CN112056123A - Greenhouse framework bending equipment and greenhouse framework automatic installation robot - Google Patents
Greenhouse framework bending equipment and greenhouse framework automatic installation robot Download PDFInfo
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- CN112056123A CN112056123A CN202010876369.4A CN202010876369A CN112056123A CN 112056123 A CN112056123 A CN 112056123A CN 202010876369 A CN202010876369 A CN 202010876369A CN 112056123 A CN112056123 A CN 112056123A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/14—Greenhouses
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
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Abstract
The invention discloses greenhouse framework bending equipment, which is used for automatically installing greenhouse frameworks and comprises: mounting bracket, activity bending frame and drive arrangement. The movable bending frame is movably arranged on the mounting frame and is provided with an initial state that two supporting side rods are simultaneously far away from the supporting main rod and a bending state that the two supporting side rods are simultaneously close to the supporting main rod; the driving device is arranged on the mounting frame and comprises a bending driving portion, and the bending driving portion is used for driving the movable bending frame to be switched from the initial state to the bending state, so that the material rods are bent and molded to form the greenhouse framework. The invention provides greenhouse framework bending equipment, and aims to solve the problems that manual greenhouse framework bending precision is low and working efficiency is low in the prior art.
Description
Technical Field
The invention belongs to the technical field of agricultural tools, and particularly relates to greenhouse framework bending equipment and a greenhouse framework automatic installation robot.
Background
The vegetable greenhouse is a facility frequently used for planting anti-season vegetables in vast rural areas, in some areas, material rods are bent into circular arcs, then soil is inserted into two ends of the material rods to serve as greenhouse frameworks, the greenhouse frameworks are arranged at certain intervals, and finally plastic films cover the upper portions of the inserted material rods; and the shape of the steel pipe which is manually bent is inconsistent, the parallelism can not be ensured when the soil is inserted side by side, and finally, when the plastic film is covered, the steel pipe can not be completely contacted with the plastic film, the steel pipe can not completely play a role in supporting, and the stability of the greenhouse framework is reduced.
Disclosure of Invention
Based on the technical scheme, the invention provides greenhouse framework bending equipment and an automatic greenhouse framework mounting robot, and aims to solve the problems of low precision and low working efficiency of manual greenhouse framework bending in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a greenhouse skeleton equipment of bending for greenhouse skeleton automatic installation includes:
a mounting frame;
the movable bending frame is movably arranged on the mounting frame and comprises a supporting main rod extending horizontally and two supporting side rods arranged at two ends of the supporting main rod respectively, one of the two supporting side rods is used for fixing one end of a material rod, the other one of the two supporting side rods is used for fixing the other end of the material rod, and the movable bending frame is provided with an initial state that the two supporting side rods are away from the supporting main rod at the same time and a bending state that the two supporting side rods are close to the supporting main rod at the same time; and the number of the first and second groups,
the driving device is arranged on the mounting frame and comprises a bending driving portion, and the bending driving portion is used for driving the movable bending frame to be switched from the initial state to the bending state, so that the material rods are bent and molded to form the greenhouse framework.
Optionally, the two supporting side rods are respectively bent to form a first rod and a second rod arranged at an included angle, one end of each first rod, which is far away from the second rod, is hinged to the supporting main rod, in the initial state, each first rod extends horizontally, in the bent state, each first rod extends downward from the supporting main rod, and each second rod extends vertically.
Optionally, the movable bending frame includes an installation column disposed at a lower side of the support main rod and extending up and down, an installation ring movably sleeved on the installation column, and two support diagonal rods, a tension spring is disposed between the installation ring and the support main rod, one end of each support diagonal rod is hinged to the installation ring, and the other end of each support diagonal rod is hinged to two first rods in a one-to-one correspondence manner;
in the initial state, the mounting ring is positioned at the upper end of the mounting column, and in the bending state, the mounting ring is positioned at the lower end of the mounting column.
Optionally, the bending driving portion includes a driving cross rod, the driving cross rod extends along the horizontal direction, and can be movably disposed from top to bottom the mounting bracket, two ends of the driving cross rod are respectively provided with a spring pressing block, the two spring pressing blocks and two supporting side rods are arranged in an up-down one-to-one correspondence manner, each spring pressing block is respectively used for pressing and connecting one end of the material rod, so that the material rod is bent downwards in a downward moving stroke of the spring pressing blocks, and the movable bending frame is driven to be switched to the bending state from the initial state.
