CN110214588A - Three-dimensional vegetable cultivates the factorial production system - Google Patents
Three-dimensional vegetable cultivates the factorial production system Download PDFInfo
- Publication number
- CN110214588A CN110214588A CN201910540341.0A CN201910540341A CN110214588A CN 110214588 A CN110214588 A CN 110214588A CN 201910540341 A CN201910540341 A CN 201910540341A CN 110214588 A CN110214588 A CN 110214588A
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- Prior art keywords
- field planting
- disk
- planting disk
- transfer carriage
- frame
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/02—Receptacles, e.g. flower-pots or boxes; Glasses for cultivating flowers
- A01G9/029—Receptacles for seedlings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/02—Circuit arrangements for ac mains or ac distribution networks using a single network for simultaneous distribution of power at different frequencies; using a single network for simultaneous distribution of ac power and of dc power
Abstract
The invention discloses a kind of three-dimensional vegetables to cultivate the factorial production system, including being colonized disk, planting cup, transfer carriage, hide towed AGV, mechanical arm, vegetables produce auxiliary region, solid cultivation area and transfer carriage storage area, vegetables production auxiliary region is provided with field planting disk rack, solid cultivation area is provided with cultivating stand, it is connected with field planting plate clamp on the robotic arm, field planting disk is used to be colonized the positioning and transhipment of vegetable seedling and seedling, the towed AGV that hides is for drawing transfer carriage in transfer carriage storage area, move back and forth in vegetables production auxiliary region and solid cultivation area, mechanical arm can will be colonized disk by field planting plate clamp and be transferred on transfer carriage from field planting disk rack or be transferred on cultivating stand from transfer carriage.The unmanned intelligent operation of whole process that vegetables are transported to this process on the cultivating stand in solid cultivation area from the field planting disk rack of vegetables production auxiliary region may be implemented through the invention, to considerably reduce labour's investment.
Description
Technical field
The invention belongs to arviculture fields, and in particular to a kind of three-dimensional vegetable cultivation the factorial production system.
Background technique
The vegetable growing of modernization increasingly pursues unmanned intelligence, to reduce labour's investment, improves production efficiency,
But manual operation still is needed there are many link during existing vegetable growing, can not achieve complete intelligence, such as will
Field planting disk is moved to the process of cultivation area, it is necessary to manually take out field planting disk from field planting disk rack, it is small to be placed into movement
Che Shang, then cultivation area is moved to by moving trolley, field planting disk is taken out from moving trolley finally and is placed on cultivating stand, people
The mode production efficiency of work operation is low, and is easy to appear fault in operation, causes to be colonized disk inclination, vegetables fall.
Summary of the invention
In view of the above technical problems, the present invention is intended to provide a kind of three-dimensional vegetable cultivation work that can transport field planting disk automatically
Factory's production system.
For this purpose, the technical scheme adopted by the invention is as follows: a kind of three-dimensional vegetable cultivation the factorial production system, including field planting
Disk, planting cup, transfer carriage, the towed AGV that hides, mechanical arm, vegetables production auxiliary region, solid cultivation area and transfer carriage storage
Area is provided with field planting disk rack in vegetables production auxiliary region, the solid cultivation area is provided with cultivating stand, described
Field planting plate clamp is connected on mechanical arm, the field planting disk is used to be colonized the positioning and transhipment of vegetable seedling and seedling, described latent
Towed AGV moves back and forth in transfer carriage storage area, vegetables production auxiliary region and solid cultivation area for drawing transfer carriage, institute
It states mechanical arm and is transferred on transfer carriage or is transferred to from transfer carriage cultivating stand from field planting disk rack for disk will to be colonized；
The planting hole offered on the field planting disk, the planting hole are the bellmouth extended downwardly, the planting hole
Diameter be gradually reduced from top to bottom, in each planting hole matching be placed with planting cup, offer confession on the planting cup
The through-hole that vegetables root extends out holds planting matrix in the planting cup, and the bottom of the field planting disk is provided with two
A symmetrical fixture slot；
The field planting plate clamp includes fixed plate, is respectively arranged in the horizontal direction in the left and right ends of the fixed plate
The yoke for extending forward and matching with fixture slot, is provided with for connecting with mechanical arm in the middle part of the rear side of the fixed plate
Ring flange；
The transfer carriage includes braced frame, is provided with what several layers were obliquely installed from top to bottom in the braced frame
It is colonized disk and places layer frame, several layers field planting disk is arranged at intervals in the braced frame and places layer frame, the field planting disk is placed
Position on the left of layer frame is higher than right side, and the field planting disk, which is placed, is provided with the field planting being equally obliquely installed that left and right extends in layer frame
Disk guide rail, is respectively arranged with baffle in the front and rear sides that the field planting disk places layer frame, places the right side of layer frame in the field planting disk
Side, which is provided with, avoids field planting disk from placing the block that layer frame slides from field planting disk.
