CN208746120U - Vertical planting frame AGV transport vehicle and vertical planting frame - Google Patents
Vertical planting frame AGV transport vehicle and vertical planting frame Download PDFInfo
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- CN208746120U CN208746120U CN201820782720.1U CN201820782720U CN208746120U CN 208746120 U CN208746120 U CN 208746120U CN 201820782720 U CN201820782720 U CN 201820782720U CN 208746120 U CN208746120 U CN 208746120U
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- vertical planting
- planting frame
- support rod
- support
- bar
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Abstract
The utility model relates to mechanized cultivation fields, more particularly to vertical planting frame AGV transport vehicle and vertical planting frame, including AGV moving trolley, the turntable being fixedly installed on above AGV moving trolley, and it is fixed on the movable supporting frame on turntable, it further include lifting body, the lifting body is fixed below turntable, and the detecting element for detecting vertical planting rack position is provided on the movable supporting frame.By by AGV technology, it can be realized fixed point to load, pinpoint unloading, it is that mechanized farming, especially greenhouse mechanized farming and agricultural modernization provide support to realize vertical planting frame in transplanting/picking workshop and cultivate the automatic transhipment between vinyl house.
Description
Technical field
The present invention relates to mechanized cultivation field, more particularly to the transhipment of vertical planting frame during mechanized cultivation,
More particularly to stereoscopic cultivating frame AGV transport vehicle and vertical planting frame.
Background technique
Mechanized cultivation is the developing direction of modern agriculture.Using vertical planting frame, efficient greenhouse face can be utilized
Product, cooperative mechanicalization transplanting and picking, can be achieved with the mechanization and agricultural modernization of greenhouse gardening.Vertical planting frame one at present
As be all to be cultivated in special cultivation greenhouse.But transplanting and picking are carried out in other workshop or space.Cause
This, occurs as soon as such a problem, how to realize vertical planting frame cultivate greenhouse (vinyl house) and picking/transplanting workshop it
Between transhipment.
In the prior art, it after usually utilizing manual handling or manual handling to the means of transports such as flat car, utilizes
The operating of flat car realization vertical planting frame.But this means of transportation be it is non-efficient, also limit agricultural automation, nothing
The propulsion of peopleization.
AGV is a kind of automatic transportation vehicle, also known as automatic guided vehicle (Automated Guided Vehicle), it is filled
It has electricity and magnetically or optically waits homing guidances device, can be travelled along defined guide path, there is safeguard protection and various shiftings
Carry the transport vehicle of function.AGV carrier is not required to driver in industrial application, with chargeable battery for its power resources.
It can pass through computer generally to control its travelling route and behavior, or utilize electromagnetic path (electromagnetic path-
Following system) its travelling route is set up, electromagnetic path sticks on floor, automatic guided vehicle then follows electromagnetism rail
Message brought by road is moved and is acted.
AGV compared with walking, is creeped or other non-wheeled mobile robots have action fast characterized by wheel type mobile
The prompt, advantages such as work efficiency is high, structure is simple, controllability is strong, safety is good.With other equipment phase common in material conveying
Than the zone of action of AGV is not limited without being laid with the fixed device such as track, support saddle frame by place, road and space.Therefore,
In automatic Material Handling System, its automaticity and flexibility most can be fully embodied, realizes efficient, economic, flexible unmanned metaplasia
It produces.
Since AGV has above-mentioned numerous advantages, AGV has been widely used in a variety of transit links and correlation at present
In field, for example CN103482317B discloses a kind of AGV from walking discharging transport vehicle, and CN206906890U discloses one kind
Intelligently spinning transport vehicle, CN206812858U disclose transport AGV trolley, CN206156239U in a kind of field and disclose one AGV
Kind package shipment sorts AGV trolley, and CN106741043A discloses a kind of cotton mill bar cylinder automated transport system based on AGV.
It using based on AGV in currently available technology, is designed by structure, realizes multiple fields, under several scenes
Automatic transportation.