Optionally, the mounting rack includes a first supporting column, a second supporting column and a third supporting column which are sequentially arranged in the horizontal direction at intervals, and the supporting main rod is arranged on the second supporting column;
two ends of the driving cross rod are respectively connected to one sides, far away from the movable bending frame, of the first supporting column and the third supporting column in a sliding mode, and the two spring pressing blocks respectively protrude out of the other sides of the first supporting column and the second supporting column;
the two spring pressing blocks are correspondingly abutted with the upper ends of the two supporting side rods, so that the movable bending frame is switched from the initial state to the bending state under the vertical movement of the driving cross rod.
Optionally, the movable bending frame further comprises a sliding block, the lower end of the mounting column is fixed to the sliding block, and the sliding block is movably arranged on the second supporting column up and down;
the driving device further comprises an upper driving part and a lower driving part, the upper driving part and the lower driving part comprise driving motors arranged on the second supporting rods, ball screws are arranged on the driving motors, the ball screws extend along the upper direction and the lower direction and are connected to the sliding blocks, and the ball screws are used for driving the sliding blocks to move along the upper direction and the lower direction.
Optionally, the bending driving part includes a driving motor disposed on a side of the driving cross bar away from the mounting rack, and a gear transmission structure disposed on the mounting rack;
the gear transmission structure comprises a driving gear arranged on the other side of the driving rod and a rack which is arranged on the second supporting column relatively and extends along the height direction of the second supporting column, and the driving gear is meshed with the rack and is connected with the rack so as to drive the driving motor to move along the rack in a reciprocating mode.
Optionally, a U-shaped groove extending in the horizontal direction and having an upward opening is formed in the support main rod, and an L-shaped groove having an upward opening is formed in each of the first rod and the second rod.
Optionally, each spring pressing block comprises a sliding protrusion for being slidably connected to the mounting frame, and a pressing block arranged on one side of the sliding protrusion, which is far away from the mounting frame, and a return spring is arranged between the pressing block and the sliding protrusion;
every the briquetting all protrusion in the surface of mounting bracket, and every all be equipped with the draw-in groove on the briquetting every during initial condition the briquetting corresponds the butt with every the upper end of supporting side lever two during the state of bending the draw-in groove is used for the joint to fix the both ends of material pole.
On the basis of the greenhouse skeleton bending equipment, the invention also provides an automatic greenhouse skeleton mounting robot, which comprises the greenhouse skeleton bending equipment.
In the technical scheme provided by the invention, the greenhouse framework bending equipment comprises: mounting bracket, activity bending frame and drive arrangement. The movable bending frame is movably arranged on the mounting frame and comprises a supporting main rod extending horizontally and two supporting side rods arranged at two ends of the supporting main rod respectively, one of the two supporting side rods is used for fixing one end of a material rod, the other one of the two supporting side rods is used for fixing the other end of the material rod, and the movable bending frame is provided with an initial state that the two supporting side rods are away from the supporting main rod at the same time and a bending state that the two supporting side rods are close to the supporting main rod at the same time; the driving device is arranged on the mounting frame and comprises a bending driving portion, and the bending driving portion is used for driving the movable bending frame to be switched from the initial state to the bending state, so that the material rods are bent and molded to form the greenhouse framework. The material rods are bent through the movable bending frame, the manual bending complexity is avoided, and the mounting precision of the greenhouse framework is improved while the working efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic diagram of a three-dimensional structure in an initial state of greenhouse frame bending equipment according to an embodiment of the present invention;
FIG. 2 is a schematic block diagram of the front view structure of FIG. 1;
FIG. 3 is a schematic diagram of the three-dimensional structure of FIG. 1 in a bent state;
FIG. 4 is a schematic diagram of a three-dimensional structure of the spring pressing block in FIG. 1;
fig. 5 is a schematic diagram of a three-dimensional structure of an automatic greenhouse skeleton mounting robot according to an embodiment of the present invention;
fig. 6 is a schematic three-dimensional structure of the stock structure shown in fig. 5;
FIG. 7 is a diagrammatic, schematic perspective view of the frame of FIG. 6;
FIG. 8 is a schematic diagram showing the three-dimensional structure of the differential transmission shown in FIG. 7;
fig. 9 is a schematic diagram of a working process of the automatic greenhouse frame mounting robot in fig. 5 according to an embodiment.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, back, top and bottom … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The vegetable greenhouse is a facility frequently used for planting anti-season vegetables in vast rural areas, in some areas, material rods are bent into circular arcs, then soil is inserted into two ends of the material rods to serve as greenhouse frameworks, the greenhouse frameworks are arranged at certain intervals, and finally plastic films cover the upper portions of the inserted material rods; and the shape of the steel pipe which is manually bent is inconsistent, the parallelism can not be ensured when the soil is inserted side by side, and finally, when the plastic film is covered, the steel pipe can not be completely contacted with the plastic film, the steel pipe can not completely play a role in supporting, and the stability of the greenhouse framework is reduced.
