Telescopic integrated robot for agricultural greenhouse planting

Abstract

The utility model provides a telescopic integrated robot for agricultural greenhouse planting. The moving mechanism is composed of a motor, Mecanum wheels and a bottom plate, the Mecanum wheels are installed at the four corners of the bottom of the bottom plate, and active control motors are installed on the Mecanum wheels; the telescopic mechanism is composed of a telescopic frame, an electric push rod and an aluminum alloy frame, and the telescopic frame and the electric push rod are installed on the aluminum alloy frame fixed to the bottom plate. The design of the telescopic mechanism and the three-seat-head sprayer is introduced, the three-seat-head structure of the sprayer can spray at different heights and angles, it is ensured that water, fertilizer and pesticide can reach each corner in a greenhouse, and the limitation that a traditional sprayer can only spray at a fixed position is overcome. By means of the design, irrigation of the whole greenhouse is more uniform, the phenomenon that water in some areas is too much and water in other areas is lacked is avoided, and therefore uniform growth of crops is promoted.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural greenhouse irrigation, specifically a retractable integrated robot for agricultural greenhouse planting. Background Technology

[0002] Modern greenhouses utilize integrated water and fertilizer systems, which have effectively improved traditional crop cultivation methods, especially for crops with specific growing requirements, solving the supply problems of vegetables during off-seasons and peak seasons. Despite continuous innovation in irrigation, fertilization, and pesticide application management of greenhouse crops, existing systems still face three main problems: First, traditional top-down irrigation methods cannot achieve comprehensive water supply, potentially leading to plant drying or death; second, row-wide spraying makes localized, precise management difficult, increasing the risk of pest infestations and costs; and finally, single-function nozzles cannot meet the integrated needs of water, fertilizer, and pesticide application, further increasing management costs.

[0003] In summary, this utility model provides a retractable integrated robot for agricultural greenhouse cultivation. By utilizing the retractable mechanism and a three-headed nozzle design that integrates water, fertilizer, and pesticide application, the reach of the nozzles is expanded to overcome the limitations of traditional management systems in the precise application of water, fertilizer, and pesticides and in the implementation of three-dimensional irrigation, thereby solving the aforementioned problems. Utility Model Content

[0004] To address the aforementioned technical problems, this utility model provides a retractable integrated robot for agricultural greenhouse cultivation. This addresses the issues of existing top-down irrigation methods, which cannot achieve comprehensive water supply and may lead to plant drying or death; the difficulty of precise local management with row-wide spraying, which increases the risk of pest infestation and costs; and the inability of single-function nozzles to meet the integrated needs of water, fertilizer, and pesticide application, further increasing management costs.

[0005] A retractable, integrated robot for agricultural greenhouse cultivation includes:

[0006] The moving mechanism consists of a motor, Mecanum wheels, and a base plate. Mecanum wheels are installed at the four bottom corners of the base plate, and active control motors are installed on the Mecanum wheels.

[0007] The telescopic mechanism consists of a telescopic frame, an electric actuator, and an aluminum alloy frame, wherein the telescopic frame and the electric actuator are mounted on the aluminum alloy frame fixed to the base plate;

[0008] The sprinkler system consists of three sprinkler heads for water, fertilizer, and pesticide, a water pump, a water tank, and connecting pipes. The water tank is connected to the water pump via pipes, and the water pump is connected to the three sprinkler heads for water, fertilizer, and pesticide via pipes.

[0009] The connecting mechanism consists of long elbow water pipes, short elbow water pipes, and medium elbow water pipes connected end to end.

[0010] Preferably, the Mecanum wheel includes bolts, rollers, and a hub, with the rollers being detachably mounted on the hub via bolts.

[0011] Preferably, the electric actuator includes a connector, a connecting base, a main actuator, a secondary actuator, a connecting hole, and a drive motor. The connector is fixed to the bottom of the connecting base. The main actuator, the secondary actuator, and a motor for controlling extension and retraction are mounted on the top of the connecting base. The head of the secondary actuator has a connecting hole.

[0012] Preferably, the water pump includes a water inlet, a water pump motor, a base, an extended fixing end, fastening screws, and mounting holes. The water pump is provided with a water inlet, a water pump motor, and a base. The extended fixing end of the water pump is mounted on the base plate through the mounting holes by fastening screws.