Summary of the invention
Goal of the invention of the invention is to apply AGV transportation technology in mechanized cultivation, especially vertical planting frame
In carrying, so that vertical planting frame is in transplanting/picking workshop and cultivates the automatic transhipment between vinyl house.
In order to achieve the above-mentioned object of the invention, the invention discloses vertical planting frame AGV transport vehicles, to realize vertical planting
Transhipment of the frame between different operation position, the vertical planting frame are different from existing vertical planting frame, in two vertical cultivations
The corresponding position of training frame, which is respectively parallel to cultivation rack means, mobile bar, and the vertical planting frame AGV transport vehicle includes
AGV moving trolley, the turntable being fixedly installed on above AGV moving trolley, and the movable supporting frame being fixed on turntable,
It further include lifting body, the lifting body is fixed below turntable, and the movable supporting frame by setting in parallel along the vertical direction
The top of first support bar and the second support bar composition set, the first support bar and second support bar is respectively arranged with and stands
The card and clamp of the mobile bar cooperation of formula cultivating stand, the card and height of the clamp apart from ground, which are less than in vertical planting frame, to be moved
Height of the bar apart from ground, the horizontal distance phase between horizontal distance and mobile bar between first support bar and second support bar
Together, the detecting element for detecting vertical planting rack position is provided on the movable supporting frame.
When movable supporting frame enters vertical planting frame, first support bar and second support bar be formed by plane with it is vertical
The mobile bar of cultivating stand is parallel；AGV moving trolley is mobile, and movable supporting frame is driven to enter under vertical planting frame；Then, pass through
Turntable rotation, first support bar and second support bar are located at below two mobile bars of vertical planting frame, lifting body
It jacks up, during first support bar and second support bar rise, mobile bar card and in first support bar and second support bar
In the card and clamp on top, and with the continuous raising of lifting body, entire vertical planting frame is lifted, small by AGV movement
The movement of vehicle, after being transported to determining position, lifting body is fallen, and the bottom of vertical planting frame touches ground, jacking
Mechanism continues to fall, and separates positioned at first support bar with the card on second support bar top and clamp with mobile bar, works as lifting body
After being classified as completely, turntable rotation, first support bar and second support bar rotate 90 °, so that first support bar and second
It is parallel with the mobile bar of vertical planting frame that support rod is formed by plane, drives movable supporting frame to exit by AGV moving trolley
Vertical planting frame.
In this process, the detection signal of detecting element passes through wired or be wirelessly transmitted to lifting body
Place, lifting body are made jack-up according to the signal and are acted.
The movable supporting frame further includes third support rod disposed in parallel along the vertical direction as a preferred technical solution,
With the 4th support bar group at the top of the third support rod and the 4th support rod is respectively arranged with the movement with vertical planting frame
The card and clamp of bar cooperation, the card and height of the clamp apart from ground are less than height of the mobile bar apart from ground in vertical planting frame
Degree, the horizontal distance between horizontal distance and mobile bar between third support rod and the 4th support rod are identical.
During with the cooperation of vertical planting frame, first support bar with one group of third support rod, second support bar and the
Four one group of support rods, two groups of support rods cooperate with two mobile bars respectively, effectively increase vertical planting frame and lift, in moving process
Stability.
Mode as a further preference is additionally provided with the 5th support rod between first support bar and third support rod.
The 6th support rod is additionally provided between second support bar and the 4th support rod.It can be with by the 5th support rod and the 6th support rod
Effectively enhancing first support bar and third support rod between or the Connected degree between second support bar and the 4th support rod,
Further increase the stability in the movable supporting frame course of work.
More preferably mode is to be additionally provided with the 7th support rod, third before first support bar and second support bar
The 8th support rod is additionally provided between support rod and the 4th support rod.It in this way, can be by first support bar, second
Strut, third support rod, the 4th support rod are connected as a stress entirety, are being moved through to further increase movable supporting frame
Stability in journey.
Mode still more preferably be further include having reinforcing rod, the reinforcing rod is set to first support bar and third
Between support rod, and/or it is set between second support bar and the 4th support rod, and/or be set to first support bar and second
Between support rod, and/or it is set between third support rod and the 4th support rod.
