Self-reconfiguration greenhouse production operation management robot
By designing a self-reconfigurable greenhouse production operation management robot and using a motor-driven correction roller mechanism to achieve aerial operation, the problems of low greenhouse operation efficiency and high cost in existing technologies have been solved, and efficient production management of the entire crop process has been achieved.
Patent Information
- Application Number
- CN202422733798.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-11
- Publication Date
- 2025-09-19
- Estimated Expiration
- 2034-11-11
AI Technical Summary
Existing greenhouse production management operations mostly rely on single-function machinery. Field management during the crop growing season is difficult to achieve efficient operations and still requires a large amount of manpower, resulting in low efficiency, high costs, management negligence and high labor intensity.
A self-reconfigurable greenhouse production management robot is designed, which includes a trellis, a connecting mechanism, and an actuator. A motor-driven straightening roller mechanism pulls eight wires to achieve a wide range of aerial operations, meeting the needs of crop management at different heights and planting densities. The robot's positioning and movement are achieved through a point-line network structure.
It realizes efficient production management of the entire process of crops from sowing to harvesting, reduces operating costs, improves operating efficiency, reduces manual intervention, and enhances the automation and intelligence level of operations.
Smart Images
Figure CN223354273U_ABST
Abstract
Description
Technical field:
[0001] The utility model relates to a self-reconfigurable greenhouse production operation management robot, which belongs to the field of agricultural machinery engineering. Background technology:
[0002] The growth of crops is easily affected by factors such as geography, soil, water, fertilizer, light, and temperature, making harvests difficult to guarantee. With the widespread adoption of greenhouse technology, crop sowing, fertilization, transplanting, and harvesting are all managed centrally and systematically in greenhouses. Current machinery can only handle the sowing and pre-sowing, harvesting, and post-harvest processes, and most machines use single functions. Field management during the crop growing season is difficult due to greenhouse space limitations, making operations such as tillage and weeding, transplanting and reseeding, and topdressing difficult. Most operations still rely on manual labor, resulting in low efficiency and high costs, impacting profitability.
[0003] Currently, greenhouse production management operations in the market mostly use single-function machinery, most of which are only suitable for the sowing and harvesting processes of crops, while the management of crops during the growing season still mostly relies on manual operations, which have problems such as low efficiency, high cost, management negligence, and high labor intensity.
[0004] Therefore, it is necessary to improve the existing technology to solve the shortcomings of the existing technology. Utility model content:
[0005] The utility model is to solve the problems existing in the above-mentioned prior art and provide a self-reconfigurable greenhouse production operation management robot, which has low manufacturing cost and low operating power consumption and can effectively improve the efficiency of greenhouse production management.
[0006] The utility model adopts the following technical solution: a self-reconfigurable greenhouse production operation management robot, including a shed, a connecting mechanism and an actuator, the shed includes four vertical supports and three horizontal supports connected to the vertical supports, each horizontal support includes four rods, and each rod of the middle horizontal support and the lower horizontal support is equipped with a correction roller mechanism;
[0007] The deflection correction roller mechanism includes a first mounting plate, a second mounting plate, a third mounting plate, a large gear, a small gear, a polished rod, a first polished rod frame, a second polished rod frame, a roller shaft, a screw rod and a wire guide plate, wherein the wire guide plate is mounted on the first mounting plate, and a 42 series two-phase hybrid stepping motor is mounted on the side of the second mounting plate facing away from the third mounting plate, and the motor shaft of the 42 series two-phase hybrid stepping motor passes through the reserved hole on the second mounting plate and contacts one side of the second mounting plate, the small gear is mounted on the motor shaft, the screw rod is mounted on the second mounting plate and the third mounting plate, the first polished rod frame and the second polished rod frame are mounted on the screw rod and the first polished rod frame and the second polished rod frame are respectively in contact with the second mounting plate and the third mounting plate, the large gear and the roller shaft are mounted on the screw rod and the large gear and the roller shaft are located between the first polished rod frame and the second polished rod frame, the large gear is in contact with the first polished rod frame, the large gear is meshed with the small gear, and the polished rod is passed through and mounted on the large gear, the first polished rod frame, the second polished rod frame and the roller shaft;
[0008] The connecting mechanism includes a first connecting mechanism mounting plate, a second connecting mechanism mounting plate and a third connecting mechanism mounting plate, the first connecting mechanism mounting plate is provided with a motor mounting hole, the motor is installed at the position of the motor mounting hole, the second connecting mechanism mounting plate is provided with four double-ended countersunk holes, the small ends of the double-ended countersunk holes are provided with arc grooves, the third connecting mechanism mounting plate is installed on the lower surface of the first connecting mechanism mounting plate, and the third connecting mechanism mounting plate is covered around the second connecting mechanism mounting plate, the shaft of the motor extends and is mounted on the second connecting mechanism mounting plate, the upper end of the actuator is installed in the double-ended countersunk hole on the second connecting mechanism mounting plate, notches are formed at the four corners of the first connecting mechanism mounting plate, a magnetic suspension fixing piece is installed at each notch, and each of the magnetic suspension fixing pieces is connected to a wire;
[0009] Positioning brackets are respectively installed at the four corners of the upper horizontal bracket and the middle horizontal bracket, and a fixed pulley is respectively installed on each vertical bracket between the upper horizontal bracket and the middle horizontal bracket and each vertical bracket between the middle horizontal bracket and the lower horizontal bracket. The wire connected to each magnetic suspension fixing part is connected to the positioning bracket, fixed pulley and correction line roller mechanism opposite to it.
