CN110214588B - Vegetable three-dimensional cultivation factory production system - Google Patents
Vegetable three-dimensional cultivation factory production system Download PDFInfo
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- CN110214588B CN110214588B CN201910540341.0A CN201910540341A CN110214588B CN 110214588 B CN110214588 B CN 110214588B CN 201910540341 A CN201910540341 A CN 201910540341A CN 110214588 B CN110214588 B CN 110214588B
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- field planting
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- plate
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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
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- 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
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- 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
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- 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 vegetable three-dimensional cultivation industrialized production system which comprises a field planting plate, a field planting cup, a transfer frame, a latent traction type AGV, a mechanical arm, a vegetable production auxiliary area, a three-dimensional cultivation area and a transfer frame storage area, wherein the vegetable production auxiliary area is provided with a field planting plate placing frame, the three-dimensional cultivation area is provided with a cultivation frame, a field planting plate clamp is connected to the mechanical arm, the field planting plate is used for positioning and transferring vegetable seedlings and seedlings, the latent traction type AGV is used for drawing the transfer frame to move back and forth in the transfer frame storage area, the vegetable production auxiliary area and the three-dimensional cultivation area, and the mechanical arm can transfer the field planting plate from the field planting plate placing frame to the transfer frame or from the transfer frame to the cultivation frame through the field planting plate clamp. The invention can realize the whole unmanned intelligent operation of the process of transferring the vegetables from the planting plate placing rack of the vegetable production auxiliary area to the cultivation rack of the three-dimensional cultivation area, thereby greatly reducing the labor input.
Description
Technical Field
The invention belongs to the field of crop cultivation, and particularly relates to a three-dimensional vegetable cultivation industrialized production system.
Background
Modernized vegetable cultivation is more and more pursuit unmanned intellectuality, in order to reduce the labour input, and the production efficiency is improved, but still there are many links to need manual operation among the current vegetable cultivation process, can not realize complete intellectuality, for example, the process of fixing planting dish removal cultivation district, just need the manual work to take out the fixing planting dish from fixing planting dish rack, place on the travelling car, rethread travelling car removes cultivation district, take out the fixing planting dish from the travelling car at last and place on the cultivation frame, manual operation's mode production efficiency is low, and the error appears easily in operation process, lead to the slope of fixing planting dish, vegetables drop.
Disclosure of Invention
Aiming at the technical problems, the invention aims to provide a vegetable three-dimensional cultivation industrialized production system capable of automatically transferring planting plates.
Therefore, the technical scheme adopted by the invention is as follows: a vegetable three-dimensional cultivation industrialized production system comprises a field planting plate, a field planting cup, a transfer frame, a latent traction type AGV, a mechanical arm, a vegetable production auxiliary area, a three-dimensional cultivation area and a transfer frame storage area, wherein the vegetable production auxiliary area is provided with a field planting plate placing frame, the three-dimensional cultivation area is provided with a cultivation frame, the mechanical arm is connected with a field planting plate clamp, the field planting plate is used for positioning and transferring vegetable seedlings and seedlings, the latent traction type AGV is used for drawing the transfer frame to move back and forth in the transfer frame storage area, the vegetable production auxiliary area and the three-dimensional cultivation area, and the mechanical arm is used for transferring the field planting plate from the field planting plate placing frame to the transfer frame or transferring the field planting plate from the transfer frame to the cultivation frame;
the vegetable planting device comprises a planting plate, a plurality of clamp slots and a plurality of fixing holes, wherein the planting plate is provided with the planting holes, the planting holes are conical holes extending downwards, the diameter of each planting hole is gradually reduced from top to bottom, a planting cup is arranged in each planting hole in a matched mode, the planting cup is provided with a through hole for extending vegetable roots out, planting matrixes are placed in the planting cups, and the bottom of the planting plate is provided with the two clamp slots which are symmetrical left and right;
the field planting disc clamp comprises a fixed plate, fork arms which extend forwards in the horizontal direction and are matched with clamp slots are respectively arranged at the left end and the right end of the fixed plate, and a flange plate used for being connected with a mechanical arm is arranged in the middle of the rear side of the fixed plate;
the frame of transporting includes braced frame the layer frame is placed to the field planting dish that from the top down was provided with a plurality of layers of slope setting in the braced frame the interval is provided with a plurality of layers of field planting dish and places a layer frame on the braced frame, the field planting dish is placed the left position of layer frame and is higher than the right side, the field planting dish is placed the field planting dish guide rail that the same slope that extends about being provided with on the layer frame the field planting dish is placed both sides and is provided with the baffle respectively around the layer frame the field planting dish is placed the right side that layer frame was placed to the field planting dish is provided with the dog of avoiding the field planting dish to place the landing of layer frame from the field planting dish.
