WO2021184662A1

WO2021184662A1 - Automatic transfer system for transparent root system cultivation containers

Info

Publication number: WO2021184662A1
Application number: PCT/CN2020/109267
Authority: WO
Inventors: 吴劼; 姜东�; 丁艳锋; 周国栋
Original assignee: 南京根田科技有限公司
Priority date: 2020-03-15
Filing date: 2020-08-14
Publication date: 2021-09-23
Also published as: CN111301918A

Abstract

An automatic transfer system for transparent root system cultivation containers, comprising: transparent root system cultivation containers (5); a cultivation frame (2), used for loading a plurality of the transparent root system cultivation containers (5); a grasping area, comprising a grasping device (4) and a stack transfer assembly (6), the stack transfer assembly (6) comprising a pushing mechanism, the pushing mechanism being used for pushing the plurality of the transparent root system cultivation containers (5) in the cultivation frame (2) out of the cultivation frame (2), and the grasping device being used for grasping the transparent root system cultivation containers (5) and transferring same between the pushing mechanism and a conveying line (7); and a waiting area, comprising a gantry lifting mechanism (3) used for lifting the cultivation frame (2) loaded with the transparent root system cultivation containers (5) and placing same on the stack transfer assembly (6), the stack transfer assembly (6) being used for transferring the cultivation frame (2) and the transparent root system cultivation containers (5) between the grasping area and the waiting area. The whole automatic transfer system is based on the design concepts of modularization and high efficiency, achieving the purpose of automatically placing transparent root system cultivation containers on and removing transparent root system cultivation containers from a conveying line, meeting the requirements of high throughput and automatic transfer, and increasing the transfer efficiency.

Description

Automatic transport system for transparent root cultivation container

Technical field

The invention relates to an automatic transport system for a transparent root cultivation container, in particular to an automatic transport system for a transparent root cultivation container for imaging after the transparent root cultivation container is lifted and grabbed to a conveying line.

Background technique

The research of gene-environment-phenotype interaction mechanism requires modern information technology with big data as the core. As the efficiency of sequencing technology increases and costs decrease, crop genome data continues to grow and improve; and the current phenotypic information acquisition technology is lagging, resulting in its inability to match huge genomics data, which seriously hinders the breeding process. The construction of automated equipment for non-destructive, efficient, and systematic collection of phenotypic information has become a hot issue in agronomy, plant physiology, and genetics and breeding that needs to be solved urgently.

In recent years, many academic institutions and companies have devoted themselves to the research and development of phenotyping platforms. At present, the aboveground phenotype determination technology is relatively mature, most of which are based on the "Plant-to-Sensor" conveyor belt operation mode combined with the 360-degree imaging of the digital camera to collect the phenotypic information of the crop. However, how to place the cultivation container on the conveyor belt to enter the imaging area for imaging with high throughput, and to remove the imaged cultivation container from the conveyor belt is an urgent problem to be solved. Compared with the grabbing and handling of root cultivation containers from the ground, the transportation of root cultivation containers often needs to consider the integrated light shield, the destacking design of the container, the height of the container, the difficulty of handling caused by the container's permeate collection tray, and the transportability. Therefore, the fully automated handling and grasping of root cultivation containers requires more detailed, systematic and comprehensive consideration, and the above problems need to be solved systematically.

technical problem

In view of the above-mentioned problems, the present invention aims to provide an automatic transport system for transparent root cultivation containers, which can place the cultivation containers on the conveyor belt or remove the cultivation containers on the conveyor belt with high throughput.

Technical solutions

The present invention adopts the following technical solutions.

An automatic transport system for a transparent root system cultivation container, the system includes a transparent root system cultivation container; a cultivation frame for loading a plurality of the transparent root system cultivation containers; a grabbing area, including a grabbing device and a stacking assembly. The assembly includes an ejection mechanism, the ejection mechanism is used to eject a plurality of the transparent root cultivation containers in the cultivation frame from the cultivation frame, and the grabbing device is used to grab the transparent root cultivation containers in the ejection mechanism and transport Transfer between lines; waiting area, including a gantry lifting mechanism, used to lift the cultivation frame loaded with the transparent root cultivation container and place it on the stacking assembly; the stacking assembly is used in the grabbing area and waiting Transfer the cultivation frame and the transparent root cultivation container between zones.