It is that the card and clamp are I-shaped clamp fixed vertically as another preferred technical solution.
More preferably technical solution is that the inside bottom surface of the card and clamp is and the matched arc of mobile bar.
I-shaped clamp and preferred lower arcuate surface are provided to reinforce the fitness between support rod and mobile bar,
To improve the stability in transportational process.
The lifting body is cylinder either electric cylinder.
In a preferred technical solution, the detecting element is photoelectric sensor.
It is further preferred that Position Fixing Navigation System is provided in AGV moving trolley, transplanting/picking workshop and cultivation plastics
It is provided with calling terminal system at greenhouse, there is wireless telecommunications connection between Position Fixing Navigation System and calling terminal system.
Preferably, calling terminal system uses Pad system.
Further, the Position Fixing Navigation System of AGV moving trolley is by spaced two dimensional code in the present invention
It realizes.Preferably, one piece of two dimensional code for having preset encoding information is set at interval of 1 meter, these two dimensional codes are marked
Be denoted as No. 1 two dimensional code, No. 2 two dimensional codes, No. 3 two dimensional codes ..., in the control system of AGV moving trolley, respectively to these two
The coded program design that code carries out action control is tieed up, to effectively realize the ordered movement and action control of AGV moving trolley.Tool
The control mode of body can refer to disclosure in the prior art, not originally practical to control AGV moving trolley with two dimensional code
Novel originality content, still, be it is a kind of preferably suitable for the AGV moving trolley walking path of vertical planting frame transport and
Method of controlling operation.
In addition, there are also a kind of preferably suitable for the AGV moving trolley walking path of vertical planting frame transport and movement control
Method processed is by the way of magnetic stripe and electronic tag.Magnetic stripe is embedded in corresponding region, and is placed in vertical planting frame
Position at marked with electronic tag.Then fixed point unloading is completed by the identification function on electronic tag and AGV moving trolley.
This control method, in the control of existing AGV moving trolley and disclosed, realizing can be with reference in these disclosure
Hold.
More preferably technical solution be further include having query monitor center, which can be to live AGV
State is monitored；Real-time management either inside demand information, management and running；The carrying flowing water for recording AGV facilitates inquiry to remember
Record；Intelligent management AGV state of charge, real time monitoring；The AGV dispatcher software at scene is mounted in monitoring center.
Simultaneously the utility model be also disclosed with the matched vertical planting frame of vertical planting frame transport vehicle above-mentioned, including be in one
Two vertical planting frames for determining angle, are arranged in parallel with multilayer cultivation shelf on each vertical planting frame, and feature exists
In: being respectively parallel to cultivation rack means in the corresponding position of two vertical planting frames has mobile bar.
Technical solution disclosed by the invention, can be realized the automatic transportation of vertical planting frame, and by by
AGV technology can be realized fixed point and load, pinpoint unloading, to realize vertical planting frame in transplanting/picking workshop and cultivate plastics
Automatic transhipment between greenhouse is that mechanized farming, especially greenhouse mechanized farming and agricultural modernization provide support.
Detailed description of the invention
Fig. 1 is vertical planting frame AGV transport vehicle schematic diagram.
Fig. 2 is vertical planting frame schematic diagram.
Fig. 3 is schematic diagram after vertical planting frame AGV transport vehicle jacks up.
Fig. 4 is area schematic locating for vertical planting frame.
Specific embodiment
In order to better understand the present invention, we in conjunction with specific embodiments further explain the present invention below
It states.
