CN104025943A - Rail-spliced type automatic seedbed moving system - Google Patents
Rail-spliced type automatic seedbed moving system Download PDFInfo
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- CN104025943A CN104025943A CN201410265095.XA CN201410265095A CN104025943A CN 104025943 A CN104025943 A CN 104025943A CN 201410265095 A CN201410265095 A CN 201410265095A CN 104025943 A CN104025943 A CN 104025943A
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Abstract
The invention relates to a rail-spliced type automatic seedbed moving system. The rail-spliced type automatic seedbed moving system comprises an inlet unit, an outlet unit, a cultivating unit, a single seedbed and sensing positioning devices, wherein the inlet unit and the outlet unit are arranged at the front and rear ends of the cultivating unit respectively and are identical in structure and both comprise longitudinal seedbed sliding rails and driving devices driving the single seedbed to slide. The cultivating unit comprises transverse seedbed sliding rails, chain rail racks and pushing devices arranged on the chain rail racks to push the single seedbed to move. The single seedbed enters the transverse seedbed sliding rails of the cultivating unit through the longitudinal seedbed sliding rails of the inlet unit and moves out through the longitudinal seedbed sliding rails of the outlet unit after cultivating. The sensing positioning devices are used for positioning the single seedbed. Compared with the prior art, the rail-spliced type automatic seedbed moving system is capable of automatically moving the seedbed to the appointed position and being docked with an auxiliary worktable, and conforms to development trend from a conventional greenhouse to a large plant factory.
Description
Technical field
The present invention relates to a kind of moving nursery bed system, especially relate to the spliced automated movement of a kind of track seedbed system, belong to automatic Material Handling System field, greenhouse category.
Background technology
In large greenhouse or plant factor's culturing device field, multiple links are completed by manual operation, and automatic and mechanical is on close level low.For adapting to the needs of facility cultivation, the urgency of automatic and mechanical culturing device day by day highlights, the research of its complete set of equipments be applied to the core link in whole chain.At present, in inside greenhouse automatic Material Handling System field, domestic production situation is also in a primary stage, domestic existing cultivation logistics system imperfection, mechanization degree is low, and personnel are many at cultivation unit operations, extensive management, labour expends many, easily brings damage by disease and insect, and individual plant energy consumption is high.The logistics system of research and development inside greenhouse seedbed automated handling can significantly improve productivity ratio, accelerates production process, reduces labour demand.
Summary of the invention
The problems such as the high quality seedling supply rate that the present invention is directed to the agricultural production of current China is low, modern greenhouse seedling growing process falls behind, intelligent control degree is lower, seedling cost is higher, the spliced automated movement of a kind of track seedbed system is provided, this system can realize moving nursery bed and arrive behind appointment berth position, seedbed, can realize automatic butt auxiliary table, meet the trend of traditional greenhouse towards macrophyte Plant development.
Object of the present invention can be achieved through the following technical solutions:
A kind of spliced automated movement of track seedbed system, comprises inlet units, outlet port unit, cultivation unit, monomer seedbed and sensing positioner,
Described inlet units and outlet port unit lay respectively at the rear and front end of cultivation unit, and described inlet units is identical with outlet port unit structure, comprise seedbed longitudinal sliding motion track and the drive unit that drives monomer seedbed to slide;
Described cultivation unit comprises the horizontal sliding rail in seedbed, chain track frame and is located at and on chain track frame, promotes the pushing equipment that move in monomer seedbed;
Described monomer seedbed enters on the horizontal sliding rail in seedbed of cultivation unit by the seedbed longitudinal sliding motion track of inlet units, after having cultivated, is shifted out by the seedbed longitudinal sliding motion track of outlet port unit;
Described sensing positioner is located on inlet units, outlet port unit and cultivation unit, and monomer seedbed is positioned.
Described seedbed longitudinal sliding motion track comprises the seedbed gripper shoe be arrangeding in parallel, and this gripper shoe inner side, seedbed is provided with roller, and described drive unit is arranged on gripper shoe inner side, seedbed by drive unit support, drives monomer seedbed to slide in the gripper shoe of seedbed.
Described inlet units or outlet port unit also comprise floating lever support, floating lever and pneumatic means, described floating lever props up the inner side that is erected at seedbed gripper shoe, described floating lever is located between parallel seedbed gripper shoe by floating lever support vertical, and floating lever is provided with two, be parallel to each other, described pneumatic means is located at the below of floating lever support, drives floating lever support and floating lever to fluctuate.Pneumatic means comprises the common apparatus such as cylinder or stepper motor.
The horizontal sliding rail in described seedbed is two fixed poles that be arranged in parallel, and fixed pole and floating lever be located along the same line, end to end by connecting rod;
Described chain track frame is set in parallel in the middle of two fixed poles;
Described pushing equipment comprises short chain, gear, reel chain and push plate device, described short chain and reel chain are crisscross arranged on chain track frame, described gear and short chain or reel chain are connected with a joggle, described push plate device is worn chain on short chain or reel chain, gear is arranged on chain track frame by gear-bearing, described gear is rotated by the moving short chain of motor driven belts or reel chain, push plate device is rotated and is moved forward and backward with short chain or reel chain, and monomer seedbed is promoted.