Preferably, the transparent root cultivation container automatic transfer system further includes a bottom frame, the grabbing device and the gantry lifting mechanism are sequentially arranged on the horizontal frame of the bottom frame, and the transfer stacking assembly is arranged on the inner side of the horizontal frame and can be arranged along the horizontal frame. Sliding in the longitudinal direction of the transverse frame.

Preferably, the transparent root system cultivation container includes a cultivation base, a transparent inner tube and a transparent outer tube nested and fixed on the cultivation base, a transparent top cover is arranged on the top of the transparent inner tube, and the transparent outer tube The upper and lower openings; the transparent inner tube and the transparent outer tube form a root ring-shaped cultivation space, a shading cover is placed above the root ring-shaped cultivation space, and the shading cover overlaps the transparent inner tube and the transparent outer tube The top of the tube.

Preferably, the cultivation frame is a rectangular parallelepiped frame, the inner bottom of which is staggered to form a plurality of rectangular openings, each of the transparent root cultivation container corresponds to one of the rectangular openings, and the cultivation base of the transparent root cultivation container is placed on On the rectangular opening, the light-shielding cover on the top of the transparent root cultivation container is placed on the top four edges of the rectangular parallelepiped frame.

Preferably, the four corners of the rectangular mouth are provided with extensions facing the center of the rectangle for placing the cultivation base, and the middle positions of the four sides of the rectangular mouth are provided with raised edges, and the extensions and the raised edges are formed Inwardly concave area; the extension part is provided with an L-shaped protrusion above the corner of the rectangle.

Preferably, the grasping device includes: a bracket, a horizontal sliding assembly, and a clamping and lifting assembly, the bracket is arranged between the conveying line and the waiting area; the horizontal sliding assembly includes a transverse support plate and a boom, the transverse support plate is arranged vertically On a horizontal frame body on the top of the frame close to one end of the conveying line and capable of sliding along the length of the horizontal frame body, the boom is vertically connected to the lateral support plate and can slide along the axis of the lateral support plate; The clamping and lifting assembly is used for clamping and driving the transparent root cultivation container to move up and down along the boom.

Preferably, the horizontal sliding assembly further includes a driving mechanism that drives the lateral support plate to slide along the length of the horizontal frame, and a drive mechanism that drives the boom to slide along the axis of the lateral support plate; the gripping and lifting assembly includes the bottom of the boom The connecting part, the driving mechanism for driving the connecting part to move up and down along the boom, and the clamping mechanism provided at the lower end of the connecting part; the clamping mechanism includes a fixed mounting plate, and two clamping jaws are mounted on the fixed mounting plate And it forms a horizontal moving pair with the fixed mounting plate, and the fixed mounting plate is equipped with a driving mechanism for driving the two clamping jaws to move toward or away from each other synchronously.

Preferably, the transfer stacking assembly includes a base support, a transfer stacking bottom plate on the base support, and an ejection mechanism arranged on the transfer stacking bottom plate; the ejection mechanism includes a plurality of transfer stacking rod columns, and each transfer stack The pole upright column corresponds to the rectangular opening at the bottom of the cultivation frame, and the top of each of the turning stacking pole upright columns is provided with an upper plate for placing a transparent root cultivation container. The size of the upper plate corresponds to the rectangular opening. A side wall is provided, and the position of the side wall corresponds to the recessed area of the rectangular opening. The rotating stacking rod column cooperates with the upper plate to eject the transparent root cultivation container from the rectangular opening at the bottom of the cultivation frame.

Preferably, the gantry lifting mechanism includes a gantry frame, two vertical lifting components are slidably arranged on the two vertical frame bodies on the gantry frame to cooperate with the cultivation frame and drive it to move up and down.

