Rope-driven parallel robot for spraying and fertilizing in greenhouse

Abstract

The utility model discloses a rope-driven parallel robot for spraying and fertilizing in a greenhouse, which comprises four groups of driving components, a central platform and a driving rope, the driving components are arranged on the peripheral ground of an operation plot and are used for providing driving force required by the movement of the central platform; the central platform is arranged above an operation land parcel and among the driving assemblies, and is composed of a damping assembly and an operation platform; the driving assembly and the center platform are connected through the driving rope, the driving assembly comprises a stepping motor, a motor mounting plate, a rope shaft, a universal wheel mechanism, a driving assembly mounting plate, a rope passing assembly mounting support, a rope passing assembly and a tension sensor, and the stepping motor is fixedly mounted on the driving assembly mounting plate through the motor mounting plate; the stepping motor is located on the lower side of the universal wheel mechanism and installed on an output shaft of the stepping motor. The technical problem to be solved by the utility model is to provide a rope-driven parallel robot for spraying and fertilizing in a greenhouse.

Description

Technical Field

[0001] The utility model relates to the technical field of rope-driven robots, in particular to a rope-driven parallel robot used for spraying pesticides and fertilizing in a greenhouse. Background Art

[0002] Greenhouse rope-driven robots are highly flexible and maneuverable: in a greenhouse, compared with other traditional power transmission methods, such as wheels or tracks, greenhouse rope-driven robots are easier to move and turn in a complex greenhouse environment because ropes can flexibly avoid various obstacles in various greenhouses; at the same time, greenhouse rope-driven robots can achieve long-distance movement: since greenhouse rope-driven robots can use ropes to move long distances, they have obvious advantages in some tasks that require long-distance movement or crossing obstacles in greenhouses.

[0003] Existing rope-driven robots have the following problems: the wire-passing pulley can only change the direction of the rope output within a very small angle, with poor safety and stability; the central platform driven by the driving rope needs to adjust its own angle and meet the requirements of stable operation while achieving its own stable movement, and is prone to swinging and shaking during movement; the friction between the wire-passing part and the rope is large, which greatly reduces the stability and accuracy of the rope walking, and the range of movement of the rope after passing through the wire-passing part is small, which cannot meet the requirements of driving the central platform to move over a large range; the rope is prone to being too tight or too loose during rope drive, which reduces the stability and accuracy of the central platform during movement.

[0004] The Chinese utility model patent with publication number CN 217284575 U discloses a rope-driven parallel robot for smart agriculture, and its technical content is as follows: the rope-driven parallel robot includes a carrier, an end effector and an adjustment assembly; an annular windshield is provided on the outside of the carrier; the end effector and the annular windshield are at the same height; the technical problem is that the rope-driven parallel robot is only equipped with an annular windshield around the end effector, and under the premise that the end effector itself is not equipped with any device to improve its own stability, it cannot overcome the shaking and swinging of the end effector itself when moving, which greatly reduces the stability and safety of the end effector when moving, and increases the risk during operation. The Chinese utility model patent with publication number CN 217314960U discloses a pipeline desilting robot based on rope-driven steering, and its technical content is as follows: it includes a plurality of sections of adaptive traveling units connected to each other by spherical hinges to form a chain structure; a plurality of rope-driven steering mechanisms are evenly distributed along the circumferential direction between two adjacent adaptive traveling units. The technical problems are: the wire rope in the rope-driven steering mechanism is only output through an ordinary wheel, and the wheel can only change the direction of the rope output within a very small angle. The design of the conductor unit is unreasonable and the safety is poor. At the same time, the friction between the wire rope and the rope mouth is large, which can easily lead to obstruction of the wire rope retraction and release process, greatly reducing its smoothness and work efficiency.

[0005] Therefore, it is necessary to provide a rope-driven parallel robot for greenhouse spraying and fertilization to solve the above technical problems. Utility Model Content

[0006] The utility model aims to solve the shortcomings in the prior art and proposes a rope-driven parallel robot for spraying pesticides and fertilizing in a greenhouse.

[0007] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0008] A rope-driven parallel robot for spraying pesticides and fertilizing in a greenhouse comprises a driving component, a central platform and a driving rope.

