CN112205210A

CN112205210A - Climbing robot of automatic planting device of green building

Info

Publication number: CN112205210A
Application number: CN202011087006.9A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shandong Beckett Intelligent Technology Co ltd
Current assignee: Shandong Beckett Intelligent Technology Co ltd
Priority date: 2020-10-12
Filing date: 2020-10-12
Publication date: 2021-01-12

Abstract

The invention discloses a climbing robot of an automatic planting device for green buildings, which comprises a support frame, a connecting base, pressing wheels, pressing rods, a first fixing ring and a protection module, wherein the support frame is provided with two pressing rods which are respectively arranged at two ends of the connecting base, two ends of the support frame are respectively provided with a rotating first rotating shaft, the pressing wheels are respectively arranged on the first rotating shafts, the pressing rods are respectively provided with a plurality of pressing rods which are respectively arranged on the pressing wheels at uniform intervals, the end parts of the pressing rods are respectively provided with an adsorption head, the adsorption heads are respectively provided with an adsorption groove, two sides of the support frame are respectively provided with a sealing ring corresponding to the pressing wheels, and the plants on a wall body can be protected by the lifting of the support frame, so that the plants are prevented from being damaged by strong wind, greatly improving the survival rate.

Description

Climbing robot of automatic planting device of green building

Technical Field

The invention relates to the technical field of greening equipment, in particular to a climbing robot of an automatic planting device for green buildings.

Background

The greening is originated from the former Soviet Union, is short for greening of urban living areas, has history of about 50 years in China, and has history of 1800 years in China, the greening list refers to plant factors, and plants are one of important constituent elements of gardens, so the greening is the basis of the gardens, is local, comprises comprehensive factors, is the organic integration of the garden to each constituent element, is the highest expression form of each constituent element, and is a whole, the greening emphasizes plant planting and realizes the material function of ecological benefit, and also has a certain beautifying meaning;

under the higher circumstances of building body, the operation is planted to the higher position of building body that equipment is unable, consequently, just caused and to have carried out the problem that plant planting to the higher position of building body, simultaneously in the in-process of carrying out the maintenance to the green plant on the building body, need accomplish the maintenance through the manual work, so just caused the comparatively trouble problem of green plant maintenance, simultaneously in the in-process of carrying out the maintenance to the plant on the building body, because the height of building body is higher, cause certain danger for operating personnel very easily, when the weather is under comparatively abominable circumstances, cause destruction to the plant very easily, and then make the survival rate greatly reduced of plant.

Disclosure of Invention

For solving above-mentioned technical problem, provide a climbing robot of automatic planting device of green building, this technical scheme can carry out high altitude construction, has realized automatic operation, can carry out automatic maintenance to the plant on the wall body, great improvement the survival rate of plant.

In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:

a climbing robot of an automatic planting device for green buildings comprises a support frame, a connecting base, a pressing wheel, a pressing rod, a first fixing ring and a protection module;

the support frame is provided with two fixing rings which are respectively arranged at two ends of the connecting base, two ends of the support frame are respectively provided with a rotating first rotating shaft, the pressing wheels are respectively arranged on the first rotating shafts, the pressing rods are provided with a plurality of pressing rods which are respectively arranged on the pressing wheels at uniform intervals, the end parts of the pressing rods are respectively provided with an adsorption head, the adsorption heads are respectively provided with an adsorption groove, two sides of the support frame are respectively provided with a sealing ring corresponding to the pressing wheels, the sealing rings respectively rotate on the sealing rings, the sealing rings are respectively provided with a second air hole which is correspondingly communicated with the adsorption grooves, the first fixing rings are uniformly arranged at intervals and are provided with two rows, and the interval of the first fixing rings is corresponding to the interval of the adsorption heads, the adsorption heads are respectively clamped in the first fixing rings;

the protection module comprises a compression support frame, a sliding module, a guide wheel, a compression roller piece, a sealing film reel and a second fixing ring;

the utility model discloses a seal pressing device, including the tight support frame, sliding module, seal membrane spool, seal roller, seal ring, compressing roller, connecting base, sliding module, guide wheel, seal roller and compressing roller, the tight support frame passes through bolted connection and is in connect on the base, sliding module is in compress tightly the support frame and go up the swing, the guide wheel is provided with two, and is in respectively sliding module's top rotates, the compressing roller spare is provided with two, and is in respectively sliding module's bottom rotates, the seal membrane spool rotates at sliding module's intermediate position, the guide wheel drives sealed roll up the membrane spool and compress tightly roller spare and rotate in step, be provided with the seal membrane on the seal membrane spool, the both sides of seal membrane are provided with bellied clamping head respectively, the second solid fixed ring interval evenly sets up, and is provided with row, the clamping.

Preferably, the first rotating shafts are respectively provided with a second chain wheel, the two second chain wheels are correspondingly connected through a second chain, the connecting base is internally provided with a second rotating shaft driven by a fifth servo motor, the two ends of the second rotating shaft and the first rotating shafts arranged at the bottom of the second rotating shaft are respectively provided with a first chain wheel, and the two first chain wheels are correspondingly connected through a first chain;

the sealing device is characterized in that a sealing rotary groove with a circular arrangement is respectively arranged on the pressing wheel, the sealing ring is arranged in a circular ring shape and is arranged in the sealing rotary groove, a first air hole communicated with the sealing rotary groove correspondingly is respectively arranged in the pressing rod, a communicating groove communicated with the second air hole correspondingly is arranged on the sealing ring, the communicating groove is communicated with the first air hole correspondingly, the adsorption head is correspondingly connected with the pressing rod through a plurality of first springs, a connecting air pipe communicated with the adsorption groove correspondingly is respectively arranged on the adsorption head, the connecting air pipe is communicated with the first air hole correspondingly, and the adsorption head is made of rubber.