In view of this, the invention provides a greenhouse frame bending apparatus 1000 and an automatic greenhouse frame installation robot 10000. Fig. 1 is a schematic diagram of a three-dimensional structure of a greenhouse frame bending apparatus 1000 according to an embodiment of the present invention in an initial state; FIG. 2 is a schematic block diagram of the front view structure of FIG. 1; FIG. 3 is a schematic diagram of the three-dimensional structure of FIG. 1 in a bent state; FIG. 4 is a schematic diagram illustrating a perspective structure of the spring pressing block 312 in FIG. 1; fig. 5 is a schematic diagram of a three-dimensional structure of an automatic greenhouse skeleton mounting robot 10000 according to an embodiment of the present invention; fig. 6 is a schematic three-dimensional structure of the magazine 2000 shown in fig. 5; fig. 7 is a schematic, diagrammatic, perspective view of the vehicle frame 3000 of fig. 6; fig. 8 is a schematic diagram showing a three-dimensional structure of the differential transmission 3110 shown in fig. 7; fig. 9 is a schematic diagram of a work flow of the automatic greenhouse skeleton installation robot 10000 in fig. 5 according to an embodiment.
Specifically, referring to fig. 1 to 8, the greenhouse frame bending apparatus 1000 according to the present embodiment includes: mounting bracket 100, flexible bending bracket 200 and driving device 300. The movable bending frame 200 is movably disposed on the mounting frame 100, and includes a supporting main rod 210 extending along a horizontal direction, and two supporting side rods 220 separately disposed at two ends of the supporting main rod 210, one of the two supporting side rods 220 is used for fixing one end of the material rod, and the other is used for fixing the other end of the material rod, and the movable bending frame 200 has an initial state in which the two supporting side rods 220 are simultaneously away from the supporting main rod 210, and a bending state in which the two supporting side rods 220 are simultaneously close to the supporting main rod 210, it should be noted that the supporting main rod 210 extends substantially along the horizontal direction, and may be an absolute horizontal state or may have a certain included angle with a horizontal line. The driving device 300 is disposed on the mounting frame 100 and includes a bending driving portion 310, and the bending driving portion 310 is configured to drive the movable bending frame 200 to be switched from an initial state to a bending state, so that the material rods are bent and molded to form the greenhouse frame. It should be noted that, in the operation process of the traditional greenhouse frame, the material rods are generally cut by steel pipes, and the greenhouse frame is bent manually to form the bent greenhouse frame, however, the bending angles of the material rods are inconsistent due to the operation mode, and the plastic film cannot be attached to each bent material rod during installation, so that the problem of reduction of the stability of the greenhouse frame is caused. Through the big-arch shelter skeleton equipment 1000 of bending that this embodiment provided, will expect that the pole is arranged in activity bending frame 200 on, bending drive division 310 drive activity bending frame 200 switches to the state of bending by initial condition, can accomplish bending to material pole, and every material pole that so bends all has the same camber, laminating plastic film that can be inseparable during the installation has also improved the result of use when having improved work efficiency.
Further, the two supporting side rods 220 are respectively bent to form a first rod 221 and a second rod 222 arranged at an included angle, one end of each first rod 221, which is far away from the second rod 222, is hinged to the supporting main rod 210, in an initial state, each first rod 221 extends horizontally, and at this time, the material rods in a natural state are placed on a horizontal supporting line formed by the two first rods 221 and the supporting main rod 210; in the bent state, the first rods 221 extend downward from the main support rod 210, and the second rods 222 extend upward and downward. The movable bending frame 200 in the bending state is bent to be similar to an arch, so that the material rods are bent to be the final shape of the greenhouse framework, and it should be noted that the part of each second rod 222 corresponding to the material rod extends in the vertical direction, so as to be conveniently inserted into the soil for fixing.