Described push plate device is a kind of thrust unit that adopts unidirectional pushing structure.Described push plate device comprises push pedal body, push pedal contiguous block, push pedal backing plate, chain track connecting plate, chain connecting block, spring and spring fitting plate, described chain track connecting plate is slidably connected on chain track frame, described push pedal backing plate is located at the upside of chain track connecting plate, and groove is offered at middle part, described push pedal contiguous block is fixed on the groove side of push pedal backing plate, described spring fitting plate is fixedly connected on push pedal contiguous block, the lower end of described push pedal body is positioned at hole slot, and be rotationally connected with push pedal contiguous block, between the sidewall of push pedal body and spring fitting plate, be connected by spring, described chain connecting block is located at the downside of chain track connecting plate, and wear chain on short chain or reel chain.
Described push pedal body is higher than spring fitting plate, in the time that push plate device is arranged on chain track frame, push pedal body is near outlet port unit, and spring fitting plate is near inlet units, and spring fitting plate height is lower than monomer seedbed height, and push pedal body height is higher than monomer seedbed height.
In the time moving to outlet port unit in monomer seedbed in fixed pole, when push pedal body is encountered in monomer seedbed, push pedal body pulls spring, and turns to head lower than monomer seedbed around push pedal contiguous block, and the effect of groove is exactly in order to make push pedal body bottom have rotation space.In the time that push pedal body is left in monomer seedbed, push pedal body returns to home position under the pulling of spring, i.e. vertical position.Need push pedal body to promote when monomer seedbed, push pedal body Compress Spring, and be subject to spring fitting plate position-limiting action and vertically, monomer seedbed promoted.
Described sensing positioner comprises the first sensing positioner, the second sensing positioner and the 3rd sensing positioner;
The first described sensing positioner is arranged on the side of chain track frame, the first and last position of corresponding each short chain or reel chain, and the switch of the motor of control driven wheel running, positions monomer seedbed;
The second described sensing positioner is arranged on the import and export of inlet units and outlet port unit, and the rotation of accessory drive or stop positions monomer seedbed;
The 3rd described sensing positioner is arranged on the outside of fixed pole, controls the switch of motor, and the position to monomer seedbed in fixed pole positions.
Described monomer seedbed downside is provided with sensor, and this sensor and the first sensing positioner, the second sensing positioner or the 3rd sensing positioner sensing contact.
Between described seedbed gripper shoe, be provided with seedbed cross bar frame, seedbed cross bar frame supports by the seedbed bracing frame vertically arranging, described fixed pole supports by the seedbed bracing frame vertically arranging, described chain track frame supports by rail supported frame, and the two ends of rail supported frame are fixed on the bracing frame of seedbed.
Described monomer seedbed comprises monomer seedbed support, is located at the monomer seedbed inner membrance in the support of monomer seedbed, and is located at the monomer seedbed roller of monomer seedbed support downside, and this monomer seedbed roller slides and can be connected in floating lever or fixed pole.
The outside of described seedbed gripper shoe is also provided with the electric wire framework of each motor line.
Floating lever and fixed pole adopt concave groove steel construction, the advantage of such modular design mode is to make the motion stably in groove of monomer seedbed, and can be not stuck in the time of motion, and while making to move in the groove of monomer seedbed in floating lever and fixed pole, can reduce friction, simplify the project organization of monomer seedbed roller.
Seedbed gripper shoe adopts profile structure, and the advantage of profile structure is rugged construction, and good looking appearance is neat, is convenient to install other assemblies.
Chain track frame can, by spliced being formed by connecting of multiple short rail brackets, form a long chain track device.Avoid like this chain structure oversize, can not adopt tensioning apparatus.Chain track frame can be according to real needs, determine the concrete number of chain track frame, join end to end between any two.
Monomer seedbed roller adopts general roller structure, and replaceability structure is strong, and mounting bracket and the mounting means of monomer seedbed roller are also simplified, and is convenient to quantize to produce.
By automatic control mode, can complete a series of program of automatic irrigation in Production Regional, do not need manually to enter working region and move monomer seedbed and irrigation, operation is simple, and operating cost and administrative expenses are cheap, and financial resources use manpower and material resources sparingly.The flexible combination of seedbed automated movement induction system and automatic irrigation system, the integrated application system of the technology such as formation comprehensive mechanical structure, accurate location, transmission system, management planning, intelligent scheduling, Electronic Control.
The order of system works of the present invention is:
Monomer seedbed enters into cultivation unit from inlet units, and leaves from outlet port unit, and wherein monomer seedbed approach axis is identical with departure direction.On the track that monomer seedbed can form in seedbed gripper shoe, move.Move in monomer seedbed on the guide rail of floating lever and fixed pole formation, seedbed system surrounding leaves the space that fills three-dimensional seedbed.Motion overall planning is: inlet units-cultivation unit-outlet port unit.
1, the action of monomer seedbed in inlet units
Before monomer seedbed enters into inlet units, make floating lever drop to the position below the gripper shoe of seedbed by pneumatic means, monomer seedbed enters in the gripper shoe of seedbed by roller and drive unit, in the time that monomer seedbed advances to monomer seedbed roller and is positioned at directly over floating lever, the second sensing positioner accessory drive stops, and has now located in monomer seedbed.
Make floating lever rise to the position of floating lever and monomer seedbed roller contact by pneumatic means, the top that this is highly greater than roller, stops pneumatic means.Monomer seedbed enters into fixed pole by connecting rod and enters into cultivation unit from floating lever.