[0009] The driving components are arranged on the ground around the working area and are divided into four groups for providing the driving force required for the movement of the central platform; the central platform is arranged above the working area and between the driving components, and is composed of a shock absorbing component and a working platform; the driving rope connects the driving component with the central platform.

[0010] The driving assembly includes a stepper motor, a motor mounting plate, a rope shaft, a universal wheel mechanism, a driving assembly mounting plate, a rope passing assembly mounting bracket, a rope passing assembly, and a tension sensor. The stepper motor is fixed on the driving assembly mounting plate through the motor mounting plate and is located at the lower side of the universal wheel mechanism. The rope shaft is installed on the output shaft of the stepper motor. The universal wheel mechanism is installed in the middle and upper part of the driving assembly mounting plate. The driving assembly mounting plate is installed and fixed to the surrounding walls of the working area. The stepper motor, the motor mounting plate, and the universal wheel mechanism are installed and fixed on the driving assembly mounting plate. The rope passing assembly mounting bracket is installed in front of the tension measuring wheel in the universal wheel mechanism. The rope passing assembly is divided into four groups, including a slipknot bearing and a ceramic sleeve, which are installed on the rope passing assembly mounting bracket and in front of the tension measuring wheel. The ceramic sleeve passes through the rope passing through hole in each group of slipknot bearings. The tension sensor is installed on the side end face of the tension measuring wheel.

[0011] The central platform includes an electrical control box, a shock absorbing assembly, a working platform, a posture sensor, a connecting rod, and a rope passing assembly. The electrical control box and the posture sensor are installed on the inner bottom plate of the upper part of the central platform. The shock absorbing assembly is installed on the inner center of the four connecting rods through the upper shock absorbing assembly connecting bracket. The working platform is installed under the central platform through the four connecting rods. The rope passing assembly is divided into four groups and is fixed around the upper part of the central platform by pins.

[0012] Preferably, the posture sensor and tension sensor are installed in the circuit, which can continuously collect data and feed back to the control system in real time, so as to dynamically adjust the tension of the driving rope and the tilt angle and direction of the central platform itself.

[0013] Preferably, the universal turntable in the universal wheel mechanism can achieve 360° rotation, thereby realizing 360° rotation of the tension measuring wheel, to meet the requirements of cable release at different angles and directions, thereby eliminating the possibility of the rope slipping from the wheel or even derailing due to excessive angle of the rope during movement.

[0014] Preferably, the driving rope is directly connected to the central platform after passing through a rope passing assembly installed on the central platform.

[0015] Preferably, the provision of the ceramic sleeve can reduce the friction during the rope retraction and release process.

[0016] Preferably, the electric control box is used to control the stepper motors and distribute electrical energy to each stepper motor.

[0017] Preferably, the nuts are divided into two groups and are respectively installed at the lower part of the bolts.

[0018] Preferably, the eyebolts are divided into two groups, namely upper eyebolts and lower eyebolts.

[0019] Preferably, the shock-absorbing block is fastened to the bottom of the eyebolt mounting bracket by bolts and nuts, and the shock-absorbing block can be removed and replaced by installing and removing the bolts and nuts; the shock-absorbing spring with hooks at both ends is removable and replaceable, so it can adapt to central platforms of different specifications, has a wide range of applications, and is easy to maintain and replace.

[0020] Preferably, two bolt holes are evenly distributed on both sides of the shock absorbing block and the eye bolt mounting bracket for mounting bolts.

[0021] Compared with the related art, the beneficial effects of the utility model are:

[0022] The shock-absorbing assembly can improve the stability and safety of the rope-driven central platform movement. When the central platform moves under the action of the driving rope, the shock-absorbing assembly can realize that when the central platform shakes and sways, the shock-absorbing block and the shock-absorbing spring continuously swing and sway in the opposite direction of the shaking and swinging of the central platform, and the shock-absorbing spring continuously stretches and contracts to continuously absorb the shaking energy of the central platform, so that the central platform quickly tends to be stable to improve the stability of the central platform movement.

