequently bend over, walk, and carry, making potted plant maintenance labor-intensive.

[0004] In order to solve the above problems, the present invention proposes a large-scale potted green plant planting base and a maintenance device. Summary of the Invention

[0005] (1) Technical problems to be solved

[0006] The purpose of the present invention is to overcome the deficiencies of the prior art, meet actual needs, and provide a large-scale potted green plant planting base and maintenance device to solve the above-mentioned technical problems.

[0007] (2) Technical solution

[0008] In order to achieve the purpose of the present invention, the technical solution adopted by the present invention is:

[0009] A large-scale potted green plant planting base includes land for planting, on which are arranged several groups of flower racks arranged in a single row horizontally, a track is provided between two adjacent flower rack groups, and the track is in a continuous curved shape, and a water trough is dug on the land, and the water trough is continuously arranged along the track.

[0010] Furthermore, each flower rack group includes several flower rack bodies arranged in a single row along the longitudinal direction, and the flower rack body is formed by splicing two single-sided flower racks. The single side of the single-sided flower rack is arranged in a stepped shape to form multiple support surfaces, and flower pots are arranged on the support surfaces.

[0011] Furthermore, the track includes a plurality of straight segments and semicircular segments alternately arranged in sequence, adjacent straight segments are smoothly connected by semicircular segments, and the fixing plate at the bottom of the track is connected to the ground by screws.

[0012] Furthermore, two wheel grooves are provided on the top of the track, and an I-shaped brake groove is provided on one side wall of the track.

[0013] The present application also discloses a maintenance device, which is used for the maintenance of potted green plants in any of the above-mentioned large-scale potted green plant planting bases, including a maintenance cart set on a track and moving along the track, a watering mechanical arm is installed in the middle of the upper surface of the maintenance cart, and a spray water gun is installed at the movable end of the watering mechanical arm, and a pruning mechanical arm is installed at the tail of the upper surface of the maintenance cart, and a pneumatic scissors is installed at the movable end of the pruning mechanical arm.

[0014] Furthermore, the maintenance trolley includes a frame, an end of the frame is fixedly connected to a brake mechanism, and a bottom of the frame is fixedly connected to a walking mechanism.

[0015] Furthermore, the frame includes a bottom plate, the upper surface of the bottom plate is fixedly connected to a body frame, the body frame is located in front of the bottom plate, the outer surface of the body frame is fixedly connected to a side plate, and the inner wall of the body frame is fixedly connected to a partition.

[0016] Furthermore, the brake mechanism includes a brake seat fixedly connected to the front end of the base plate, the bottom of the brake seat is fixedly connected to a U-shaped claw, the bottom end of the brake seat is fixedly connected to a cylinder seat, the top of the cylinder seat is fixedly connected to an ACQ cylinder, the output end of the ACQ cylinder is fixedly connected to the input end of the U-shaped claw, the two clamping ends of the U-shaped claw are fixedly connected to polyurethane pads, and the U-shaped claw is clamped on the outside of the brake groove of the track.

[0017] Furthermore, the walking mechanism includes two groups of support seats fixedly connected to the lower surface of the base plate, each group of the support seats includes two bearing seats symmetrically arranged on the lower surface of the base plate, the inner ring surfaces of the two bearing seats are fixedly connected to the same axle, the surface of the axle is fixedly connected to the wheel, the upper surface of the base plate is fixedly connected to the walking motor, the output end of the walking motor is fixedly connected to the driving wheel, the surface of the front axle is fixedly connected to the driven wheel, and the surfaces of the driving wheel and the driven wheel are transmission-connected with the same synchronous belt.

[0018] Furthermore, a water pump is fixedly connected to the upper surface of the base plate, and a water suction pipe is fixedly connected to the water inlet end of the water pump, one end of the water suction pipe passes through the side plate and is fixedly connected to a water filter, and the water filter is arranged in the water tank, and a water outlet end of the water pump is fixedly connected to a water outlet pipe, one end of the water outlet pipe is fixedly connected to the water inlet end of the jet water gun, and the upper surface of the partition is fixedly connected to a battery, a controller and a fertilizer liquid tank, respectively, and the inner cavity of the fertilizer liquid tank is communicated with the water inlet end of the water pump through a pipe.