Preferably, the field planting plate is a rectangular plate, the field planting holes are distributed in a rectangular array, the edge of the field planting plate extends downwards to form a flanging, reinforcing ribs which are connected with the hole wall of the field planting holes, the flanging and the outer groove wall of the fixture slot are distributed on the back surface of the field planting plate, and the reinforcing ribs are arranged on the inner groove wall of the fixture slot. By adopting the structure, the strength of the planting plate is improved, and the planting plate is prevented from being damaged in the transferring process.
Preferably, the longitudinal section of the clamp slot is isosceles trapezoid, the two ends of the clamp slot extend to the edge of the planting disc, and the length of the fork arm is equal to that of the clamp slot. By adopting the structure, when the field planting disc is placed, the direction of the field planting disc does not need to be considered, the fork arms can be forked into the clamp slots from the two ends of the clamp slots, and the universality is good.
Preferably, a positioning notch matched with the shape of the stop block is arranged at the edge of the planting disc. By adopting the structure, the fixed planting tray is accurately positioned when the fixed planting tray is placed on the shelf, and is prevented from moving left and right.
Preferably, the fixing plate is provided with a visual positioning sensor and a proximity sensor, and the edge of the planting plate is provided with a traceability card and an identification positioning mark matched with the visual positioning sensor. By adopting the structure, the identification and positioning marks on the fixed planting plate are automatically identified through the visual positioning sensor on the fixed plate, so that the fork arms can be accurately aligned to the clamp slots, and the clamping precision is improved; the mechanical arm sends a logical feedback signal to the server after finishing one action, the feedback is easy to make mistakes without being established on any sensor, for example, the mechanical arm feedback action is finished but the planting disc does not leave a planting disc clamp or is lost in the moving process, if the signal of the proximity sensor is also transmitted into the server, the server compares the feedback signal of the mechanical arm with the signal of the proximity sensor, and the situation that the planting disc is not positioned can be avoided. The traceability card can meet the requirements of modern production on tracking and traceability of vegetables.
As preferred, the vertical rectangle frame of transport frame for the front and back side, the vertical rectangle frame of front and back side links to each other through the horizontal roof beam that the multilayer left and right sides extended and the horizontal rectangle frame that the longitudinal beam that extends encloses around, the layer frame is placed to the field planting dish includes left fixed strip, right fixed strip and angle modulation piece, right fixed strip fixed mounting is on the vertical roof beam on right side, the upper end at the angle modulation piece that corresponds is fixed respectively at the both ends of left side fixed strip, the regulation hole that the interval set up about offering on the angle modulation piece, the angle modulation piece is fixed on braced frame through the fastener that passes the regulation hole. By adopting the structure, the inclination angle of the layer frame placed on the field planting plate can be adjusted through the angle adjusting block.
Preferably, a water containing disc is arranged at the lower part of the supporting frame and is positioned below the lowest planting disc placing layer frame. Structure more than adopting prevents that the water droplet that vegetable roots brought out from dropping on the towed AGV that hides, leads to hiding the towed AGV and damages.
Preferably, universal wheels are mounted to the bottom of the support frame. By adopting the structure, the latent traction type AGV is convenient to drive the transfer frame to move.
Preferably, the latent traction type AGV is provided with a tenon capable of moving up and down and a radio frequency card reader-writer, and the lower part of the support frame is provided with an interface for butting with the tenon and a radio frequency card for identification of the radio frequency card reader-writer. Structure more than adopting, the joint of the tenon on the towed AGV that hides and braced frame's interface can drive promptly and transport the frame and remove, through the radio frequency card reader-writer recognition radio frequency card signal on the towed AGV that hides, can avoid hiding the tenon on the towed AGV and can not correctly dock with braced frame's interface.