[0010] Furthermore, the second mounting plate and the third mounting plate are mounted opposite to each other on the first mounting plate, and the second mounting plate and the third mounting plate are located on both sides of the wire guide plate.
[0011] Furthermore, a plurality of mounting holes of the same size are evenly distributed on the large gear, the first polished rod frame, the second polished rod frame and the roller shaft, and the polished rods are passed through and mounted on the mounting holes.
[0012] Furthermore, the pitch of the roller and the screw is 1:1, and the coaxiality of the roller is ensured by three polished rods.
[0013] The present invention has the following beneficial effects: the self-reconstructive greenhouse production operation management robot drives the correction line roller mechanism through a motor, pulling eight lines, and can realize a large range of aerial operations, which can meet the management needs of crops of different heights and different planting densities. Moreover, the positioning and movement of the robot can be realized through the point-line network structure, and the required actuators (such as sowing, fertilizing, transplanting, and harvesting) can be replaced according to the operation process and object, thereby realizing efficient production management of the entire process of crops from sowing to harvesting. Description of the drawings:
[0014] Figure 1 This is a schematic diagram of the utility model's self-reconfigurable greenhouse production operation management robot.
[0015] Figure 2 Schematic diagram of the correction line roller mechanism.
[0016] Figure 3 Schematic diagram of the connection mechanism.
[0017] Figure 4 This is a schematic diagram showing the connecting mechanism and the actuator installed together.
[0018] Figure 5 Schematic diagram of the second connecting mechanism mounting plate. Specific implementation method:
[0019] The present invention will be further described below with reference to the accompanying drawings.
[0020] The present invention's self-reconfigurable greenhouse production management robot includes a scaffold 100, a deflection correction roller mechanism 4, a connecting mechanism 2, and an actuator 300 mounted on the scaffold 100. The scaffold 100 includes four vertical supports 1000 and three horizontal supports 1001 connected to the vertical supports 1000. Each horizontal support 1001 includes four rods. A deflection correction roller mechanism 4 is mounted on each rod of the middle and lower horizontal supports 1001.
[0021] The wire guide roller mechanism 4 includes a first mounting plate 5, a second mounting plate 6, a third mounting plate 7, a large gear 8, a small gear 9, a polished rod 10, a first polished rod frame 15, a second polished rod frame 16, a roller shaft 11, a screw 12, and a wire guide plate 13. The wire guide plate 13 is mounted on the first mounting plate 5. The second mounting plate 6 and the third mounting plate 7 are mounted opposite each other on the first mounting plate 5, and the second mounting plate 6 and the third mounting plate 7 are located on either side of the wire guide plate 13. A 42 series two-phase hybrid stepper motor 14 is mounted on the side of the second mounting plate 6 facing away from the third mounting plate 7. The motor shaft of the 42 series two-phase hybrid stepper motor 14 passes through a reserved hole in the second mounting plate 6 and contacts one side of the second mounting plate 6. The small gear 9 is mounted on the motor shaft, and the screw 12 is mounted on the second mounting plate 6 and the third mounting plate 7. The first and second polished rod frames 15 and 16 are mounted on the screw rod 12 and in contact with the second mounting plate 6 and the third mounting plate 7, respectively. A large gear 8 and a roller shaft 11 are mounted on the screw rod 12 and positioned between the large gear 8 and the roller shaft 11. The large gear 8 contacts the first polished rod frame 15 and meshes with the small gear 9. Several mounting holes of equal size are evenly distributed on the large gear 8, the first and second polished rod frames 15, 16, and the roller shaft 11. Polished rods 10 are inserted into these mounting holes. The pitch of the roller shaft 11 and the screw rod 12 is 1:1, and the roller shaft 11 is ensured to be coaxial with the three polished rods 10.