[0019] (3) Beneficial effects:

[0020] In the present invention, a stepped flower rack, track, water trough and maintenance trolley are combined to form an integrated maintenance device to achieve efficient coverage of three-dimensional planting and maintenance paths. At the same time, a robotic arm is used to drive a water jet gun and pneumatic scissors to achieve 360° operation without dead angles, and maintenance work such as watering and pruning is performed on the green plants within the working range. Compared with manual maintenance in the existing technology, it can reduce the maintenance and management costs of large-scale potted green plant planting and accurately control plant growth conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0022] Figure 2 For the present invention Figure 1 Schematic diagram of the enlarged structure at A in the middle;

[0023] Figure 3 It is a schematic diagram of the top view of the structure of the present invention;

[0024] Figure 4 This is a front view structural diagram of the maintenance trolley of the present invention;

[0025] Figure 5 Schematic diagram of the three-dimensional structure of the track of the present invention;

[0026] Figure 6 For the present invention Figure 5 Schematic diagram of the enlarged structure at B in the middle;

[0027] Figure 7 Schematic diagram of the three-dimensional structure of the maintenance trolley of the present invention;

[0028] Figure 8 Schematic diagram of the three-dimensional structure of the brake mechanism of the present invention;

[0029] Figure 9 Schematic diagram of the three-dimensional structure of the robotic arm of the present invention;

[0030] Figure 10 It is a schematic diagram of the front view structure of the robotic arm of the present invention.

[0031] The reference numerals are as follows:

[0032] 1. Land; 2. Flower rack assembly; 21. Flower rack body; 211. Single-sided flower rack; 212. Support surface; 213. Flower pot; 3. Track; 31. Straight segment; 32. Semicircular segment; 33. Wheel groove; 34. Brake groove; 4. Water tank; 5. Maintenance trolley; 51. Frame; 511. Bottom plate; 512. Carriage frame; 513. Side plate; 514. Partition; 52. Brake mechanism; 521. Brake seat; 522. U-shaped claw; 523. Cylinder seat; 524. ACQ cylinder; 525. Polyurethane pad; 53. Travel mechanism; 531. Bearing seat; 532. Axle; 533. Wheel; 534. Travel motor; 535. Driving wheel; 536. Driven wheel; 537. Synchronous belt; 54. Water pump; 55. Suction pipe; 56. Water filter; 57. Outlet pipe; 58. Fertilizer tank; 59. Controller; 6. Watering robot arm; 7. Water jet gun; 8. Pruning robot arm; 81. Base; 82. Upper arm; 83. Lower arm; 84. Wrist; 85. Wrist joint; 86. Shoulder joint; 87. Elbow joint; 9. Pneumatic scissors. DETAILED DESCRIPTION

[0033] The following is combined with Figure 1-10 The present invention is further described with examples:

[0034] like Figure 1-10 As shown, a large-scale planting base of this embodiment takes one acre of land (25.82m×25.82m) as an example, and a maintenance device is used for maintenance work. Among them, a plurality of flower rack groups 2 are arranged in a single row in the horizontal direction on the land 1. Each flower rack group 2 includes a plurality of flower rack bodies 21 arranged in a single column in the vertical direction. The flower rack body 21 is formed by splicing two single-sided flower racks 211. The single side of the single-sided flower rack 211 is arranged in a stepped shape and forms multiple support surfaces 212. Flower pots 213 are arranged on the support surfaces 212. Preferably, a square space with a size of 250mm×250mm×250mm is formed in the flower pot 213. The first step of the flower rack body 21 is 300mm from the ground; the total height of the single-sided flower rack 211 is 800mm and the total width is 750mm; the spacing between two adjacent flower rack bodies 21 is 1400mm, and a flower pot 213 is placed every 250mm on the support surface 212.

[0035] A track 3 is provided between two adjacent flower rack bodies 21. The track 3 is in a continuous bending shape, including a plurality of straight segments 31 and semicircular segments 32 alternately arranged in sequence. The adjacent straight segments 31 are smoothly connected by the semicircular segments 32. The fixing plate at the bottom of the track 3 is connected to the ground by screws to install and position the track 3. Two wheel grooves 33 are provided on the top of the track 3, and an I-shaped brake groove 34 is provided on one side wall of the track 3 for cooperating with the brake. Preferably, the distance between the track 3 and the flower rack bodies 21 on both sides is 525mm, the width of the track 3 is 350mm, and the height is 80mm; the wheel groove 33 is 38mm wide and 30mm deep; the total length of the track 3 is 241500mm.

[0036] A water trough 4 is dug on the land 1 and is continuously arranged along the track of the track 3. Preferably, the distance between the water trough 4 and the track 3 is 176 mm, providing a water source for watering and fertilizing; the width of the water trough 4 is 250 mm and the depth is 325 mm, and the distance between the water trough 4 and the flower rack body 21 is 99 mm.

[0037] A maintenance device is provided for maintaining potted green plants in the above-mentioned planting base, comprising a maintenance trolley 5 arranged on a track 3 and moving along the track 3.