Preferably, each of the vertical lifting components includes a lifting arm slidably arranged on the vertical frame, a support arm fixedly arranged at the bottom of the lifting arm for supporting the cultivation frame, and driving the lifting arm along The driving mechanism for the vertical frame body to slide up and down.

Beneficial effect

In the present invention, a plurality of the transparent root cultivation containers in the cultivation frame are ejected from the cultivation frame through the ejection mechanism of the transstack assembly, and the grasping device grabs the transparent root cultivation containers and places them on the conveying line and conveys them. The transparent root system cultivation container on the line is removed and placed on the ejection mechanism; through the mutual cooperation of the grabbing device and the palletizing assembly, the grabbing and transporting of the transparent root system cultivation container on the conveying line is realized. The entire automatic transfer system is based on a modular and high-efficiency design concept to achieve the purpose of automatic grasping and handling of transparent root cultivation containers on the conveyor line, meet the requirements of high-throughput and automated transportation, and improve the efficiency of transportation.

Description of the drawings

Figure 1 is a schematic diagram of the structure of the automatic transport system of the present invention.

Figure 2 is a schematic diagram of the structure of the bottom frame of the present invention.

Fig. 3 is a schematic diagram of the structure of the transparent root cultivation container of the present invention.

Fig. 4 is a schematic diagram of the structure of the cultivation frame of the present invention.

Fig. 5 is an enlarged view of part A in Fig. 4.

Fig. 6 is a schematic diagram of the structure of the grasping device of the present invention.

Fig. 7 is a schematic diagram of the structure of the clamping and lifting assembly of the present invention.

Figure 8 is a schematic diagram of the structure of the transstack assembly of the present invention.

Fig. 9 is a schematic diagram of the structure of the gantry lifting mechanism of the present invention.

Embodiments of the present invention

Hereinafter, the preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, so as to have a clearer understanding of the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but merely to illustrate the essential spirit of the technical solution of the present invention. In addition, the unsubmitted parts of the present invention are all prior art. The AGV in the present invention refers to an Automated Guided Vehicle.

As shown in Figure 1, the present invention provides an automatic transport system for a transparent root cultivation container. The system includes a transparent root cultivation container 5; a cultivation frame 2 for loading a plurality of the transparent root cultivation containers; a grabbing area including The grabbing device 4 and the transpiling assembly 6, the transpiling assembly 6 includes an ejection mechanism, the ejection mechanism is used to eject a plurality of the transparent root system cultivation containers in the cultivation frame from the cultivation frame, and the grabbing device is used For grabbing the transport of the transparent root cultivation container between the ejector mechanism and the conveying line 7; the waiting area includes a gantry lifting mechanism 3 for lifting the cultivation frame 2 loaded with the transparent root cultivation container Placed on the transstack assembly 6; the transstack assembly 6 is used to transfer the cultivation frame and the transparent root cultivation container between the grabbing area and the waiting area; the conveying line is provided with positioning tools for placing the transparent root cultivation container 7- 1.

Further, as shown in FIG. 2, the automatic transfer system for transparent root cultivation containers further includes a bottom frame 8. The grabbing device and the gantry lifting mechanism are sequentially arranged on the horizontal frame 8-7 of the bottom frame 8. The transfer stack assembly 6 It is arranged inside the horizontal frame 8-7 and can slide along the length of the horizontal frame 8-7.

Further, the bottom frame 8 is provided with walking wheels 8-8 to facilitate the movement of the entire transparent root cultivation container automatic transfer system; the bottom frame 8 is provided with a driving roller assembly 6 that slides along the length of the transverse frame 8-7 The drive mechanism, preferably, the drive mechanism can be a ball screw drive mechanism, which includes a ball screw 8-5 horizontally arranged on the transverse frame 8-7, which is distributed in parallel on both sides of the ball screw 8-5 and fixed Two guide rails 8-3 arranged on the transverse frame 8-7, each guide rail is slidably provided with a sliding block 8-4, a nut seat on the stacking assembly 6 and the ball screw 8-5, and two guide rails 8-3 The upper slider 8-4 is fixedly connected; the ball screw 8-5 is connected to the output shaft of the motor 8-1 through a coupling, and the rotation of the motor 8-1 drives the ball screw 8-5 to rotate. At this time, the nut is seated on the ball The screw 8-5 moves linearly to drive the stacker assembly 6 to move along the two guide rails 8-3 in the length direction of the transverse frame 8-7, and the stacker assembly 6 carries the cultivation container loaded with the transparent root system. The frame moves between the grab area and the waiting area.