Preferably, the sliding module and the pressing support frame are correspondingly connected through a plurality of second springs, one end of the sliding module is provided with two second support frames, the other end of the sliding module is provided with two first support frames, a rotating third rotating shaft is arranged between the two second support frames, the guide wheels are provided with two guide wheels which are respectively arranged at two ends of the third rotating shaft, a rotating fifth rotating shaft is arranged between the two first support frames, the pressing roller is provided with two guide wheels which are respectively arranged at two ends of the fifth rotating shaft, one end of the third rotating shaft and the fifth rotating shaft are respectively provided with a fourth chain wheel, the two fourth chain wheels are correspondingly connected through a fourth chain, the center of the sliding machine body is provided with a rotating fourth rotating shaft, one end of the fourth rotating shaft and the other end of the third rotating shaft are respectively provided with a third chain wheel, the two third chain wheels are correspondingly connected through a third chain, a circle of positioning head corresponding to the second fixing pipe is arranged on the guide wheel, a groove with a concave shape is formed in each positioning head, a circle of third spring is arranged on each compression roller, a jacking head is arranged on each third spring, each jacking head respectively compresses the compression head on the second fixing ring, a combing wheel is arranged on the fifth rotating shaft, and a plurality of jacking elastic pieces compressing the sealing film are arranged on each combing wheel.

Preferably, the application also comprises an automatic planting device for green buildings, and the climbing robot comprises the automatic planting device for green buildings.

Compared with the prior art, the invention has the beneficial effects that:

according to the invention, two ends of a connecting base are respectively provided with a support frame, the support frames are respectively provided with two rotating compression wheels, a circle of compression rods are respectively arranged on tensioning wheels, the compression rods are respectively provided with an adsorption head, a wall body is provided with a first fixing ring, the compression rods can be driven to rotate through the rotation of the compression wheels, and then the adsorption heads can be adsorbed and fixed on the first fixing ring, so that the connecting base can be driven to slide on the wall body, and further the lifting mechanism can be driven to slide, and further higher positions of a building body can be planted;

be provided with a compressing tightly support frame that can dismantle on connecting the base, be provided with a gliding sliding module on compressing tightly the support frame, be provided with the seal membrane of curling on sliding module, thereby can seal the plant in the wall body through the seal membrane, still be provided with the pivoted leading wheel on sliding module, compress tightly the solid fixed ring of second on the wall body and rotate through the leading wheel, the synchronous rotation of drive seal membrane spool and pinch roller spare that can be simultaneous, can compress tightly the seal membrane on solid fixed ring of second through pinch roller spare, and then can compress tightly the seal membrane on the wall body, thereby protect the plant on the wall body, can make the normal growth of plant under bad weather, avoid the destruction that bad weather such as strong wind caused to it, great improvement the survival rate of plant.

Drawings

FIG. 1 is a schematic perspective view of an automatic planting device for green buildings according to the present invention;

FIG. 2 is a schematic perspective view of the lifting mechanism of the present invention;

FIG. 3 is an enlarged view taken at A of FIG. 2 according to the present invention;

FIG. 4 is a first schematic perspective view of the horizontal movement mechanism of the present invention;

FIG. 5 is an enlarged view of FIG. 4 at B according to the present invention;

FIG. 6 is a schematic perspective view of a second embodiment of the horizontal movement mechanism of the present invention;

FIG. 7 is a front view of the soil separating mechanism, the material moving mechanism, the turnover mechanism, the material grabbing mechanism and the material rack of the present invention;

FIG. 8 is a first schematic perspective view of the soil separating mechanism of the present invention;

FIG. 9 is a bottom view of the soil separation mechanism of the present invention;

FIG. 10 is a second schematic perspective view of the soil separating mechanism of the present invention;

FIG. 11 is a schematic perspective view of the material moving mechanism, the turnover mechanism, the material grabbing mechanism and the material rack of the present invention;

FIG. 12 is a side view of the overall structure of the support frame of the present invention;

FIG. 13 is a schematic view of the overall structure of the wall of the present invention;

FIG. 14 is a schematic view of the overall structure of the support frame of the present invention;

FIG. 15 is a schematic view of the overall structure of the pinch roller of the present invention;

FIG. 16 is a schematic view of the overall structure of the adsorption head of the present invention;

FIG. 17 is a schematic view of the overall structure of the pressing support frame of the present invention;

FIG. 18 is a schematic view of the overall structure of the sliding module of the present invention;

FIG. 19 is a schematic view of the overall structure of the guide wheel of the present invention;

FIG. 20 is a schematic view showing the entire structure of the sealing film of the present invention.

FIG. 21 is a schematic view showing the overall structure of the carding wheel of the present invention.

Description of reference numerals:

1, a lifting mechanism; 1a portal frame; 1b a support panel; 1b1 roller; 1c a longitudinal drive mechanism; 1c1 push cylinder; 1c2 turns the rod; 1c3 gear; 1c4 chain;

2, a horizontal moving mechanism; 2a base; 2b, pushing a plate; 2c a telescoping assembly; 2c1 first scissor bar; 2c2 second scissor bar; 2c3 first slide bar; 2c4 second slide bar; 2d a horizontal drive assembly; 2d1 first servomotor; 2d2 first threaded rod; 2d3 double-ended connector;

3a soil separating mechanism; 3a guide plate; 3b rotating the ring; 3c a first soil shifting assembly; 3c1 link; 3c2 longitudinal bar; 3c3 arc piece; 3d, a second soil shifting assembly; 3e a third soil shifting assembly; 3f an elastic band; 3g of a rotary drive mechanism; 3g1 second servomotor; 3g2 right angle decelerator; 3g3 pulley;

4, a material moving mechanism; 4a supporting base plate; 4b a guide bar; 4c a second threaded rod; 4d third servo motor; 4e, a working block;

5, turning over the mechanism; 5a, turning over a frame; 5b rotating the rod; 5c a fourth servo motor;

6, a material grabbing mechanism; 6a special-shaped frame; 6b a first curved jaw; 6c a second curved jaw; 6d electric push rod; 6e linking the head;

7, a material rack;

8, planting green plants;

9 support frames, 9a connecting bases, 9a1 pinch rollers, 9a2 pinch bars, 9a3 first rotating shafts, 9a4 first chain wheels, 9a5 first chains, 9a6 second chain wheels, 9a7 second chains, 9a8 second rotating shafts, 9a9 fifth servo motors, 9a10 sealing rotating grooves, 9a11 sealing rings, 9a12 first air holes, 9a13 second air holes, 9a14 communicating grooves, 9a15 adsorption heads, 9a16 first springs, 9a17 adsorption grooves and 9a18 connecting air pipes;

a 9b pressing support frame, a 9b1 sliding module, a 9b2 second spring, a 9b3 first support frame, a 9b4 second support frame, a 9b5 guide wheel, a 9b6 pressing roller piece, a 9b7 sealing film reel, a 9b8 sealing film, a 9b9 positioning head, a 9b10 third rotating shaft, a 9b11 third chain wheel, a 9b12 third chain, a 9b13 fourth rotating shaft, a 9b14 fourth chain wheel, a 9b15 fourth chain, a 9b16 fifth rotating shaft, a 9b17 pressing head, a 9b18 third spring, a 9b19 carding wheel, a 9b20 pressing spring sheet and a 9b21 pressing head;

10 walls, 10a first fixing ring, 10a1 placing groove and 10a2 second fixing ring.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.