2, the action of monomer seedbed in cultivation unit
When monomer seedbed enters in fixed pole, advance in process in monomer seedbed, while first meeting first push pedal body, push pedal body pulls spring, and turning to head lower than monomer seedbed around push pedal contiguous block, the effect of groove is exactly in order to make push pedal body bottom have rotation space.In the time that first push pedal body is left in monomer seedbed, push pedal body returns to home position under the pulling of spring, i.e. vertical position.Then first push plate device promotes monomer seedbed and moves on, now push pedal body Compress Spring, and be subject to spring fitting plate position-limiting action and vertically, monomer seedbed promoted.By the promotion that hockets successively of the push plate device on short chain and reel chain, monomer seedbed is moved to outlet port unit like this.When monomer seedbed is advanced to assigned address by each push plate device, then get back to home position by chain, carry out the propelling action in next monomer seedbed.In this process, the first sensing positioner is arranged on the side of chain track frame, the first and last position of corresponding each short chain or reel chain, and the switch of the motor of control driven wheel running, positions monomer seedbed;
The stroke in monomer seedbed is determined by effective length and the first sensing positioner of chain track frame, simultaneously, measure monomer seedbed movement position by detecting servicing unit and the 3rd sensing positioner, can control monomer seedbed and stop in the berth position of the regulation of cultivation unit, corresponding motor stalling simultaneously.First push plate device reaches the limit of stop motion after position, and second push plate device starts to promote the motion of monomer seedbed, analogize equally, according to demand, n push plate device setting in motion.Until monomer seedbed row under the first sensing positioner, the second sensing positioner, the 3rd sensing positioner coordinate completely cultivates the seedbed berth of unit successively.Now, all motor reversals, all push pedals reset, spacing by the first sensing positioner detection and location.
3, the action of monomer seedbed in outlet port unit
In the time need to moving along outlet port unit in monomer seedbed, new monomer seedbed is pushed by first push plate device after berth district, the number one seedbed positioning limit of cultivation area, the motor stalling that first push plate device is corresponding, then, motor reversal, first push plate device resets.Simultaneously, the monomer seedbed of cultivation unit least significant end moves in outlet port unit, now make floating lever rise to the position of floating lever and monomer seedbed roller contact by pneumatic means, monomer seedbed enters into floating lever by connecting rod and enters into outlet port unit fixed pole.
Then, make floating lever drop to the position below the gripper shoe of seedbed by pneumatic means, monomer seedbed is left from the seedbed gripper shoe of outlet port unit by roller and drive unit, forms the new circulatory system with other transportation systems.Original monomer seedbed of the rest may be inferred cultivation unit can be substituted by the new a collection of monomer seedbed that needs operation.
Compared with prior art, the present invention has the following advantages and beneficial effect:
(1) system mobility of the present invention is fine, when use, adopt the mode of short chain rail bracket splicing can standardization and unitisation modularization produce, reduce production cost, also can reduce fault rate simultaneously.Push pedal drives and comes and goes Distance Shortened at short chain, can alleviate the energy consumption of travel mechanism.
(2) push plate device adopts the design of the one-way flexible way of propelling, is also to ensure that short chain rail bracket splices one of successful condition.
(3) gripper shoe adopts profile structure design, and compact to design, framework is steady, other parts is installed more convenient, meets the requirement of modern designs.
(4) fixed pole, floating lever and connecting rod between the two adopt concave groove steel construction, make the roller design of bottom, monomer seedbed be tending towards standard simplification, are convenient to monomer seedbed roller and slide on channel-section steel, move more steady.
(5) pass through automatic control mode, can make monomer seedbed arrive accurately and specify berth region, seedbed, working region corresponding to berth region, seedbed simultaneously, be convenient to plant to operate accordingly, operation is simple, and operating cost and administrative expenses are cheap, and financial resources use manpower and material resources sparingly, and can significantly improve productivity ratio, accelerate production process.
(6) advantage is combined, complied with the requirements of the times of development in science and technology, had marked improvement towards the direction of greenhouse automated production.
Brief description of the drawings
Fig. 1 is the structural representation of the spliced automated movement of track of the present invention seedbed system;
Fig. 2 is the chain structural representation of arranging;
Fig. 3 is the perspective view of push plate device;
Fig. 4 is the main TV structure schematic diagram of push plate device;
Fig. 5 is the structural representation in monomer seedbed;
Fig. 6 is the structural representation of floating lever;
Fig. 7 is the structural representation of seedbed gripper shoe;
Fig. 8 is the structural representation of chain track frame;
Fig. 9 is C place structure for amplifying schematic diagram in Fig. 8;
Figure 10 is the schematic layout pattern of the spliced automated movement of track of the present invention seedbed system.