[0038] A watering arm 6 is mounted in the middle of the top of the maintenance cart 5. A water jet lance 7 is mounted at its movable end, leaving a 350mm clearance. A pruning arm 8 is mounted at the rear of the top of the maintenance cart 5. Pneumatic shears 9 are mounted at their movable end, leaving a 350mm clearance. Both arms are connected to the maintenance cart 5 via bolts.

[0039] The maintenance trolley 5 includes a frame 51 , an end of the frame 51 is fixedly connected to a brake mechanism 52 , and a bottom of the frame 51 is fixedly connected to a travel mechanism 53 .

[0040] The vehicle frame 51 includes a base plate 511, the upper surface of which is fixedly connected to a vehicle frame 512 located at the front of the base plate 511. Side panels 513 are fixedly connected to the outer surface of the vehicle frame 512, and a partition 514 is fixedly connected to the inner wall of the vehicle frame 512, which is an important part for connecting other mechanisms. Preferably, the vehicle frame 51 has a vehicle body structure as a whole, with a length of 1200 mm and a width of 380 mm. The height of the base plate 511 from the ground is 185.5 mm. The vehicle frame 512 is composed of aluminum square tubes and steel plates, and is a rectangular parallelepiped frame with overall dimensions of 410 mm × 380 mm × 450 mm. The base plate 511 is made of 10 mm thick steel plates connected to the aluminum square tubes by screws. The base plate 511 is 1200 mm long, 380 mm wide, and 60 mm thick.

[0041] The brake mechanism 52 includes a brake seat 521 fixedly connected to the front end of the base plate 511, a U-shaped claw 522 fixedly connected to the bottom of the brake seat 521, a cylinder seat 523 fixedly connected to the bottom end of the brake seat 521, an ACQ cylinder 524 fixedly connected to the top of the cylinder seat 523, an output end of the ACQ cylinder 524 fixedly connected to the input end of the U-shaped claw 522, and polyurethane pads 525 fixedly connected to the two clamping ends of the U-shaped claw 522. It should be noted that the U-shaped claw 522 is a common structure in the prior art. The accompanying drawings in the specification are schematic diagrams of the U-shaped claw 522. The accompanying drawings are intended to illustrate the core concept of the present invention. Details not related to the invention are omitted in the drawings. The shapes or positional relationships of some components may be simplified. The U-shaped grip is connected to the brake groove 34 of the track 3. When the maintenance trolley 5 arrives at the working point, the ACQ cylinder 524 of the brake mechanism 52 applies a clamping force to the U-shaped claw 522, thereby realizing the braking function of the maintenance trolley 5 and achieving fixed-point parking of the maintenance trolley 5, thereby preventing the maintenance trolley 5 from sliding when the robotic arm is working.

[0042] The walking mechanism 53 includes two sets of support seats fixedly connected to the lower surface of the base plate 511, each set of support seats includes two bearing seats 531 symmetrically arranged on the lower surface of the base plate 511, the inner ring surfaces of the two bearing seats 531 are fixedly connected to the same axle 532, the surface of the axle 532 is fixedly connected to the wheel 533, the upper surface of the base plate 511 is fixedly connected to a walking motor 534, the output end of the walking motor 534 is fixedly connected to a driving wheel 535, and the surface of the front axle 532 is fixedly connected to the driven wheel 53 6. The driving wheel 535 and the driven wheel 536 are connected by a synchronous belt 537. The travel mechanism 53 ensures the maintenance trolley 5 moves smoothly along the track 3. Preferably, the wheels 533 have a diameter of 160 mm and a width of 38 mm. The output of the travel motor 534 drives the driving wheel 535, which in turn, in conjunction with the synchronous belt 537, drives the front axle 532, which in turn drives the front wheels 533, thereby driving the entire maintenance trolley 5 to reciprocate on the track 3. The travel motor 534 is a 130BF001 5-phase reactive stepper motor, with specific parameters shown in Table 1. The synchronous belt 537 is an H-type synchronous belt 537 with a belt length of 300 and a width of 100. Specific parameters are shown in Table 2.

[0043] Table 1 Motor parameters of chassis module

[0044]

[0045] Table 2 Chassis module timing belt parameters

[0046]

[0047]

[0048] A water pump 54 is fixedly connected to the upper surface of the bottom plate 511, and a water suction pipe 55 is fixedly connected to the water inlet end of the water pump 54. One end of the water suction pipe 55 passes through the side plate 513 and is fixedly connected to a water filter 56. The water filter 56 is arranged in the water tank 4. The water outlet end of the water pump 54 is fixedly connected to a water outlet pipe 57. One end of the water outlet pipe 57 is fixedly connected to the water inlet end of the spray water gun 7.