Preferably, the field planting disk is rectangular disk, and the planting hole rectangular array distribution, the edge of the field planting disk
It is downwardly extending flange, hole wall, flange and the fixture slot of several connection planting holes is distributed at the back side of the field planting disk
External groove sidevall reinforcing rib, be provided with the reinforcing rib on the internal groove side wall of the fixture slot.Using the above structure, it is fixed to improve
The intensity for planting disk prevents field planting disk to be damaged in transport process.
Preferably, the longitudinal section of the fixture slot is isosceles trapezoid, the both ends of the fixture slot all extend to fixed
Plant the edge of disk, the length of the yoke and the equal length of fixture slot.Using the above structure, when placing field planting disk, no
With the direction for considering field planting disk, yoke can be pitched from the both ends of fixture slot into fixture slot, and versatility is good.
Preferably, being provided with the positioning short slot to match with the shape of block at the edge of the field planting disk.Use with
Upper structure, field planting disk are placed on accurate positioning when field planting disk places layer frame, prevent from moving left and right.
Preferably, vision positioning sensor and proximity sensor are provided in the fixed plate, in the field planting disk
Edge be provided with trace to the source card and with vision positioning sensor cooperation identification positioning identifier.Using the above structure, by solid
The identification positioning identifier on vision positioning sensor automatic identification field planting disk on fixed board, can make yoke be accurately aimed at fixture and insert
Slot improves clamping precision；The feedback signal of server one in logic is given after mechanical arm one movement of every completion, this feedback is not
Foundation is easy for malfunctioning on any sensor, for example mechanical arm feedback action is completed but is colonized disk and do not leave field planting disk
Fixture is lost in the process of moving, if server is mechanical arm the signal of proximity sensor also incoming service device
The signal of feedback signal and proximity sensor compares, it will be able to avoid the occurrence of field planting disk situation not in place.It traces to the source card energy
Enough meet tracking of the modern production to vegetables, requirement of tracing to the source.
Preferably, the transfer carriage is the vertical rectangle rack of front and back side, the vertical rectangle rack of the front and back side passes through more
The transverse beam that layer or so extends is connected with the lateral rectangle rack that the longitudinal beam that front and back extends surrounds, and the field planting disk places layer frame packet
Left fixed strip, right fixed strip and angle-regulating block are included, the right fixed strip is fixedly mounted on the longitudinal beam on right side, described left solid
The both ends for determining item are separately fixed at the upper end of corresponding angle-regulating block, offer between the upper and lower on the angle-regulating block every setting
Adjustment hole, the angle-regulating block is fixed on the support frame by the fastener for passing through adjustment hole.Using the above structure, energy
The tilt angle that field planting disk places layer frame is enough adjusted by angle-regulating block.
Preferably, being provided with water dish in the lower part of the braced frame, the water dish is located at lowest level field planting disk
Place the lower section of layer frame.Using the above structure, the water droplet for preventing vegetable root system from taking out of falls in the towed AGV that hides, and causes to hide
Towed AGV damage.
Preferably, being equipped with universal wheel in the bottom of the braced frame.Using the above structure, towed convenient for hiding
AGV drives transfer carriage mobile.
Preferably, the trip and rf read-write device that can be moved up and down are provided in the towed AGV that hides, in institute
The lower part for stating braced frame is provided with the interface for docking with trip and the radio-frequency card for rf read-write device identification.Use with
Upper structure, the trip hidden on towed AGV are docked with the interface of braced frame, transfer carriage can be driven mobile, by latent
The rf read-write device identification radio frequency card signal on towed AGV is lied prostrate, can be avoided trip and the support hidden on towed AGV
The interface of frame cannot be docked correctly.