Furthermore, the movable bending frame 200 includes an installation post 230 disposed at the lower side of the supporting main rod 210 and extending up and down, an installation ring 231 movably sleeved on the installation post 230, and two supporting diagonal rods 240, wherein a tension spring 232 is disposed between the installation ring 231 and the supporting main rod 210, one end of each supporting diagonal rod 240 is hinged to the installation ring 231, in this embodiment, one end of each supporting diagonal rod is hinged to two opposite sides of the installation ring 231, and the other end is hinged to the two first rods 221 in a one-to-one correspondence manner. In the initial state, the mounting ring 231 is located at the upper end of the mounting post 230, in the bent state, the mounting ring 231 is located at the lower end of the mounting post 230 in a sliding manner, and while the mounting ring 231 slides, the supporting diagonal rod 240 drives the two supporting side rods 220 to be switched from the initial state of being away from the supporting main rod 210 to the bent state of being close to the supporting main rod 210. It should be noted that, when the movable bending frame 200 is in the initial state, the tension spring 232 is in the original state, and when the movable bending frame 200 is in the bending state, the tension spring 232 is in the stretching state, and at this time, if the movable bending portion is separated from the driving action of the bending driving portion 310, the support side rods 220 on both sides can return to the initial state by the restoring force of the tension spring 232, so as to bend the next material rod.
In the technical solution provided in this embodiment, the bending driving portion 310 includes a driving cross rod 311, the driving cross rod 311 extends along a horizontal direction, and is movably disposed on the mounting frame 100 up and down, two ends of the driving cross rod 311 are respectively provided with a spring pressing block 312, the two spring pressing blocks 312 and the two supporting side rods 220 are disposed in a one-to-one up-and-down correspondence, and each spring pressing block 312 is respectively configured to be pressed against one end of the material rod, so that the material rod is bent down in a downward movement stroke of the spring pressing block 312, and the movable bending frame 200 is driven to be switched from an initial state to a bending state. It should be noted that, in an initial state, the material rod is placed in the movable bending frame 200, and at this time, the two spring pressing blocks 312 are pressed at two ends of the material rod, and when the driving cross rod 311 moves downward, the spring pressing blocks 312 push against the material rod and move downward together with the movable bending frame 200, so that the material rod deforms along the movable stroke of the supporting side rod 220, and finally, the greenhouse framework in the bending state is formed.
Referring to fig. 1-3, the mounting frame 100 includes a first supporting column 110, a second supporting column 120, and a third supporting column 130 sequentially disposed in a horizontal direction at intervals, wherein the supporting main rod 210 is disposed on the second supporting column 120 and extends along a length direction of the second supporting column 120; two ends of the driving cross bar 311 are respectively connected to the first supporting column 110 and the third supporting column 130 at a side far away from the movable bending frame 200, as shown in the figure, sliding grooves are respectively arranged on the first supporting column 110 and the third supporting column 130, and two ends of the driving cross bar 311 are connected in the two sliding grooves in a sliding manner. The two spring pressing blocks 312 are respectively located at two ends of the driving cross bar 311 and protrude from the first supporting column 110 and the second supporting column 120. In the initial state, the two spring pressing blocks 312 are correspondingly abutted against the material rods on the two supporting side rods 220, so that the movable bending frame 200 is switched from the initial state to the bending state and correspondingly bends the material rods under the up-and-down movement of the driving cross rod 311.