[0022] The connecting mechanism 2 includes a first connecting mechanism mounting plate 18, a second connecting mechanism mounting plate 19, and a third connecting mechanism mounting plate 20. The first connecting mechanism mounting plate 18 is provided with a motor mounting hole, where a motor 1800 is mounted. The second connecting mechanism mounting plate 19 is provided with four double-ended countersunk holes 190. The small ends of these double-ended countersunk holes 190 are provided with arcuate grooves 191. The dimensions of these arcuate grooves 191 correspond to the dimensions of the connection points of the actuator 300. The third connecting mechanism mounting plate 20 is mounted on the lower surface of the first connecting mechanism mounting plate 18 and wraps around the second connecting mechanism mounting plate 19. The shaft of the motor 1800 extends and is mounted on the second connecting mechanism mounting plate 19. The upper end of the actuator is mounted in the double-ended countersunk holes 190 in the second connecting mechanism mounting plate 19.
[0023] The first connection mechanism mounting plate 18 is a square structure, with notches formed at the four corners of the first connection mechanism mounting plate 18 , not marked. A magnetic suspension fixture 201 is installed at each notch, and each magnetic suspension fixture 201 is connected to a wire.
[0024] Positioning brackets 1 are respectively installed at the four corners of the upper horizontal bracket 1001 and the middle horizontal bracket 1001. A fixed pulley 3 is respectively installed on each vertical bracket 1000 between the upper horizontal bracket and the middle horizontal bracket and each vertical bracket 1000 between the middle horizontal bracket and the lower horizontal bracket.
[0025] Taking the wire connected to one of the magnetic suspension fixtures 201 as an example, this wire is connected to the corresponding positioning bracket, fixed pulley, and deflection correction roller mechanism 4. Specifically, one end of the wire passes through the positioning bracket at the corner of the upper horizontal bracket, then passes through the fixed pulley between the upper and middle horizontal brackets, and finally passes through the wire guide plate 13 of the deflection correction roller mechanism 4 on the middle horizontal bracket before being wound around the roller shaft 11 of the deflection correction roller mechanism 4. The other end of the wire passes through the positioning bracket at the corner of the middle horizontal bracket, then passes through the fixed pulley between the middle and lower horizontal brackets, and finally passes through the wire guide plate 13 of the deflection correction roller mechanism 4 on the lower horizontal bracket before being wound around the roller shaft 11 of the deflection correction roller mechanism 4. Similarly, the wires connected to the remaining three magnetic suspension fixtures 201 are also connected to the corresponding positioning brackets, fixed pulleys, and deflection correction roller mechanisms 4 in this manner.
[0026] In the self-reconfigurable greenhouse production operation management robot of the present invention, each positioning bracket, fixed pulley, and deviation-correcting roller mechanism is referred to as a unit. Therefore, the self-reconfigurable greenhouse production operation management robot of the present invention comprises a total of eight units.
[0027] The working principle of the self-reconfigurable greenhouse production operation management robot of the present invention is as follows: the motor 1800 drives the second connecting mechanism mounting plate 19 to move, thereby causing the second connecting mechanism mounting plate 19 to move relative to the actuator. When the actuator is stuck in the end position of the arc groove 191, the actuator will move with the second connecting mechanism mounting plate 19. At the same time, the 42 series two-phase hybrid stepping motor 14 drives the small gear 9 to rotate. The small gear 9 meshes with the large gear 8. The rotation of the large gear 8 drives the screw 12 to rotate. The screw 12 drives the roller 11 to rotate, so that the wire wrapped around the roller 11 pulls the first connecting mechanism mounting plate 18 and the second connecting mechanism mounting plate 19 to move. The movement of the second connecting mechanism mounting plate 19 can also cause the second connecting mechanism mounting plate 19 to move relative to the actuator. When the actuator is stuck in the end position of the arc groove 191, the actuator will move with the second connecting mechanism mounting plate 19.
[0028] The utility model is a self-reconfigurable greenhouse production operation management robot. The motor drives the correction line roller mechanism to pull eight lines, which can realize a large range of aerial operations and meet the management needs of crops at different heights and different planting densities. Moreover, the robot can be positioned and moved through the point-line network structure. The required actuators (such as sowing, fertilizing, transplanting, and harvesting) can be replaced according to the operation process and object, thereby realizing efficient production management of the entire process of crops from sowing to harvesting.