It is put the beneficial effects of the present invention are: vegetables may be implemented by this set system from the field planting disk that vegetables produce auxiliary region
The unmanned intelligent operation of whole process for setting this process on the cultivating stand for being transported to solid cultivation area on frame, to greatly reduce
Labour investment, reduces production cost；Field planting dish structure is simple, and Cut vegetables, fixture slot are convenient in smooth upper surface
It is easy to use the mobile field planting disk of fixture, relative to the structures such as lifting lug, projecting block are used, structure is more simple, and field planting disk body product is more
It is small；Field planting plate clamp is not integrated with mechanical arm, and easy to disassemble, versatility is good；Multilayer field planting disk is provided in transfer carriage to put
Layer frame is set, single transfer efficiency is improved, field planting disk is placed layer frame and is obliquely installed, and so that field planting disk is placed into field planting disk and places layer frame
When, it can slide into and be blocked by block or previous field planting disk automatically, same layer can be clamped in the same position convenient for mechanical arm
Field planting disk, baffle can prevent field planting disk sliding when slippage.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for being colonized disk；
Fig. 2 is the structural schematic diagram for being colonized another visual angle of disk；
Fig. 3 is the structural schematic diagram of planting cup；
Fig. 4 is the structural schematic diagram for being colonized plate clamp；
Fig. 5 is the dorsal view for being colonized plate clamp；
Fig. 6 is the mounting structure schematic diagram for being colonized plate clamp and mechanical arm；
Fig. 7 is the structural schematic diagram of transfer carriage (except baffle)；
Fig. 8 is the bottom view of transfer carriage；
Fig. 9 is the structural schematic diagram of towed AGV of hiding；
Figure 10 is the structural schematic diagram for being colonized disk and transfer carriage；
Figure 11 is that vegetables produce auxiliary region, field planting disk rack, solid cultivation area, cultivating stand, transfer carriage storage area, transhipment
The positional diagram of frame and mechanical arm.
Specific embodiment
By way of example and in conjunction with the accompanying drawings, the invention will be further described:
As shown in Figure 1 to 11, a kind of three-dimensional vegetable cultivates the factorial production system, mainly by field planting disk 1, planting cup
15, plate clamp 2, transfer carriage 3, mechanical arm 13, the towed AGV14 that hides, vegetables are colonized and produce auxiliary region 16, solid cultivation area 17
It is formed with transfer carriage storage area 18, vegetables production auxiliary region 16 is equipped with field planting disk rack 19, installs in solid cultivation area 17
There is cultivating stand 20, is colonized disk rack 19 and cultivating stand 20 is the layer frame for placing field planting disk 1, field planting disk 1 is field planting vegetables children
Seedling and offer leaf vegetables seedling are to the positioning of seedling stage thinning and the specific purpose tool of transhipment, and transfer carriage 3 is for carrying and transporting field planting
Disk 1, field planting plate clamp 2 are mounted on mechanical arm 13, and the movement of clamping field planting disk 1 is completed by mechanical arm 13.In vegetable seedling
After the completion of field planting, transfer carriage 3 is transported to vegetables production auxiliary region 16, machine from transfer carriage storage area 18 by the towed AGV14 that hides
The field planting being colonized on disk rack 19 is had the field planting disk 1 of vegetable seedling to be transferred to transfer carriage 3 by tool arm 13 by field planting plate clamp 2
On, the transfer carriage 3 equipped with field planting disk 1 is transferred to solid cultivation area 17 again by the towed AGV14 that hides, and is located at solid cultivation area 17
Field planting disk 1 is transferred on cultivating stand 20 by interior mechanical arm 13 again, and the towed AGV14 that finally hides turns empty transfer carriage 3 again
It transports to transfer carriage storage area 18 or is colonized disk 1 after on-carriage back to vegetables production auxiliary region 16.