The material rods are bent to form the greenhouse framework and then need to be inserted into the soil for assembly, and as mentioned above, the part of each second rod 222 corresponding to the material rod extends vertically, so that the material rods can be conveniently inserted into the soil for fixation. In the technical solution provided in this embodiment, in order to facilitate the installation of the greenhouse frame, the movable bending frame 200 further includes a sliding block 250, the lower end of the installation column 230 is fixed to the sliding block 250, and the sliding block 250 is movably disposed on the second supporting column 120 up and down; the driving device 300 further includes an up-down driving portion 320, the up-down driving portion 320 includes a driving motor 321 disposed on the second supporting rod, a driving ball screw is disposed on the driving motor 321, the ball screw extends in the up-down direction and is connected to the sliding block 250, and the driving motor 321 is used for driving the sliding block 250 to move in the up-down direction. It should be noted that, when the movable bending frame 200 is in the initial state, the push rod of the ball screw is in the longest telescopic state, and at this time, the driving motor 321 does not move, and only depends on the spring pressing blocks 312 at the two ends of the driving cross rod 311 to move downwards, so as to bend the movable bending frame 200 and the material rods in the movable bending frame 200 together; after the bending is finished, the ball screw stretches downwards, the driving cross rod 311 moves downwards together with the ball screw to keep relatively static, and the material rods are inserted into the soil under the combined action of the driving cross rod 311 and the ball screw to finish the installation of the greenhouse framework.
As mentioned above, the driving cross bar 311 has a vertical moving stroke on the mounting frame 100, in the technical solution provided in this embodiment, the bending driving portion 310 further includes a second driving motor 313 disposed on a side of the driving cross bar 311 away from the mounting frame 100, and a gear transmission structure 314 disposed on the mounting frame 100; the gear transmission structure 314 includes a driving gear 315 disposed on the other side of the driving rod, and a rack 316 disposed on the second supporting column 120 and extending along the height direction of the second supporting column 120, wherein the driving gear 315 is engaged with the rack 316, so as to reciprocate along the rack 316 under the driving of the second driving motor 313, thereby driving the driving cross bar 311 to move up and down along the mounting block 100. It should be noted that the second driving motor 313 is not the only driving motor and gear transmission structure 314, and specifically, the driving method may also be a driving cylinder disposed on one side of the driving cross bar 311 or a screw nut transmission structure disposed on the driving cross bar 311, which is not limited in this embodiment.
Because the material pole needs bend on activity bending frame 200 and produce deformation, for the laminating effect of reinforcing material pole and activity bending frame 200, form on the support mobile jib 210 along the horizontal direction extension, and the ascending U type groove of opening, be formed with the ascending L type groove of opening on every first pole 221 and the second pole 222. It should be noted that, the U-shaped groove has two opposite side walls, there is only one side wall in the L-shaped groove, and the other side is open, in this embodiment, the opening of the side edge of the L-shaped groove on each supporting side lever 220 is opposite to the advancing direction of the greenhouse frame bending device 1000, after the material rod is bent and inserted into the soil, the top rod of the ball screw moves downward for a certain distance, so that the top end of the material rod is separated from the supporting main rod 210, at this time, because the opening of the side edge of the L-shaped groove on each supporting side lever 220 is opposite to the advancing direction of the greenhouse frame bending device, when the greenhouse frame bending device 1000 moves forward, the device can be separated from the material rod, and the next material rod is bent.
As mentioned above, the two spring pressing blocks 312 on the two sides mainly play a role in pressing and deforming the two ends of the material rod, and generally, the material rod needs to be manually placed on the movable bending frame 200. In order to improve the working efficiency, in the embodiment, referring to fig. 4, the spring pressing block 312 includes a sliding protrusion 312a for slidably connecting to the mounting frame 100, one side of the sliding protrusion 312a is slidably connected to the groove on the mounting frame 100, the other end is provided with a pressing block 312b for pressing the material rod, and a return spring 312c is provided between the pressing block 312b and the sliding protrusion 312 a. It should be noted that, the pressing block 312b is rotatably connected with the sliding protrusion 312a, so that a rotating movable stroke is provided on the surface of the sliding protrusion 312a, when the material rod falls onto the two spring pressing blocks 312, the pressing block 312b is rotated downward by 90 ° under the action of the gravity of the material rod, at this time, the material rod falls into the movable bending frame 200, and then due to the elastic force of the return spring 312c, the pressing block 312b returns to the original state and can correspondingly abut against the upper end of each support side rod 220. In addition, a clamping groove 312d is further formed in one side, close to the movable bending frame 200, of each pressing block 312b, the material rod deforms in the bending state, and the clamping grooves 312d of the two pressing blocks 312b are used for clamping and fixing two ends of the material rod. Under the clamping action of the pressing block 312b and the movable bending frame 200, the driving motor 321 can drive the formed material rods to be inserted into the ground to form the greenhouse frame.