[0029] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principles of the present invention. These improvements should also be regarded as the scope of protection of the present invention.
Claims
1. A self-reconfigurable greenhouse production management robot, characterized by: The invention comprises a scaffold (100), a connecting mechanism (2) and an actuator (300), wherein the scaffold (100) comprises four vertical supports (1000) and three layers of horizontal supports (1001) connected to the vertical supports (1000), each layer of the horizontal supports (1001) comprises four rods, and each rod of the middle layer horizontal support (1001) and the lower layer horizontal support (1001) is equipped with a correction roller mechanism (4); The deflection correction roller mechanism (4) comprises a first mounting plate (5), a second mounting plate (6), a third mounting plate (7), a large gear (8), a small gear (9), a polished rod (10), a first polished rod frame (15), a second polished rod frame (16), a roller shaft (11), a screw rod (12) and a wire guide plate (13), wherein the wire guide plate (13) is mounted on the first mounting plate (5), a 42 series two-phase hybrid stepping motor (14) is mounted on the side of the second mounting plate (6) away from the third mounting plate (7), a motor shaft of the 42 series two-phase hybrid stepping motor (14) passes through a reserved hole on the second mounting plate (6) and contacts one side of the second mounting plate (6), the small gear (9) is mounted on the motor shaft, the screw rod ( 12) is installed on the second mounting plate (6) and the third mounting plate (7), the first polished rod frame (15) and the second polished rod frame (16) are installed on the screw rod (12), and the first polished rod frame (15) and the second polished rod frame (16) are in contact with the second mounting plate (6) and the third mounting plate (7), respectively, the large gear (8) and the roller shaft (11) are installed on the screw rod (12), and the large gear (8) and the roller shaft (11) are located between the first polished rod frame (15) and the second polished rod frame (16), the large gear (8) is in contact with the first polished rod frame (15), the large gear (8) is meshed with the small gear (9), and the polished rod (10) is installed on the large gear (8), the first polished rod frame (15), the second polished rod frame (16) and the roller shaft (11); The connecting mechanism (2) comprises a first connecting mechanism mounting plate (18), a second connecting mechanism mounting plate (19) and a third connecting mechanism mounting plate (20); the first connecting mechanism mounting plate (18) is provided with a motor mounting hole, a motor (1800) is mounted at the position of the motor mounting hole; the second connecting mechanism mounting plate (19) is provided with four double-headed countersunk holes (190), the small ends of the double-headed countersunk holes (190) are provided with arc grooves (191); the third connecting mechanism mounting plate (20) is mounted on the first connecting mechanism mounting plate (18) On the lower surface, the third connecting mechanism mounting plate (20) is covered around the second connecting mechanism mounting plate (19), the shaft of the motor (1800) is extended and mounted on the second connecting mechanism mounting plate (19), the upper end of the actuator is mounted in the double-headed countersunk hole (190) on the second connecting mechanism mounting plate (19), and the first connecting mechanism mounting plate (18) is respectively formed with a notch at the four corners, and a magnetic suspension fixing part (201) is respectively installed at the position of each notch, and each magnetic suspension fixing part (201) is respectively connected to a wire; Positioning brackets (1) are respectively installed at the four corners of the upper horizontal bracket (1001) and the middle horizontal bracket (1001); a fixed pulley (3) is respectively installed on each vertical bracket (1000) between the upper horizontal bracket and the middle horizontal bracket, and each vertical bracket (1000) between the middle horizontal bracket and the lower horizontal bracket; and a line connected to each magnetic suspension fixing member (201) is connected to the positioning bracket (1), the fixed pulley (3) and the deviation correction roller mechanism (4) opposite thereto.
2. The self-reconfigurable greenhouse production management robot according to claim 1, characterized in that: The second mounting plate (6) and the third mounting plate (7) are mounted on the first mounting plate (5) in an opposite manner, and the second mounting plate (6) and the third mounting plate (7) are located on both sides of the wire guide plate (13).
3. The self-reconfigurable greenhouse production management robot according to claim 2, characterized in that: A plurality of mounting holes of the same size are evenly distributed on the large gear (8), the first polished rod frame (15), the second polished rod frame (16) and the roller shaft (11), and the polished rod (10) is passed through and mounted on the mounting holes.
4. The self-reconfigurable greenhouse production management robot according to claim 3, characterized in that: The pitch of the roller shaft (11) and the screw rod (12) is 1:1, and the coaxiality of the roller shaft (11) is ensured by three polished rods (10).