Embodiment 1
As shown in Figure 1, vertical planting frame AGV transport vehicle, to realize that vertical planting frame turns between different operation position
Fortune.Vertical planting frame mentioned here, as shown in Figure 2, including two vertical planting frames 1 at an angle, each
Multilayer cultivation shelf 2 is arranged in parallel on vertical planting frame, specifically, in the corresponding position of two vertical planting frames
Being respectively parallel to cultivation rack means has mobile bar 3.The vertical planting frame AGV transport vehicle includes AGV moving trolley 4, fixed
The turntable 5 being set to above AGV moving trolley, and the movable supporting frame 6 being fixed on turntable, further include jack
Structure 7, as shown in figure 3, the lifting body 7 is fixed on 5 lower section of turntable, the movable supporting frame by setting in parallel along the vertical direction
The top of first support bar 61 and second support bar 62 composition set, the first support bar 61 and second support bar 62 is set respectively
It is equipped with the card and clamp 8 with the cooperation of the mobile bar of vertical planting frame, the card and height of the clamp apart from ground are less than vertical cultivation
Height of the mobile bar apart from ground in frame is trained, between the horizontal distance and mobile bar between first support bar and second support bar
Horizontal distance is identical, and the detecting element for detecting vertical planting rack position is provided on the movable supporting frame.
In the present embodiment, the movable supporting frame further includes setting in parallel along the vertical direction as a preferred technical solution,
The top of the third support rod 63 set and the 4th support rod 64 composition, the third support rod 63 and the 4th support rod 64 is set respectively
It is equipped with the card and clamp 8 with the cooperation of the mobile bar of vertical planting frame, the card and height of the clamp 8 apart from ground are less than vertical cultivation
Train height of the mobile bar apart from ground in frame, horizontal distance and mobile bar between third support rod 63 and the 4th support rod 64
Between horizontal distance it is identical, as shown in Figure 1.
When with vertical planting frame cooperation during, first support bar 61 with 63 1 groups of third support rod, second support bar
62 and 64 1 groups of the 4th support rod, two groups of support rods cooperate with two mobile bars respectively, effectively increase vertical planting frame and lift, move
Stability during dynamic.
Mode as a further preference is additionally provided with the 5th support between first support bar 61 and third support rod 63
Bar 65.The 6th support rod 66 is additionally provided between second support bar 62 and the 4th support rod 64.By the 5th support rod 65 with
6th support rod 66 can effectively enhance between first support bar 61 and third support rod 63 or second support bar 62 with
Connected degree between 4th support rod 64 further increases the stability in the movable supporting frame course of work.
More preferably mode is to be additionally provided with the 7th support rod before first support bar 61 and second support bar 62
67, the 8th support rod 68 is additionally provided between third support rod 63 and the 4th support rod 64.It in this way, can be by first
Support rod 61, second support bar 62, third support rod 63, the 4th support rod 64 are connected as a stress entirety, thus further
Improve stability of the movable supporting frame in moving process.
Mode still more preferably be further include having reinforcing rod 9, the reinforcing rod is set to first support bar and third
Between support rod, and/or it is set between second support bar and the 4th support rod, and/or be set to first support bar and second
Between support rod, and/or it is set between third support rod and the 4th support rod, as shown in Figure 1, in the present embodiment, we
Respectively between first support bar 61 and third support rod 63, and it is set between second support bar 62 and the 4th support rod 64,
And be set between first support bar 61 and second support bar 62, and be set to third support rod 63 and the 4th support rod 64 it
Between.
It is that as shown in Fig. 1 or Fig. 3, the card and clamp are vertical as another preferred technical solution
Fixed I-shaped clamp.
More preferably technical solution is that the inside bottom surface of the card and clamp is and the matched arc of mobile bar, such as Fig. 1
In enlarged diagram shown in like that.
I-shaped clamp and preferred lower arcuate surface are provided to reinforce the fitness between support rod and mobile bar,
To improve the stability in transportational process.
When movable supporting frame enters vertical planting frame, first support bar and second support bar be formed by plane with it is vertical
The mobile bar of cultivating stand is parallel；AGV moving trolley is mobile, and movable supporting frame is driven to enter under vertical planting frame；Then, pass through
Turntable rotation, first support bar and second support bar are located at below two mobile bars of vertical planting frame, lifting body
It jacks up, during first support bar and second support bar rise, mobile bar card and in first support bar and second support bar
In the card and clamp on top, and with the continuous raising of lifting body, entire vertical planting frame is lifted, small by AGV movement
The movement of vehicle, after being transported to determining position, lifting body is fallen, and the bottom of vertical planting frame touches ground, jacking
Mechanism continues to fall, and separates positioned at first support bar with the card on second support bar top and clamp with mobile bar, works as lifting body
After being classified as completely, turntable rotation, first support bar and second support bar rotate 90 °, so that first support bar and second
It is parallel with the mobile bar of vertical planting frame that support rod is formed by plane, drives movable supporting frame to exit by AGV moving trolley
Vertical planting frame.