On the basis of the greenhouse skeleton bending apparatus 1000, the invention further provides an automatic greenhouse skeleton mounting robot 10000, please refer to fig. 5-8, specifically, the automatic greenhouse skeleton mounting robot 10000 includes: frame 3000, storage structure 2000 and above-mentioned greenhouse skeleton equipment of bending 1000. The frame 3000 comprises a frame driving part 3100, the frame driving part 3100 is used for driving the frame 3000 to move forwards, and the frame driving part 3100 is sequentially provided with splicing greenhouse frameworks; the material storage structure 2000 comprises a material storage platform 2100 arranged on the upper side of the frame 3000 and a material discharging driving part 2200 arranged on the material storage platform 2100, wherein the material storage platform 2100 is used for bearing a material rod and is provided with a material discharging hole 2110, and the material discharging driving part 2200 is used for driving the material rod to sequentially fall from the material discharging hole 2110; greenhouse skeleton equipment 1000 of bending locates frame 3000 rear side, including mounting bracket 100 and locate movable bending frame 200 and the drive division 310 of bending on mounting bracket 100, and movable bending frame 200 corresponds and locates discharge gate 2110 below. This automatic installation robot 10000 of big-arch shelter skeleton and bend, install into one body, can show the installation accuracy and the installation effectiveness that improve big-arch shelter skeleton, improve agricultural production's progress and benefit.
Further, a plurality of disposing grooves 2120 extending in the up-down direction are disposed on two lateral walls of the material storage platform 2100, which are disposed oppositely in the transverse direction, and two disposing grooves 2120 disposed correspondingly in the transverse direction are used for respectively clamping two ends of the material rod; the plurality of disposition grooves 2120 of each side are spaced in a front-rear direction, and the lower ends of the plurality of disposition grooves 2120 are disposed to be gradually lowered from the front to the rear, the bottoms of the plurality of disposition grooves 2120 of each side are communicated with each other to form a guide groove 2130 downwardly and downwardly extending from the front to the rear, and the guide groove 2130 is communicated with the discharge hole 2110. It should be noted that the width of the placing groove 2120 can only accommodate one material rod, the material rods are sequentially stacked in the placing grooves 2120 along the extending direction of the placing groove 2120, and under the action of gravity and the obliquely arranged material guide grooves 2130, the material rods sequentially fall to the discharge hole 2110 along the material guide grooves 2130, and the discharge is completed.
Because the material pole is one and inserts ground in proper order, and should be equipped with the interval between every material pole, consequently the material pole need bend in proper order and peg graft. In the technical solution provided by the present invention, the discharging driving portion 2200 includes a material poking rod 2210 disposed on the material storage platform 2100 and close to the material outlet 2110, and a first driving motor 2220 disposed on the material storage platform 2100; the material poking rod 2210 comprises a rod body 2211 connected to two lateral walls of the material storage platform 2100 in the transverse direction and a plurality of material poking pieces 2212 distributed at intervals along the circumferential direction of the rod body 2211, and a first driving motor 2220 drives the connecting rod body 2211 to drive the plurality of material poking pieces 2212 to rotate, so that the material rod falls down from the material outlet 2110 along the material guide groove 2130 to complete the blanking movement. Because greenhouse skeleton equipment 1000 of bending is located discharge gate 2110 below, the material pole can directly fall to greenhouse skeleton equipment 1000 of bending this moment, bends and pegs graft on next step.
Further, the frame 3000 mainly includes: the device comprises a middle fixing plate, a transmission protection box, a walking frame, a bottom support column and a frame driving part 3100; the transmission protection box is fixed on the walking frame and used for protecting a transmission system of the walking frame; the bottom end of the bottom supporting column is fixed on the walking frame, and the upper end of the bottom supporting column is fixed with the middle fixing plate and used for supporting the middle fixing plate. The frame driving portion 3100 includes a differential gear 3110, and the differential gear 3110 is fixed between the main shafts of the two wheels of the traveling frame.