[0023] The universal turntable in the universal wheel mechanism can realize a 360° change in the direction of the driving rope on the tension measuring wheel to meet the requirements of the cable output direction at different angles, thereby eliminating the possibility of the rope slipping from the wheel or even derailing due to excessive angle of the rope during movement, ensuring the stability and safety of the central platform operation process.

[0024] The rope assembly can expand the swing angle range of the rope, reduce the friction resistance of the rope, and make the rope more stable, accurate, smooth and smooth. The rope slipknot ball in the slipknot bearing greatly increases the rope swing range, reduces the risk of the rope coming off the tension wheel, and the ceramic sleeve makes the rope smoother. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0026] Figure 2 It is a schematic diagram of the drive assembly of the utility model.

[0027] Figure 3 It is a schematic diagram of the central platform of the utility model.

[0028] Figure 4 It is a schematic diagram of the rope passing device of the utility model.

[0029] Figure 5 It is a schematic diagram of the shock absorbing component of the utility model.

[0030] Figure 6 It is a schematic diagram of the internal structure of part of the central platform of the utility model.

[0031] In the figure:

[0032] 1. Drive assembly, 2. Center platform, 3. Drive rope, 4. Shock absorption assembly, 5. Rope passing assembly, 6. Stepper motor, 7. Motor mounting plate, 8. Tension sensor, 9. Rope shaft, 10. Universal wheel mechanism, 11. Electric control box, 12. Working platform, 13. Shock absorption spring, 14. Shock absorption block, 15. Bolt, 16. Nut, 17. Upper shock absorption assembly connecting bracket, 18. Tension measuring wheel 19. Eyebolt mounting bracket, 20. Eyebolt, 21. Slipknot bearing, 22. Ceramic sleeve, 23. Drive assembly mounting plate, 24. Rope passing assembly mounting bracket, 25. Posture sensor, 26. Slipknot bearing housing, 27. Slipknot bearing rope passing bearing ball, 28. Pin, 29. Connecting rod, 30. Universal turntable. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0034] A rope-driven parallel robot for greenhouse spraying and fertilization, see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 It can be seen that the rope-driven parallel robot includes a driving component 1, a central platform 2, and a driving rope 3.

[0035] See also Figure 1 It can be seen that the driving assembly 1 is arranged on the greenhouse walls around the working plot and is divided into four groups to provide the driving force required for the movement of the central platform 2; the central platform 2 is arranged above the working plot and between the driving assemblies 1, and is composed of a shock absorbing assembly 4 and a working platform 12; the driving rope 3 connects the driving assembly 1 with the central platform 2.

[0036] See also Figure 2 , 4It can be seen that the driving assembly 1 includes a stepper motor 6, a motor mounting plate 7, a rope shaft 9, a universal wheel mechanism 10, a driving assembly mounting plate 23, a rope assembly mounting bracket 24, a rope assembly 5, and a tension sensor 8. The stepper motor 6 is fixed to the driving assembly mounting plate 23 through the motor mounting plate 7 and is located at the lower side of the universal wheel mechanism 10. The rope shaft 9 is installed on the output shaft of the stepper motor 6. The universal wheel mechanism 10 is installed in the upper middle of the driving assembly mounting plate 23. The driving assembly mounting plate 23 is installed and fixed around the working area. On the greenhouse wall, a stepper motor 6, a motor mounting plate 7, and a universal wheel mechanism 10 are fixedly mounted on the drive assembly mounting plate 23. The rope passing assembly mounting bracket 24 is installed in front of the tension measuring wheel 18 in the universal wheel mechanism 10. The rope passing assembly 5 is divided into four groups, including a slipknot bearing 21 and a ceramic sleeve 22, which are installed on the rope passing assembly mounting bracket 24, in front of the tension measuring wheel 18. The ceramic sleeve 22 passes through the rope passing hole in each group of slipknot bearings 21, and the tension sensor 8 is installed on the side end surface of the tension measuring wheel 18.