Referring to fig. 1 to 21, the automatic planting device for green buildings comprises a wall 10, wherein the wall 10 is provided with placing grooves 10a1 which are uniformly arranged at intervals and comprise an automatic planting mechanism and a climbing robot;

the climbing robot comprises a support frame 9, a connecting base 9a, a pressing wheel 9a1, a pressing rod 9a2, a first fixing ring 10a and a protection module;

the two supporting frames 9 are respectively arranged at two ends of the connecting base 9a, two ends of each supporting frame 9 are respectively provided with a rotating first rotating shaft 9a3, the pressing wheels 9a1 are respectively arranged on the first rotating shafts 9a3, the pressing rods 9a2 are arranged in a plurality of numbers and are respectively arranged on the pressing wheels 9a1 at uniform intervals, the end parts of the pressing rods 9a1 are respectively provided with an adsorption head 9a15, the adsorption head 9a15 is respectively provided with an adsorption groove 9a15, two sides of each supporting frame 9 are respectively provided with a sealing ring 9a11 corresponding to the pressing wheels 9a1, the sealing rings 9a11 are respectively rotated on the sealing rings 9a11, the sealing rings 9a11 are respectively provided with a second air hole 9a13, the second air holes 9a13 are correspondingly communicated with the adsorption grooves 9a15, and the first fixing rings 10a are uniformly arranged at intervals, two rows are arranged, the distance between the first fixing rings 10a corresponds to the distance between the adsorption heads 9a15, and the adsorption heads 9a15 are respectively clamped in the first fixing rings 10 a;

the protection module comprises a pressing support frame 9b, a sliding module 9b1, a guide wheel 9b5, a pressing roller piece 9b6, a sealing film reel 9b7 and a second fixing ring 10a 2;

the pressing support frame 9b is connected to the connecting base 9a through bolts, the sliding module 9b1 swings on the pressing support frame 9b, the guide wheel 9b5 is provided with two guide wheels and respectively rotates at the top of the sliding module 9b1, the pressing roller piece 9b6 is provided with two guide wheels and respectively rotates at the bottom of the sliding module 9b1, the sealing film reel 9b7 rotates at the middle position of the sliding module 9b1, the guide wheel 9b5 drives the sealing film reel 9b7 and the pressing roller piece 9b6 to synchronously rotate, the sealing film reel 9b7 is provided with a sealing film 9b8, the two sides of the sealing film 9b8 are respectively provided with a convex pressing head 9b21, the second fixing ring 10a2 is uniformly spaced and provided with 2 rows, the pressing heads 9b21 respectively correspond to the second fixing ring 10a2, and the pressing head 9b6 presses the pressing head 9b21 on the second fixing ring 2a, the guide wheel 9b5 is pressed on the guide wheel 9b5 to rotate;

the first fixing ring 10a and the second fixing ring 10a2 are respectively arranged at two sides of the placing groove 10a1 and are respectively fixedly connected to the wall 10;

the automatic planting mechanism comprises a lifting mechanism 1, a horizontal moving mechanism 2, a soil separating mechanism 3, a material moving mechanism 4, a turnover mechanism 5, a material grabbing mechanism 6, a material rack 7 and green plants 8;

the horizontal moving mechanism 2 is arranged at the working end of the lifting mechanism 1, the soil separating mechanism 3, the material moving mechanism 4, the turnover mechanism 5, the material grabbing mechanism 6 and the material rack 7 are all positioned at the working end of the horizontal moving mechanism 2, the working direction of the material moving mechanism 4 respectively faces towards the soil separating mechanism 3 and the material rack 7, the turnover mechanism 5 is arranged at the working end of the material moving mechanism 4, and the material grabbing mechanism 6 is arranged at the output end of the turnover mechanism 5;

the lifting mechanism 1 comprises a portal frame 1a, a supporting panel 1b and a longitudinal driving mechanism 1c, wherein the supporting panel 1b is provided with a roller 1b1, the supporting panel 1b is in sliding connection with the portal frame 1a through a roller 1b1, the longitudinal driving mechanism 1c is arranged at the bottom of the portal frame 1a, and the output end of the longitudinal driving mechanism 1c is connected with the supporting panel 1 b;

the horizontal moving mechanism 2 comprises a base 2a, a push plate 2b, a telescopic component 2c and a horizontal driving component 2d, the horizontal driving component 2d is installed on the base 2a, two ends of the telescopic component 2c are respectively connected with the base 2a and the push plate 2b, the output end of the telescopic component 2c is in sliding connection with the base 2a, the stressed end of the telescopic component 2c is in sliding connection with the base 2a, and the output end of the telescopic component 2c is connected with the telescopic component 2 c;

the soil separating mechanism 3 comprises a first soil shifting component 3c, a second soil shifting component 3d, a third soil shifting component 3e and a rotary driving mechanism 3g, the rotary driving mechanism 3g is used for driving the first soil shifting component 3c, the second soil shifting component 3d and the third soil shifting component 3e to be close to or far away from each other, and soil is shifted away through the first soil shifting component 3c, the second soil shifting component 3d and the third soil shifting component 3 e;

the material moving mechanism 4 comprises a second threaded rod 4c, a third servo motor 4d and a working block 4e, wherein the third servo motor 4d is used for driving the second threaded rod 4c to rotate, and the working block 4e is driven to move through the second threaded rod 4 c;

the turnover mechanism 5 comprises a linkage rod 5b and a fourth servo motor 5c, wherein the fourth servo motor 5c is used for driving the linkage rod 5b to rotate, and the linkage rod 5b drives the material grabbing mechanism 6 to rotate;

the material grabbing mechanism 6 comprises a first bent claw 6b, a second bent claw 6c and an electric push rod 6d, and the electric push rod 6d is used for driving the first bent claw 6b and the second bent claw 6c to be opened or closed through the third soil shifting component 3 e;

the lifting mechanism 1 is movably connected to the connecting base 9a through bolts.