The invention has the beneficial effects that: the system can realize the whole unmanned intelligent operation of the process of transferring the vegetables from the planting plate placing rack of the vegetable production auxiliary area to the cultivation rack of the three-dimensional cultivation area, thereby greatly reducing the labor input and lowering the production cost; the planting plate is simple in structure, vegetables can be conveniently cut on the flat upper surface, the clamp slots are convenient for the clamps to move the planting plate, and compared with the structures using lifting lugs, protruding blocks and the like, the planting plate is simpler in structure and smaller in size; the planting disc clamp and the mechanical arm are not integrated, so that the planting disc clamp is convenient to disassemble and good in universality; be provided with multilayer field planting dish in transporting the frame and place a layer frame, improve the single efficiency of transporting, the field planting dish is placed a layer frame slope and is set up, makes the field planting dish place the field planting dish when placing a layer frame, can automatic sliding to being blocked by dog or preceding field planting dish, the field planting dish of the same layer can be got to the arm of being convenient for in same position clamp, the slippage when the baffle can prevent the field planting dish from sliding.
Drawings
FIG. 1 is a schematic structural view of a field planting plate;
FIG. 2 is a schematic view of another view of the field plate;
FIG. 3 is a schematic structural view of a planting cup;
FIG. 4 is a schematic structural view of a fixture for a permanent planting disk;
fig. 5 is a back view of a permanent planting disk clamp;
FIG. 6 is a schematic view of the mounting structure of the planting plate fixture and the mechanical arm;
FIG. 7 is a schematic structural view of the transfer rack (except for the baffle);
FIG. 8 is a bottom view of the transfer rack;
FIG. 9 is a schematic illustration of a latent pull AGV;
fig. 10 is a structural schematic diagram of a planting plate and a transfer frame;
fig. 11 is a schematic view of the position relationship among the vegetable production auxiliary area, the planting tray placing frame, the three-dimensional cultivation area, the cultivation frame, the transfer frame storage area, the transfer frame and the mechanical arm.
Detailed Description
The invention will be further illustrated by the following examples in conjunction with the accompanying drawings:
as shown in fig. 1 to 11, a vegetable three-dimensional cultivation industrialized production system mainly comprises a field planting plate 1, a field planting cup 15, field planting plate fixtures 2, a transfer frame 3, a mechanical arm 13, a latent traction type AGV14, a vegetable production auxiliary area 16, a three-dimensional cultivation area 17 and a transfer frame storage area 18, a field planting plate placing frame 19 is installed in the vegetable production auxiliary area 16, a cultivation frame 20 is installed in the three-dimensional cultivation area 17, the field planting plate placing frame 19 and the cultivation frame 20 are both layered frames for placing the field planting plate 1, the field planting plate 1 is a special tool for field planting vegetable seedlings and positioning and transferring seedlings from leaf vegetable seedlings to seedling stages, the transfer frame 3 is used for bearing and transferring the field planting plate 1, the field planting plate fixtures 2 are installed on the mechanical arm 13, and the mechanical arm 13 finishes the action of clamping the plate 1. After the vegetable seedlings are planted, the latent traction type AGV14 transfers the transfer frame 3 to the vegetable production auxiliary area 16 from the transfer frame storage area 18, the mechanical arm 13 transfers the planting plate 1 with the vegetable seedlings on the planting plate placing frame 19 to the transfer frame 3 through the planting plate fixture 2, the latent traction type AGV14 transfers the transfer frame 3 with the planting plate 1 to the three-dimensional cultivation area 17, the mechanical arm 13 in the three-dimensional cultivation area 17 transfers the planting plate 1 to the cultivation frame 20, and finally the latent traction type AGV14 transfers the empty transfer frame 3 to the transfer frame storage area 18 or returns to the vegetable production auxiliary area 16 to continue to transfer the planting plate 1.
