Agricultural greenhouse snow removal device

Abstract

The utility model belongs to the technical field of agricultural greenhouses, and particularly relates to an agricultural greenhouse snow removing device which comprises a crawler belt, a mechanical arm connected to the upper portion of the crawler belt through a rotating table, a small arm arranged at the tail end of the mechanical arm, an end actuator installed at the tail end of the small arm, a fixing piece rotationally installed at the end actuator, and a tooth scraper and a horizontal scraper sequentially and fixedly installed at the tail end of the fixing piece. A tooth side scraping plate is slidably mounted below the tooth scraping plate, and a horizontal side scraping plate is slidably mounted below the horizontal scraping plate, so that the cleaning efficiency of hard accumulated snow is improved, and the device is suitable for agricultural greenhouses with steel pipes at different intervals.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural greenhouse technology, and in particular relates to a snow removal device for agricultural greenhouses. Background Technology

[0002] The statements in this section are merely background information relating to this disclosure and do not necessarily constitute prior art.

[0003] Snow accumulation often causes greenhouses to collapse. To effectively solve the snow accumulation problem, physical snow removal methods and thermal snow removal methods are currently the most common approaches.

[0004] Thermal snow removal methods involve installing heating systems, such as heating pipes or electric heating wires, inside the greenhouse structure to melt the snow. This method is effective but consumes a lot of energy.

[0005] The physical snow removal method uses a multi-degree-of-freedom robotic arm mounted on a vehicle body. The robotic arm removes snow through a brush plate at its end. For details, please refer to the snow removal device for the roof of a greenhouse for winter planting, which is disclosed in CN114431043 A. It is equipped with a sweeper shell. Inside the sweeper shell, a motor drives the crankshaft to rotate, thereby driving the brush plate to move and remove snow from the greenhouse.

[0006] The aforementioned snow-clearing device can clear large areas of snow, but it still has the following technical problems:

[0007] (1) When clearing snow for a long time, the snow will gradually melt during the day due to the higher temperature of the bottom layer of snow. At night, the melted water will seep into the snow layer. As the temperature drops, this water will refreeze, forming a mixture of ice and snowflakes. The snow becomes hard, and it is difficult to effectively clear the snow using only a single brush plate structure.

[0008] (2) The above-mentioned snow removal device for the roof has poor size adaptability. Each type of arc support frame is only suitable for a greenhouse of one structural size. When removing snow for different agricultural greenhouses, different arc support frames and other structures need to be built, which is relatively costly. Utility Model Content

[0009] To solve the above problems, this utility model proposes a snow removal device for agricultural greenhouses.

[0010] According to some embodiments, the present invention adopts the following technical solution: an agricultural greenhouse snow removal device, including a track, a mechanical arm connected to the track via a rotary table, a forearm at the end of the mechanical arm, an end actuator installed at the end of the forearm, a fixed component rotatably installed on the end actuator, a toothed scraper and a horizontal scraper are sequentially fixedly installed at the end of the fixed component, a toothed side scraper is slidably installed below the toothed scraper, and a horizontal side scraper is slidably installed below the horizontal scraper.

[0011] A micro motor is fixedly installed on the toothed scraper, and a gear is connected below the micro motor. A sliding groove is opened on the side scraper, and a rack is provided on the side wall of the sliding groove. The rack meshes with the gear.

[0012] A further configuration is provided, wherein a large gear and a large wheel are meshed inside the track, and the large wheel is mounted on the outer shell via a fixing frame.

[0013] A further configuration is provided where a small wheel is positioned between the large wheel and the large gear.

[0014] A further configuration is made whereby the large gear is fitted with a motor.

[0015] Further configured, the robotic arm includes a base, a rotary table, a connector, a connecting rod, a second connector, a sleeve, a forearm, a first motor, a second upper arm, and a second motor.

[0016] Further configured, the base is fixedly installed on the mounting seat between the tracks, a rotary table is provided above the base, a boom is rotatably installed at the end of the rotary table, a second connecting shaft is provided through the boom and the rotary table, a second motor is provided at the end of the second connecting shaft, a second connecting piece is rotatably installed at the end of the boom, a first connecting shaft is provided through the boom and the second connecting piece, and a first motor is installed at the end of the first connecting shaft.

[0017] A further configuration is that one end of the connecting member two is hinged to a connecting rod, and the other end of the connecting rod is rotatably connected to the motor two through the connecting member one.