Number in the figure: 1 is roller, 2 is seedbed cross bar frame, 3 is seedbed bracing frame, 4 is floating lever, 5 is floating lever support, 6 is connecting rod, 7 is drive unit, 8 is drive unit support, 9 is monomer seedbed inner membrance, 10 is monomer seedbed support, 11 is rail supported frame, 12 is fixed pole, 13 is push plate device, 131 is push pedal body, 132 is push pedal contiguous block, 133 is push pedal backing plate, 134 is chain track connecting plate, 135 is chain connecting block, 136 is spring, 137 is spring fitting plate, 14 is gear-bearing, 15 is short chain, 16 is gear, 17 is reel chain, 18 is chain track frame, 19 is seedbed gripper shoe, 20 is pneumatic means, 21 is electric wire framework, 22 is monomer seedbed roller, 23 is the first sensing positioner, 24 is the second sensing positioner, 25 is the 3rd sensing positioner.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Embodiment
A kind of spliced automated movement of track seedbed system, as shown in Figure 1, comprise inlet units, outlet port unit, cultivation unit, monomer seedbed and sensing positioner, inlet units and outlet port unit lay respectively at the rear and front end of cultivation unit, inlet units is identical with outlet port unit structure, comprises seedbed longitudinal sliding motion track and the drive unit 7 that drives monomer seedbed to slide; Cultivation unit comprises the horizontal sliding rail in seedbed, chain track frame 18 and is located at and on chain track frame 18, promotes the pushing equipment that move in monomer seedbed; Monomer seedbed enters on the horizontal sliding rail in seedbed of cultivation unit by the seedbed longitudinal sliding motion track of inlet units, after having cultivated, is shifted out by the seedbed longitudinal sliding motion track of outlet port unit; Sensing positioner is located on inlet units, outlet port unit and cultivation unit, and monomer seedbed is positioned.
Seedbed longitudinal sliding motion track comprises the seedbed gripper shoe 19 be arrangeding in parallel, and the outside of seedbed gripper shoe 19 is provided with the electric wire framework 21 of each motor line.These seedbed gripper shoe 19 inner sides are provided with roller 1, and drive unit 7 is arranged on seedbed gripper shoe 19 inner sides by drive unit support 8, drive monomer seedbed to slide in seedbed gripper shoe 19.Inlet units or outlet port unit also comprise floating lever support 5, floating lever 4 and pneumatic means 20, floating lever support 5 is located at the inner side of seedbed gripper shoe 19, floating lever 4 is vertically located between parallel seedbed gripper shoe 19 by floating lever support 5, and floating lever 4 is provided with two, be parallel to each other, pneumatic means 20 is located at the below of floating lever support 5, drives floating lever support 5 and floating lever 4 to fluctuate.Pneumatic means 20 comprises the common apparatus such as cylinder or stepper motor.
The horizontal sliding rail in seedbed is two fixed poles that be arranged in parallel 12, and fixed pole 2 is located along the same line with floating lever 4, end to end by connecting rod 6; Chain track frame 18 is set in parallel in the middle of two fixed poles 12;
As shown in Figure 2, pushing equipment comprises short chain 15, gear 16, reel chain 17 and push plate device 13, short chain 15 is crisscross arranged on chain track frame 18 with reel chain 17, gear 16 is connected with a joggle with short chain 15 or reel chain 17, push plate device 13 is worn chain on short chain 15 or reel chain 17, gear 16 is arranged on chain track frame 18 by gear-bearing 14, gear 16 is rotated by the moving short chain 15 of motor driven belts or reel chain 17, push plate device 13 is rotated with short chain 15 or reel chain 17 and is moved forward and backward, and monomer seedbed is promoted.
As shown in Figure 3, Figure 4, push plate device 13 is a kind of thrust units that adopt unidirectional pushing structure.Push plate device 13 comprises push pedal body 131, push pedal contiguous block 132, push pedal backing plate 133, chain track connecting plate 134, chain connecting block 135, spring 136 and spring fitting plate 137, chain track connecting plate 134 is slidably connected on chain track frame 18, push pedal backing plate 133 is located at the upside of chain track connecting plate 134, and groove is offered at middle part, push pedal contiguous block 132 is fixed on the groove side of push pedal backing plate 133, spring fitting plate 137 is fixedly connected on push pedal contiguous block 132, the lower end of push pedal body 131 is positioned at hole slot, and be rotationally connected with push pedal contiguous block 132, between the sidewall of push pedal body 131 and spring fitting plate 137, be connected by spring 136, chain connecting block 135 is located at the downside of chain track connecting plate 134, and wear chain on short chain 15 or reel chain 17.
Push pedal body 131 is higher than spring fitting plate 137, in the time that push plate device 13 is arranged on chain track frame 18, push pedal body 131 is near outlet port unit, spring fitting plate 137 is near inlet units, and spring fitting plate 137 height are lower than monomer seedbed height, and push pedal body 131 height are higher than monomer seedbed height.
In the time moving to outlet port unit in monomer seedbed in fixed pole 12, when push pedal body 131 is encountered in monomer seedbed, push pedal body 131 pulls spring 136, and turns to head lower than monomer seedbed around push pedal contiguous block 132, and the effect of groove is exactly in order to make push pedal body 131 bottoms have rotation space.In the time that push pedal body 131 is left in monomer seedbed, push pedal body 131 returns to home position under the pulling of spring 136, i.e. vertical position.While needing push pedal body 131 to promote monomer seedbed, push pedal body 131 Compress Springs 136, and be subject to spring fitting plate 137 position-limiting actions and vertically, monomer seedbed promoted.
Sensing positioner comprises the first sensing positioner 23, the second sensing positioner 24 and the 3rd sensing positioner 25; The first sensing positioner 23 is arranged on the side of chain track frame 18, the first and last position of corresponding each short chain 15 or reel chain 17, and the switch of the motor that control driven wheel 16 turns round, positions monomer seedbed; The second sensing positioner 24 is arranged on the import and export of inlet units and outlet port unit, and the rotation of accessory drive 7 or stop positions monomer seedbed; The 3rd sensing positioner 25 is arranged on the outside of fixed pole 12, controls the switch of motor, and the position to monomer seedbed in fixed pole 12 positions.