[0037] See also Figure 4 , 5 6, the central platform 2 includes an electric control box 11, a shock absorbing assembly 4, a work platform 12, a posture sensor 25, a connecting rod 29, and a rope assembly 5. The electric control box 11 and the posture sensor 25 are installed on the inner bottom plate of the upper part of the central platform 2. The shock absorbing assembly 4 is installed in the inner center of the four connecting rods 29 through the upper shock absorbing assembly connecting bracket 17. The work platform 12 is installed below the central platform 2 through the four connecting rods 29. The rope assembly 5 is divided into four groups and fixed around the upper part of the central platform 2 through pins 28. The work platform 12 can be installed and connected to a spray spray head or fertilizer equipment for spraying and fertilizing plants in a greenhouse.

[0038] See also Figure 5 It can be known that the shock absorbing assembly 4 includes a shock absorbing spring 13, a shock absorbing block 14, a bolt 15, a nut 16, an upper shock absorbing assembly connecting bracket 17, an eyebolt mounting bracket 19, and an eyebolt 20. The two ends of the shock absorbing spring 13 are respectively connected to the upper eyebolt 20 and the lower eyebolt 20. The bolt 15 passes through the bolt holes of the shock absorbing block 14 and the eyebolt mounting bracket 19 from the upper surface of the eyebolt mounting bracket 19. The nut 16 is installed and fastened below the bolt 15 and the shock absorbing block 14. The nut 16 is threadedly connected to the bolt 15. The upper shock absorbing assembly connecting bracket 17 is installed on the lower surface of the upper part of the central platform 2. The eyebolt mounting bracket 19 is installed on the upper surface of the shock absorbing block 14. The eyebolt 20 is respectively installed at the lower center of the upper shock absorbing assembly connecting bracket 17 and the center of the eyebolt mounting bracket 19.

[0039] A damper is provided in the middle of the shock absorbing spring 13, one end of the outer shell of the damper is fixedly connected to one end of the shock absorbing spring 13, one end of the telescopic rod of the damper is fixedly connected to the other end of the shock absorbing spring 13, and both ends of the shock absorbing spring 13 are hooks to facilitate the installation and removal of the shock absorbing spring 13 on the eye bolt 20.

[0040] The tension sensor 8 is a through-axis tension sensor, model CK.225.

[0041] The support plate ends on both sides of the universal wheel mechanism 10 pass through and are fixedly connected to the outer side of one end of the tension sensor 8, and the outer sides of the other ends of the two tension sensors 8 are movably connected to the support plates on one side of the rope assembly mounting bracket 24, and the central axes at both ends of the tension measuring wheel 18 are movably connected to the middle of the tension sensor 8 respectively.

[0042] See also Figure 6 It can be seen that the posture sensor 25 and the tension sensor 8 are installed in the circuit, which can continuously collect data and feed back to the control system in real time to achieve dynamic adjustment of the tension of the drive rope 3 and the tilt angle and direction of the central platform 2 itself.

[0043] See also Figure 2 It can be seen that the universal turntable 30 in the universal wheel mechanism 10 can achieve a 360° rotation, thereby achieving a 360° rotation of the tension measuring wheel 18, to meet the requirements of cable delivery at different angles and directions, and to eliminate the possibility of the rope slipping from the wheel or even derailing due to excessive angle of the rope during movement.

[0044] See also Figure 3 It can be seen that the driving rope 3 is directly connected to the central platform 2 after passing through the rope passing assembly 5 installed on the central platform 2.

[0045] The arrangement of the ceramic sleeve 22 can reduce the friction during the rope retraction and release process.

[0046] The electric control box 11 is used to control the stepper motors 6 and distribute electrical energy to each stepper motor 6 .

[0047] The working principle and process of this device are as follows:

[0048] (1) Start the power supply: The rope-driven robot starts to work after being powered on. The output shaft of the stepper motor 6 starts to rotate, driving the driving rope 3 on the rope shaft 9 to start to retract and release.

[0049] (2) After the driving rope 3 passes through the tension measuring wheel 18, the tension sensor 8 continuously collects the tension data of the driving rope 3 and continuously feeds it back to the control system. The control system will adjust the tension on the driving rope 3 in real time according to the specific situation to make it in the most appropriate tightness, thereby avoiding the jumping and shaking of the central platform 2 caused by the rope being too loose; the nonlinear change of the rope caused by the rope being too tight will lead to a decrease in the retraction and release accuracy, thereby improving the stability and accuracy of the central platform 2.