As shown in fig. 1 to 3, the outer contour of the field planting plate 1 is rectangular, the field planting plate 1 is provided with field planting holes 101 distributed in a rectangular array, the field planting holes 101 are all tapered holes extending downwards, the diameter of the field planting holes 101 is gradually reduced from top to bottom, the structure is adapted to the shape that the stems of the vegetables gradually diffuse upwards from the roots, the growth of the vegetables is facilitated, a field planting cup 15 is placed in each field planting hole 101 in a matching manner, a through hole for the roots of the vegetables to extend out is formed in each field planting cup 15, planting substrates are placed in the field planting cups 15, the vegetables are planted in the field planting cups, and the bottom of the field planting plate 1 is provided with two bilaterally symmetrical fixture slots 4. In this embodiment, the edge of the field planting plate 1 extends downward to form a flange 102, a plurality of reinforcing ribs 5 connecting the hole wall of the field planting hole 101, the flange 102 and the outer groove wall of the fixture slot 4 are distributed on the back surface of the field planting plate 1, and the reinforcing ribs 5 are arranged on the inner groove wall of the fixture slot 4. The longitudinal section of the clamp slot 4 can be in various shapes such as rectangle and circle, preferably in an isosceles trapezoid shape, and can prevent relative rotation between the field planting disc 1 and the field planting disc clamp 2, the two ends of the clamp slot 4 all extend to the edge of the field planting disc 1, the clamp slot 4 is parallel to the short side direction of the field planting disc 1, and four corners of the edge of the field planting disc 1 are provided with positioning notches 103 matched with the shape of the following stop blocks 304. No matter field planting dish 1 is bilateral symmetry structure in long edge direction or minor face direction, and anchor clamps slot 4 link up whole field planting dish 1, and this kind of structure possesses following advantage: when in use, the placing directions of the two long edges of the planting plate 1 are not needed to be considered, and the universality is good. A tracing card 104 and a recognition positioning mark 105 matched with a visual positioning sensor 6 which is described below are arranged on the edge of the fixed planting plate 1.
As shown in fig. 4 to 6, the field planting disk clamp 2 includes a fixing plate 201, two fork arms 202 extending forward in the horizontal direction and matching with the clamp slots 4 are respectively disposed at the left and right ends of the fixing plate 201, the fixing plate 201 and the two fork arms 202 jointly form a "U" shaped field planting disk clamp 2, the length of the fork arms 202 is equal to the length of the clamp slots 4, the width of the front ends of the fork arms 202 is gradually reduced from back to front, the thickness is gradually reduced from back to front, the size of the front ends of the fork arms of the field planting disk clamp is reduced, so that the fork arms can be smoothly forked into the clamp slots, pressing arms 204 extending forward in the horizontal direction are respectively disposed at the left and right ends of the upper portion of the fixing plate 201, the two pressing arms 204 are respectively located right above the corresponding field planting fork arms 202, and the vertical distance between the two pressing arms 204 and the corresponding fork arms 202 is slightly larger than the thickness of the disk 1, when the fork arms 202 are inserted into the clamp slots 4 of the field planting disk 1, the two pressure arms 204 limit the movement of the planting plate 1 from the upper part, and prevent the planting plate 1 from inclining and sliding off. A flange 203 for connecting with the mechanical arm 13 is fixed in the middle of the rear side of the fixing plate 201, as shown in fig. 5, the planting plate fixture 2 is fixed at the front end of the mechanical arm 13 through the flange 203, and the fixing plate 201 is provided with a vision positioning sensor 6 and a proximity sensor 7.