[0013] Preferably, the water, fertilizer, and pesticide three-slot nozzle includes three nozzles, a spherical connector, a water inlet pipe, and an extended mounting rod. The extended mounting rod is detachably installed at the head of the telescopic frame, and the water inlet pipe is connected to the three nozzles through the spherical connector.

[0014] Preferably, the pipeline includes a long elbow water pipe, a short elbow water pipe, and a medium elbow water pipe, with the head of the long elbow water pipe on the water pump and the other end sequentially installed with the short elbow water pipe and the medium elbow water pipe.

[0015] Preferably, the water tank includes a water tank body, a four-way water pipe, a water tank cover, and a water tank body. The water tank cover is installed on the water tank body, and the four-way water pipe extends through the water tank cover into the interior of the water tank body. The tail end of the four-way water pipe is connected to the water inlet pump port.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. This utility model introduces a telescopic mechanism and a three-headed nozzle design. The three-headed structure of the nozzle allows for spraying at different heights and angles, ensuring that water, fertilizer, and pesticides reach every corner of the greenhouse, overcoming the limitation of traditional nozzles that can only spray in a fixed position. This design makes irrigation more uniform throughout the greenhouse, avoiding the phenomenon of some areas being overwatered while others are underwatered, thereby promoting uniform crop growth.

[0018] 2. This utility model integrates temperature and humidity sensors, enabling the system to monitor the greenhouse environment in real time. Combined with intelligent algorithms, it automatically adjusts irrigation volume and application timing based on sensor data. This function can dynamically respond to environmental changes, such as fluctuations in temperature and humidity, thereby adjusting irrigation strategies in a timely manner to ensure that crops can obtain optimal growth conditions under different climatic conditions, reducing resource waste caused by human error.

[0019] 3. This utility model replaces the complex equipment and management system required by traditional greenhouses by adopting a simpler and more cost-effective management solution. It not only simplifies equipment maintenance procedures but also reduces the investment and operating costs of small and medium-sized greenhouses, making it more affordable for farmers and encouraging the widespread adoption of this more efficient irrigation solution. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the device of the present invention;

[0021] Figure 2 This is a schematic diagram of the Mecanum wheel, which consists of bolts, rollers, and a hub, in this invention.

[0022] Figure 3 This is a schematic diagram of the structure of the base plate in this invention.

[0023] Figure 4 This is a schematic diagram of the connection structure of the water tank body, water tank cover and four-way water pipe in this invention.

[0024] Figure 5 This is a schematic diagram of the long elbow water pipe structure in this invention.

[0025] Figure 6 This is a schematic diagram of the short elbow water pipe structure in this invention.

[0026] Figure 7 This is a schematic diagram of the medium-elbow water pipe structure in this invention.

[0027] Figure 8 This is a schematic diagram of the connection structure of the three spray nozzles for water, fertilizer, and pesticides and the telescopic mechanism in this invention.

[0028] Figure 9 This is a schematic diagram of the structure of the present invention, consisting of three nozzles, a spherical connector, a water inlet pipe, and an extended mounting rod.

[0029] Figure 10 This is a schematic diagram of the electric actuator structure in this invention, which consists of a connector, a connecting base, a main push rod, a secondary push rod, a connecting hole, and a drive motor.

[0030] Figure 11 This is a schematic diagram of the water pump structure in this invention, consisting of a water inlet, a water pump motor, a base, an extended fixing end, and fastening screws.

[0031] Figure 12 This is a schematic diagram of the motor mounting hole at the Mecanum wheel in this invention.

[0032] In the diagram: 1. Mecanum wheel; 11. Bolt; 12. Roller; 13. Hub; 2. Base plate; 3. Water tank; 31. Water tank body; 32. Four-way water pipe; 33. Water tank cover; 4. Long elbow water pipe; 5. Short elbow water pipe; 6. Medium elbow water pipe; 7. Telescopic frame; 8. Three-way spray nozzle for water, fertilizer, and pesticides; 81. Three spray nozzles; 82. Spherical connector; 83. Water inlet pipe; 84. Extended mounting rod; 9. Electric actuator; 91. Connector; 92. Connecting base; 93. Main actuator; 94. Secondary actuator; 95. Connecting hole; 96. Drive motor; 10. Water pump; 101. Water inlet pump port; 102. Water pump motor; 103. Base; 104. Extended fixed end; 105. Fastening screw; 106. Mounting hole; 11. Motor. Detailed Implementation

[0033] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0034] like Figure 1-12 As shown, this utility model provides a retractable integrated robot for agricultural greenhouse planting, comprising:

[0035] The moving mechanism consists of a motor 11, Mecanum wheels 1, and a base plate 2. Mecanum wheels 1 are installed at the four corners of the bottom of the base plate 2. An active control motor 11 is installed on each Mecanum wheel 1. By starting the motor 11, the motor 11 can drive the Mecanum wheels 1 to move, thereby achieving the purpose of moving this integrated robot.

