CN205756174U - A kind of solid soilless culturing intelligent robot - Google Patents
A kind of solid soilless culturing intelligent robot Download PDFInfo
- Publication number
- CN205756174U CN205756174U CN201620679109.7U CN201620679109U CN205756174U CN 205756174 U CN205756174 U CN 205756174U CN 201620679109 U CN201620679109 U CN 201620679109U CN 205756174 U CN205756174 U CN 205756174U
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- feed screw
- fixed
- screw
- mechanical hand
- tracking cart
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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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
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Abstract
A kind of solid soilless culturing intelligent robot, including: device box, tracking cart, down-feed screw, horizontal screw lead, vertical cylinder, mechanical hand, food basket, photoelectric sensor, bracing frame and touch screen；Device box is fixed on tracking cart, and top is connected with touch screen by a retractable support lever, and device box includes PLC, accumulator and air valve；Tracking cart can move along the reflector that landing ground is pasted；Bracing frame is fixed on tracking cart, and down-feed screw bottom is fixed on tracking cart, and top connects with bracing frame；Horizontal screw lead is horizontally fixed on down-feed screw, can move up and down along down-feed screw, and the bottom of horizontal screw lead is connected with vertical cylinder and mechanical hand, the motion of Air Valve Control vertical cylinder, thus drives the crawl of mechanical hand and unclamp；Food basket is fixed on down-feed screw, is positioned at the lower section of horizontal screw lead.This utility model is rational in infrastructure ingenious, it is possible to tracking is walked automatically, it is achieved that the automatic sowing of stereo planting and harvesting.
Description
Technical field
This utility model belongs to agricultural mechanical field, is specifically related to a kind of solid soilless culturing intelligent robot.
Background technology
Along with the quickening of urbanization process, soil runs off serious, and the pressure that agricultural production is born is increasing, to big rule
Mould, high efficiency production model demand the most obvious.Solid soilless culturing technology can carry by it on limited soil
The feature of the resource output capacity of high unit are is in rising in recent years.Meanwhile, the development of science and technology and the breakthrough of technology make agricultural
Mechanical intelligent is possibly realized.Compared with traditional cultivation mode, agricultural intelligent robot has it without tired, high efficiency excellent
Gesture.And agricultural intelligent robot cannot realize tracking and automatically walks in prior art, also cannot realize stereo planting is broadcast
Plant and pluck, remain a need for the effect of manpower in the course of cultivation.
Utility model content
Of the present utility model for deficiency of the prior art, it is provided that a kind of solid soilless culturing intelligent robot.
For achieving the above object, this utility model is by the following technical solutions:
A kind of solid soilless culturing intelligent robot, it is characterised in that including: device box, tracking cart, down-feed screw,
Horizontal screw lead, vertical cylinder, mechanical hand, food basket, photoelectric sensor, bracing frame and touch screen；Described device box is fixed on tracking
On dolly, top is connected with touch screen by a retractable support lever, and device box includes PLC, accumulator and air valve,
PLC controls tracking cart, down-feed screw and the motion of horizontal screw lead；Described tracking cart vehicle body both sides are provided with four wheels
Son, is driven by four motors respectively, vehicle body is provided with steering wheel, and body bottom is provided with photoelectric sensor so that tracking cart
Can move along the reflector that landing ground is pasted；Support frame as described above is fixed on tracking cart, and described down-feed screw bottom is fixed on
On tracking cart, top connects with bracing frame；Described horizontal screw lead is horizontally fixed on down-feed screw, can be along on down-feed screw
Lower movement, the bottom of horizontal screw lead is connected with vertical cylinder and mechanical hand, the motion of Air Valve Control vertical cylinder, thus drives machine
The crawl of tool hands and unclamping；Described food basket is fixed on down-feed screw, is positioned at the lower section of horizontal screw lead.
For optimizing technique scheme, the concrete measure taked also includes:
Described down-feed screw and horizontal screw lead are all for being made up of screw rod, nut, steel ball, pre-tabletting, reverser, dust excluder
Ball-screw, down-feed screw and horizontal screw lead are respectively by respective step motor drive；It is fixed with cunning on the nut of down-feed screw
Block, vertically moves with nut, and the nut of horizontal screw lead is fixed with intermediate slider, and intermediate slider is fixed on down-feed screw
On slide block.
Photoelectric sensor is installed, for monitoring the motion of down-feed screw slide block on horizontal screw lead.
Described mechanical hand is multiple, detachably connected with horizontal screw lead.