As shown in Figure 1 to Figure 3, the outer profile for being colonized disk 1 is rectangle, and rectangular array distribution is offered on field planting disk 1
Planting hole 101, planting hole 101 is the bellmouth extended downwardly, and the diameter of planting hole 101 is gradually reduced from top to bottom, this
The shape that the stem of kind structure and vegetables is gradually spread upwards from root is adapted, conducive to the growth of vegetables, in each planting hole 101
Middle matching is placed with planting cup 15, the through-hole extended out for vegetables root is offered on planting cup 15, in planting cup 15
Planting matrix is held, vegetable cultivation is in planting cup, and there are two symmetrical fixture slots 4 in the bottom setting for being colonized disk 1.
In the present embodiment, the edge of field planting disk 1 is downwardly extending flange 102, and several connection field planting are distributed at the back side of field planting disk 1
The reinforcing rib 5 of the external groove sidevall of the hole wall in hole 101, flange 102 and fixture slot 4, be provided on the internal groove side wall of fixture slot 4 plus
Strengthening tendons 5.The longitudinal section of fixture slot 4 can be the various shapes, preferably isosceles trapezoid such as rectangle, circle, can prevent from being colonized
It relatively rotates between disk 1 and field planting plate clamp 2, the both ends of fixture slot 4 all extend to the edge of field planting disk 1, and fixture is inserted
Slot 4 is parallel with the field planting short side direction of disk 1, and four, the edge corner of field planting disk 1 is provided with the shape with following blocks 304
The positioning short slot 103 to match.No matter field planting disk 1 is bilateral symmetry in longitudinal direction or short side direction, and fixture
Slot 4 penetrates through entire field planting disk 1, and such structure has following advantage: not having to the pendulum for considering field planting 1 two long sides of disk when in use
Direction is put, versatility is good.Field planting disk 1 edge be provided with trace to the source card 104 and with following vision positioning sensors 6 cooperation
Identify positioning identifier 105.
As shown in Figures 4 to 6, field planting plate clamp 2 includes fixed plate 201, is respectively set in the left and right ends of fixed plate 201
There is the yoke 202 for extending forward in the horizontal direction and matching with fixture slot 4, fixed plate 201 and two yokes 202 are common
The field planting plate clamp 2 of composition " U " shape, the length of yoke 202 and the equal length of fixture slot 4, and the width of 202 front end of yoke
It is gradually reduced from back to front, thickness is gradually thinned from back to front, is colonized the yoke front end size reduction of plate clamp, suitable convenient for yoke
Benefit is pitched into fixture slot, is respectively arranged with the pressure arm extended forward in the horizontal direction in the left and right ends on 201 top of fixed plate
204, two pressure arms 204 are located at the surface of corresponding yoke 202, and the vertical distance between corresponding yoke 202
Slightly larger than the thickness of field planting disk 1, when yoke 202 is inserted into the fixture slot 4 of field planting disk 1, two pressure arms 204 are limited from top
It is mobile to be colonized disk 1, prevents the field planting inclination of disk 1 from sliding.It is fixed in the middle part of the rear side of fixed plate 201 for being connect with mechanical arm 13
Ring flange 203, as shown in figure 5, field planting plate clamp 2 is fixed on the mechanical arm front end of mechanical arm 13 by ring flange 203,
Vision positioning sensor 6 and proximity sensor 7 are provided in fixed plate 201.