[0049] The upper surface of the partition 514 is fixedly connected to a battery, a controller 59 and a fertilizer liquid tank 58 , respectively. The inner cavity of the fertilizer liquid tank 58 is connected to the water inlet end of the water pump 54 through a pipeline.

[0050] Both the watering robot 6 and the pruning robot 8 consist of a base 81, an upper arm 82, a lower arm 83, a wrist 84, and an end effector. The entire device is driven by a stepper motor to achieve the desired motion. The base 81 and upper arm 82 are connected at a shoulder joint 86, the upper arm 82 and lower arm 83 are connected at an elbow joint 87, and the lower arm 83 and wrist 84 are connected at a wrist joint 85. The end of the wrist 84 is connected to the end effector. The water jet 7 and the pneumatic shears 9 are two different end effectors.

[0051] The base 81 supports the entire robot arm. To ensure stable operation, it is constructed from a solid base plate 511 welded together with hollow tubing. The hollow space is used to store components such as the motor. The upper arm 82 is 716.5 mm long and hollow; its left side is connected to the shoulder joint 86 and its right side to the elbow joint 87. The watering robot arm 6 and the pruning robot arm 8 use the same base 81, shoulder joint 86, upper arm 82, and elbow joint 87. The lower arm 83 of the watering robot arm 6 is 499 mm long, while that of the pruning robot arm 8 is 599 mm long. The lower arm 83 is connected to the elbow joint 87 on the left and the wrist 84 on the right.

[0052] The hand of the robotic arm is called the end effector. The end effector of the watering robot arm 6 is a water jet gun 7, which is connected to the output of the water pump 54 via a water outlet pipe 57. The input of the water pump 54 is connected to the water suction pipe 55, which can draw water from the water tank 4 and transfer it to the head of the water jet gun 7 to complete the watering operation. The input of the water pump 54 is connected to the fertilizer tank 58 via a pipe. It can absorb fertilizer from the fertilizer tank 58, mix it with water to a certain concentration, and transport it to the head of the water jet gun 7 to complete the fertilization operation. The end effector of the pruning robot arm 8 uses pneumatic shears 9. The opening and closing of the shears is controlled by controlling the cylinder to achieve the pruning of the potted branches and leaves. The wrist 84 can control 360° pruning.

[0053] The robotic arm has three independent rotational joints: shoulder joint 86, elbow joint 87, and wrist joint 85. The wrist 84 controls 360° rotation. Five power sources are required, all driven by stepper motors. These drive the wrist 84 via a synchronous belt 537. This synchronous belt 537 is an L-shaped belt with a length of 150 and a width of 50. Other parameters for the synchronous belt 537 are shown in Table 4.

[0054] Table 3 Parameters of the robot drive motor

[0055]

[0056] Table 4 Wrist joint synchronous belt parameters

[0057]

[0058] The working space of the robotic arm is a circular area with a diameter of 3050mm and a diameter of 1400mm.

[0059] During operation, the maintenance trolley 5 is directly mounted on the track 3 and moves along it; the brake mechanism 52 performs a braking function; the watering robot arm 6 absorbs water from the water tank 4 and delivers it to the water jet 7 to water and fertilize the plants; the pruning robot arm 8 performs targeted pruning of the plants. The working postures of the robot arms when they are in the first, second, and third rows are shown in Tables 5 and 6. The angle between the base 81 and the upper arm 82 is θ1, the angle between the upper arm 82 and the lower arm 83 is θ2, and the angle between the lower arm 83 and the wrist 84 is θ3. The working posture angles of the watering robot arm 6 and the pruning robot arm 8 at the three working points are shown in Tables 5 and 6. The robot arm can assume many postures, and the above-mentioned working posture angles are only three of the postures for watering, fertilizing, and pruning. By controlling the rotation of the robot arm and the movement of each joint, a variety of postures can be adopted to water, fertilize, and prune the plants within the working range.

[0060] Table 5 Working posture position angle of watering (fertilizing) robot arm

[0061]

[0062]

[0063] Table 6 Trimming robot arm working posture position angle

[0064]

[0065] The embodiments disclosed in the present invention are preferred embodiments, but are not limited to them. Ordinary technicians in this field can easily understand the spirit of the present invention based on the above embodiments and make different extensions and changes. As long as they do not deviate from the spirit of the present invention, they are all within the scope of protection of the present invention.

