CN112840906B

CN112840906B - Intelligent plant factory

Info

Publication number: CN112840906B
Application number: CN202011559039.9A
Authority: CN
Inventors: 关斌
Original assignee: Beijing Shoucheng Agricultural Biotechnology Co ltd
Current assignee: Beijing Shoucheng Agricultural Biotechnology Co ltd
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2022-10-18
Anticipated expiration: 2040-12-25
Also published as: CN112840906A

Abstract

The application relates to an intelligent plant factory, which includes: a warehouse comprising a sterilizing chamber, a planting chamber and a laboratory; the goods shelf and the manipulator are used for clamping the plants planted on the planting plate; the mechanical arm is connected with a traveling mechanism, is used for driving the mechanical arm to move and is provided with a first sterilization device; the moving frame is used for placing the mechanical arm, and the mechanical arm moves in the horizontal direction relative to the goods shelf; the vertical driving mechanism is arranged on the moving frame and used for driving the mechanical arm to move along the vertical direction relative to the moving frame; the receiving mechanism is provided with a transferring mechanism at the side and comprises a plurality of object placing units, the receiving mechanism can display and receive the plants clamped by the manipulator and transfer the plants into the object placing units, and a second sterilizing device for sterilizing the object placing units is arranged on the receiving mechanism; the transfer mechanism is used for transferring the plants in the storage unit into the laboratory. This application has the effect of optimizing the staff and carrying out chemical examination monitoring process to the plant.

Description

Intelligent plant factory

Technical Field

The application relates to the field of modern agricultural planting, in particular to an intelligent plant factory.

Background

The plant factory is a high-efficiency agricultural system for realizing year-round continuous production of agricultural plants by high-precision environmental control in facilities, and is a labor-saving production mode which automatically controls environmental conditions such as temperature, humidity, illumination, CO2 concentration, nutrient solution and the like for plant growth by using an intelligent computer and an electronic sensing system, so that the growth and development of the plants in the facilities are not or rarely restricted by natural conditions.

Plant diseases refer to a series of pathological changes in form, physiology and biochemistry of plants under the influence of biological or non-biological factors, and can be divided into two main categories according to the types of pathogens: non-invasive diseases and invasive diseases, wherein the invasive disease is caused by organisms, is infectious, and is a pathogen of various kinds, such as fungi, bacteria, viruses, nematodes, or parasitic seed plants, and the like, and thus preventing/avoiding the invasion of foreign bacteria into plant factories is an important step for preventing diseases, and prevention means adopted in the related art is strict control of bacteria entering workers, air supply devices, and nutrient solutions in plant factories.

In view of the above-described related art, the inventors consider that the following technical drawbacks exist: the influence of external bacteria on plants cannot be completely eliminated only by a prevention means, and part of external bacteria still can be carried into a plant factory, so that a worker is required to test the plants and further monitor the growth process of the plants.

Disclosure of Invention

In order to optimize the process that the staff carries out chemical examination control to the plant, this application provides an intelligence plant factory.

The application provides an intelligence plant factory adopts following technical scheme:

an intelligent plant factory comprising:

a warehouse comprising a sterilizing chamber, a planting chamber and a laboratory;

the goods shelf comprises a vertical frame and planting plates, the vertical frame is arranged in the planting chamber along the vertical direction, and the planting plates are uniformly arranged on the vertical frame at intervals in the vertical direction;

the manipulator is used for clamping the plants planted on the planting plate;

the mechanical arm is connected with the traveling mechanism, is used for driving the mechanical arm to move and is provided with a first sterilization device;

the moving frame is used for placing the mechanical arm, and the mechanical arm moves in the horizontal direction relative to the goods shelf;

the vertical driving mechanism is arranged on the moving frame and used for driving the mechanical arm to move along the vertical direction relative to the moving frame;

the receiving mechanism is arranged on the side of the goods shelf, the transferring mechanism is arranged on the side of the receiving mechanism and comprises a plurality of object placing units, the receiving mechanism can display and receive the plants clamped by the manipulator and transfer the plants into the object placing units, and a second sterilizing device used for sterilizing the object placing units is arranged on the receiving mechanism;

the transfer mechanism is used for transferring the plants in the storage units into the laboratory.

By adopting the technical scheme, workers enter the laboratory after being sterilized by the sterilizing chamber, so that bacteria are not easy to enter the planting chamber, when whether plants planted on the planting plate are diseased or not needs to be checked, the walking mechanism is controlled to drive the mechanical arm to move on the movable frame, the mechanical arm corresponds to the plants in different planting units on the planting plate in the horizontal direction, after the position of the mechanical arm is adjusted, the mechanical arm is controlled to clamp the plants, then the plants clamped by the mechanical arm are placed in the object placing units of the material receiving mechanism through the mechanical arm, and meanwhile, the mechanical arm is driven by the vertical driving mechanism to lift on the movable frame along the vertical direction, so that the plants on the planting plates with different heights are sampled; the manipulator carries out a clamping task once and then carries out sterilization and disinfection on the plants through the first sterilization device, so that the manipulator is not easy to cause cross infection among the plants when clamping the next plant; remove receiving agencies to the laboratory through transport mechanism, the staff of being convenient for carries out the chemical examination operation, and is difficult for causing the secondary infection of bacterium at the sampling in-process, has consequently reached the effect that the staff of being convenient for takes a sample the chemical examination to the plant.

Optionally, the movable frame comprises a connecting rod and a guide rail, the connecting rod is arranged in the vertical direction, the guide rail is arranged on the connecting rod in the vertical direction at uniform intervals, the connecting rod is located on the side of the vertical frame, each layer of guide rail is located below each layer of planting plates, the travelling mechanism comprises a first travelling wheel and a first motor, the rolling path is matched with the guide rail, and the first motor is used for driving the first travelling wheel to rotate.

Through adopting above-mentioned technical scheme, first motor drive first travelling wheel removes in the guide rail, can realize the function that drive arm and manipulator removed in horizontal transverse direction.

Optionally, the connecting rod is connected with a longitudinal moving mechanism, the vertical driving mechanism is fixedly connected with the moving frame, and the longitudinal moving mechanism is used for driving the moving frame to move along a direction perpendicular to the guide rail.

Through adopting above-mentioned technical scheme, longitudinal movement mechanism drives and removes frame along horizontal longitudinal movement for arm and manipulator can correspond the plant of planting different horizontal longitudinal position on the board, through taking a sample the plant of different positions, have improved the detection precision.

Optionally, the arm includes horizontal arm and tilt arm, and running gear sets up on the horizontal arm, rotates on the horizontal arm and is connected with horizontal carousel, the vertical setting of axis of horizontal carousel, and first sterilizing equipment is fixed to be set up on the tip of horizontal arm, and the one end of tilt arm sets up with horizontal carousel is articulated, and the tilt arm sets up and the direction that sets up of perpendicular to guide rail along the horizontal direction with horizontal carousel's articulated axis, and horizontal carousel is connected with circumference motor, and the tilt arm is connected with the pivot angle motor.

By adopting the technical scheme, the circumferential motor is controlled to drive the horizontal turntable to rotate to the first preset position, the swing angle motor is controlled to drive the inclined arm to rotate at the moment, the included angle between the inclined arm and the horizontal arm can be adjusted, the first sterilization device sterilizes the manipulator when the inclined arm is in a horizontal state, and the manipulator is controlled to clamp plants when the inclined arm rotates by the second preset angle; when the tilting arm rotates to a third preset swing angle, the manipulator is opposite to the material receiving mechanism, the manipulator releases the plants, and the material receiving mechanism transports the plants sampled at each time to each storage unit in sequence.

Optionally, receiving agencies includes the curb plate, pushes away material dolly and vertical regulating part, and the curb plate sets up in planting side of board along the direction that sets up that is on a parallel with planting the board, pushes away the material dolly and sets up on the curb plate, and vertical regulating part is used for driving the curb plate and goes up and down along vertical direction, and transport mechanism is on a parallel with the grudging post setting and is located one side of curb plate, transports driving piece drive transport mechanism and removes.

Through adopting the above technical scheme, control and push away material dolly and arm synchronous movement, when the arm berths in a certain department on the guide rail, push away material dolly and rather than synchronous stop and be located the side of arm, when the manipulator that carries the plant rotates to the third and predetermines the angle, the manipulator is located pushes away the top of material dolly, the manipulator is left the plant after, the plant falls to pushing away in the material dolly, push away material dolly loading plant after, vertical regulating part passes through the curb plate and drives and push away material dolly lift, make and push away material dolly and be in the idle state put the thing unit relatively, then will push away the goods in the material dolly and push and put in the thing unit.

Optionally, the tilting arm is an electric telescopic rod, and the manipulator is fixedly connected to the end portion, far away from the horizontal turntable, of the tilting arm.

Through adopting above-mentioned technical scheme, the tilt arm is extending, and the plant is got to the controlled clamp of manipulator when manipulator removes to the top of waiting to sample the plant for other plants are bumped to the difficult scraping of tilt arm when the plant that shortens state that presss from both sides to the manipulator clamp.

Optionally, transport mechanism includes chain, transmission frame, transmission driving piece and transports the driving piece, and the transmission frame sets up on transporting the driving piece, and the chain cover is established on the transmission frame, and transmission driving piece drive chain removes for the transmission frame, puts the even interval setting of thing unit along the chain, puts thing unit and can dismantle with the chain and be connected.

Through adopting above-mentioned technical scheme, the transmission driving piece drives the chain and rotates for the relative position who puts thing unit and drive frame changes, and the staff of being convenient for takes off the plant sample of co-altitude not in the laboratory.

Optionally, the transfer drive is an AGV cart.

By adopting the technical scheme, the AGV car is provided with an electromagnetic or optical automatic navigation device, can run along a specified navigation path, has safety protection and various transfer functions, does not need a carrier of a driver in industrial application, and takes a rechargeable storage battery as a power source. Generally, the traveling path and behavior can be controlled by a computer, or the traveling path can be set up by an electromagnetic rail, which is adhered to the floor, and the automated guided vehicle moves and operates by the information from the electromagnetic rail.

Optionally, a third mounting frame is fixedly arranged on the conveying frame, and a third sterilizing device is fixedly arranged on the third mounting frame.

Through adopting above-mentioned technical scheme, when the transmission driving piece passes through the chain and drives to put the thing unit and remove, the disinfection of disinfecting is put to every in proper order to the third sterilizing equipment for plant bacteria is difficult for taking place the secondary infection on putting the thing unit.

Optionally, the plant factory further includes a control system, the control system includes a positioning module and a storage module, the positioning module is used for collecting sampling position information of the manipulator, and the storage module stores the sampling position information.

Through adopting above-mentioned technical scheme, through taking notes to the sample position, the staff of being convenient for controls the sample position next time of manipulator, realizes evenly taking a sample.

In summary, the present application includes at least one of the following beneficial technical effects:

1. by adopting the structure of the mechanical arm, the movable frame, the vertical driving mechanism, the material receiving mechanism and the transferring mechanism, the functions of conveniently sampling from the goods shelf, transferring a sample to a laboratory and optimizing the inspection process of workers are realized;

2. by adopting the structure of the longitudinal moving mechanism, the function of conveniently sampling the plants at different positions on the planting plate is realized;

3. through the structure that adopts chain, driving frame and transmission driving piece, realized the function that the staff of being convenient for takes off the sample in the not co-altitude thing unit of putting.

Drawings

FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present application;

FIG. 2 is a three-dimensional schematic view of the outrigger, the vertical drive mechanism and the transfer mechanism;

FIG. 3 is a three-dimensional schematic view of the highlight moving shelf and shelf position relationship;

FIG. 4 is a partial three-dimensional schematic view highlighting the robotic arm, walking mechanism, and robotic arm structure;

FIG. 5 is a schematic view showing a state where the robot arm performs discharging;

FIG. 6 is a partial three-dimensional schematic view highlighting the location of the pusher carriage and the second sterilization device;

FIG. 7 is an enlarged schematic view of detail A of FIG. 6;

fig. 8 is a schematic connection diagram of the highlighting control system.

Description of the reference numerals: 01. a warehouse; 011. a sterilizing chamber; 012. a planting room; 013. a laboratory; 014. an air shower; 1. a shelf; 11. erecting a frame; 12. planting a plate; 2.a manipulator; 3. a mechanical arm; 31. a horizontal arm; 311. a horizontal turntable; 312. a circumferential motor; 313. a first sterilization device; 32. a tilt arm; 321. a swing angle motor; 4. a traveling mechanism; 5. a movable frame; 51. a connecting rod; 52. a guide rail; 6. a longitudinal moving mechanism; 7. a vertical drive mechanism; 71. a connecting frame; 72. a winch; 73. a pallet; 8. a material receiving mechanism; 81. a side plate; 811. a second mounting bracket; 812. a second sterilization device; 82. a material pushing trolley; 821. a vehicle body; 8211. a material pushing cylinder; 8212. a material pushing plate; 822. a third travel wheel; 83. a vertical adjustment member; 9. a transfer mechanism; 91. a chain; 92. a transmission frame; 93. a transmission driving member; 921. a third mounting bracket; 922.a third sterilizing device; 94. an article placing unit; 95. a transfer drive.

Detailed Description

The present application is described in further detail below with reference to figures 1-8.

The embodiment of the application discloses intelligence plant factory. Referring to fig. 1, an intelligent plant factory comprises a warehouse 01, a shelf 1, a manipulator 2, a mechanical arm 3, a moving frame 5, a vertical driving mechanism 7, a material receiving mechanism 8 and a transferring mechanism 9, wherein a sterilizing chamber 011, a planting chamber 012, a laboratory 013 and a shower 014 are arranged in the warehouse 01, the shower 014 is communicated with the sterilizing chamber 011, the sterilizing chamber 011 is communicated with the planting chamber 012, and the laboratory 013 is arranged in the planting chamber 012; goods shelves 1 sets up in planting room 012 for plant the plant, manipulator 2 is used for pressing from both sides to get the plant, manipulator 2 is connected on manipulator 3, remove frame 5, vertical actuating mechanism 7 is used for driving manipulator 2 and removes for goods shelves 1, make manipulator 2 can press from both sides the plant of getting different positions on goods shelves 1, receiving agencies 8 is used for accepting the plant sample that manipulator 2 pressed from both sides was got, transport mechanism 9 is used for carrying the plant sample through the 8 transfer of receiving agencies to the laboratory 013 in. Staff gets into laboratory 013 after the disinfection of wind leaching rooms 014 and retort room 011, make the bacterium be difficult for entering into plant 012, when the plant of planting on needs inspection planting board 12 appears pathological change, through controlling arm 3, remove frame 5, vertical actuating mechanism 7 adjusts the relative position of manipulator 2 and goods shelves 1, confirm behind the sample position, control 2 clamps of manipulator and get the plant, and convey to receiving agencies 8 department, the plant passes through the 8 transfer of receiving agencies, then transport to laboratory 013 in through transport mechanism 9, the process of manpower sample has been saved to this in-process, the staff only need carry out the test operation in laboratory 013 can, plant factory's bacterium investigation process has been optimized.

Referring to fig. 2, shelf 1 includes grudging post 11 and planting board 12, grudging post 11 sets up along vertical direction in planting room 012, planting board 12 sets up the multilayer along the even interval of vertical direction on grudging post 11, Z refers back to fig. 3, it includes connecting rod 51 and guide rail 52 to remove frame 5, connecting rod 51 sets up along vertical direction, connecting rod 51 is located between the grudging post 11 of planting board 12 both sides set up in a row, guide rail 52 sets up a plurality ofly along the even interval of vertical direction on connecting rod 51, every layer of guide rail 52 is located the below of every layer of planting board 12, vertical drive mechanism 7 is used for driving the vertical direction removal that arm 3 set up along connecting rod 51, refer back to fig. 4, running gear 4 includes first walking wheel and first motor, roll and guide rail 52 looks adaptation and be connected with 3, first motor is used for the arm drive first walking wheel to rotate. Arm 3 is along horizontal lateral shifting in guide rail 52 through first walking wheel, and vertical actuating mechanism 7 drives arm 3 and goes up and down along vertical direction for on arm 3 can get into each layer of guide rail 52 on the connecting rod 51, manipulator 2 is located the top of waiting to take a sample to plant board 12, and manipulator 2 presss from both sides the plant from the top, is difficult for the fracture to take place when making the plant taken out.

Referring to fig. 3, the lower end of the connecting rod 51 is further connected with a longitudinal moving mechanism 6, the longitudinal moving mechanism 6 includes a second motor and a second traveling wheel, the second traveling wheel is rotatably connected to the bottom of the connecting rod 51, and the second motor is used for driving the second traveling wheel to rotate. Second motor and second walking wheel drive and remove frame 5 along horizontal longitudinal movement for arm 3 and manipulator 2 can correspond the plant of planting different horizontal longitudinal position on board 12, through taking a sample the plant of different positions, have improved the detection precision.

When the manipulator 2 grabs plants at different positions on the shelf 1, in order to prevent cross infection between the plants, and therefore, the mechanical collection needs to be sterilized after each sampling, referring to fig. 4 and 5, the manipulator 3 comprises a horizontal arm 31 and an inclined arm 32, a first travelling wheel is arranged on the horizontal arm 31, one end of the horizontal arm 31 is rotatably connected with a horizontal turntable 311, the axis of the horizontal turntable 311 is vertically arranged, and a first sterilizing device 313 is a first UV ultraviolet lamp fixedly arranged on the end part of the horizontal arm 31; one end of the inclined arm 32 is hinged to the horizontal turntable 311, the hinged axis of the inclined arm 32 and the horizontal turntable 311 is arranged along the horizontal direction and is perpendicular to the arrangement direction of the guide rail 52, the horizontal arm 31 is fixedly connected with a circumferential motor 312, the output end of the circumferential motor 312 is fixedly connected with the center of the horizontal turntable 311, the horizontal turntable 311 is fixedly connected with a swing angle motor 321, and the output end of the swing angle motor 321 is fixedly connected with the end part of the inclined arm 32. The vertical included angle between the inclined arm 32 and the horizontal arm 31 can be adjusted through the swing angle motor 321, the horizontal included angle between the inclined arm 32 and the horizontal arm 31 can be adjusted through the circumferential motor 312 and the horizontal turntable 311, when the horizontal turntable 311 rotates to a first preset angle and the inclined arm 32 rotates to a horizontal state, the manipulator 2 is located below the first UV ultraviolet lamp, and the first UV ultraviolet lamp is used for sterilizing and disinfecting the manipulator 2; when the horizontal turntable 311 rotates to a second preset angle and the inclined arm 32 rotates to a second preset swing angle, the manipulator 2 is positioned above the plant to be sampled, and the manipulator 2 is controlled to clamp the plant; when the horizontal turntable 311 rotates to a third preset angle and the inclined arm 32 rotates to a third preset swing angle, the inclined arm 32 rotates to the upper side of the side frame, meanwhile, the material pushing trolley 82 moves to the position below the manipulator 2, the manipulator 2 releases plants, the plants fall onto the material receiving mechanism 8, then the plants are transferred to the material placing unit 94 by the material receiving mechanism 8, and finally the plants are conveyed to the laboratory 013.

Referring to fig. 6, the vertical driving mechanism 7 includes a connecting frame 71, a hoist 72 and a supporting plate 73, the connecting frame 71 is fixedly connected with the connecting rod 51, the hoist 72 is fixedly connected to the top of the connecting frame 71, the supporting plate 73 is fixedly connected with a chain 91 of the hoist 72, the supporting plate 73 is slidably connected with the connecting frame 71 in the vertical direction, the shape of the supporting plate 73 is matched with the shape of the guide rail 52, and the first traveling wheel can be driven onto the supporting plate 73 by the first motor. When the mechanical arm 3 needs to be driven into the guide rails 52 with different heights, the horizontal arm 31 is firstly driven to enter the supporting plate 73, and after the winch 72 drives the supporting plate 73 to ascend or descend to the corresponding height, the horizontal arm 31 is driven into the guide rail 52 with the corresponding height again.

Referring to fig. 5, manipulator 2 is pneumatic clip, and the plant is got to the electric putter of arm 32 for extending structure, and when 2 clamps of manipulator got the plant, arm 32 was in the state that shortens for arm 32 is difficult to scrape and bumps other plants, and when manipulator 2 removed the top to the plant of waiting to take a sample, arm 32 extended, and the plant is got to the controlled clamp of manipulator 2.

Referring to fig. 3 and 6, the material receiving mechanism 8 includes a side plate 81, a material pushing trolley 82 and a vertical adjusting piece 83, the side plate 81 is arranged on the side of the planting plate 12 along a direction parallel to the arrangement direction of the planting plate 12, that is, the side plate 81 is horizontally and transversely arranged, the length of the side plate 81 is the same as that of the guide rail 52, referring to fig. 7, the material pushing trolley 82 includes a trolley body 821, a third motor and a third traveling wheel 822, one side edge of the trolley body 821 is open, a material pushing cylinder 8211 is fixedly connected to the inner side wall of the trolley opposite to the open shape, the cylinder body of the material pushing cylinder 8211 is fixedly connected to the inside of the trolley body 821, the piston rod of the material pushing cylinder 8211 is fixedly connected with a push plate, and the third motor drives the third traveling wheel 822 to rotate so as to drive the trolley body 821 to advance or retreat along the side plate 81; the vertical adjusting piece 83 adopts a motor and screw rod driving mode, so that the side plate 81 can be horizontally opposite to the planting plates 12 with different heights on the goods shelf 1.

Referring to fig. 6, when pushing away material dolly 82 and transporting the plant at every turn, probably cause the bacterium between the plant to cause the phenomenon of secondary infection through pushing away material dolly 82, in order to reduce the risk of plant infection disease, this application embodiment is fixed in the one end of curb plate 81 and is provided with second sterilizing equipment 812, and second sterilizing equipment 812 is the second UV ultraviolet lamp, and second UV ultraviolet lamp fixedly connected with second mounting bracket 811, second mounting bracket 811 set firmly on curb plate 81. The material pushing trolley 82 moves to the position below the second UV ultraviolet lamp for disinfection after completing material receiving and material pushing once, next transfer operation is performed after disinfection in preset time, and the sterilization time of the material pushing trolley 82 can be set to be matched with the sterilization time of the first UV ultraviolet lamp on the manipulator 2.

Referring to fig. 2, transfer mechanism 9 includes chain 91, transmission frame 92, transmission driving piece 93 and transfer driving piece 95, transfer driving piece 95 is the AGV dolly, transmission frame 92 is fixed to be established on the AGV dolly, chain 91 cover is established on transmission frame 92, transmission driving piece 93 drives chain 91 and removes for transmission frame 92, transmission driving piece 93 adopts motor drive's mode, it sets up along the even interval of chain 91 to put thing unit 94, it is connected to put thing unit 94 and can dismantle with chain 91, the fixed third mounting bracket 921 that is provided with on the conveying frame, the fixed third sterilizing equipment 922 that is provided with on third mounting bracket 921. When the AGV trolley enters a laboratory 013, a worker firstly takes out the plants in the lowest storage unit 94, then controls the transmission driving piece 93 to drive the chain 91 to drive the storage units 94 to move, so that the worker can take the plants in the high storage units 94 conveniently, and meanwhile, the third sterilizing device 922 sterilizes and disinfects each storage unit 94 in sequence, so that the plant bacteria are not easy to secondarily infect the storage units 94; the AGV is a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, having safety protection and various transfer functions, and does not require a carrier of a driver in industrial use, and uses a rechargeable battery as a power source. Generally, the traveling path and behavior can be controlled by a computer, or the traveling path can be set up by an electromagnetic rail, which is adhered to the floor, and the automated guided vehicle moves and operates by the information from the electromagnetic rail.

In order to realize the uniformity of sampling, referring to fig. 8, the plant factory further includes a control system, the control system includes a positioning module and a storage module, the positioning module is used for collecting the sampling position information of the manipulator 2, and the storage module stores the sampling position information. Through taking notes to the sample position, the staff of being convenient for controls the sample position of manipulator 2 next time, realizes even sample.

The implementation principle of an intelligent plant factory in the embodiment of the application is as follows: the first motor and the first travelling wheel drive the horizontal arm 31 to move on the guide rail 52, so that the manipulator 2 moves horizontally and transversely, the pushing trolley 82 and the mechanical arm 3 are controlled to move synchronously, the second motor drives the second travelling wheel to move, the moving frame 5 drives the manipulator 2 to move horizontally and longitudinally, the manipulator 2 corresponds to plants at different positions on the planting plate 12, after the position of the manipulator 2 is adjusted, the horizontal turntable 311 is controlled to rotate to a second preset angle through the circumferential motor 312, the inclined arm 32 is controlled to rotate to the second preset angle through the angle swing motor 321, the manipulator 2 is located above the plant to be sampled, and the manipulator 2 is controlled to clamp the plant; then, the horizontal turntable 311 is controlled to rotate to a third preset angle, the inclined arm 32 rotates to a third preset swing angle, at the moment, the material pushing trolley 82 is positioned on the side of the mechanical arm 3, the inclined arm 32 rotates to the upper part of the side frame, the mechanical arm 2 releases plants, and the plants fall into the material pushing trolley 82; the vertical adjusting piece 83 drives the side plate 81 to lift along the vertical direction, so that the side plate 81 can be opposite to the no-load object placing units 94 with different heights, the material pushing trolley 82 moves to the side of the transfer mechanism 9, and the material pushing cylinder 8211 controls the push plate to move to push plants into the no-load object placing units 94; then the AGV dolly drives transmission frame 92 and moves to laboratory 013 in, and the staff takes off the plant in every thing unit 94 in proper order and tests the plant.

The above are preferred embodiments of the present application, and the scope of protection of the present application is not limited thereto, so: equivalent changes in structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. An intelligent plant factory, comprising:

a warehouse (01) comprising a sterilizing chamber (011), a planting chamber (012) and a testing chamber (013);

the goods shelf (1) comprises a vertical frame (11) and planting plates (12), wherein the vertical frame (11) is arranged in the planting chamber (012) along the vertical direction, and the planting plates (12) are uniformly arranged on the vertical frame (11) at intervals along the vertical direction;

the manipulator (2) is used for clamping the plants planted on the planting plate (12);

the mechanical arm (3) is connected with a traveling mechanism (4) and is used for driving the mechanical arm (2) to move and provided with a first sterilization device (313);

the moving frame (5) is used for placing the mechanical arm (3) and enabling the mechanical arm (3) to move in the horizontal direction relative to the goods shelf (1);

the vertical driving mechanism (7) is arranged on the moving frame (5) and is used for driving the mechanical arm (3) to move along the vertical direction relative to the moving frame (5);

the receiving mechanism (8) is arranged on the side of the goods shelf (1), the transferring mechanism (9) is arranged on the side of the receiving mechanism (8), the transferring mechanism (9) comprises a plurality of object placing units (94), the receiving mechanism (8) can display and receive the plants clamped by the manipulator (2) and transfer the plants into the object placing units (94), and a second sterilizing device (812) used for sterilizing the object placing units (94) is arranged on the receiving mechanism (8);

a transfer mechanism (9) for transferring the plants in the storage unit (94) to a laboratory (013);

the mechanical arm (3) comprises a horizontal arm (31) and an inclined arm (32), a walking mechanism (4) is arranged on the horizontal arm (31), a horizontal turntable (311) is connected to the horizontal arm (31) in a rotating mode, the axis of the horizontal turntable (311) is vertically arranged, a first sterilization device (313) is fixedly arranged on the end portion of the horizontal arm (31), one end of the inclined arm (32) is hinged to the horizontal turntable (311), the hinged axis of the inclined arm (32) and the horizontal turntable (311) is arranged in the horizontal direction and perpendicular to the arrangement direction of the guide rail (52), the horizontal turntable (311) is connected with a circumferential motor (312), and the inclined arm (32) is connected with a swing angle motor (321);

the vertical driving mechanism 7 comprises a connecting frame 71, a winch 72 and a supporting plate 73, the connecting frame 71 is fixedly connected with the connecting rod 51, the winch 72 is fixedly connected to the top of the connecting frame 71, the supporting plate 73 is fixedly connected with a chain 91 of the winch 72, the supporting plate 73 is in sliding connection with the connecting frame 71 along the vertical direction, the shape of the supporting plate 73 is matched with that of the guide rail 52, and a first travelling wheel can drive into the supporting plate 73 under the driving of a first motor;

receiving agencies (8) include curb plate (81), push away material dolly (82) and vertical regulating part (83), curb plate (81) set up in the side of planting board (12) along the direction that sets up that is on a parallel with planting board (12), push away material dolly (82) and set up on curb plate (81), vertical regulating part (83) are used for driving curb plate (81) and go up and down along vertical direction, transport mechanism (9) are on a parallel with grudging post (11) setting and are located one side of curb plate (81), transport driving piece (95) drive transport mechanism (9) and remove.

2. An intelligent plant factory according to claim 1, wherein: remove frame (5) including connecting rod (51) and guide rail (52), connecting rod (51) set up along vertical direction, guide rail (52) set up a plurality ofly along vertical direction even interval on connecting rod (51), connecting rod (51) are located the side of grudging post (11), every layer of guide rail (52) are located the below of every layer of planting board (12), running gear (4) are including first walking wheel and first motor, roll and guide rail (52) looks adaptation, first motor is used for driving first walking wheel and rotates.

3. An intelligent plant factory according to claim 2, wherein: the connecting rod (51) is connected with a longitudinal moving mechanism (6), the vertical driving mechanism (7) is fixedly connected with the moving frame (5), and the longitudinal moving mechanism (6) is used for driving the moving frame (5) to move along the direction perpendicular to the arrangement of the guide rail (52).

4. An intelligent plant factory according to claim 1, wherein: the inclined arm (32) is an electric telescopic rod, and the manipulator (2) is fixedly connected to the end part, far away from the horizontal turntable (311), of the inclined arm (32).

5. An intelligent plant factory according to claim 1, wherein: transport mechanism (9) include chain (91), transmission frame (92), transmission driving piece (93) and transport driving piece (95), and transmission frame (92) set up on transporting driving piece (95), and chain (91) cover is established on transmission frame (92), and transmission driving piece (93) drive chain (91) remove for transmission frame (92), puts thing unit (94) and sets up along chain (91) even interval, puts thing unit (94) and can dismantle with chain (91) and be connected.

6. An intelligent plant factory according to claim 5, wherein: the transfer driving piece (95) is an AGV.

7. An intelligent plant factory according to claim 6, wherein: the transmission frame (92) is fixedly provided with a third mounting frame (921), and the third mounting frame (921) is fixedly provided with a third sterilizing device (922).

8. An intelligent plant factory according to claim 1, wherein: the plant factory further comprises a control system, the control system comprises a positioning module and a storage module, the positioning module is used for collecting sampling position information of the manipulator (2), and the storage module stores the sampling position information.