[0050] (3) After being discharged from the tension measuring wheel 18, the driving rope 3 is led out from the rope hole with a ceramic sleeve 22 of the slipknot bearing rope bearing ball 27 in the rope passing assembly 5, and then directly connected to the central platform 2 after passing through the rope assembly 5, thereby realizing the rope drive control of the central platform 2.

[0051] (4) When the driving rope 3 drives the central platform 2 to move at a large angle and a large range, the rope bearing ball 27 of the slipknot bearing in the rope assembly 5 also rotates at a large angle in the slipknot bearing housing 26 to greatly improve the direction and angle range of the driving rope 3, effectively avoiding the possibility of the rope escaping from the wheel. At the same time, the universal turntable 30 in the universal wheel mechanism 10 also rotates accordingly with the large-scale movement of the rope, thereby changing the rope-out direction on the tension measuring wheel 18, effectively avoiding the possibility of the rope escaping from the wheel. The cooperation between the two enables the large-scale movement of the central platform 2 to be achieved safely and stably; at the same time, the ceramic sleeve 22 reduces the friction resistance received when the rope is out, and the rope-out process is smoother.

[0052] (5) When the central platform 2 is moving and continuously shaking and bouncing, the shock absorbing block 14 of the shock absorbing assembly 4 continuously shakes in the opposite direction of the central platform 2 due to inertia, and at the same time drives the shock absorbing spring 13 to shake while continuously extending and contracting. The damper in the shock absorbing spring 13 continuously absorbs the energy of the shaking of the central platform 12, causing it to quickly stabilize.

[0053] (6) At the same time, the posture sensor 25 continuously collects data such as the inclination and direction of the central platform 2, and feeds it back to the control system in real time. The control system controls the corresponding stepper motor 6 to adjust the retraction and release amount of the drive rope 3, thereby realizing dynamic adjustment of the inclination and direction of the central platform 2, so that it maintains horizontal and stable movement.

[0054] Through the above process, the stability, accuracy and safety of the rope-driven parallel robot can be effectively improved.

[0055] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A rope-driven parallel robot for greenhouse spraying and fertilizing, comprising a driving assembly (1), a central platform (2) and a driving rope (3), characterized in that: The driving assembly (1) is arranged on the greenhouse walls around the working plot, and the driving assembly (1) is provided with four groups for providing the driving force required for the movement of the central platform (2); the central platform (2) is arranged above the working plot and between each of the driving assemblies (1), and the central platform (2) is composed of a shock absorbing assembly (4) and a working platform (12); the driving rope (3) connects the driving assembly (1) and the central platform (2); The driving assembly (1) comprises a stepping motor (6), a motor mounting plate (7), a rope shaft (9), a universal wheel mechanism (10), a driving assembly mounting plate (23), a rope passing assembly mounting bracket (24), a rope passing assembly (5) and a tension sensor (8); the stepping motor (6) is mounted and fixed on the driving assembly mounting plate (23) via the motor mounting plate (7); the rope shaft (9) is located at the lower side of the universal wheel mechanism (10); the rope shaft (9) is fixedly mounted on the output shaft of the stepping motor (6); the universal wheel mechanism (10) is fixedly mounted on the middle and upper part of the driving assembly mounting plate (23); and the driving assembly mounting plate (23) is mounted and fixed on the four sides of the working area. A greenhouse wall, wherein the rope assembly mounting bracket (24) is mounted in front of the tension measuring wheel (18) in the universal wheel mechanism (10), the rope assembly (5) is divided into four groups, the rope assembly (5) comprises a slipknot bearing (21) and a ceramic sleeve (22), the slipknot bearing (21) is mounted on the rope assembly mounting bracket (24), the ceramic sleeve (22) passes through and is fixed in the corresponding rope through hole in the slipknot bearing (21), the tension sensor (8) is mounted on the side end surface of the tension measuring wheel (18), one end of the driving rope (3) passes through the ceramic sleeve (22), passes around the tension measuring wheel (18) and is fixedly connected to the rope shaft (9); The central platform (2) comprises an electric control box (11), a shock absorbing assembly (4), the working platform (12), a posture sensor (25), a connecting rod (29), the rope passing assembly (5), the electric control box (11) and the posture sensor (25) are installed on the inner bottom plate of the upper part of the central platform (2); the shock absorbing assembly (4) is installed at the inner center of the four connecting rods (29) through an upper shock absorbing assembly connecting bracket (17); the working platform (12) is installed below the central platform (2) through the four connecting rods (29); the rope passing assembly (5) is divided into four groups and fixed to the four sides of the upper part of the central platform (2) through pins (28); one end of the driving rope (3) close to the central platform (2) is fixedly connected to the slipknot bearing (21) of the rope passing assembly (5).