Claims

1. A large-scale potted green plant planting base, comprising land for planting (1), characterized in that: The land (1) is provided with a plurality of flower rack groups (2) arranged in a horizontal single row, a track (3) is provided between two adjacent flower rack groups (2), and the track (3) is in a continuous bending shape. A water trough (4) is dug on the land (1), and the water trough (4) is continuously arranged along the track of the track (3).

2. A large-scale potted green plant planting base as claimed in claim 1, characterized in that: Each flower rack group (2) comprises a plurality of flower rack bodies (21) arranged in a single row along the longitudinal direction, wherein the flower rack body (21) is formed by splicing two single-sided flower racks (211), wherein a single side of the single-sided flower rack (211) is arranged in a stepped manner and forms a plurality of support surfaces (212), and a flower pot (213) is arranged on the support surface (212).

3. The large-scale potted green plant planting base according to claim 1, characterized in that: The track (3) comprises a plurality of straight segments (31) and semicircular segments (32) alternately arranged in sequence, adjacent straight segments (31) are smoothly connected via the semicircular segments (32), and a fixing plate at the bottom of the track (3) is connected to the ground (1) via screws.

4. A large-scale potted green plant planting base according to claim 1, characterized in that: Two wheel grooves (33) are provided on the top of the track (3), and an I-shaped brake groove (34) is provided on one side wall of the track (3).

5. A maintenance device for maintaining potted green plants in a large potted green plant planting base according to any one of claims 1 to 4, characterized in that: The invention comprises a maintenance trolley (5) arranged on a track (3) and moving along the track (3); a watering mechanical arm (6) is installed in the middle of the upper surface of the maintenance trolley (5); a watering mechanical arm (6) is installed at the movable end of the watering mechanical arm (6); a pruning mechanical arm (8) is installed at the rear of the upper surface of the maintenance trolley (5); and a pneumatic scissors (9) is installed at the movable end of the pruning mechanical arm (8).

6. A curing device according to claim 5, characterized in that: The maintenance trolley (5) comprises a frame (51), an end of the frame (51) is fixedly connected to a brake mechanism (52), and a bottom of the frame (51) is fixedly connected to a walking mechanism (53).

7. A curing device according to claim 6, characterized in that: The vehicle frame (51) comprises a bottom plate (511), the upper surface of the bottom plate (511) is fixedly connected to a vehicle frame (512), the vehicle frame (512) is located in front of the bottom plate (511), the outer surface of the vehicle frame (512) is fixedly connected to a side plate (513), and the inner wall of the vehicle frame (512) is fixedly connected to a partition plate (514).

8. A curing device according to claim 7, characterized in that: The brake mechanism (52) includes a brake seat (521) fixedly connected to the front end of the base plate (511), a U-shaped claw (522) fixedly connected to the bottom of the brake seat (521), a cylinder seat (523) fixedly connected to the bottom end of the brake seat (521), an ACQ cylinder (524) fixedly connected to the top of the cylinder seat (523), an output end of the ACQ cylinder (524) fixedly connected to the input end of the U-shaped claw (522), two clamping ends of the U-shaped claw (522) fixedly connected to polyurethane pads (525), and the U-shaped claw (522) is clamped on the outside of the brake groove (34) of the track (3).

9. A curing device according to claim 7, characterized in that: The walking mechanism (53) includes two groups of support seats fixedly connected to the lower surface of the base plate (511), each group of the support seats includes two bearing seats (531) symmetrically arranged on the lower surface of the base plate (511), the inner ring surfaces of the two bearing seats (531) are fixedly connected to the same axle (532), the surface of the axle (532) is fixedly connected to the wheel (533), the upper surface of the base plate (511) is fixedly connected to a walking motor (534), the output end of the walking motor (534) is fixedly connected to a driving wheel (535), the surface of the front axle (532) is fixedly connected to a driven wheel (536), and the surfaces of the driving wheel (535) and the driven wheel (536) are transmission-connected to the same synchronous belt (537).

10. The curing device according to claim 7, characterized in that: A water pump (54) is fixedly connected to the upper surface of the bottom plate (511), and a water suction pipe (55) is fixedly connected to the water inlet of the water pump (54). One end of the water suction pipe (55) passes through the side plate and is fixedly connected to a water filter (56). The water filter (56) is arranged in the water tank (4). The water outlet of the water pump (54) is fixedly connected to a water outlet pipe (57). One end of the water outlet pipe (57) is fixedly connected to the water inlet of the spray water gun (7). The upper surface of the partition (514) is fixedly connected to a battery, a controller (59) and a fertilizer liquid tank (50). The inner cavity of the fertilizer liquid tank (58) is connected to the water inlet of the water pump (54) through a pipeline.

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