Monomer seedbed downside is provided with sensor, and this sensor and the first sensing positioner 23, the second sensing positioner 24 or the 3rd sensing positioner 25 sensings contact.
Between seedbed gripper shoe 19, be provided with seedbed cross bar frame 2, seedbed cross bar frame 2 supports by the seedbed bracing frame 3 of vertical setting, fixed pole 12 supports by the seedbed bracing frame 3 of vertical setting, chain track frame 18 supports by rail supported frame 11, and the two ends of rail supported frame 11 are fixed on seedbed bracing frame 3.
As shown in Figure 5, monomer seedbed comprises monomer seedbed support 10, is located at the monomer seedbed inner membrance 9 in monomer seedbed support 10, and being located at the monomer seedbed roller 22 of monomer seedbed support 10 downsides, this monomer seedbed roller 22 slides and can be connected in floating lever 4 or fixed pole 12.
As shown in Figure 6, floating lever 4 adopts concave groove steel construction with fixed pole 12, the advantage of such modular design mode is to make the motion stably in groove of monomer seedbed, and can be not stuck in the time of motion, and while being moved in monomer seedbed in the groove in floating lever 4 and fixed pole 12, can reduce friction, simplify the project organization of monomer seedbed roller 22.
As shown in Figure 7, seedbed gripper shoe 19 adopts profile structure, and the advantage of profile structure is rugged construction, and good looking appearance is neat, is convenient to install other assemblies.
As shown in Figure 8, Figure 9, chain track frame 18 can, by spliced being formed by connecting of multiple short rail brackets, form a long chain track device.Avoid like this chain structure oversize, can not adopt tensioning apparatus.Chain track frame 18 can be according to real needs, determine the concrete number of chain track frame 18, join end to end between any two.
Monomer seedbed roller 22 adopts general roller structure, and replaceability structure is strong, and mounting bracket and the mounting means of monomer seedbed roller are also simplified, and is convenient to quantize to produce.
By automatic control mode, can complete a series of program of automatic irrigation in Production Regional, do not need manually to enter working region and move monomer seedbed and irrigation, operation is simple, and operating cost and administrative expenses are cheap, and financial resources use manpower and material resources sparingly.The flexible combination of seedbed automated movement induction system and automatic irrigation system, the integrated application system of the technology such as formation comprehensive mechanical structure, accurate location, transmission system, management planning, intelligent scheduling, Electronic Control.
The order of system works of the present invention is:
Monomer seedbed enters into cultivation unit from inlet units, and leaves from outlet port unit, and wherein monomer seedbed approach axis is identical with departure direction.Direction along A while entering seedbed system is moved, and monomer seedbed is left seedbed system and moved along the direction of B, as shown in Figure 8.On the track that monomer seedbed can form in seedbed gripper shoe, move.Move in monomer seedbed on the guide rail of floating lever and fixed pole formation, seedbed system surrounding leaves the space that fills three-dimensional seedbed.Motion overall planning is: inlet units-cultivation unit-outlet port unit.
1, the action of monomer seedbed in inlet units
Before monomer seedbed enters into inlet units, make floating lever 4 drop to the position of seedbed gripper shoe below 19 by pneumatic means 20, monomer seedbed enters in seedbed gripper shoe 19 by roller 1 and drive unit 7, in the time that monomer seedbed advances to monomer seedbed roller 22 and is positioned at directly over floating lever 4, the second sensing positioner 24 accessory drives 7 stop, and has now located in monomer seedbed.
Make floating lever 4 rise to the position that floating lever 4 contacts with monomer seedbed roller 22 by pneumatic means 20, the top that this is highly greater than roller 1, stops pneumatic means 20.Monomer seedbed enters into fixed pole 12 by connecting rod 6 and enters into cultivation unit from floating lever 4.
2, the action of monomer seedbed in cultivation unit
When monomer seedbed enters in fixed pole 12, advance in process in monomer seedbed, first while meeting first push pedal body 131, push pedal body 131 pulls spring 136, and turning to head lower than monomer seedbed around push pedal contiguous block 132, the effect of groove is exactly in order to make push pedal body 131 bottoms have rotation space.In the time that first push pedal body 131 is left in monomer seedbed, push pedal body 131 returns to home position under the pulling of spring 136, i.e. vertical position.Then first push plate device 13 promotes monomer seedbed and moves on, now push pedal body 131 Compress Springs 136, and be subject to spring fitting plate 137 position-limiting actions and vertically, monomer seedbed promoted.By the promotion that hockets successively of the push plate device 13 on short chain 15 and reel chain 17, monomer seedbed is moved to outlet port unit like this.When monomer seedbed is advanced to assigned address by each push plate device 13, then get back to home position by chain, carry out the propelling action in next monomer seedbed.In this process, the first sensing positioner 23 is arranged on the side of chain track frame 18, the first and last position of corresponding each short chain 15 or reel chain 17, and the switch of the motor that control driven wheel 16 turns round, positions monomer seedbed;
The stroke in monomer seedbed is determined by effective length and the first sensing positioner 23 of chain track frame 18, simultaneously, measure monomer seedbed movement position by detecting servicing unit and the 3rd sensing positioner 25, can control monomer seedbed and stop in the berth position of the regulation of cultivation unit, corresponding motor stalling simultaneously.First push plate device 13 reaches the limit of stop motion after position, and second push plate device starts to promote the motion of monomer seedbed, analogize equally, according to demand, n push plate device setting in motion.Until monomer seedbed row under the first sensing positioner 23, the second sensing positioner 24, the 3rd sensing positioner 25 coordinate completely cultivates the seedbed berth of unit successively.Now, all motor reversals, all push pedals reset, spacing by the first sensing positioner 23 detection and location.