The bottom of the bottom frame 8 is provided with walking wheels 8-8 to facilitate the movement of the bottom frame. The horizontal frame body 8-7 of the bottom frame 8 is provided with an opening 8-6 at one end away from the grasping area, and the AGV 1 enters and transports the cultivation frame full of transparent root cultivation containers from the opening 8-6 to the waiting area.

Further, as shown in FIG. 3, the transparent root cultivation container 5 includes a cultivation base 5-3, a transparent inner tube (not shown in the figure) and a transparent outer tube nested and fixed on the cultivation base 5-3. 5-2. A transparent top cover (not shown in the figure) is provided on the top of the transparent inner tube, and the upper and lower sides of the transparent outer tube 5-2 are open; a root ring is formed between the transparent inner tube and the transparent outer tube. A light-shielding cover 5-1 is placed above the root ring-shaped cultivation space, and the light-shielding cover 5-1 is overlapped on the top of the transparent inner tube and the transparent outer tube 5-2; The cultivation space is filled with soil, and seeds are sown at a depth of 3 to 4 cm in the soil, and the crop roots grow in the soil.

Further, the transparent inner cylinder is a transparent cylinder with a wall thickness of 2mm and a height of 600mm. The transparent outer cylinder 5-2 is a transparent cylinder made of PC (polycarbonate) with a wall thickness of 2mm and a height of 700mm. The transparent top cover is the wall. A transparent conical cover with a thickness of 2mm and a height of 50mm.

Further, as shown in Fig. 4, the cultivation frame is a rectangular parallelepiped frame, and its outer bottom is provided with positioning grooves (not shown in the figure), and its inner bottom criss-cross beams are staggered to form a plurality of rectangular openings 2-1, each of which is transparent The root cultivation container 5 corresponds to one of the rectangular openings 2-1, the cultivation base 5-3 of the transparent root cultivation container 5 is placed on the rectangular opening 2-1, and the light-shielding cover 5-1 on the top of the transparent root cultivation container 5 is put on At the top four edges of the rectangular parallelepiped frame, complete shading of the roots in the transparent root cultivation container is realized on the top of the cultivation frame 2, and shading plates (not shown in the figure) are also installed around the sides of the cultivation frame 2 to realize The transparent root cultivation container is shading on the cultivation frame 2 to realize the shading treatment during root cultivation.

Further, as shown in FIG. 5, the size of the rectangular opening 2-1 is slightly larger than the cultivation base 5-3, and the four corners of the rectangular opening 2-1 are provided with extensions facing the center of the rectangle for placing the cultivation base 5-3. 2-2, the middle positions of the four sides of the rectangular opening 2-1 are all provided with convex edges 2-6, and an inwardly concave area 2-5 is formed between the extension portion 2-2 and the convex edges 2-6, in order to make transparent The root cultivation container 5 is stably placed on the rectangular opening 2-1 of the cultivation frame 2. The extension 2-2 is provided with an L-shaped protrusion 2-4 above the corners of the rectangle, and the inner side of the L-shaped protrusion 2-4 is inclined. The 2-3 smooth transition is convenient for accurate positioning when the transparent root cultivation container 5 is placed.

Further, as shown in FIG. 6, the grasping device includes: a bracket 4-1, a horizontal sliding assembly, and a clamping and lifting assembly. The bracket 4-1 is arranged between the conveying line and the waiting area; the horizontal sliding assembly includes The horizontal support plate 4-6 and the boom 4-12, the horizontal support plate 4-6 is vertically arranged on the horizontal frame 4-5 at the top of the bracket 4-1 close to the end of the conveying line 7, and can run along the horizontal frame 4 -5 sliding in the length direction, the boom 4-12 is vertically connected to the transverse support plate 4-6 and can slide along the axis of the transverse support plate 4-6; the lifting assembly 4-14 is used for clamping Take and drive the transparent root cultivation container 5 to move up and down along the boom 4-12.