The walking frame mainly comprises wheels, a bending installation beam, an arc-shaped connecting rod, a front-end left main shaft, a frame beam, a middle transmission main shaft, a supporting plate, a tail-end main shaft, a frame motor, bevel gears, a middle bevel gear, a fixed bearing and a front-end right main shaft. One end of the mounting frame 100 is fixed on the bending mounting beam, and the other end is connected with the material storage platform 2100. The front-end right wheel is fixed with a front-end right main shaft penetrating through a fixed bearing, the front-end left wheel is fixed with a front-end left main shaft penetrating through the fixed bearing, and a differential transmission device 3110 is fixed between the front-end left main shaft and the front-end right main shaft.
The differential gear 3110 mainly includes a planetary gear shaft, a side gear, a differential case, a planetary gear, an input gear, and a driven bevel gear. Referring to fig. 8, the planet gear shafts penetrate through the two planet gears, and both ends of the planet gear shafts are fixed on the differential case, one side gear is fixed on the left main shaft penetrating through the front end of the differential case and is engaged with the two planet gear gears, the other end of the differential case is fixed at the middle position of the driven bevel gear, and the other side gear is fixed on the right main shaft at the front end and is engaged with the two planet gear gears; the input gear is fixed on the middle transmission main shaft and is meshed with a driven bevel gear fixed on the front right main shaft; the problem of different rotating speeds of the two front wheels during turning can be solved through the differential transmission device 3110.
The bending installation cross beam is fixed between the two frame cross beams; the two arc connecting rods are respectively fixed at the head and tail ends of the two cross beams and form an underframe of the walking frame together with the bent mounting cross beam, the frame cross beam and the supporting plate; the tail end main shaft penetrates through a fixed bearing fixed on a frame cross beam to be fixed with the wheel, and a bevel gear fixed on the tail end main shaft is meshed with a middle bevel gear fixed on a middle transmission main shaft and a bevel gear on an output main shaft of a frame motor; an input gear fixed at the other end of the middle transmission main shaft is meshed with a driven bevel gear fixed on the front right main shaft, and a frame motor controls the walking of the walking frame through gear transmission.
Referring to fig. 9, which is a flowchart of a work flow of an automatic greenhouse frame installation robot 10000, first, a first driving motor 2220 drives a material storage platform 2100 to sequentially discharge materials, a movable bending frame 200 first detects a falling condition of a material rod, when the material rod is arranged on the device, a spring pressing block 312 is popped out to clamp the material rod together with the movable bending frame 200, and at the moment, a second driving motor 313 is started to drive a driving cross rod 311 to move downwards to bend the material rod. The device detects whether the material rods are bent completely or not, if so, the bending process is finished, and if not, the second driving motor 313 continues to drive the driving cross rod 311 to move downwards to bend the material rods until the final greenhouse framework is formed. After the bending is formed, the driving motor 321 is started, the ball screw and the spring pressing block 312 move downwards together to insert the material rods into the soil, after the material rods are stably inserted, the driving motor 321 continues to move downwards for a certain distance, so that the horizontal section of the material rods is separated from the main supporting rod 210, the frame 3000 moves forward, the greenhouse framework bending equipment 1000 is separated from the arched material rods inserted into the soil, and the bending and inserting of the next material rod are continued.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a greenhouse skeleton equipment of bending for greenhouse skeleton automatic installation, its characterized in that includes:
a mounting frame;
the movable bending frame is movably arranged on the mounting frame and comprises a supporting main rod extending horizontally and two supporting side rods arranged at two ends of the supporting main rod respectively, one of the two supporting side rods is used for fixing one end of a material rod, the other one of the two supporting side rods is used for fixing the other end of the material rod, and the movable bending frame is provided with an initial state that the two supporting side rods are away from the supporting main rod at the same time and a bending state that the two supporting side rods are close to the supporting main rod at the same time; and the number of the first and second groups,
the driving device is arranged on the mounting frame and comprises a bending driving portion, and the bending driving portion is used for driving the movable bending frame to be switched from the initial state to the bending state, so that the material rods are bent and molded to form the greenhouse framework.
2. The greenhouse frame bending apparatus according to claim 1, wherein the two side support rods are respectively bent to have first and second rods disposed at an included angle, and an end of each first rod remote from the second rod is hinged to the main support rod, and in the initial state, each first rod extends horizontally, and in the bent state, each first rod extends downward from the main support rod, and each second rod extends upward and downward.