3, the action of monomer seedbed in outlet port unit
In the time need to moving along outlet port unit in monomer seedbed, new monomer seedbed is pushed by first push plate device after berth district, the number one seedbed positioning limit of cultivation area, the motor stalling that first push plate device is corresponding, then, motor reversal, first push plate device resets.Simultaneously, the monomer seedbed of cultivation unit least significant end moves in outlet port unit, now make floating lever 4 rise to the position that floating lever 4 contacts with monomer seedbed roller 22 by pneumatic means 20, monomer seedbed enters into floating lever 4 by connecting rod 6 and enters into outlet port unit fixed pole 12.
Then, make floating lever 4 drop to the position of seedbed gripper shoe below 19 by pneumatic means 20, monomer seedbed is left from the seedbed gripper shoe 19 of outlet port unit by roller 1 and drive unit 7, forms the new circulatory system with other transportation systems.Original monomer seedbed of the rest may be inferred cultivation unit can be substituted by the new a collection of monomer seedbed that needs operation.
Particularly, as shown in Figure 8, wherein a row cultivation unit is divided into 1-9 and amounts to 9 berth regions, and these nine berth regions can be all booked by 9 seedbeds, cultivate fixed pole side corresponding in 9 regions and are provided with the 3rd sensing positioner 25, bottom, monomer seedbed is also provided with corresponding sensing positioner, as shown in Figure 8, A is inlet units, and B is set to outlet port unit, monomer seedbed is entered by A place, is shifted out by B place.The pattern of entering in monomer seedbed is:
For example: when cultural area 1-9 is all room, 9. monomer seedbed enters mobile unit by A import, by the first sensing positioner 23 positioning limit, enter cultural area.Push plate device starts from left to right successively, first push plate device promotes monomer seedbed and 9. arrives after the extreme position of corresponding chain, after putting in place along matrix orbital motion under the promotion of single monomer seedbed in push plate device, driven by motor decelerator stops operating, second push plate device setting in motion, the side that promotes monomer seedbed continues to move to cultural area direction.Now, the stroke in monomer seedbed is determined by the effective length of chain track frame, equally, measures monomer seedbed movement position by detecting servicing unit and the 3rd sensing positioner 25, controls the berth position of monomer seedbed at cultural area.The 3rd push plate device setting in motion subsequently, move in turn in the seedbed of 1-n, and n push plate device continues to promote monomer seedbed and 9. moves, until 9. monomer seedbed moves to the position in berth region 9, the whole stop motions of motor, then, motor reversal, all push plate device reset.Monomer seedbed enter successively sequence of motion for 9.-8.-7.-6.-5.-4.-3.-2.-1..
The pattern that shifts out in monomer seedbed is: cultural area 1-9 is all while being booked, and monomer seedbed I is entered by A entrance area.First push plate device is under the drive of chain device, and promotion monomer seedbed I is entered the region of cultural area 1 by moving area, and 9. monomer seedbed enters outlet port unit by cultural area 9 simultaneously, is moved into by B exit region.The sequence of motion that monomer seedbed enters into outlet port unit successively for 9.-8.-7.-6.-5.-4.-3.-2.-1..Meanwhile, cultural area 1-9 by new monomer seedbed 9.-8.-7.-6.-5.-4.-3.-2.-be 1. booked.
By automatic control mode, can complete the program of a series of corresponding operatings in Production Regional, do not need manually to enter working region and move monomer seedbed and other auxiliary operation, operation is simple, and operating cost and administrative expenses are cheap, save into power physical resources and financial resources.Device forms the integrated application system of the technology such as comprehensive mechanical structure, accurate location, transmission system, management planning, intelligent scheduling, Electronic Control.This device can significantly improve production efficiency, accelerates production process, reduces labour demand.Major advantage is that mobility is fine, when use, also can make workman's operation and seedbed kinematic system synchronous operation, has improved operating efficiency simultaneously.
The above-mentioned description to embodiment is can understand and use invention for ease of those skilled in the art.Person skilled in the art obviously can easily make various amendments to these embodiment, and General Principle described herein is applied in other embodiment and needn't passes through performing creative labour.Therefore, the invention is not restricted to above-described embodiment, those skilled in the art are according to announcement of the present invention, and not departing from improvement and the amendment that category of the present invention makes all should be within protection scope of the present invention.