In this example, first support bar 61 and second support bar 62 are located at the right side of drawing, third support rod 63 and the
Four support rods 64 are located at the left side of drawing, and two groups of support rods enter below vertical planting frame in this way, then turn
Dynamic platform 5 rotates, and first support bar 61 is located at the right side of drawing, second support bar 62 and the 4th support rod 64 with third support rod 63
Positioned at the right side of drawing, and start lifting body 7, with the continuous raising of lifting body 7, entire vertical planting frame is lifted,
By the movement of AGV moving trolley, after being transported to determining position, lifting body is fallen, and the bottom of vertical planting frame connects
Contact ground, lifting body continues to fall, first support bar 61, second support bar 62, third support rod 63, the 4th support rod 64
The card and clamp 8 on top are separated with mobile bar 3, and after lifting body is classified as completely, turntable rotates 90 °, first support bar 61
The right side of drawing is located in second support bar 62, third support rod 63 and the 4th support rod 64 are located in the left side of drawing, from
And making first support bar 61 and second support bar 62, third support rod 63 and the 4th support rod 64 are formed by plane in other words
It is parallel with the mobile bar of vertical planting frame, drive movable supporting frame to exit vertical planting frame by AGV moving trolley.
In this process, the detection signal of detecting element 10 passes through wired or be wirelessly transmitted to lifting body
Place, lifting body is made jack-up according to the signal and is acted, as anticipating shown in enlarged drawing as shown in figure 1.
The lifting body is cylinder either electric cylinder.
In a preferred technical solution, the detecting element 10 is photoelectric sensor.
Preferably, the AGV moving trolley walking is on the electromagnetic path 11 that magnetic stripe is formed, corresponding to vertical planting frame
Electronic tag 12 is provided at position, as shown in Figure 4, outline border is region locating for schematical vertical planting frame.
It is further preferred that Position Fixing Navigation System is provided in AGV moving trolley, transplanting/picking workshop and cultivation plastics
It is provided with calling terminal system at greenhouse, there is wireless telecommunications connection between Position Fixing Navigation System and calling terminal system.
Preferably, calling terminal system uses Pad system.
More preferably technical solution be further include having query monitor center, which can be to live AGV
State is monitored；Real-time management either inside demand information, management and running；The carrying flowing water for recording AGV facilitates inquiry to remember
Record；Intelligent management AGV state of charge, real time monitoring；The AGV dispatcher software at scene is mounted in monitoring center.
The foregoing is a specific embodiment of the present invention.It should be pointed out that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (8)
1. vertical planting frame AGV transport vehicle, it is characterised in that: the vertical planting frame AGV transport vehicle includes AGV moving trolley,
The turntable being fixedly installed on above AGV moving trolley, and the movable supporting frame being fixed on turntable, further include jack
Structure, the lifting body are fixed below turntable, and the movable supporting frame is by the first support disposed in parallel along the vertical direction
The top of bar and second support bar composition, the first support bar and second support bar is respectively arranged with the shifting with vertical planting frame
The card and clamp of lever cooperation, the card and height of the clamp apart from ground are less than mobile bar in vertical planting frame apart from ground
Highly, the horizontal distance between the horizontal distance between first support bar and second support bar and mobile bar is identical, the movement
The detecting element for detecting vertical planting rack position is provided on support frame.