A placing groove 10a1 is arranged on a wall 10, plants can be placed through the placing groove 10a1, a first fixing ring 10a and a second fixing ring 10a2 are respectively arranged on two sides of a placing groove 10a1, two rotary pinch rollers 9a1 are respectively arranged on two sides of a support frame 9, pinch rods 9a2 are respectively arranged on the pinch rollers 9a1, an adsorption head 9a15 is respectively arranged at the end part of the pinch rod 9a2, the pinch rollers 9a1 can be adsorbed in a groove arranged on the first fixing ring 10a when the adsorption groove 9a15 is in a negative pressure state, the support frame 9 can be further enabled to slide on the wall 1, sealing rings 9a11 are respectively arranged on two sides of the support frame 9, the sealing rings 9a11 are fixedly connected on the support frame 9, the pinch rollers 9a1 rotate on the sealing rings 9a11, second air holes 9a13 are respectively arranged on the sealing rings 9a11, and an air extractor is arranged on a connecting base 9a, the air extractor can be used for extracting air from the second air hole 9a13 and further extracting air from the repair groove 9a15, so that the adsorption groove 9a15 can be in a negative pressure state, the support frame 9 can slide on the wall body 1, the lifting mechanism 1 can be driven to slide on the wall body 10, and the plant can be planted and maintained on the wall body 10;

the pressing support frame 9b can be movably connected to the connecting base 9a through bolts, so that the connecting base 9a and the lifting mechanism 1 can be exchanged, and further maintenance of plants is facilitated, a sliding module 9b1 is arranged on the pressing support frame 9b, a rotating sealing film reel 9b7 is arranged on a sliding module 9b1, a sealing film 9b8 is curled on the sealing film reel 9b7, pressing heads 9b21 with uniform intervals are respectively arranged on two sides of the sealing film 9b8, a second fixing ring 10a2 is arranged on the wall body 10, after the pressing heads 9b21 are pressed on the second fixing ring 10a2, the sealing film 9b8 can be fixed on the wall body 10, so that the plants can be covered, and the plants can be protected, and damage to the plants caused by severe environment is prevented;

firstly, a worker places green plants 8 on a material frame 7, the material frame 7 is of a fork-shaped structure, a plurality of green plants 8 are arranged on the material frame 7, the green plants 8 are inverted, the lifting mechanism 1 starts to work, the output end of the longitudinal driving mechanism 1c pushes the 1b2 of the supporting panel 1b to ascend along the portal frame 1a, the roller 1b1 of the supporting panel 1b drives the base 2a to ascend to the height of a working point, the horizontal moving mechanism 2 starts to work, the output end of the horizontal driving component 2d drives the two ends of the stress end of the telescopic component 2c to mutually approach, the telescopic component 2c is converted from a contraction state to an extension state, the two ends of the output end of the telescopic component 2c push the push plates 2b to reach the top of a strip flowerpot on the wall of a building, then the supporting panel 1b of the lifting mechanism 1 slightly descends, the working end of the soil separating mechanism 3 is inserted into the soil of the, soil separating mechanism 3's work end is dialled soil open, then grab the green 8 of planting on material frame 7 of work end of material mechanism 6 and carry, move material mechanism 4 and begin work, the work end of moving material mechanism 4 drives through tilting mechanism 5 and grabs material mechanism 6 and be close to soil separating mechanism 3, then tilting mechanism 5 begins work, tilting mechanism 5's work end drives and grabs material mechanism 6 upset, the green 8 of planting of grabbing material mechanism 6 work end after the upset is located soil separating mechanism 3's feed end, the work end of grabbing material mechanism 6 is loosened, green 8 of planting falls into the soil of dialling open, then lifting mechanism 1's supporting panel 1b rises slightly, the in-process soil that soil separating mechanism 3's work end left soil draws close each other under the action of gravity, the root that green 8 of planting is covered to the soil that draws close each other.

As shown in fig. 12 to 21, the first rotating shaft 9a3 is respectively provided with a second sprocket wheel 9a6, the two second sprocket wheels 9a6 are correspondingly connected through a second chain 9a7, the connecting base 9a is internally provided with a second rotating shaft 9a8 driven by a fifth servomotor 9a9, the two ends of the second rotating shaft 9a8 and the first rotating shaft 9a3 arranged at the bottom are respectively provided with a first sprocket wheel 9a4, and the two first sprocket wheels 9a4 are correspondingly connected through a first chain 9a 5;

the pinch rollers 9a1 are respectively provided with a sealing rotary groove 9a10 which is arranged in a circular shape, the sealing rings 9a11 are arranged in a circular ring shape, and is arranged in the sealing rotary groove 9a10, a first air hole 9a12 correspondingly communicated with the sealing rotary groove 9a10 is respectively arranged in the pressing rod 9a2, the sealing ring 9a11 is provided with a communication groove 9a14 correspondingly communicated with the second air hole 9a14, the communication groove 9a14 is correspondingly communicated with the first air hole 9a12, the adsorption head 9a15 and the pressing rod 9a2 are correspondingly connected through a plurality of first springs 9a16, the adsorption heads 9a15 are respectively provided with a connecting air pipe 9a18 correspondingly communicated with the adsorption grooves 9a17, the connecting air pipes 9a18 are respectively communicated with the first air holes 9a12, and the adsorption heads 9a15 are made of rubber materials.

The fifth servo motor 9a9 drives the second rotating shaft 9a8 to rotate, so that the first chain wheel 9a4 can be driven to rotate, the first chain wheels 9a4 are correspondingly connected through the two first chains 9a5, the first rotating shaft 9a3 can be driven to rotate, the second chain wheels 9a4 are connected through the second chains 9a7, the pinch rollers 9a1 can be driven to rotate synchronously, after air is sucked from the first air holes 9a12 through the air suction machine, the air further flows into the connecting grooves 9a14, the direction of the connecting grooves 9a14 is consistent with the direction of the wall 10, therefore, after the adsorption heads 9a15 rotate to the position of the first fixing ring 10a on the wall 1, the adsorption grooves 9a17 are sucked, the adsorption heads 9a15 can be adsorbed on the first fixing ring 10a, and the support frame 9 can be fixed on the wall 10.