As shown in fig. 7 to 10, the transfer frame 3 includes a supporting frame 301, the supporting frame 301 is a frame of a rectangular parallelepiped structure, a plurality of layers of field planting tray placing layer frames 302 are arranged on the supporting frame 301 at intervals, each field planting tray placing layer frame 302 includes a right fixing strip 302a and a left fixing strip 302b which are arranged in parallel, the left fixing strip 302b is higher than the right fixing strip 302a, a field planting tray guide rail 302c for bearing a field planting tray 1 is connected between the right fixing strip 302a and the left fixing strip 302b, when the mechanical arm 13 places the field planting tray 1 into the transfer frame 3 from the left side through the field planting tray clamp 2, the field planting tray 1 automatically slides down to be blocked by the stopper 304 or the previous field planting tray 1 until the field planting tray placing layer frame 302 of the same layer is full; when taking out field planting dish 1 from transporting frame 3 from the right side, transporting frame 3 and going up same layer remaining field planting dish 1 and can automatic gliding to being blocked by dog 304 or preceding field planting dish 1, until transporting frame 3 and going up same layer field planting dish 1 and being taken out by whole, field planting dish 1 only needs to be taken out or put into from a position to arm 13, convenient operation, and is efficient, and arm 13's height can be adjusted, can adapt to the field planting dish on different layers and place layer frame 302. In the embodiment, two ends and the middle part of a right fixed strip 302a and a left fixed strip 302b are respectively provided with a fixed planting disc guide rail 302c, the guide rails 302c are arranged in bilateral symmetry, so that the fixed planting discs 1 can keep balance when being placed on a fixed planting disc placing layer frame 302, two ends of the right fixed strip 302a and the left fixed strip 302b are respectively provided with a baffle 303, the baffle 303 is fixed on a supporting frame 301, the distance between the two baffles 303 is slightly larger than the length of the fixed planting discs 1, the width of the fixed planting disc placing layer frame 302 is integral multiple of the width of the fixed planting discs 1, so as to avoid resource waste, in the embodiment, four layers of fixed planting disc placing layer frames 302 are arranged on the supporting frame 301 at intervals, the width of the fixed planting disc placing layer frame 302 is three times of the width of the fixed planting discs 1, a transfer frame 3 can transfer twelve fixed planting discs 1 at one time, so as to improve the transfer efficiency, the left end and the right end of the right fixed strip 302a are respectively provided with an L-shaped stop block 304, the horizontal segments of the "L" shape of both stops 304 are facing the opposite side. An angle adjusting block 8 is respectively arranged at the left end and the right end of the left fixing strip 302b, the two ends of the left fixing strip 302b are respectively fixed at the upper ends of the corresponding angle adjusting blocks 8, adjusting holes 801 which are arranged at intervals up and down are formed in the angle adjusting blocks 8, and the left fixing strip 302b is fixed on the supporting frame 301 through a fastener penetrating through the adjusting holes 801. A water containing tray 9 is arranged at the lower part of the supporting frame 301, and the water containing tray 9 is positioned below the lowest planting tray placing layer frame 302. Universal wheels 10 are mounted to the bottom of the legs of the support frame 301. A clamping tenon 14a and a radio frequency card reader-writer 14b which can move up and down are arranged on the latent traction type AGV14, and an interface 11 for butting with the clamping tenon 14a and a radio frequency card 12 for being identified by the radio frequency card reader-writer 14b are arranged below the water containing disc 9 on the supporting frame 301.
Claims (6)
1. The utility model provides a vegetables three-dimensional cultivation industrial production system which characterized in that: comprises a planting plate (1), a planting cup (15), a transfer frame (3), a latent traction type AGV (14), a mechanical arm (13), a vegetable production auxiliary area (16), a three-dimensional cultivation area (17) and a transfer frame storage area (18), a planting plate placing rack (19) is arranged in the vegetable production auxiliary area (16), a cultivation frame (20) is arranged in the three-dimensional cultivation area (17), a planting disc clamp (2) is connected to the mechanical arm (13), the field planting plate (1) is used for positioning and transferring vegetable seedlings and seedlings, the latent traction type AGV (14) is used for drawing the transfer frame (3) to move back and forth in the transfer frame storage area (18), the vegetable production auxiliary area (16) and the three-dimensional cultivation area (17), the mechanical arm (13) is used for transferring the planting plates (1) from the planting plate placing frames (19) to the transferring frame (3) or transferring from the transferring frame (3) to the cultivation frame (20);