Claims (10)
1. the spliced automated movement of a track seedbed system, is characterized in that, comprises inlet units, outlet port unit, cultivation unit, monomer seedbed and sensing positioner;
Described inlet units and outlet port unit lay respectively at the rear and front end of cultivation unit, and described inlet units is identical with outlet port unit structure, comprise seedbed longitudinal sliding motion track and the drive unit (7) that drives monomer seedbed to slide;
Described cultivation unit comprises the horizontal sliding rail in seedbed, chain track frame (18) and is located at the pushing equipment that move in the upper promotion of chain track frame (18) monomer seedbed;
Described monomer seedbed enters on the horizontal sliding rail in seedbed of cultivation unit by the seedbed longitudinal sliding motion track of inlet units, after having cultivated, is shifted out by the seedbed longitudinal sliding motion track of outlet port unit;
Described sensing positioner is located on inlet units, outlet port unit and cultivation unit, and monomer seedbed is positioned.
2. the spliced automated movement of a kind of track according to claim 1 seedbed system, it is characterized in that, described seedbed longitudinal sliding motion track comprises the seedbed gripper shoe (19) be arrangeding in parallel, this seedbed gripper shoe (19) inner side is provided with roller (1), described drive unit (7) is located at seedbed gripper shoe (19) inner side, drives monomer seedbed in the upper slip of seedbed gripper shoe (19).
3. the spliced automated movement of a kind of track according to claim 2 seedbed system, it is characterized in that, described inlet units or outlet port unit also comprise floating lever support (5), floating lever (4) and pneumatic means (20), described floating lever support (5) is located at the inner side of seedbed gripper shoe (19), described floating lever (4) is vertically located between parallel seedbed gripper shoe (19) by floating lever support (5), and floating lever (4) is provided with two, be parallel to each other, described pneumatic means (20) is located at the below of floating lever support (5), drive floating lever support (5) and floating lever (4) to fluctuate.
4. the spliced automated movement of a kind of track according to claim 3 seedbed system, it is characterized in that, the horizontal sliding rail in described seedbed is two fixed poles that be arranged in parallel (12), and fixed pole (2) is located along the same line with floating lever (4), end to end by connecting rod (6);
Described chain track frame (18) is set in parallel in the middle of two fixed poles (12);
Described pushing equipment comprises short chain (15), gear (16), reel chain (17) and push plate device (13), described short chain (15) is crisscross arranged on chain track frame (18) with reel chain (17), described gear (16) is connected with a joggle with short chain (15) or reel chain (17), described push plate device (13) is worn chain on short chain (15) or reel chain (17), described gear (16) is subject to motor driven belts to move short chain (15) or reel chain (17) rotates, push plate device (13) is rotated and is moved forward and backward with short chain (15) or reel chain (17), monomer seedbed is promoted.
5. the spliced automated movement of a kind of track according to claim 4 seedbed system, it is characterized in that, described push plate device (13) comprises push pedal body (131), push pedal contiguous block (132), push pedal backing plate (133), chain track connecting plate (134), chain connecting block (135), spring (136) and spring fitting plate (137), described chain track connecting plate (134) is slidably connected on chain track frame (18), described push pedal backing plate (133) is located at the upside of chain track connecting plate (134), and groove is offered at middle part, described push pedal contiguous block (132) is fixed on the groove side of push pedal backing plate (133), described spring fitting plate (137) is fixedly connected on push pedal contiguous block (132), the lower end of described push pedal body (131) is positioned at hole slot, and be rotationally connected with push pedal contiguous block (132), between the sidewall of push pedal body (131) and spring fitting plate (137), be connected by spring (136), described chain connecting block (135) is located at the downside of chain track connecting plate (134), and wear chain on short chain (15) or reel chain (17).
6. the spliced automated movement of a kind of track according to claim 5 seedbed system, it is characterized in that, described push pedal body (131) is higher than spring fitting plate (137), in the time that push plate device (13) is arranged on chain track frame (18), push pedal body (131) is near outlet port unit, spring fitting plate (137) is near inlet units, and spring fitting plate (137) height is lower than monomer seedbed height, and push pedal body (131) height is higher than monomer seedbed height.
7. the spliced automated movement of a kind of track according to claim 4 seedbed system, it is characterized in that, described sensing positioner comprises the first sensing positioner (23), the second sensing positioner (24) and the 3rd sensing positioner (25);
The first described sensing positioner (23) is arranged on the side of chain track frame (18), the first and last position of corresponding each short chain (15) or reel chain (17), the switch of controlling the motor of driven wheel (16) running, positions monomer seedbed;
The second described sensing positioner (24) is arranged on the import and export of inlet units and outlet port unit, and the rotation of accessory drive (7) or stop positions monomer seedbed;
The 3rd described sensing positioner (25) is arranged on the outside of fixed pole (12), controls the switch of motor, and the position to monomer seedbed in fixed pole (12) positions.
8. the spliced automated movement of a kind of track according to claim 7 seedbed system, it is characterized in that, described monomer seedbed downside is provided with sensor, this sensor and the first sensing positioner (23), the second sensing positioner (24) or the contact of the 3rd sensing positioner (25) sensing.
9. the spliced automated movement of a kind of track according to claim 4 seedbed system, it is characterized in that, between described seedbed gripper shoe (19), be provided with seedbed cross bar frame (2), seedbed cross bar frame (2) supports by the seedbed bracing frame (3) vertically arranging, described fixed pole (12) supports by the seedbed bracing frame (3) vertically arranging, described chain track frame (18) supports by rail supported frame (11), and the two ends of rail supported frame (11) are fixed on seedbed bracing frame (3).