As shown in fig. 12 to 21, the sliding module 9b1 and the pressing support frame 9b are correspondingly connected through a plurality of second springs 9b2, one end of the sliding module 9b1 is provided with two second support frames 9b4, the other end of the sliding module 9b1 is provided with two first support frames 9b3, a rotating third rotating shaft 9b10 is arranged between the two second support frames 9b4, the guide wheels 9b5 are provided with two and respectively arranged at two ends of the third rotating shaft 9b10, a rotating fifth rotating shaft 9b16 is arranged between the two first support frames 9b3, the pressing roller 9b6 is provided with two and respectively arranged at two ends of the fifth rotating shaft 9b16, one end of the third rotating shaft 9b10 and the fifth rotating shaft 9b16 are respectively provided with a fourth sprocket wheel 369 b14, and the two fourth sprockets 399 b14 are correspondingly connected through a fourth chain wheel 15, the center of the sliding body 9b1 is provided with a rotating fourth rotating shaft 9b13, one end of the fourth rotating shaft 9b13 and the other end of the third rotating shaft 9b10 are respectively provided with a third chain wheel 9b11, the two third chain wheels 9b11 are correspondingly connected through a third chain 9b12, a circle of positioning heads 9b9 corresponding to the second fixed tube 10a2 is arranged on the guide wheel 9b5, a concave groove is respectively arranged on the positioning head 9b9, a circle of third spring 9b18 is respectively arranged on the pinch roller shear 9b6, the third springs 9b18 are respectively provided with an ejecting head 9b17, the ejecting heads 9b17 respectively press the pressing heads 9b21 against the second fixing rings 10a2, a combing wheel 9b19 is arranged on the fifth rotating shaft 9b16, and a plurality of jacking elastic sheets 9b20 for pressing the sealing film 9b8 are arranged on the combing wheel 9b 19.

After the positioning head 9b9 is pressed on the second fixing ring 10a2, the rotation of the third rotating shaft 9b10 can be further driven by the rotation of the guide wheel 9b5, the fourth chain wheel 9b14 is correspondingly connected by the fourth chain 9b15, the third chain wheel 9b11 is correspondingly connected by the third chain 9b12, so that the sealing film reel 9b7 and the pressing roller piece 9b6 can rotate synchronously, the sealing film 9b8 can be laid by the sealing module reel 9b7, the rotation of the pressing roller piece 9b6 can drive the top pressing head 9b17 to rotate, so that the pressing head 9b21 can be pressed in the second fixing ring 10a2 by the top pressing head 9b17, and a circular groove is arranged on the second fixing ring 10a2, so that the sealing film 9b8 can be pressed and fixed on the wall 110, and plants can be protected.

As shown in fig. 2 and fig. 3, the longitudinal driving mechanism 1c includes a pushing cylinder 1c1, a rotating rod 1c2, a gear 1c3 and a chain 1c4, the pushing cylinder 1c1 is mounted on the gantry 1a, the rotating rod 1c2 is located at the output end of the pushing cylinder 1c1 and is fixedly connected with the same, there are two gears 1c3, two gears 1c3 are respectively located at the two ends of the rotating rod 1c2 and is rotatably connected with the same, a cross plate is arranged on the gantry 1a and is located at the middle position of the gantry 1a, there are two chains 1c4, one end of each of the two chains 1c4 is fixedly connected with the cross plate, the other ends of the two cross plates are fixedly connected with the supporting panel 1b, and the two chains 1c4 are respectively engaged with the two gears 1c 3;

the lifting mechanism 1 starts to work, the longitudinal driving mechanism 1c starts to work, the output end of the pushing cylinder 1c1 pushes the rotating rod 1c2 to start to rise, the rotating rod 1c2 drives the two gears 1c3 to simultaneously start to rise, and because the two ends of the two chains 1c4 are respectively and fixedly connected with the supporting panel 1b and the transverse plate, the supporting panel 1b can longitudinally slide on the portal frame 1a through the roller 1b1, and the transverse plate is fixed, the two gears 1c3 drive the supporting panel 1b to start to rise through the jacking chain 1c 4.

As shown in fig. 4, 5 and 6, the telescopic assembly 2c includes a first scissor bar 2c1, a second scissor bar 2c2, a first sliding bar 2c3 and a second sliding bar 2c4, a fixed end of the first scissor bar 2c1 and a fixed end of the second scissor bar 2c2 are fixedly connected with the base 2a and the push plate 2b, respectively, a force bearing end of the first scissor bar 2c1 and a force bearing end of the second scissor bar 2c2 are connected through the first sliding bar 2c3, the first sliding bar 2c3 is slidably connected with the base 2a, a force bearing end of the first scissor bar 2c1 and a force bearing end of the second scissor bar 2c2 are connected through the second sliding bar 2c4, and the second sliding bar 2c4 is slidably connected with the push plate 2 b;

the output end of the horizontal driving assembly 2d drives the first sliding rod 2c3 to descend, the output ends of the first scissor bar 2c1 and the second scissor bar 2c2 extend out, the second sliding rod 2c4 also descends at the same time, and the push plate 2b is pushed out.

As shown in fig. 5, the horizontal driving assembly 2d includes a first servo motor 2d1, a first threaded rod 2d2 and a double-head connecting member 2d3, the first servo motor 2d1 is mounted on the base 2a, one end of the first threaded rod 2d2 is rotatably connected to the base 2a, the other end of the first threaded rod 2d2 is fixedly connected to the output end of the first servo motor 2d1, and the double-head connecting member 2d3 is respectively in threaded connection with the first threaded rod 2d2 and in fixed connection with the first sliding rod 2c 3;

when the horizontal driving assembly 2d starts to work, the output end of the first servo motor 2d1 drives the first threaded rod 2d2 to rotate, the moving direction of the double-head connecting piece 2d3 is limited to the longitudinal direction because the first sliding rod 2c3 can only slide along the longitudinal direction of the base 2a, and the double-head connecting piece 2d3 descends along the first threaded rod 2d2 after being stressed and drives the first sliding rod 2c 3.