Air Valve Control vertical cylinder moves downward, and makes mechanical hand close；Air Valve Control vertical cylinder moves upward, and makes machinery
Hands unclamps.
The beneficial effects of the utility model are: the use of down-feed screw so that capture layer registration, can be used for solid many
Layer object cultivation；The use of horizontal screw lead, it is possible to capture the crops being positioned at deep layer；Tracking cart achieves intelligent robot
Automatically move；The design of multiple mechanical hands can capture multiple crops simultaneously, saves the time, improves efficiency, and mechanical hand uses can
Disassembly design, by changing mechanical hand, robot can realize the sowing to variety classes crops and harvesting, and the suitability is more
Extensively；Horizontal screw lead and food basket are separately fixed at down-feed screw both sides, and down-feed screw uses bracing frame to reinforce, and adds whole device
Stability；Pattern freely switches, more hommization.
Accompanying drawing explanation
Fig. 1 is front view of the present utility model.
Fig. 2 is top view of the present utility model.
Fig. 3 is mobile flow chart of the present utility model.
Fig. 4 is crawl flow chart of the present utility model.
Reference is as follows: device box 1, tracking cart 2, down-feed screw 3, horizontal screw lead 4, vertical cylinder 5, mechanical hand 6,
Food basket 7, photoelectric sensor 8, bracing frame 9, touch screen 10.
Detailed description of the invention
Presently in connection with accompanying drawing, this utility model is described in further detail.
As shown in Figure 1-2, solid soilless culturing intelligent robot of the present utility model, including device box 1, tracking cart 2,
Down-feed screw 3, horizontal screw lead 4, vertical cylinder 5, mechanical hand 6, food basket 7, photoelectric sensor 8, bracing frame 9 and touch screen 10.
Being screwed in bottom device box 1 on tracking cart 2, a retractable support lever and touch screen 10 phase are passed through in top
Even.Device box 1 includes PLC, accumulator and air valve, and PLC controls tracking cart 2, down-feed screw 3, level
The motion of leading screw 4, and the opening and closing of air valve, the work to whole intelligent robot is controlled.Touch screen 10 can realize machine
Switching between people's automatic picking pattern and automatic sowing pattern, and the switching of manual mode and automatic mode can also be carried out,
Can accurately control the movement of robot when manual mode, capture and sow.
Tracking cart 2 vehicle body both sides are provided with four wheels, are driven by four motors respectively, and vehicle body overall structure uses and can hold
Design great, underslung, vehicle body is provided with steering wheel, and bottom is provided with photoelectric sensor 8, by the spy of photoelectric sensor 8
Survey so that tracking cart 2 can advance along the reflector that landing ground is pasted, stops and being automatically adjusted direction.
Bracing frame 9 is screwed on tracking cart 2, and down-feed screw 4 bottom is also screwed in tracking cart 2
On, top connects with bracing frame 9 so that fixing of down-feed screw 4 is more firm.Down-feed screw 4 be by screw rod, nut, steel ball,
The ball-screw of pre-tabletting, reverser, dust excluder composition, by the step motor drive on top, the most solid on the nut of ball-screw
Surely having slide block, slide block moves up and down with nut.
Horizontal screw lead 4 is similarly the ball-screw being made up of screw rod, nut, steel ball, pre-tabletting, reverser, dust excluder, by
Being fixed on the step motor drive of end, nut is fixed with intermediate slider, intermediate slider can be adopted by angle bar and be screwed
On the slide block of down-feed screw 3 so that horizontal screw lead 4 can move up and down along down-feed screw 3.It is also equipped with on horizontal screw lead 4
Photoelectric sensor 8, by the height of detection level leading screw 4, and is sent to PLC by altitude signal, then controls vertical
The motion of leading screw 3 slide block so that it is rest on suitable height, such as plucking height or sowing height.
Being also associated with vertical cylinder 5 and mechanical hand 6 bottom horizontal screw lead 4, mechanical hand 6 may be designed as multiple, with level silk
Thick stick 4 is detachably connected, and multiple mechanical hands 6 are hung under a block plate by screw is fixing, and steel plate is then fixed on the end of vertical cylinder 5
End.Air Valve Control vertical cylinder 5 moves downward, and makes mechanical hand 6 close, for crops or the crawl of seed；And Air Valve Control
Vertical cylinder 5 moves upward, then mechanical hand 6 unclamps, for placing crops or the sowing of collection.
Food basket 7, can be screwed on two angle bar, and standing part does not connects with horizontal screw lead 4 at down-feed screw 3
Side, and food basket 7 by being positioned at the underface of horizontal screw lead 4 slide block through angle bar.