Further, as shown in FIG. 6, the horizontal frame body 4-5 at the top of the bracket 4-1 includes a front frame body 4-2, a rear frame body 4-15, a front frame body 4-2 and a rear frame body 4 that are parallel to each other. -15 is provided with a slide rail guide 4-3 and a rack 4-4 along its length; both ends of the transverse support plate 4-6 are provided with a connecting seat 4-11, and each connecting seat 4-11 is equipped with a connecting seat 4-11. There are bearing sliders 4-12 and motors 4-7. The bearing sliders 4-12 are set at the bottom of the connecting seat 4-11, the motors 4-7 are set on the connecting seat 4-11, and the output of the motor 4-7 is Gears (not shown in the figure) are provided at the ends; the bearing sliders 4-12 at the bottom of the connecting seats 4-11 at both ends of the lateral support plate 4-6 respectively penetrate the front frame 4-2 and the rear frame 4 In the two slide rail guide rods of 15, the gears at the output ends of the two motors respectively mesh with the rack 4-4 on the front frame body 4-2 and the rear frame body 4-15. When working, the motors 4-7 on the connecting seats 4-11 at both ends of the transverse support plate 4-6 simultaneously drive the gears of their respective output ends to move on the rack 4-4 of the front frame body 4-2 and the rear frame body 4-15. , So as to drive the horizontal support plate 4-6 to slide along the guide rod of the slide rail in the length direction of the horizontal frame body, so as to realize the horizontal reciprocating movement of the horizontal support plate in the length direction of the horizontal frame body.

Further, as shown in Figure 6, the transverse support plate 4-6 is provided with slide rails 4-9 along its axial direction, the slider 4-10 passes through the slide rail 4-9, and the boom 4-13 slides through The block 4-10 is vertically connected with the horizontal support plate 4-6, and the horizontal support plate 4-6 is also provided with a motor 4-8 for driving the sliding block 4-10 to slide along the slide rail 4-9; when working, the motor 4- 8. Drive the sliding block 4-10 to slide along the sliding rail 4-9 in the axial direction of the transverse support plate 4-6, thereby driving the boom 4-13 to move along the axial direction of the transverse support plate 4-10.

Further, as shown in FIG. 7, the clamping and lifting assembly 4-14 includes a connecting portion 4-16 provided at the bottom of the boom 4-13, for driving the connecting portion 4-16 to move up and down along the boom 4-13 The driving mechanism 4-17, and the clamping mechanism provided at the lower end of the connecting portion 4-16. Preferably, the boom 4-13 is a linear slide rail, the connecting portion 4-16 is slidably mounted on the linear slide 4-13, the driving mechanism 4-17 is a motor, and the motor drives the connecting portion 4-16 along a straight line. The slide rail slides up and down.

Further, as shown in FIG. 7, the clamping mechanism includes a fixed mounting plate 4-20. Two clamping jaws 4-23 are symmetrically arranged and mounted on the fixed mounting plate 4-20 and form a horizontal movement with the fixed mounting plate 4-20. Secondly, the fixed mounting plate 4-20 is equipped with a driving mechanism for driving the two clamping jaws 4-23 to move toward or away from each other synchronously.

Further, as shown in Figure 7, the clamping mechanism includes a fixed mounting plate 4-20, two parallel horizontal slide rails 4-18, two symmetrically arranged clamping jaws 4-23, and two sliding blocks 4 -21 and cylinder 4-19; cylinder 4-19 and two parallel horizontal slide rails 4-18 are set on the fixed mounting plate 4-20, and the upper and lower ends of the two sliding blocks 4-21 are respectively penetrated in two In the horizontal smooth rail 4-18, the two clamping jaws 4-23 are respectively connected to the lower ends of the two sliding blocks 4-21, and the cylinder 4-19 drives the two sliding blocks 4-21 to drive the two clamping jaws 4-23 to face each other synchronously. Movement or back movement, so as to realize the clamping and putting down of the transparent root cultivation container 5. In order to make the transparent root cultivation container more stable and not prone to shaking when gripping, two L-shaped support platforms 4-22 are arranged on the inner side of each jaw. The distance between the two L-shaped support platforms is the same as that of the transparent root cultivation container The distance between the two ends of the cultivation base is matched, so that the two L-shaped support platforms are respectively located at the two ends of one side of the cultivation base during clamping, and the side of each L-shaped support platform away from the cultivation base is provided with baffles 4-24.