10. the spliced automated movement of a kind of track according to claim 1 seedbed system, it is characterized in that, described monomer seedbed comprises monomer seedbed support (10), is located at the monomer seedbed inner membrance (9) in monomer seedbed support (10), and being located at the monomer seedbed roller (22) of monomer seedbed support (10) downside, this monomer seedbed roller (22) slides and can be connected in floating lever (4) or fixed pole (12).
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| CN201410265095.XA CN104025943B (en) | 2014-06-13 | 2014-06-13 | The spliced automatic moving nursery bed system of a kind of track |
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| CN201410265095.XA CN104025943B (en) | 2014-06-13 | 2014-06-13 | The spliced automatic moving nursery bed system of a kind of track |
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| CN104025943A true CN104025943A (en) | 2014-09-10 |
| CN104025943B CN104025943B (en) | 2016-04-20 |
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| CN104488593A (en) * | 2014-12-15 | 2015-04-08 | 同济大学 | Quick and precise positioning automatic movement three-dimensional seedbed system |
| CN105815147A (en) * | 2016-05-18 | 2016-08-03 | 江苏道诚生物科技有限公司 | Mobile seedbed capable of being used for three-dimensional planting |
| CN105900821A (en) * | 2016-05-10 | 2016-08-31 | 北京中农腾达科技有限公司 | Movable planting device in plant factory |
| CN107711487A (en) * | 2017-11-23 | 2018-02-23 | 中实创科技（广东）有限公司 | Automated water cultivates plant production line |
| CN107996200A (en) * | 2017-11-27 | 2018-05-08 | 深圳市垂直农业科技有限公司 | A kind of growing nursery and culture device and growing nursery and culture system |
| CN109089666A (en) * | 2018-09-14 | 2018-12-28 | 宁波大龙农业科技有限公司 | A kind of automatic material flow cultivation seedbed |
| CN109258218A (en) * | 2018-09-14 | 2019-01-25 | 宁波大龙农业科技有限公司 | A kind of automation cultivating device based on perception agricultural |
| CN107624455B (en) * | 2017-09-30 | 2019-11-26 | 河北博超温室设备有限公司 | A kind of stereo automatization seedbed system |
| CN111543223A (en) * | 2020-05-21 | 2020-08-18 | 济南雷圣自动化技术有限公司 | Automatic system for seedbed cultivation |
| CN111631046A (en) * | 2020-05-27 | 2020-09-08 | 杭州电子科技大学 | Greenhouse seedbed track bidirectional switching device |
| CN112106569A (en) * | 2020-09-09 | 2020-12-22 | 中国农业大学烟台研究院 | Multi-functional vegetables device of growing seedlings |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104488593A (en) * | 2014-12-15 | 2015-04-08 | 同济大学 | Quick and precise positioning automatic movement three-dimensional seedbed system |
| CN105900821A (en) * | 2016-05-10 | 2016-08-31 | 北京中农腾达科技有限公司 | Movable planting device in plant factory |
| CN105815147A (en) * | 2016-05-18 | 2016-08-03 | 江苏道诚生物科技有限公司 | Mobile seedbed capable of being used for three-dimensional planting |
| CN107624455B (en) * | 2017-09-30 | 2019-11-26 | 河北博超温室设备有限公司 | A kind of stereo automatization seedbed system |
| CN107711487A (en) * | 2017-11-23 | 2018-02-23 | 中实创科技（广东）有限公司 | Automated water cultivates plant production line |
| CN107996200A (en) * | 2017-11-27 | 2018-05-08 | 深圳市垂直农业科技有限公司 | A kind of growing nursery and culture device and growing nursery and culture system |
| CN109089666B (en) * | 2018-09-14 | 2020-08-14 | 宁波大龙农业科技有限公司 | Automatic change material flow cultivation seedbed |
| CN109258218A (en) * | 2018-09-14 | 2019-01-25 | 宁波大龙农业科技有限公司 | A kind of automation cultivating device based on perception agricultural |
| CN109089666A (en) * | 2018-09-14 | 2018-12-28 | 宁波大龙农业科技有限公司 | A kind of automatic material flow cultivation seedbed |
| CN109258218B (en) * | 2018-09-14 | 2020-08-18 | 宁波大龙农业科技有限公司 | Automatic cultivation equipment based on perception agriculture |
| CN111543223A (en) * | 2020-05-21 | 2020-08-18 | 济南雷圣自动化技术有限公司 | Automatic system for seedbed cultivation |
| CN111631046A (en) * | 2020-05-27 | 2020-09-08 | 杭州电子科技大学 | Greenhouse seedbed track bidirectional switching device |
| CN111631046B (en) * | 2020-05-27 | 2022-03-08 | 杭州电子科技大学 | Greenhouse seedbed track bidirectional switching device |
| CN112106569A (en) * | 2020-09-09 | 2020-12-22 | 中国农业大学烟台研究院 | Multi-functional vegetables device of growing seedlings |
| CN112962972A (en) * | 2021-02-09 | 2021-06-15 | 中国水利水电第十一工程局有限公司 | Intelligent vibrating rod capable of uniformly distributing points |
| CN117296611A (en) * | 2023-11-29 | 2023-12-29 | 河北博超温室设备有限公司 | Intelligent seedbed conveying device with self-circulation seedling raising function |
| CN117296611B (en) * | 2023-11-29 | 2024-02-23 | 河北博超温室设备有限公司 | Intelligent seedbed conveying device with self-circulation seedling raising function |
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