As shown in fig. 8 and 9, the soil separating mechanism 3 further includes a guide plate 3a, a rotating ring 3b and an elastic belt 3f, the rotating ring 3b is located at the bottom of the guide plate 3a and is rotatably connected with the guide plate 3a, the bottom of the guide plate 3a is provided with three sliding chutes, the three sliding chutes are arranged around the guide plate 3a, the first soil shifting assembly 3c, the second soil shifting assembly 3d and the third soil shifting assembly 3e are respectively connected with the three sliding chutes at the bottom of the guide plate 3a in a sliding manner, stress ends of the first soil shifting assembly 3c, the second soil shifting assembly 3d and the third soil shifting assembly 3e are hinged with an inner edge of the rotating ring 3b, the first soil shifting assembly 3c, the second soil shifting assembly 3d and the third soil shifting assembly 3e are connected with each other through the elastic belt 3f, and an output end of the rotary driving mechanism 3g is in transmission connection with the rotating ring 3 b;

soil separating mechanism 3 begins to work, the output of rotary drive mechanism 3g drives swivel ring 3b and rotates, swivel ring 3b drives first group native subassembly 3c simultaneously, the stress end of second group native subassembly 3d and third group native subassembly 3e is kept away from each other along guide board 3a, first group native subassembly 3c, the in-process that second group native subassembly 3d and third group native subassembly 3e kept away from each other is peeled off soil, elastic webbing 3f is the banding thing of elasticity material, the soil of peeling off is not flowing back through the assurance of elastic webbing 3 f.

As shown in fig. 10, the first soil-shifting assembly 3c includes a connecting rod 3c1, a longitudinal rod 3c2 and an arc-shaped piece 3c3, one end of the connecting rod 3c1 is hinged with the inner edge of the rotating ring 3b, the other end of the connecting rod 3c1 is respectively connected with the sliding groove of the rotating ring 3b in a sliding manner and one end of the longitudinal rod 3c2 in a fixed manner, and the arc-shaped piece 3c3 is located at the other end of the longitudinal rod 3c2 in a fixed manner;

the rotary driving mechanism 3g drives the rotary ring 3b to rotate, the rotary ring 3b drives the connecting rod 3c1 to move along the sliding groove of the guide plate 3a, the stressed longitudinal rod 3c2 drives the arc-shaped sheet 3c3 to move, and soil is poked through the arc-shaped sheets 3c3 which are far away from each other.

As shown in fig. 10, the rotary driving mechanism 3g includes a second servomotor 3g1, a right-angle reducer 3g2 and a belt pulley 3g3, the force-bearing end of the right-angle reducer 3g2 is connected with the output end of the second servomotor 3g1, the belt pulley 3g3 is located at the output end of the right-angle reducer 3g2 and connected with the same, and the rotary ring 3b is in transmission connection with the belt pulley 3g3 through a belt;

the rotary driving mechanism 3g starts to work, the output end of the second servo motor 3g1 drives the stressed end of the right-angle reducer 3g2 to rotate, the output end of the right-angle reducer 3g2 drives the belt pulley 3g3 to rotate, and the belt pulley 3g3 drives the rotating ring 3b to rotate through a belt.

As shown in fig. 11, the material moving mechanism 4 further includes a supporting bottom plate 4a and a guiding rod 4b, the guiding rod 4b and a second threaded rod 4c are both installed on the supporting bottom plate 4a and rotatably connected therewith, a third servo motor 4d is installed on the supporting bottom plate 4a, an output end of the third servo motor 4d is connected with the second threaded rod 4c, and a working block 4e is respectively connected with the guiding rod 4b in a sliding manner and the second threaded rod 4c in a threaded manner;

the material moving mechanism 4 starts to work, the output end of the third servo motor 4d drives the second threaded rod 4c to rotate, the second threaded rod 4c drives the working block 4e to be close to the soil separating mechanism 3 along the guide rod 4b, and the supporting bottom plate 4a is used for fixing and supporting.

As shown in fig. 11, the turnover mechanism 5 further includes a turnover frame 5a, a linkage rod 5b is mounted on the turnover frame 5a and rotatably connected thereto, a fourth servo motor 5c is mounted on the turnover frame 5a, and an output end of the fourth servo motor 5c is connected to the linkage rod 5 b;

the turnover mechanism 5 starts to work, the output end of the fourth servo motor 5c drives the linkage rod 5b to rotate, the linkage rod 5b drives the material grabbing mechanism 6 to turn over by one hundred eighty degrees, and the turnover frame 5a is used for supporting and fixing.

As shown in fig. 11, the material grabbing mechanism 6 further comprises a special-shaped frame 6a, a first bent claw 6b and a second bent claw 6c are symmetrically arranged on the special-shaped frame 6a and rotatably connected with the special-shaped frame, a linkage head 6e is respectively connected with the force bearing ends of the first bent claw 6b and the second bent claw 6c, an electric push rod 6d is arranged on the special-shaped frame 6a, and the output end of the electric push rod 6d is connected with the linkage head 6 e;

the material grabbing mechanism 6 starts to work, the output end of the electric push rod 6d pulls the first bent claw 6b and the second bent claw 6c through the linkage head 6e, the working ends of the first bent claw 6b and the second bent claw 6c are close to each other to clamp the root of the green plant 8, and the special-shaped frame 6a is used for fixing and supporting.