3. The greenhouse frame bending device according to claim 2, wherein the movable bending frame comprises a mounting post arranged on the lower side of the main support rod and extending up and down, a mounting ring movably sleeved on the mounting post, and two inclined support rods, wherein a tension spring is arranged between the mounting ring and the main support rod, one end of each inclined support rod is hinged to the mounting ring, and the other end of each inclined support rod is hinged to the two first rods in a one-to-one correspondence manner;
in the initial state, the mounting ring is positioned at the upper end of the mounting column, and in the bending state, the mounting ring is positioned at the lower end of the mounting column.
4. The greenhouse frame bending device according to claim 3, wherein the bending driving part comprises a driving cross bar, the driving cross bar extends horizontally and is movably disposed on the mounting frame up and down, two ends of the driving cross bar are respectively provided with a spring pressing block, the two spring pressing blocks and the two supporting side bars are disposed in one-to-one correspondence in the up-and-down direction, and each spring pressing block is respectively used for pressing against one end of the material rod, so that the material rod is bent downwards in a downward moving stroke of the spring pressing blocks, and the movable bending frame is driven to be switched from the initial state to the bending state.
5. The greenhouse frame bending device according to claim 4, wherein the mounting frame comprises a first supporting column, a second supporting column and a third supporting column which are sequentially arranged in a horizontal direction at intervals, and the supporting main rod is arranged on the second supporting column;
two ends of the driving cross rod are respectively connected to one sides, far away from the movable bending frame, of the first supporting column and the third supporting column in a sliding mode, and the two spring pressing blocks respectively protrude out of the other sides of the first supporting column and the second supporting column;
the two spring pressing blocks are correspondingly abutted with the upper ends of the two supporting side rods, so that the movable bending frame is switched from the initial state to the bending state under the vertical movement of the driving cross rod.
6. The greenhouse frame bending device according to claim 5, wherein the movable bending frame further comprises a sliding block, the lower end of the mounting column is fixed to the sliding block, and the sliding block is movably arranged on the second supporting column up and down;
the driving device further comprises an upper driving part and a lower driving part, the upper driving part and the lower driving part comprise driving motors arranged on the second supporting rods, ball screws are arranged on the driving motors, the ball screws extend along the upper direction and the lower direction and are connected to the sliding blocks, and the ball screws are used for driving the sliding blocks to move along the upper direction and the lower direction.
7. The greenhouse frame bending device according to claim 6, wherein the bending driving part further comprises a driving motor arranged on one side of the driving cross rod, which is far away from the mounting frame, and a gear transmission structure arranged on the mounting frame;
the gear transmission structure comprises a driving gear arranged on the other side of the driving rod and a rack which is arranged on the second supporting column relatively and extends along the height direction of the second supporting column, and the driving gear is meshed with the rack and is connected with the rack so as to drive the driving motor to move along the rack in a reciprocating mode.
8. The greenhouse frame bending device according to claim 5, wherein the main support rods are provided with U-shaped grooves extending in the horizontal direction and having upward openings, and each of the first rods and each of the second rods are provided with L-shaped grooves having upward openings.
9. The greenhouse frame bending device according to claim 8, wherein each spring pressing block comprises a sliding lug for being slidably connected to the mounting frame and a pressing block rotatably connected to one side of the sliding lug, which is far away from the mounting frame, and a return spring is arranged between the pressing block and the sliding lug;
every the briquetting all protrusion in the surface of mounting bracket, and every all be equipped with the draw-in groove on the briquetting every during initial condition the briquetting corresponds the butt with every the upper end of supporting side lever two during the state of bending the draw-in groove is used for the joint to fix the both ends of bar.
10. An automatic greenhouse frame installation robot, which is characterized by comprising greenhouse frame bending equipment as claimed in any one of claims 1-9.
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| CN202010876369.4A CN112056123B (en) | 2020-08-26 | 2020-08-26 | Greenhouse framework bending equipment and greenhouse framework automatic installation robot |
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| CN202010876369.4A CN112056123B (en) | 2020-08-26 | 2020-08-26 | Greenhouse framework bending equipment and greenhouse framework automatic installation robot |
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| CN112056123A true CN112056123A (en) | 2020-12-11 |
| CN112056123B CN112056123B (en) | 2022-04-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114150878A (en) * | 2021-11-10 | 2022-03-08 | 天津市滨生源科技发展有限公司 | Large-span greenhouse installation device and operation method |
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| CN112056123B (en) | 2022-04-29 |
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