[0018] A further configuration is that a sleeve is installed at the second end of the connector, and the sleeve is connected to the forearm.

[0019] A further configuration includes a connecting shaft three extending through the fixing member and the forearm, with a motor three mounted at the end of the connecting shaft three.

[0020] The beneficial effects of this utility model are as follows:

[0021] (1) This utility model provides two types of scrapers: a scraper with teeth on the lower part and a scraper without teeth on the lower part. The scraper with teeth is located on the inner side, and the scraper without teeth is located on the outer side. This allows the scraper with teeth to loosen the hardened snow on the upper side when scraping snow on agricultural greenhouses, and then the scraper without teeth on the outer side to further remove the snow on the greenhouse, thereby improving the efficiency of clearing hard snow.

[0022] (2) Each type of scraper consists of three scrapers, with the two side scrapers located on the inner side and the middle scraper located on the inner side. The two side scrapers in both types of scrapers can extend and retract left and right through a gear and rack structure to adapt to agricultural greenhouses with steel pipes of different spacing. Attached Figure Description

[0023] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments of this utility model and their descriptions are used to explain this utility model and do not constitute an improper limitation of this utility model.

[0024] Figure 1 This is a schematic diagram of the structure of this utility model.

[0025] Figure 2 This is a schematic diagram of the track structure of this utility model.

[0026] Figure 3 This is a schematic diagram of the structure of the robotic arm of this utility model.

[0027] Figure 4 This is a schematic diagram of the end effector of this utility model.

[0028] Figure 5 This is a schematic diagram of the installation structure of the toothed scraper and toothed side scraper of this utility model.

[0029] Explanation of reference numerals in the attached figures:

[0030] 1 Track; 101 Outer shell; 102 Large wheel; 103 Fixed frame; 104 Small wheel; 105 Large gear; 106 Motor; 107 Track.

[0031] 2. Robotic arm; 201. Base; 202. Rotary table; 203. Connector 1; 204. Linkage; 205. Connector 2; 206. Sleeve; 207. Forearm; 208. Motor 1; 2081. Connecting shaft 1; 209. Upper arm; 210. Motor 2; 2101. Connecting shaft 2;

[0032] 3. End effector; 301. Motor 3; 3011. Connecting shaft; 302. Fixture; 303. Micro motor; 304. Toothed side scraper; 305. Horizontal side scraper; 306. Horizontal scraper; 307. Toothed scraper; 308. Gear; 309. Rack; 310. Slide groove. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0034] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0035] Example 1

[0036] Reference Figures 1 to 5The system includes a track 1071, a robotic arm 2 connected above the track 1071 via a rotary table 202, a forearm 207 at the end of the robotic arm 2, an end actuator installed at the end of the forearm 207, a fixed component 302 rotatably mounted on the end actuator, a toothed scraper 307 and a horizontal scraper 306 sequentially fixed at the end of the fixed component 302, a toothed side scraper 304 slidably mounted below the toothed scraper 307, and a horizontal side scraper 305 slidably mounted below the horizontal scraper 306.

[0037] Reference Figure 5 A micro motor 303 is fixedly installed on the toothed scraper 307. A gear 308 is connected below the micro motor 303. A groove 310 is opened on the side scraper. A rack 309 is provided on one side wall of the groove 310. The rack 309 meshes with the gear 308.

[0038] Reference Figure 2 The track 1071 contains a large gear 105 and a large wheel 102 meshing inside. The large wheel 102 is mounted on the housing 101 via a fixing bracket 103. A small wheel 104 is positioned between the large wheel 102 and the large gear 105. A motor 106 is mounted on the large gear 105. The housing 101 is placed outside the track, serving to protect and secure the small wheel. The motor 106 drives the large gear 105 to rotate, which in turn drives the track 107 to move, thereby moving the small wheel 104 and the large wheel 102, enabling the entire device to move forward and backward.

[0039] Reference Figure 3 The robotic arm 2 includes a base 201, a rotary table 202, a connector, a connecting rod 204, a second connector 205, a sleeve 206, a forearm 207, a first motor 208, a large arm, and a second motor 210. The base 201 is fixed to the base plate by bolts. The base 201 is equipped with a motor that drives the rotary table 202 to rotate, the second motor 210 drives the large arm 209 to rotate, and the first motor 208 drives the second connector to rotate.