2. vertical planting frame AGV transport vehicle according to claim 1, it is characterised in that: the movable supporting frame further includes
Third support rod disposed in parallel and the 4th support bar group are at the top of the third support rod and the 4th support rod along the vertical direction
End is respectively arranged with card and clamp with the cooperation of the mobile bar of vertical planting frame, and the card and height of the clamp apart from ground are less than
Height of the mobile bar apart from ground in vertical planting frame, horizontal distance and mobile bar between third support rod and the 4th support rod
Between horizontal distance it is identical.
3. vertical planting frame AGV transport vehicle according to claim 2, it is characterised in that: in first support bar and third branch
The 5th support rod is additionally provided between strut；
The 6th support rod is additionally provided between second support bar and the 4th support rod.
4. vertical planting frame AGV transport vehicle according to claim 3, it is characterised in that: in first support bar and second
It is additionally provided with the 7th support rod before strut, is additionally provided with the 8th support rod between third support rod and the 4th support rod.
5. vertical planting frame AGV transport vehicle according to claim 4, it is characterised in that: it further include having reinforcing rod, it is described to add
Strong bar is set between first support bar and third support rod, and/or is set between second support bar and the 4th support rod,
And/or it is set between first support bar and second support bar, and/or be set between third support rod and the 4th support rod.
6. vertical planting frame AGV transport vehicle according to claim 1, it is characterised in that: the card and clamp are vertical solid
Fixed I-shaped clamp.
7. vertical planting frame AGV transport vehicle according to claim 6, it is characterised in that: the inside bottom of the card and clamp
Face is and the matched arc of mobile bar.
8. and the matched vertical planting frame of vertical planting frame transport vehicle described in any one of claim 1-7, including be in one
Two vertical planting frames for determining angle, are arranged in parallel with multilayer cultivation shelf on each vertical planting frame, and feature exists
In: being respectively parallel to cultivation rack means in the corresponding position of two vertical planting frames has mobile bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820782720.1U CN208746120U (en) | 2018-05-24 | 2018-05-24 | Vertical planting frame AGV transport vehicle and vertical planting frame |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820782720.1U CN208746120U (en) | 2018-05-24 | 2018-05-24 | Vertical planting frame AGV transport vehicle and vertical planting frame |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208746120U true CN208746120U (en) | 2019-04-16 |
Family
ID=66053020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820782720.1U Expired - Fee Related CN208746120U (en) | 2018-05-24 | 2018-05-24 | Vertical planting frame AGV transport vehicle and vertical planting frame |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208746120U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110301223A (en) * | 2019-06-21 | 2019-10-08 | 重庆市农业科学院 | Three-dimensional vegetable cultivates Intelligent logistics work system |
| CN110533211A (en) * | 2019-06-21 | 2019-12-03 | 重庆市农业科学院 | Three-dimensional vegetable cultivates intelligent optimization management method |
| CN115159008A (en) * | 2022-07-07 | 2022-10-11 | 东风时代(武汉)电池系统有限公司 | Quick transfer device and system of battery module |
-
2018
- 2018-05-24 CN CN201820782720.1U patent/CN208746120U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110301223A (en) * | 2019-06-21 | 2019-10-08 | 重庆市农业科学院 | Three-dimensional vegetable cultivates Intelligent logistics work system |
| CN110533211A (en) * | 2019-06-21 | 2019-12-03 | 重庆市农业科学院 | Three-dimensional vegetable cultivates intelligent optimization management method |
| CN110533211B (en) * | 2019-06-21 | 2022-03-11 | 重庆市农业科学院 | Intelligent optimization management method for three-dimensional vegetable cultivation |
| CN115159008A (en) * | 2022-07-07 | 2022-10-11 | 东风时代(武汉)电池系统有限公司 | Quick transfer device and system of battery module |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210818 Address after: 210012 floor 3, building 4, No. 168, software Avenue, Yuhuatai District, Nanjing, Jiangsu Province Patentee after: Qiya Artificial Intelligence Technology Research Institute (Nanjing) Co.,Ltd. Address before: Nanjing City, Jiangsu province 210014 Zhongling Street No. 50 Patentee before: JIANGSU ACADEMY OF AGRICULTURAL SCIENCES |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190416 |