The working principle of the invention is as follows: firstly, a worker places green plants 8 on a material frame 7, the material frame 7 is of a fork-shaped structure, a plurality of green plants 8 are arranged on the material frame 7, the green plants 8 are inverted, the lifting mechanism 1 starts to work, the longitudinal driving mechanism 1c starts to work, the output end of the pushing cylinder 1c1 pushes the rotating rod 1c2 to start to rise, the rotating rod 1c2 drives the two gears 1c3 to simultaneously start to rise, because the two ends of the two chains 1c4 are respectively and fixedly connected with the supporting panel 1b and the transverse plate, but the supporting panel 1b can longitudinally slide on the portal frame 1a through the roller 1b1, and the transverse plate is fixedly fixed, the two gears 1c3 drive the supporting panel 1b to rise through jacking the chains 1c4, the supporting panel 1b drives the base 2a to rise to the height of a working point, the horizontal moving mechanism 2 starts to work, the output end of the first servo motor 2d1 drives the first threaded rod 2d2 to rotate, since the first sliding rod 2c3 can only slide longitudinally along the base 2a, the moving direction of the double-headed connecting member 2d3 is limited to the longitudinal direction, after being stressed, the double-headed connecting member 2d3 descends along the first threaded rod 2d2 and drives the first sliding rod 2c33 to descend, the output ends of the first scissor bar 2c1 and the second scissor bar 2c2 extend out and the second sliding rod 2c4 also descends simultaneously, the push plate 2b is pushed out to reach the top of a long flowerpot on the building wall, then the supporting panel 1b of the lifting mechanism 1 descends slightly, at the moment, the working end of the soil separating mechanism 3 is inserted into the soil of the flowerpot, the soil separating mechanism 3 starts to work, the output end of the rotary driving mechanism 3g drives the rotary ring 3b to rotate, the rotary ring 3b drives the stressed ends of the first soil stripping component 3c, the second soil stripping component 3d and the third soil stripping component 3e to move away from each other along the guiding plate 3a, the first ripping assembly 3c, the second ripping assembly 3d and the third ripping assembly 3e strip the soil away in the process of moving away from each other, then the working end of the material grabbing mechanism 6 clamps the green plants 8 on the material rack 7, the material moving mechanism 4 starts to work, the working end of the material moving mechanism 4 drives the material grabbing mechanism 6 to be close to the soil separating mechanism 3 through the turnover mechanism 5, then the turnover mechanism 5 starts to work, the working end of the turnover mechanism 5 drives the material grabbing mechanism 6 to turn over, the green plants 8 at the working end of the material grabbing mechanism 6 after turnover are positioned at the feeding end of the soil separating mechanism 3, the working end of the material grabbing mechanism 6 is loosened, the green plants 8 fall into the opened soil, then the supporting panel 1b of the lifting mechanism 1 slightly rises, the soil is mutually closed under the action of gravity when the working end of the soil separating mechanism 3 leaves the soil, and the roots of the green plants 8 are covered by the mutually closed soil.

The working principle of the climbing robot is as follows:

the wall body 1 is provided with a placing groove 10a1 which is arranged side by side, green plants are placed through the placing groove 10a1, a first fixing ring 10a and a second fixing ring 10a2 which are arranged side by side are respectively arranged on two sides of the placing groove 10a1, two sides of the support frame 9 are respectively provided with a rotating pinch roller 9a1, the rotation of the pinch roller 9a1 can drive a pinch rod 9a2 to rotate, so that the adsorption head 9a15 is adsorbed on the first fixing ring 10a, the adsorption head 9a15 is adsorbed on the first fixing ring 10a through the action of negative pressure, the support frame 9 slides on the wall body 10, the planting mechanism can be arranged on the connecting base 9a, and therefore the green plants can be planted on high-rise buildings;

a detachable pressing support frame 9b is arranged on the connecting base 9a, the sliding module 9b1 is pressed by a second spring 9b2 to slide, so that the guide wheel 9b5 and the pressing roller piece 9b6 are pressed on the second fixing ring 10a2, the sealing film 9b8 can be stored and released through the sealing film reel 9b7, the sealing film 9b8 is stretched to seal the placing groove 10a1, the pressing heads 9b21 with uniform intervals are arranged on the sealing film 9b8, the pressing heads 9b21 are made of rubber, when the support frame 9 slides, the positioning head 9b9 on the guide wheel 9b5 can be clamped on the second fixing ring 10a2, the guide wheel 9b5 can be driven to rotate, the sealing film reel 9b7 and the pressing roller piece 9b6 can be driven to synchronously rotate, the sealing film reel 9b8 can be used for sealing the placing groove 10a1, and the green plants can be protected, prevent the damage of the severe environment to the plants.

The planting mechanism comprises the following planting steps:

firstly, placing green plants 8 on a material rack 7 by a worker;

step two, the lifting mechanism 1 starts to work, the output end of the longitudinal driving mechanism 1c pushes the support panel 1b2 to ascend along the portal frame 1a, and the roller 1b1 of the support panel 1b drives the base 2a to ascend to the height of a working point;

step three, the horizontal moving mechanism 2 starts to work, the output end of the horizontal driving component 2d drives the two ends of the stress end of the telescopic component 2c to approach each other, the telescopic component 2c is converted from a contraction state to an extension state, and the two ends of the output end of the telescopic component 2c push the push plate 2b to reach the top of a long strip flowerpot on the building wall;

step four, the supporting panel 1b of the lifting mechanism 1 slightly descends, and the working end of the soil separating mechanism 3 is inserted into the soil of the flowerpot;

fifthly, the soil separating mechanism 3 starts to work, and the working end of the soil separating mechanism 3 pulls the soil away;

step six, clamping the green plants 8 on the material rack 7 by the working end of the material grabbing mechanism 6;

seventhly, the material moving mechanism 4 starts to work, and the working end of the material moving mechanism 4 drives the material grabbing mechanism 6 to be close to the soil separating mechanism 3 through the turnover mechanism 5;

step eight, the turnover mechanism 5 starts to work, the working end of the turnover mechanism 5 drives the material grabbing mechanism 6 to turn over, and the green plants 8 at the working end of the overturned material grabbing mechanism 6 are positioned at the feeding end of the soil separation mechanism 3;

step nine, loosening the working end of the material grabbing mechanism 6, and enabling the green plants 8 to fall into the opened soil;

tenthly, the supporting panel 1b of the lifting mechanism 1 slightly rises, soil is mutually closed under the action of gravity when the working end of the soil separating mechanism 3 leaves the soil, and the roots of the green plants 8 are covered by the mutually closed soil.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a climbing robot of automatic planting device of green building which characterized in that: the climbing robot comprises a support frame (9), a connecting base (9 a), a pressing wheel (9 a 1), a pressing rod (9 a 2), a first fixing ring (10 a) and a protection module;