[0040] The base 201 is fixedly installed on the mounting seat between the tracks 1071. A rotary table 202 is set above the base 201. The boom is rotatably installed at the end of the rotary table 202. A connecting shaft 3011-2101 is set through the boom and the rotary table 202. A motor 210 is set at the end of the connecting shaft 210. A connecting piece 205 is rotatably installed at the end of the boom. A connecting shaft 3011-1 is set through the boom and the connecting piece 205. A motor 208 is installed at the end of the connecting shaft 3011-1. A connecting rod 204 is hinged to one end of the connecting piece 205. The other end of the connecting rod 204 is rotatably connected to the motor 210 through the connecting piece 203. When the two motors move in coordination, they drive the connecting piece 203 and the connecting rod 204 to move to achieve overall coordinated movement. A sleeve 206 is fixed on the connecting piece 205. A hydraulic cylinder is installed inside the sleeve 206 to realize the extension and retraction movement of the boom 207.

[0041] A sleeve 206 is installed at the end of connector 205. The sleeve 206 is connected to the forearm 207. A hydraulic cylinder is installed inside the sleeve 206 to realize the telescopic movement of the forearm 207.

[0042] A connecting shaft 3011 is set through the fixing member 302 and the forearm 207. A motor 301 is installed at the end of the connecting shaft 3, and the motor 301 drives the rotation of the fixing member 302.

[0043] The working principle of the end effector of this invention is as follows:

[0044] In the end effector section, motor 301 drives the rotation of the fixing member 302. The toothed scraper 307 and the toothless scraper 306 are bolted to the fixing member 302. Micro motor 303 drives gear 308 to rotate, and the rotation of gear 308 drives the linear motion of rack 309, enabling the side scraper to move left and right linearly. Four micro motors 303 are mounted on the scraper, all using a gear and rack structure to achieve the left and right linear motion of the side scraper.

[0045] Although the specific embodiments of the present utility model have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present utility model. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solution of the present utility model are still within the scope of protection of the present utility model.

Claims

1. A snow removal device for agricultural greenhouses, characterized in that, The system includes a track, a robotic arm connected to the track via a rotary table, a forearm at the end of the robotic arm, an end actuator at the end of the forearm, a fixed component mounted on the end actuator, and a toothed scraper and a horizontal scraper sequentially fixed at the end of the fixed component. A toothed side scraper is slidably mounted below the toothed scraper, and a horizontal side scraper is slidably mounted below the horizontal scraper.

2. The agricultural greenhouse snow removal device as described in claim 1, characterized in that, A micro motor is fixedly installed on the toothed scraper, and a gear is connected below the micro motor. A sliding groove is opened on the side scraper, and a rack is provided on the side wall of the sliding groove. The rack meshes with the gear.

3. The agricultural greenhouse snow removal device as described in claim 1, characterized in that, The tracks are internally fitted with large gears and large wheels, and the large wheels are mounted on the outer shell via a fixing frame.

4. The agricultural greenhouse snow removal device as described in claim 3, characterized in that, A small wheel is provided between the large wheel and the large gear.

5. The agricultural greenhouse snow removal device as described in claim 3, characterized in that, The large gear is used to mount the motor.

6. The agricultural greenhouse snow removal device as described in claim 1, characterized in that, The robotic arm includes a base, a rotary table, a connector, a connecting rod, a second connector, a sleeve, a forearm, a first motor, a second upper arm, and a second motor.

7. A snow removal device for agricultural greenhouses as described in claim 6, characterized in that, The base is fixedly installed on the mounting seat between the tracks. A rotating platform is provided above the base. A boom is rotatably installed at the end of the rotating platform. A second connecting shaft is provided through the boom and the rotating platform. A second motor is provided at the end of the second connecting shaft. A second connecting piece is rotatably installed at the end of the boom. A first connecting shaft is provided through the boom and the second connecting piece. A first motor is installed at the end of the first connecting shaft.

8. A snow removal device for agricultural greenhouses as described in claim 6, characterized in that, One end of the connecting piece 2 is hinged to a connecting rod, and the other end of the connecting rod is rotatably connected to the motor 2 through the connecting piece 1.

9. A snow removal device for agricultural greenhouses as described in claim 6, characterized in that, The connector has a sleeve installed at both ends, and the sleeve is connected to the forearm.

10. A snow removal device for agricultural greenhouses as described in claim 1, characterized in that, A connecting shaft three is provided through the fixing member and the forearm, and a motor three is installed at the end of the connecting shaft three.

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