[0036] The Mecanum wheel 1 includes a bolt 11, a roller 12, and a hub 13, wherein the roller 12 is detachably mounted on the hub 13 via the bolt 11;

[0037] The telescopic mechanism consists of a telescopic frame 7, an electric actuator 9, and an aluminum alloy frame. The telescopic frame 7 and the electric actuator 9 are mounted on the aluminum alloy frame fixed to the base plate 2. The telescopic frame 7 can be used to control and adjust the position of the three spray nozzles 8 for water, fertilizer, and pesticides. The electric actuator 9 includes a connector 91, a connecting base 92, a main actuator 93, a secondary actuator 94, a connecting hole 95, and a drive motor 96. The connector 91 is fixed to the bottom of the connecting base 92. The main actuator 93, the secondary actuator 94, and the drive motor 96 for controlling the telescopic movement are mounted on the top of the connecting base 92. The head of the secondary actuator 94 is provided with a connecting hole 95.

[0038] The sprinkler system consists of a three-sprinkler head 8 for water, fertilizer and pesticide spraying, a water pump 10, a water tank 3 and connecting pipes. The water tank 3 is connected to the water pump 10 by pipes, and the water pump 10 is connected to the three-sprinkler head 8 for water, fertilizer and pesticide spraying by pipes. The three-sprinkler head 8 for water, fertilizer and pesticide spraying can perform three operations: water spraying, fertilizer spraying and pesticide spraying.

[0039] The water pump 10 includes a water inlet 101, a water pump motor 102, a base 103, an extended fixed end 104, fastening screws 105, and mounting holes 106. The water pump 10 is provided with a water inlet 101, a water pump motor 102, and a base 103. The extended fixed end 104 of the water pump 10 is mounted on the base plate 2 through the mounting holes 106 by fastening screws 105.

[0040] The water tank 3 includes a water tank body 31, a four-way water pipe 32, a water tank cover 33, and a water tank body 31. The water tank body 31 is equipped with a water tank cover 33. The four-way water pipe 32 extends through the water tank cover 33 into the interior of the water tank body 31. The tail end of the four-way water pipe 32 is connected to the water inlet pump port 101.

[0041] The connecting mechanism consists of a long elbow water pipe 4, a short elbow water pipe 5, and a medium elbow water pipe 6 connected end to end. The long elbow water pipe 4, the short elbow water pipe 5, and the medium elbow water pipe 6 are connected in sequence and then installed between the three water, fertilizer and pesticide spray nozzles 8 and the water pump 10.

[0042] The pipeline includes a long elbow water pipe 4, a short elbow water pipe 5, and a medium elbow water pipe 6. The head of the long elbow water pipe 4 is on the water pump 10, and the other end is sequentially installed with the short elbow water pipe 5 and the medium elbow water pipe 6.

[0043] The components of the control system used in this solution include a Raspberry Pi 4B, a 96 drive motor module, a relay module, an RP2040 Pico development board, a step-down module (4V to 5V), a 12V lithium battery, and a 24V lithium battery.

[0044] The control system connections for this integrated robot solution are as follows:

[0045] The power supply method involves connecting a step-down module to a 24V lithium battery to provide 5V to the Raspberry Pi 4B and RP2040Pico.

[0046] The 96 drive module for the drive motor is connected to a 12V lithium battery, which supplies a 12V operating voltage.

[0047] Control signal transmission method: The Raspberry Pi 4B and RP2040 Pico are connected via USB cable to form a host computer relationship, transmitting digital signals to control the switching of the relay.

[0048] The RP2040 Pico outputs electrical signals to the drive motor 96 drive module to control the forward and reverse rotation and speed of the drive motor 96.

[0049] Relay control system: The USB relay module is powered by a 12V lithium battery and is connected to the electric actuator and water pump. It controls their on / off operation by sending digital signals to them via Raspberry Pi 4B.