the two supporting frames (9) are respectively arranged at two ends of the connecting base (9 a), two ends of each supporting frame (9) are respectively provided with a rotating first rotating shaft (9 a 3), the pressing wheels (9 a 1) are respectively arranged on the first rotating shafts (9 a 3), the pressing rods (9 a 2) are provided with a plurality of pressing rods and are respectively arranged on the pressing wheels (9 a 1) at uniform intervals, the end parts of the pressing rods (9 a 1) are respectively provided with an adsorption head (9 a 15), the adsorption heads (9 a 15) are respectively provided with an adsorption groove (9 a 15), two sides of each supporting frame (9) are respectively provided with a sealing ring (9 a 11) corresponding to the pressing wheels (9 a 1), the sealing rings (9 a 11) respectively rotate on the sealing rings (9 a 11), and the sealing rings (9 a 11) are respectively provided with a second air hole (9 a 13), the second air holes (9 a 13) are correspondingly communicated with the adsorption grooves (9 a 15), the first fixing rings (10 a) are uniformly arranged at intervals and are provided with two rows, the intervals of the first fixing rings (10 a) correspond to the intervals of the adsorption heads (9 a 15), and the adsorption heads (9 a 15) are respectively clamped in the first fixing rings (10 a);

the protection module comprises a pressing support frame (9 b), a sliding module (9 b 1), a guide wheel (9 b 5), a pressing roller piece (9 b 6), a sealing film reel (9 b 7) and a second fixing ring (10 a 2);

compress tightly support frame (9 b) and pass through bolted connection connect on base (9 a), slip module (9 b 1) is in compress tightly support frame (9 b) and go up the swing, leading wheel (9 b 5) are provided with two, and are in respectively the top of slip module (9 b 1) is rotated, pinch roller spare (9 b 6) is provided with two, and is in respectively the bottom of slip module (9 b 1) is rotated, seal membrane spool (9 b 7) is rotated at the intermediate position of slip module (9 b 1), leading wheel (9 b 5) drives sealed roll membrane spool (9 b 7) and pinch roller spare (9 b 6) synchronous rotation, be provided with seal membrane (9 b 8) on seal membrane spool (9 b 7), the both sides of seal membrane (9 b 8) are provided with bellied pressure head (9 b 21) respectively, the even setting of solid fixed ring (10 a 2) interval of second, and 2 rows are arranged, the pressing heads (9 b 21) respectively correspond to the second fixing rings (10 a 2), the pressing roller piece (9 b 6) presses the pressing head (9 b 21) on the second fixing rings (10 a 2), and the guide wheel (9 b 5) presses the guide wheel (9 b 5) to rotate.

2. The climbing robot of the automatic planting device of green buildings according to claim 1, characterized in that: the first rotating shaft (9 a 3) is respectively provided with a second chain wheel (9 a 6), the two second chain wheels (9 a 6) are correspondingly connected through a second chain (9 a 7), the connecting base (9 a) is internally provided with a second rotating shaft (9 a 8) driven by a fifth servo motor (9 a 9), the two ends of the second rotating shaft (9 a 8) and the first rotating shaft (9 a 3) arranged at the bottom are respectively provided with a first chain wheel (9 a 4), and the two first chain wheels (9 a 4) are correspondingly connected through a first chain (9 a 5);

the pressing wheels (9 a 1) are respectively provided with a sealing rotary groove (9 a 10) which is circularly arranged, the sealing rings (9 a 11) are annularly arranged and are arranged in the sealing rotary grooves (9 a 10), the pressing rods (9 a 2) are respectively provided with a first air hole (9 a 12) which is correspondingly communicated with the sealing rotary grooves (9 a 10), the sealing rings (9 a 11) are respectively provided with a communication groove (9 a 14) which is correspondingly communicated with the second air hole (9 a 14), the communication grooves (9 a 14) are correspondingly communicated with the first air holes (9 a 12), the adsorption head (9 a 15) and the pressing rods (9 a 2) are correspondingly connected through a plurality of first springs (9 a 16), the adsorption head (9 a 15) is respectively provided with a connecting air pipe (9 a 18) which is correspondingly communicated with the adsorption grooves (9 a 17), and the air pipe connecting air pipes (9 a 369 a 18) are respectively communicated with the first air holes (12 a) correspondingly, the adsorption head (9 a 15) is made of rubber.

3. The climbing robot of the automatic planting device of green buildings according to claim 1, characterized in that: the sliding module 9b 1) and the pressing support frame (9 b) are correspondingly connected through a plurality of second springs (9 b 2), one end of the sliding module (9 b 1) is provided with two second support frames (9 b 4), the other end of the sliding module (9 b 1) is provided with two first support frames (9 b 3), a rotating third rotating shaft (9 b 10) is arranged between the two second support frames (9 b 4), the guide wheels (9 b 5) are provided with two guide wheels and are respectively arranged at two ends of the third rotating shaft (9 b 10), a rotating fifth rotating shaft (9 b 16) is arranged between the two first support frames (9 b 3), the pressing roller pressing pieces (9 b 6) are provided with two guide wheels and are respectively arranged at two ends of the fifth rotating shaft (9 b 16), one end of the third rotating shaft (9 b 10) and a fourth chain wheel (9 b 14) are respectively arranged on the fifth rotating shaft (9 b 16), two fourth chain wheels (9 b 14) are correspondingly connected through a fourth chain (9 b 15), a rotating fourth rotating shaft (9 b 13) is arranged at the central position of the sliding machine body (9 b 1), one end of the fourth rotating shaft (9 b 13) and the other end of the third rotating shaft (9 b 10) are respectively provided with a third chain wheel (9 b 11), the two third chain wheels (9 b 11) are correspondingly connected through a third chain (9 b 12), a circle of positioning head (9 b 9) corresponding to the second fixing tube (10 a 2) is arranged on the guide wheel (9 b 5), a concave groove is respectively arranged on the positioning head (9 b 9), a circle of third spring (9 b 18) is respectively arranged on the pressing roller shear (9 b 6), a top pressing head (9 b 6) is respectively arranged on the third spring (9 b 18), and a second pressing head (21 a) is respectively arranged on the pressing roller shear (9 b 17), a combing wheel (9 b 19) is arranged on the fifth rotating shaft (9 b 16), and a plurality of jacking elastic sheets (9 b 20) for pressing the sealing film (9 b 8) are arranged on the combing wheel (9 b 19).

4. A green building automatic planting device, characterized by comprising the climbing robot of the green building automatic planting device as claimed in any one of claims 1-3.