As shown in Figure 7 to 10, transfer carriage 3 includes braced frame 301, and braced frame 301 is the frame of rectangular parallelepiped structure,
It is arranged at intervals with several layers field planting disk in braced frame 301 and places layer frame 302, it includes setting in parallel that field planting disk, which places layer frame 302,
The right fixed strip 302a and left fixed strip 302b set, left fixed strip 302b are higher than right fixed strip 302a, in right fixed strip 302a and
The field planting disk guide rail 302c for carrying field planting disk 1 is connected between left fixed strip 302b, mechanical arm 13 passes through field planting plate clamp 2
When will be colonized disk 1 from left side and be put into transfer carriage 3, field planting disk 1 can be snapped down to automatically and be blocked by block 304 or previous field planting disk 1,
It is piled until the field planting disk of same layer places layer frame 302；From right side will be colonized disk 1 taken out from transfer carriage 3 when, transfer carriage 3
The upper remaining field planting disk 1 of same layer can be snapped down to automatically to be blocked by block 304 or previous field planting disk 1, until same on transfer carriage 3
One layer of field planting disk 1 is all taken out, and mechanical arm 13 need to only be removed or placed into field planting disk 1, easy to operate, efficiency from a position
The height of height, mechanical arm 13 can be adjusted, and the field planting disk that can adapt to different layers places layer frame 302.It is solid on the right side in the present embodiment
The both ends and middle part of fixed 302a and left fixed strip 302b are provided with field planting disk guide rail 302c, and guide rail 302c bilateral symmetry is set
It sets, is placed on field planting disk 1 when field planting disk is placed in layer frame 302 and is able to maintain balance, in right fixed strip 302a and left fixed strip
The both ends of 302b are respectively arranged with baffle 303, and baffle 303 is fixed in braced frame 301, the distance between two block baffles 303
Slightly larger than the length of field planting disk 1, the width that field planting disk places layer frame 302 is the integral multiple for being colonized 1 width of disk, avoids resource unrestrained
Take, in the present embodiment, four layers of field planting disk is arranged at intervals in braced frame 301 and place layer frame 302, field planting disk places layer frame
302 width is three times for being colonized 1 width of disk, and transfer carriage 3 can once transport 12 field planting disks 1, improves transfer efficiency,
The left and right ends of right fixed strip 302a are respectively arranged with the block 304 of L shape, the equal court of the horizontal segment of the L shape of two blocks 304
To opposite side.An angle-regulating block 8, the both ends of left fixed strip 302b are respectively arranged in the left and right ends of left fixed strip 302b
It is separately fixed at the upper end of corresponding angle-regulating block 8, spaced adjustment hole up and down is offered on angle-regulating block 8
801, left fixed strip 302b are fixed in braced frame 301 by passing through the fastener of adjustment hole 801.In braced frame 301
Lower part is provided with water dish 9, and water dish 9 is located at the lower section that lowest level field planting disk places layer frame 302.In the branch of braced frame 301
Leg bottom is equipped with universal wheel 10.The trip 14a and rf read-write device that can be moved up and down are provided in the towed AGV14 that hides
14b, the lower section of water dish 9 is provided with interface 11 for docking with trip 14a and for RF Signal in braced frame 301
The radio-frequency card 12 of device 14b identification.
Claims (9)
1. a kind of three-dimensional vegetable cultivates the factorial production system, it is characterised in that: including field planting disk (1), planting cup (15), transhipment
Frame (3), the towed AGV (14) that hides, mechanical arm (13), vegetables produce auxiliary region (16), solid cultivation area (17) and transfer carriage
Storage area (18) is provided with field planting disk rack (19) in vegetables production auxiliary region (16), in the solid cultivation area
(17) cultivating stand (20) are provided with, field planting plate clamp (2) is connected on the mechanical arm (13), the field planting disk (1) is used for
It is colonized the positioning and transhipment of vegetable seedling and seedling, described hide towed AGV (14) are stored up for drawing transfer carriage (3) in transfer carriage
Deposit area (18), vegetables production auxiliary region (16) and solid cultivation area (17) in move back and forth, the mechanical arm (13) be used for will determine
Disk (1) is planted to be transferred on transfer carriage (3) from field planting disk rack (19) or be transferred to cultivating stand (20) from transfer carriage (3)
On；
The planting hole (101) offered on field planting disk (1), the planting hole (101) is the bellmouth extended downwardly, institute
The diameter for stating planting hole (101) is gradually reduced from top to bottom, and matching is placed with planting cup (15) in each planting hole (101),
The through-hole extended out for vegetables root is offered on the planting cup (15), holds planting matrix in the planting cup (15)
Matter, in the bottom setting for being colonized disk (1), there are two symmetrical fixture slots (4)；
The field planting plate clamp (2) includes fixed plate (201), is respectively arranged in the left and right ends of the fixed plate (201)
The yoke (202) for extending forward in horizontal direction and matching with fixture slot (4), in the rear side of the fixed plate (201)
Portion is provided with the ring flange (203) for connecting with mechanical arm (13)；
The transfer carriage (3) includes braced frame (301), is provided with several layers from top to bottom in the braced frame (301)
The field planting disk being obliquely installed places layer frame (302), and several layers field planting disk is arranged at intervals on the braced frame (301) and is placed
Layer frame (302), the field planting disk place the position on the left of layer frame (302) and are higher than right side, and the field planting disk is placed on layer frame (302)
It is provided with the field planting disk guide rail (302c) being equally obliquely installed that left and right extends, before the field planting disk places layer frame (302)
Two sides are respectively arranged with baffle (303) afterwards, are provided on the right side of field planting disk placement layer frame (302) and avoid field planting disk (1)
The block (304) that layer frame (302) slide is placed from field planting disk.