As shown in Figure 3-4, when plucking, use picking mechanical arm, select automatic picking pattern by touch screen 10, touch
Screen 10 sends a signal to PLC, and PLC controls the motion of tracking cart 2, and tracking cart 2 passes through photoelectric sensing
Device 8 advances along landing ground reflector, and is parked in plantation frame limit.Now, the motor on down-feed screw 3 drives and is fixed on vertically
Horizontal screw lead 4 on leading screw 3 slide block begins to ramp up, and is parked in appropriate plucking height by the detection of photoelectric sensor 8.Level
Motor on leading screw 4 rotates so that the mechanical hand 6 being fixed on horizontal screw lead 4 protrudes horizontally up to appropriate position.Air valve control
Vertical cylinder 5 processed moves downward, and makes mechanical hand 6 Guan Bi catch crops.Motor driving mechanical on horizontal screw lead 4 afterwards
Hands 6 is retracted to appropriate position, the i.e. position at food basket 7 place, and Air Valve Control vertical cylinder 5 moves upward, and mechanical hand 6 unclamps, and adopts
Collect to crops just drop in food basket 7.Afterwards, the motor on down-feed screw 3 drives and is fixed on this screw slider
On horizontal screw lead 4 continue rise, repeat action just now, until this all layer of plantation frame crops gather complete.Afterwards
Intelligent robot continues to move to, and repeats grasping movement, until the crops of all plantation framves have been plucked.
At seeding time, using seeding machinery hands, select automatic sowing pattern by touch screen 10, intelligent robot starts to move
Dynamic.Tracking cart 2 is advanced along landing ground reflector by photoelectric sensor 8, and is parked in crop-planting frame limit.Now, vertical silk
Motor on bar 3 drives the horizontal lead screw 4 being fixed on this screw mandrel slide block to begin to ramp up, and is stopped by photoelectric sensor 8
At appropriate height, i.e. capture height.Air Valve Control vertical cylinder 5 moves downward, and makes mechanical hand 6 close crawl kind from food basket 7
Son, then the motor on horizontal lead screw 4 rotates so that the mechanical hand 6 being fixed on horizontal lead screw 4 protrudes horizontally up to appropriately
Position, the position i.e. sowed.Air Valve Control vertical cylinder 5 moves upward, and mechanical hand 6 unclamps, and seed is fallen in culture dish.Then
Motor driving mechanical hands 6 on horizontal lead screw 4 is retracted to appropriate position.Motor on down-feed screw 3 drives fixing
Horizontal lead screw 4 on this screw mandrel slide block continues to rise, and repeats action just now, until all layers sowing of this plantation frame is complete.
Intelligent robot continues to move to afterwards, repeat sowing action, until the crop seeding of all plantation framves completes.
Below being only preferred implementation of the present utility model, protection domain of the present utility model is not limited merely to above-mentioned
Embodiment, all technical schemes belonged under this utility model thinking belong to protection domain of the present utility model.It is right to it should be pointed out that,
For those skilled in the art, without departing from the some improvements and modifications under this utility model principle premise,
Should be regarded as protection domain of the present utility model.
Claims (5)
1. a solid soilless culturing intelligent robot, it is characterised in that including: device box (1), tracking cart (2), vertical silk
Thick stick (3), horizontal screw lead (4), vertical cylinder (5), mechanical hand (6), food basket (7), photoelectric sensor (8), bracing frame (9) and touch
Screen (10)；Described device box (1) is fixed on tracking cart (2), and a retractable support lever and touch screen (10) phase are passed through in top
Even, device box (1) includes PLC, accumulator and air valve, PLC control tracking cart (2), down-feed screw (3) and
The motion of horizontal screw lead (4)；Described tracking cart (2) vehicle body both sides are provided with four wheels, are driven by four motors respectively, vehicle body
On steering wheel is installed, body bottom is provided with photoelectric sensor (8) so that tracking cart (2) can along landing ground pasted reflective
Plate moves；Support frame as described above (9) is fixed on tracking cart (2), and described down-feed screw (3) bottom is fixed on tracking cart (2)
On, top connects with bracing frame (9)；Described horizontal screw lead (4) is horizontally fixed on down-feed screw (3), can be along down-feed screw
(3) moving up and down, the bottom of horizontal screw lead (4) is connected with vertical cylinder (5) and mechanical hand (6), Air Valve Control vertical cylinder (5)
Motion, thus drive the crawl of mechanical hand (6) and unclamp；Described food basket (7) is fixed on down-feed screw (3), is positioned at level
The lower section of leading screw (4).