the vegetable planting device is characterized in that a planting hole (101) is formed in the planting plate (1), the planting hole (101) is a conical hole extending downwards, the diameter of the planting hole (101) is gradually reduced from top to bottom, a planting cup (15) is placed in each planting hole (101) in a matched mode, a through hole for extending vegetable roots out is formed in each planting cup (15), planting matrixes are placed in the planting cups (15), and two clamp slots (4) which are symmetrical left and right are formed in the bottom of the planting plate (1);
the field planting disc clamp (2) comprises a fixing plate (201), fork arms (202) which extend forwards in the horizontal direction and are matched with clamp slots (4) are arranged at the left end and the right end of the fixing plate (201) respectively, a flange plate (203) used for being connected with a mechanical arm (13) is arranged in the middle of the rear side of the fixing plate (201), the longitudinal section of each clamp slot (4) is isosceles trapezoid, the two ends of each clamp slot (4) extend to the edge of the field planting disc (1), and the length of each fork arm (202) is equal to that of each clamp slot (4);
the transfer frame (3) comprises a supporting frame (301), a plurality of layers of obliquely arranged planting disc placing layer frames (302) are arranged in the supporting frame (301) at intervals from top to bottom, each planting disc placing layer frame (302) comprises a right fixing strip (302a) and a left fixing strip (302b) which are arranged in parallel, the left fixing strip (302b) is higher than the right fixing strip (302a), a planting disc guide rail (302c) which is used for bearing a planting disc 1 and extends leftwards and rightwards is connected between the right fixing strip (302a) and the left fixing strip (302b), baffle plates (303) are respectively arranged on the front side and the rear side of each planting disc placing layer frame (302), and a stop block (304) which prevents the planting disc (1) from slipping off from the planting disc placing layer frames (302) is arranged on the right side of each planting disc placing layer frame (302);
the vertical rectangular frame of side around transport frame (3) is, the vertical rectangular frame of side around, the horizontal rectangular frame that the vertical rectangular frame of side is enclosed through the horizontal roof beam that extends about the multilayer and the longitudinal beam that extends around links to each other, the field planting dish is placed layer frame (302) and is still included angle adjusting block (8), right side fixed strip (302a) fixed mounting is on the vertical roof beam on right side, the upper end at the angle adjusting block (8) that corresponds is fixed respectively at the both ends of left side fixed strip (302b), regulation hole (801) that the interval set up about offering on angle adjusting block (8), angle adjusting block (8) are fixed on braced frame (301) through the fastener that passes regulation hole (801 universal wheel (10) are installed to the landing leg bottom of braced frame (301).
2. The industrial production system for stereoscopic vegetable cultivation according to claim 1, wherein: the field planting dish (1) is the rectangle dish, field planting hole (101) are the rectangular array and distribute, the marginal downwardly extending of field planting dish (1) forms turn-ups (102) the back distribution of field planting dish (1) has pore wall, turn-ups (102) of a plurality of connections field planting hole (101) and strengthening rib (5) of the outer cell wall of anchor clamps slot (4) be provided with on the inner cell wall of anchor clamps slot (4) strengthening rib (5).
3. The industrial production system for stereoscopic vegetable cultivation according to claim 1, wherein: and a positioning notch (103) matched with the shape of the stop block (304) is arranged at the edge of the planting disc (1).
4. The industrial production system for stereoscopic vegetable cultivation according to claim 1, wherein: be provided with vision positioning sensor (6) and proximity sensor (7) on fixed plate (201) the edge of field planting dish (1) is provided with traceing to source card (104) and with vision positioning sensor (6) complex discernment location sign (105).
5. The industrial production system for stereoscopic vegetable cultivation according to claim 1, wherein: the lower part of the supporting frame (301) is provided with a water containing disc (9), and the water containing disc (9) is positioned below the lowest planting disc placing layer frame (302).
6. The industrial production system for stereoscopic vegetable cultivation according to claim 1, wherein: the latent traction type AGV (14) is provided with a tenon (14a) capable of moving up and down and a radio frequency card reader-writer (14b), and the lower part of the supporting frame (301) is provided with an interface (11) for butting with the tenon (14a) and a radio frequency card (12) for identifying the radio frequency card reader-writer (14 b).
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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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| CN111742750B (en) * | 2020-08-17 | 2024-03-19 | 江苏省农业科学院 | Device convenient for rapid mechanical thinning transplanting and working method thereof |
| CN113548353B (en) * | 2021-06-08 | 2023-01-03 | 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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