2. A rope-driven parallel robot for greenhouse spraying and fertilization according to claim 1, characterized in that: The shock absorbing assembly (4) comprises a shock absorbing spring (13), a shock absorbing block (14), a bolt (15), a nut (16), the upper shock absorbing assembly connecting bracket (17), a lifting eye bolt mounting bracket (19) and a lifting eye bolt (20); the two ends of the shock absorbing spring (13) are respectively connected to the lifting eye bolt (20) on the upper side and the lifting eye bolt (20) on the lower side; the bolt (15) passes through the shock absorbing block (14), the lifting eye bolt mounting bracket and the lifting eye bolt (20) from the upper surface of the lifting eye bolt mounting bracket (19). The bolt hole of the shock absorbing block (19) is provided, the nut (16) is threadedly connected to the bolt (15), the nut (16) is located below the shock absorbing block (14), the upper shock absorbing assembly connecting bracket (17) is fixedly mounted on the lower surface of the upper part of the central platform (2), the eye bolt mounting bracket (19) is fixedly mounted on the upper surface of the shock absorbing block (14), and the eye bolt (20) is respectively mounted at the lower center of the upper shock absorbing assembly connecting bracket (17) and the center of the eye bolt mounting bracket (19).

3. A rope-driven parallel robot for greenhouse spraying and fertilization according to claim 2, characterized in that: A damper is provided in the middle of the shock absorbing spring (13); one end of the outer shell of the damper is fixedly connected to one end of the shock absorbing spring (13); one end of the telescopic rod of the damper is fixedly connected to the other end of the shock absorbing spring (13); and both ends of the shock absorbing spring (13) are hooks, which facilitate the installation and removal of the shock absorbing spring (13) on the eye bolt (20).

4. The rope-driven parallel robot for greenhouse spraying and fertilization according to claim 1, characterized in that: The slipknot bearing (21) comprises a slipknot bearing housing (26) and a slipknot bearing rope bearing ball (27). The slipknot bearing housing (26) is used to realize the installation of the slipknot bearing (21). The corresponding slipknot bearing housing (26) is fixed to the surrounding surfaces of the upper part of the rope passing assembly mounting bracket (24) and the central platform (2) through the pin (28). The slipknot bearing rope bearing ball (27) is rotatably connected in the slipknot bearing housing (26) and can realize 360° rotation.

5. The rope-driven parallel robot for greenhouse spraying and fertilization according to claim 1, characterized in that: The motor mounting plate (7) and the universal wheel mechanism (10) are both fixed to the drive assembly mounting plate (23) via the pins (28).

6. The rope-driven parallel robot for greenhouse spraying and fertilization according to claim 1, characterized in that: The tension sensor (8) can feed back data to the control system to dynamically adjust the rope tension, thereby achieving regulation of the tightness of the rope.

7. The rope-driven parallel robot for greenhouse spraying and fertilization according to claim 1, characterized in that: The tension sensor (8) is a through-axis tension sensor, model CK.

225.

8. The rope-driven parallel robot for greenhouse spraying and fertilization according to claim 1, characterized in that: The support plate ends on both sides of the universal wheel mechanism (10) pass through and are fixedly connected to the outer side of one end of the tension sensor (8), and the outer sides of the other ends of the two tension sensors (8) are movably connected to the support plate on one side of the rope assembly mounting bracket (24), and the central axes at both ends of the tension measuring wheel (18) are movably connected to the middle of the tension sensor (8).

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