2. a kind of solid soilless culturing intelligent robot as claimed in claim 1, it is characterised in that: described down-feed screw (3)
With horizontal screw lead (4) all for the ball-screw being made up of screw rod, nut, steel ball, pre-tabletting, reverser, dust excluder, down-feed screw
And horizontal screw lead (4) is respectively by respective step motor drive (3)；It is fixed with slide block, with nut on the nut of down-feed screw (3)
Vertically moving, the nut of horizontal screw lead (3) is fixed with intermediate slider, intermediate slider is fixed on the cunning of down-feed screw (3)
On block.
3. a kind of solid soilless culturing intelligent robot as claimed in claim 2, it is characterised in that: the upper peace of horizontal screw lead (4)
Equipped with photoelectric sensor (8), it is used for monitoring the motion of down-feed screw (3) slide block.
4. a kind of solid soilless culturing intelligent robot as claimed in claim 1, it is characterised in that: described mechanical hand (6) is
Multiple, detachably connected with horizontal screw lead (4).
5. a kind of solid soilless culturing intelligent robot as claimed in claim 4, it is characterised in that: Air Valve Control vertical cylinder
(5) move downward, make mechanical hand (6) close；Air Valve Control vertical cylinder (5) moves upward, and makes mechanical hand (6) unclamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620679109.7U CN205756174U (en) | 2016-07-01 | 2016-07-01 | A kind of solid soilless culturing intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620679109.7U CN205756174U (en) | 2016-07-01 | 2016-07-01 | A kind of solid soilless culturing intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205756174U true CN205756174U (en) | 2016-12-07 |
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ID=58125818
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620679109.7U Active CN205756174U (en) | 2016-07-01 | 2016-07-01 | A kind of solid soilless culturing intelligent robot |
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| Country | Link |
|---|---|
| CN (1) | CN205756174U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105961166A (en) * | 2016-07-01 | 2016-09-28 | 金陵科技学院 | Intelligent robot for stereo soilless culture and cultivation method |
| CN107748203A (en) * | 2017-11-16 | 2018-03-02 | 西安石油大学 | It is a kind of intelligent from tracking seam inspection robot |
| CN108040853A (en) * | 2017-12-11 | 2018-05-18 | 佛山市田森温室科技有限公司 | A kind of automatic vegetable plantation device |
| CN109479504A (en) * | 2018-12-31 | 2019-03-19 | 西北农林科技大学 | A kind of fruit and vegetable picking hexapod robot and its working method |
| CN112119900A (en) * | 2020-09-30 | 2020-12-25 | 塔里木大学 | Low-cost accurate fertilizer injection unit of tomato yellow sand soilless culture liquid manure integration |
| RU2748379C1 (en) * | 2020-09-25 | 2021-05-25 | Общество с ограниченной ответственностью "Флора Спейс" | Robotic autonomous module for growing plants on artificial media using automated life support tools for plants at all stages of growing |
| CN116158259A (en) * | 2023-04-26 | 2023-05-26 | 泉州科源生态农业科技有限公司 | Soilless culture vegetable picking and transporting equipment |
-
2016
- 2016-07-01 CN CN201620679109.7U patent/CN205756174U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105961166A (en) * | 2016-07-01 | 2016-09-28 | 金陵科技学院 | Intelligent robot for stereo soilless culture and cultivation method |
| CN107748203A (en) * | 2017-11-16 | 2018-03-02 | 西安石油大学 | It is a kind of intelligent from tracking seam inspection robot |
| CN107748203B (en) * | 2017-11-16 | 2024-01-26 | 西安石油大学 | Intelligent self-tracking weld joint flaw detection robot |
| CN108040853A (en) * | 2017-12-11 | 2018-05-18 | 佛山市田森温室科技有限公司 | A kind of automatic vegetable plantation device |
| CN109479504A (en) * | 2018-12-31 | 2019-03-19 | 西北农林科技大学 | A kind of fruit and vegetable picking hexapod robot and its working method |
| RU2748379C1 (en) * | 2020-09-25 | 2021-05-25 | Общество с ограниченной ответственностью "Флора Спейс" | Robotic autonomous module for growing plants on artificial media using automated life support tools for plants at all stages of growing |
| CN112119900A (en) * | 2020-09-30 | 2020-12-25 | 塔里木大学 | Low-cost accurate fertilizer injection unit of tomato yellow sand soilless culture liquid manure integration |
| CN116158259A (en) * | 2023-04-26 | 2023-05-26 | 泉州科源生态农业科技有限公司 | Soilless culture vegetable picking and transporting equipment |
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|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |