CN114009240A - Potted plant frame placing device and placing method - Google Patents
Potted plant frame placing device and placing method Download PDFInfo
- Publication number
- CN114009240A CN114009240A CN202111300391.5A CN202111300391A CN114009240A CN 114009240 A CN114009240 A CN 114009240A CN 202111300391 A CN202111300391 A CN 202111300391A CN 114009240 A CN114009240 A CN 114009240A
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- frame
- pot
- placing
- potted plant
- 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
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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
- A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
- A01G9/088—Handling or transferring pots
Abstract
The invention relates to a potted plant frame placing device and a placing method, which are applied to the technical field of agriculture implementation, and solve the problems that most of the prior potted plant frames are manually placed, the mechanization degree is low, the speed of placing pots is too low, and the placing precision is low; the horizontal guide rail is transversely arranged on the longitudinal moving frame in an extending mode on a horizontal plane, the sliding plate is configured on the horizontal guide rail, the discharging assembly is arranged on the sliding plate and comprises a supporting plate and a poking plate, a discharging channel is formed between the two supporting plates, the supporting plate at least has two states of a withdrawing state withdrawing from the discharging channel and a supporting state extending into the discharging channel, the supporting plates can be switched between the two states at set time intervals, and the poking plate is arranged below the supporting plates to poke a pot culture frame falling downwards in the discharging channel; the pot frame positioning device has the effect of ensuring that the machine can accurately place the pot frame at the preset position through a PID control method.
Description
Technical Field
The invention is applied to the technical field of agricultural implementation, and particularly relates to a potted plant frame placing device and a potted plant frame placing method.
Background
The research on facility agriculture in China starts late, the agricultural skill level is low, the management mode is backward, the mechanization degree is low, the commodity rate of facility agricultural products is low, the unit production efficiency is low, the input-output ratio is not high, the facility agriculture mainly adopts traditional experience production, quantitative indexes and matched integration technologies are lacked, and the overall yield of products is low. At present, the average yield of facility agriculture in China is not high compared with that in foreign countries, and the labor of the facility agriculture is mainly performed by manpower. According to the recently published flower industry data of 2020, the flower pot planting area and the planting yield are respectively increased by 5.94% and 14.51%, but the greenhouse cultivation area is reduced. In general, the world pot planting tends to be transformed into indoor cultivation, but the indoor cultivation area of China is reduced, which is obviously inconsistent with the large trend. The reason for this situation is mainly because the greenhouse potting planting process is low in mechanization degree, and various automatic devices are not complete enough, so that the greenhouse potting production rate is low, and the cost is increased.
At home and abroad, people carry out a lot of research to greenhouse transport problem, but do not have too many research to the problem of putting the potted plant frame, current method of putting is artifical the most and puts, and degree of mechanization is low, and this has just caused various troubles when the potted plant frame is placed, for example the artifical potted plant frame speed of placing is too slow, can not guarantee the operating mass that the potted plant frame was placed moreover.
Disclosure of Invention
The invention aims to provide a potted plant frame placing device, which solves the problems that most of existing placing methods are manually placed, the mechanization degree is low, the speed of manually placing potted plant frames is too low, and the placing work quality of the potted plant frames cannot be guaranteed.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention provides a potted plant rack placing device, which comprises:
a longitudinal moving frame which is longitudinally movably disposed on a horizontal plane;
a transverse guide rail which extends transversely on a horizontal plane and is arranged on the longitudinal moving frame, and a sliding plate is configured on the transverse guide rail and can be arranged on the transverse guide rail in a transversely moving manner;
the blowing subassembly, the blowing subassembly sets up on the slide, the blowing subassembly includes but the horizontal rotation sets up the backup pad and the stirring board of rotatable setting on vertical face, the backup pad is provided with two and two at least form the blanking passageway between the backup pad, the backup pad has at least and withdraws from the blanking passageway and support state two kinds of states of stretching into the blanking passageway, the backup pad can switch with the time interval of settlement between these two kinds of states, it sets up to stir the board below in order to stir a potted plant frame that falls out in the blanking passageway downwards.
Further, it still includes locating component, locating component includes laser radar sensor, the light that laser radar sensor sent can surround the regional periphery of cultivation bed.
Further, the bottom end of the longitudinal moving frame is provided with a walking assembly, and the walking assembly comprises a land wheel and a motor used for driving the land wheel to rotate.
Further, the distance between the support plates is adjustably set.
Furthermore, the periphery of the poking plate is provided with poking teeth.
Further, the supporting plate is rotatably connected to the sliding plate and is pushed to rotate by the air cylinder.
The invention also provides a potted plant frame placing method, which comprises the following steps:
s1, stacking the pot culture frames, exposing the edges capable of being shifted, and supporting the edges of the pot culture frames at the bottommost end;
s2, removing the support, reloading the support after the set time until the bottom end of the support faces the edge of a second pot culture frame, and enabling the stacked pot culture frames to freely fall for a certain distance;
and S3, poking the edge of the pot frame at the bottommost end to enable the pot frame to fall.
Further, it also includes: setting the placing moving path as a determinant, judging whether the edge of the row or the column is reached before placing, and implementing line changing or stopping according to the judgment result.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages: a pot culture shelf placing control system is formed by utilizing a longitudinal moving frame, a walking assembly, a controller, a laser radar sensor, a discharging assembly and the like; the laser radar sensor controls the working range of the machine, the controller converts distance information into displacement of the machine through an algorithm, the potted plant is carried to a preset position under the cooperation of the longitudinal moving frame and the walking assembly, the potting frame is placed at the preset position through the emptying assembly, the mechanical placement of the potted plant frame is completed, in addition, in order to ensure that the machine can accurately place the potted plant frame at the preset position, the accurate control of the displacement distance is carried out through a PID control method, the PID control method reduces errors caused by the movement of the machine, and the potted plant frame can be placed at the preset position in a tidy and accurate mode.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a schematic diagram of the overall structure of a pot holder placement device according to an embodiment of the invention;
FIG. 2 is a schematic view of the overall structure of a discharge assembly according to an embodiment of the invention;
FIG. 3 is a top view of the overall structure of a discharge assembly according to an embodiment of the invention;
FIG. 4 is a schematic view of a work flow of the emptying assembly according to an embodiment of the invention.
Wherein the reference numerals are as follows:
1. a lead screw sliding table device; 11. a screw rod; 12. a screw rod base; 14. a mobile station; 15. a screw motor; 16. a baffle plate; 2. a culture bed; 3. a walking assembly; 31. a land wheel; 32. a motor; 4. a transverse guide rail; 5. a slide plate; 6. a support bar; 7. a discharging component; 71. a support plate; 72. a poking plate; 73. a cylinder; 74. a dial tooth; 8. a controller; 9. an adjusting cylinder; 10. a laser radar sensor; 21. and limiting the trigger block.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, 2 and 3, the present invention provides a potted plant stand placing device comprising:
the longitudinal moving frame is erected on the culture bed 2 and can be arranged on the horizontal plane in a longitudinal moving mode, the bottom end of the longitudinal moving frame is provided with a traveling assembly 3, and the traveling assembly 3 comprises a land wheel 31 and a motor 32 for driving the land wheel 31 to rotate;
the transverse guide rail 4 extends transversely on a horizontal plane and is arranged on the longitudinal moving frame, a sliding plate 5 is configured on the transverse guide rail 4, and the sliding plate 5 can be arranged on the transverse guide rail 4 in a transversely moving mode;
the feeding assembly 7 is arranged on the sliding plate 5, the feeding assembly 7 comprises a supporting plate 71 which can be horizontally and rotatably arranged and a stirring plate 72 which can be rotatably arranged on a vertical surface, at least two supporting plates 71 are arranged on the supporting plate 71, a blanking channel is formed between the two supporting plates 71, the supporting plate 71 is rotatably connected to the sliding plate 5, the supporting plate 71 is pushed to rotate by using an air cylinder 73, under the pushing action of the air cylinder 73, the supporting plate 71 at least has two states of a withdrawing state and a supporting state, wherein the withdrawing state is withdrawn from the blanking channel, the supporting state is extended into the blanking channel, the supporting plate 71 can be switched between the two states at set time intervals, and the stirring plate 72 is arranged below the supporting plate 71 to stir a pot frame which falls downwards in the blanking channel;
still include controller 8, controller 8 sets up in the below of cultivation bed 2, through the displacement of 8 control longitudinal movement frame of controller and walking subassembly 3, improves the accuracy of displacement distance, reduces the error that the machine motion brought for blowing subassembly 7 can neatly accurate placing in preset position with the potted plant frame.
Further, referring to fig. 2, 3 and 4, the longitudinal moving frame comprises two screw rod sliding table devices 1, each screw rod sliding table device 1 comprises a screw rod 11, a screw rod base 12 for mounting the screw rod 11, a screw rod slider (not marked in the lower drawing of the moving table) threaded on the screw rod 11, a moving table 14 arranged on the screw rod slider, and a screw rod motor 15 for driving the screw rod 11 to rotate, two ends of the screw rod base 12 are provided with a baffle 16 for limiting the moving table 14, two ends of the transverse guide rail 4 are respectively fixed on the moving tables 14 in the two screw rod sliding table devices 1, two ends of each screw rod base 12 along the length direction are vertically provided with a support rod 6, a ground wheel 31 is arranged at the bottom end of the support rod 6, the screw rod 11 is driven to work by the screw rod motor 15, so as to realize the reciprocating movement of the discharging assembly 7 along the width of the culture bed 2, the ground wheel is driven by the motor 32 to rotate, so that the feeding component 7 can move back and forth along the length of the culture bed 2, and the feeding component 7 can move to a feeding preset position through the determinant movement of the feeding component 7 under the cooperation of the longitudinal moving frame and the walking component 3. The blowing device 7 during operation, at first under cylinder 73 impetus, make backup pad 71 be in the support state who stretches into in the blanking passageway, potted plant rack places between two backup pads 71, afterwards, again under the promotion of cylinder 73, be in the withdrawal state of withdrawing from the blanking passageway with backup pad 71, a plurality of potted plant rack move down under the effect of self gravity, backup pad 71 resets in the time of system setting, the potted plant rack of least significant end is located the below of two backup pads 71 and backup pad 71 holds remaining potted plant rack this moment, later dial the potted plant rack of bottommost under the effect of dialling board 72 and leave, wherein, the periphery of dialling board 72 is provided with dials tooth 74, conveniently dial away from potted plant rack through dialling tooth 74.
Further, referring to fig. 2 and 3, the distance between the supporting plates 71 is adjustably set, two ends of one sliding plate 5 are slidably connected to the transverse guide rails 4, an adjusting cylinder 9 is arranged on the upper end face of one transverse guide rail 4, the telescopic end of the adjusting cylinder 9 is fixed on the sliding plate 5 which is slidably set, when the size of the potted plant frame is changed, the sliding plate 5 is driven by the adjusting cylinder 9 to move along the length of the transverse guide rail 4, so that the distance between the two supporting plates 71 is adjusted, the discharging assembly 7 is suitable for potted plant frames of different models, and the utilization rate of the discharging assembly 7 is improved.
Further, referring to fig. 1 and 2, the cultivation bed further comprises a positioning assembly, the positioning assembly comprises a laser radar sensor 10, light emitted by the laser radar sensor 10 can surround the periphery of the area of the cultivation bed 2, a limiting trigger block 21 is arranged along the width direction of the longitudinal moving frame and on the opposite side surfaces of the two moving tables 14, when the emptying assembly 7 moves along the length direction of the screw rod 11, when the limit trigger block 21 touches the light rays emitted by the laser radar sensors 10 on both sides of the cultivation bed 2 in the width direction, the lead screw sliding table device 1 in the longitudinal moving frame stops working, and the discharging component 7 stops moving at the same time, similarly, when the emptying assembly 7 moves along the length direction of the cultivation bed 2, when the limiting trigger block 21 touches light rays emitted by the laser radar sensors 10 on two sides of the length direction of the cultivation bed 2, the walking assembly 3 stops working, and at the moment, the emptying assembly 7 stops moving.
The invention also provides a potted plant frame placing method, which comprises the following steps:
s1, stacking the pot culture frames, exposing the edge capable of being shifted, and supporting the edge of the pot culture frame at the bottommost end by the supporting plate 71;
s2, removing the support, reloading the support after the set time until the bottom end of the support faces the edge of a second pot culture frame, and enabling the stacked pot culture frames to freely fall for a certain distance;
and S3, poking the edge of the pot frame at the bottommost end to enable the pot frame to fall.
Further, the placing moving path is set as a determinant, whether the edge of the row or the column is reached is judged before placing, and row changing or stopping is carried out according to the judgment result.
The discharge assembly 7 moves according to the track preset by the controller 8 under the action of the controller 8 controlling the longitudinal moving frame and the walking assembly 3, namely, the walking navigation and correction are realized according to PID control:
wherein: kpAs a proportional control coefficient, KIFor integral control coefficient, KDU (k) the output of the displacement device as a derivative of the control coefficient;
Δu(k)＝Kp*[e(k)-e(k-1)]+KI*e(k)+KD*[e(k)-2e(k-1)+e(k-2)]
wherein: Δ u (k) is the amount of change in output, and the offset value e (k) is determined by the tracking offset position, and when the offset position is "on center", the offset e (k) is 0; when the travel deviates backwards, the deviation value is a positive value; when the travel deviates forward, the deviation value is negative.
The above embodiments are merely illustrative of the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the content of the present invention and implement the invention, and not to limit the scope of the invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the scope of the present invention.
Claims (8)
1. A potted plant rack placement device, comprising:
a longitudinal moving frame which is longitudinally movably disposed on a horizontal plane;
a transverse guide rail which extends transversely on a horizontal plane and is arranged on the longitudinal moving frame, and a sliding plate is configured on the transverse guide rail and can be arranged on the transverse guide rail in a transversely moving manner;
the blowing subassembly, the blowing subassembly sets up on the slide, the blowing subassembly includes but the horizontal rotation sets up the backup pad and the stirring board of rotatable setting on vertical face, the backup pad is provided with two and two at least form the blanking passageway between the backup pad, the backup pad has at least and withdraws from the blanking passageway and support state two kinds of states of stretching into the blanking passageway, the backup pad can switch with the time interval of settlement between these two kinds of states, it sets up to stir the board below in order to stir a potted plant frame that falls out in the blanking passageway downwards.
2. A pot holder placement device according to claim 1, wherein: it still includes locating component, locating component includes the laser radar sensor, the light that the laser radar sensor was launched can be around in the regional periphery of cultivation bed.
3. A pot holder placement device according to claim 1 or 2, wherein: the bottom end of the longitudinal moving frame is provided with a walking assembly, and the walking assembly comprises a land wheel and a motor used for driving the land wheel to rotate.
4. A pot holder placement device according to claim 3, wherein: the distance between the support plates is adjustably set.
5. A pot holder placement device according to claim 4, wherein: the periphery of the poking plate is provided with poking teeth.
6. A pot holder placement device according to claim 5, wherein: the supporting plate is rotatably connected to the sliding plate and is pushed to rotate by the air cylinder.
7. A potting frame placement method is characterized by comprising the following steps:
s1, stacking the pot culture frames, exposing the edges capable of being shifted, and supporting the edges of the pot culture frames at the bottommost end;
s2, removing the support, reloading the support after the set time until the bottom end of the support faces the edge of a second pot culture frame, and enabling the stacked pot culture frames to freely fall for a certain distance;
and S3, poking the edge of the pot frame at the bottommost end to enable the pot frame to fall.
8. The method of claim 7, further comprising: setting the placing moving path as a determinant, judging whether the edge of the row or the column is reached before placing, and implementing line changing or stopping according to the judgment result.
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| CN202111300391.5A CN114009240B (en) | 2021-11-04 | 2021-11-04 | Potted plant frame placement device and placement method |
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| CN202111300391.5A CN114009240B (en) | 2021-11-04 | 2021-11-04 | Potted plant frame placement device and placement method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114698485A (en) * | 2022-04-02 | 2022-07-05 | 浙江建设职业技术学院 | Assembled flower bed |
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