2. three-dimensional vegetable according to claim 1 cultivates the factorial production system, it is characterised in that: the field planting disk (1)
For rectangular disk, planting hole (101) the rectangular array distribution, the edge of field planting disk (1) is downwardly extending flange
(102), it is inserted in hole wall, flange (102) and the fixture that several connections planting hole (101) are distributed in the back side of field planting disk (1)
The reinforcing rib (5) of the external groove sidevall of slot (4) is provided with the reinforcing rib (5) on the internal groove side wall of the fixture slot (4).
3. three-dimensional vegetable according to claim 1 or 2 cultivates the factorial production system, it is characterised in that: the fixture is inserted
The longitudinal section of slot (4) is isosceles trapezoid, and the both ends of the fixture slot (4) all extend to the edge of field planting disk (1), the yoke
(202) equal length of length and fixture slot (4).
4. three-dimensional vegetable according to claim 1 cultivates the factorial production system, it is characterised in that: in the field planting disk
(1) edge is provided with the positioning short slot (103) to match with the shape of block (304).
5. three-dimensional vegetable according to claim 1 cultivates the factorial production system, it is characterised in that: in the fixed plate
(201) it is provided with vision positioning sensor (6) and proximity sensor (7) on, is provided with and traces to the source at the edge of field planting disk (1)
Card (104) and the identification positioning identifier (105) cooperated with vision positioning sensor (6).
6. three-dimensional vegetable according to claim 1 cultivates the factorial production system, it is characterised in that: the transfer carriage (3)
The transverse beam and front and back extended for the vertical rectangle rack of front and back side, the vertical rectangle rack of the front and back side by multilayer or so extends
The lateral rectangle rack that surrounds of longitudinal beam be connected, field planting disk placement layer frame (302) includes left fixed strip (302b), right fixation
Item (302a) and angle-regulating block (8), the right fixed strip (302a) are fixedly mounted on the longitudinal beam on right side, the left fixation
The both ends of item (302b) are separately fixed at the upper end of corresponding angle-regulating block (8), offer on the angle-regulating block (8)
Under spaced adjustment hole (801), the angle-regulating block (8) by pass through adjustment hole (801) fastener be fixed on branch
On support frame frame (301).
7. three-dimensional vegetable according to claim 1 or 6 cultivates the factorial production system, it is characterised in that: in the support
The lower part of frame (301) is provided with water dish (9), and the water dish (9) is located at lowest level field planting disk and places under layer frame (302)
Side.
8. three-dimensional vegetable according to claim 1 or 6 cultivates the factorial production system, it is characterised in that: in the support
The supporting leg bottom of frame (301) is equipped with universal wheel (10).
9. three-dimensional vegetable according to claim 7 cultivates the factorial production system, it is characterised in that: in the latent traction
Formula AGV (14) is provided with the trip (14a) and rf read-write device (14b) that can be moved up and down, in the braced frame (301)
Lower part is provided with the interface (11) for docking with trip (14a) and the radio-frequency card (12) for rf read-write device (14b) identification.
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| CN201910540341.0A CN110214588B (en) | 2019-06-21 | 2019-06-21 | Vegetable three-dimensional cultivation factory production system |
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| CN201910540341.0A CN110214588B (en) | 2019-06-21 | 2019-06-21 | Vegetable three-dimensional cultivation factory production system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111742750A (en) * | 2020-08-17 | 2020-10-09 | 江苏省农业科学院 | Device convenient for rapid mechanical thinning transplanting and working method thereof |
| CN113548353A (en) * | 2021-06-08 | 2021-10-26 | 中国农业科学院都市农业研究所 | Multi-layer shuttle vehicle system for three-dimensional planting of plant factory and control method |
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