[0050] The integrated robot in this solution has the following functions:

[0051] Mobile positioning: The control system, based on a preset path or sensor data, drives the motor drive module to control the active control motors 11 of the Mecanum wheels 1 at the four corners of the bottom of the base plate 2. By adjusting the speed and direction of each wheel, the robot can move in all directions and accurately reach the target crop area.

[0052] Three-dimensional height adjustment: After reaching the target position, the control system starts the motor 22 of the electric push rod 9 through the relay module, which drives the main push rod 19 and the secondary push rod 20 to extend. The connection hole 21 at the head of the secondary push rod 20 pushes the telescopic frame 7 to extend from the initial position along the predetermined trajectory to the target height, thereby driving the three spray nozzles 8 for water, fertilizer and pesticide fixed at the top of the telescopic frame to cover the three-dimensional space of the crop roots, stems and leaves.

[0053] Precision irrigation execution: After the nozzle is positioned, the control system starts the water pump motor 24 of the water pump 10, and draws the water / fertilizer / pesticide in the water tank 3 into the water inlet 23 through the four-way water pipe 6. After pressurization, it is transported to the nozzle 8 through the flexible pipeline composed of the long elbow water pipe 4, the short elbow water pipe 5, and the medium elbow water pipe 6. The three nozzles 13 switch channels for atomized spraying.

[0054] The embodiments of this utility model are given for the purpose of illustration and description. Although embodiments of this utility model have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this utility model. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this utility model.

Claims

1. A retractable, integrated robot for agricultural greenhouse cultivation, characterized in that, include; The moving mechanism consists of a motor, Mecanum wheels, and a base plate. Mecanum wheels are installed at the four bottom corners of the base plate, and active control motors are installed on the Mecanum wheels. The telescopic mechanism consists of a telescopic frame, an electric actuator, and an aluminum alloy frame, wherein the telescopic frame and the electric actuator are mounted on the aluminum alloy frame fixed to the base plate; The sprinkler system consists of three sprinkler heads for water, fertilizer, and pesticide, a water pump, a water tank, and connecting pipes. The water tank is connected to the water pump via pipes, and the water pump is connected to the three sprinkler heads for water, fertilizer, and pesticide via pipes. The connecting mechanism consists of long elbow water pipes, short elbow water pipes, and medium elbow water pipes connected end to end.

2. The retractable integrated robot for agricultural greenhouse cultivation as described in claim 1, characterized in that: The Mecanum wheel includes bolts, rollers, and a hub, with the rollers being detachably mounted to the hub via bolts.

3. The retractable integrated robot for agricultural greenhouse cultivation as described in claim 1, characterized in that: The electric actuator includes a connector, a connecting base, a main actuator, a secondary actuator, a connecting hole, and a drive motor. The connector is fixed to the bottom of the connecting base, and the main actuator, the secondary actuator, and the motor that controls the extension and retraction are installed on the top of the connecting base. The head of the secondary actuator is provided with a connecting hole.

4. The retractable integrated robot for agricultural greenhouse cultivation as described in claim 1, characterized in that: The water pump includes a water inlet, a water pump motor, a base, an extended fixed end, fastening screws, and mounting holes. The water pump is provided with a water inlet, a water pump motor, and a base. The extended fixed end of the water pump is mounted on the base plate through the mounting holes by fastening screws.

5. The retractable integrated robot for agricultural greenhouse cultivation as described in claim 1, characterized in that: The water, fertilizer, and pesticide three-spray head includes three spray heads, a spherical connector, a water inlet pipe, and an extended mounting rod. The extended mounting rod is detachably installed at the head of the telescopic frame, and the water inlet pipe is connected to the three spray heads through the spherical connector.

6. The retractable integrated robot for agricultural greenhouse cultivation as described in claim 1, characterized in that: The pipeline includes a long elbow water pipe, a short elbow water pipe, and a medium elbow water pipe. The head of the long elbow water pipe is on the water pump, and the other end is sequentially installed with a short elbow water pipe and a medium elbow water pipe.

7. The retractable integrated robot for agricultural greenhouse cultivation as described in claim 1, characterized in that: The water tank includes a tank body, a four-way water pipe, a tank cover, and a tank body. The tank cover is installed on the tank body. The four-way water pipe extends through the tank cover into the interior of the tank body. The tail end of the four-way water pipe is connected to the water inlet pump port.

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