When the gripping device is in use, the gripping and lifting assembly 4-14 moves up and down along the boom 4-13, the boom 4-13 moves horizontally along the axis of the transverse support plate 4-6, and the transverse support plate 4-6 moves horizontally. The horizontal movement in the length direction of the frame body 4-5 cooperates to complete the movement of the transparent root cultivation container between the ejection mechanism and the conveying line, and realize the rapid transfer of the transparent root cultivation container.

Further, as shown in FIG. 8, the transstack assembly 6 includes a base support 6-1, a transstack base plate 6-2 on the base support 6-1, and an ejection mechanism provided on the transstack base plate 6-2; The bottom plate 6-2 is provided with positioning pins matching the positioning grooves on the outer bottom of the rectangular parallelepiped frame of the cultivation frame to prevent the cultivation frame from moving in the stacking assembly. The ejection mechanism includes a plurality of stacking rod columns 6-3, each of the stacking rod columns 6-3 corresponds to the rectangular opening 2-1 at the bottom of the cultivation frame, and the top of each of the stacking rod columns 6-3 An upper plate 6-6 is provided for placing a transparent root cultivation container. The size of the upper plate 6-6 corresponds to the size of the rectangular opening 2-1, which is convenient for the rotating stacking pole column 6-3 to cooperate with the upper plate 6-6. Pass the rectangular opening 2-1 at the bottom of the cultivation frame 2 to eject the transparent root cultivation container 5 from the rectangular opening 2-1 at the bottom of the cultivation frame 2; 2 The rectangular opening 2-1 at the bottom smoothly ejects the transparent root cultivation container 5 from the rectangular opening 2-1 at the bottom of the cultivation frame 2, and the root cultivation container 5 is accurately positioned when it is ejected, and it is not prone to shaking. The board 6-6 is also provided with ribs 6-4 around the sides. The position of the ribs 6-4 corresponds to the concave area 2-5 of the rectangular opening 2-1, and the ribs 6-4 are also provided with positioning protrusions. Set 6-5.

Further, as shown in FIG. 9, the gantry lifting mechanism includes: a gantry 3-1, two vertical lifting components are slidably arranged up and down on two vertical frame bodies 3-5 on the gantry 3-1, for It cooperates with the cultivation frame 2 and drives it to move up and down.

Further, as shown in FIG. 9, each of the vertical lifting components includes a lifting arm 3-7 slidably arranged on the vertical frame 3-5, and fixedly arranged at the bottom of the lifting arm 3-7. A support arm 3-8 supporting the cultivation frame 2 and a driving mechanism that drives the lifting arm 3-7 to slide up and down along the vertical frame 3-5.

Further, as shown in FIG. 9, the two vertical frame bodies 3-5 of the gantry 3-1 are provided with sliding rails 3-6 along their vertical directions, and the sliding rails 3-6 are slidably fitted with lifting arms. 3-7, the two vertical frame bodies 3-5 are also provided with a sprocket chain assembly for driving the lifting arm 3-7 up and down along the slide rail 3-6, and the sprocket chain assembly includes a fixed on the vertical frame body The driving sprocket 3-2 at the top of 3-5, driven by the motor 3-3, the driven sprocket 3-10 fixed at the bottom of the vertical frame body 3-5, the driving sprocket 3-2 and the driven chain The transmission chain 3-4 between the wheels 3-10, the transmission chain 3-4 passes through the lifting arm 3-7 and is fixedly connected with the lifting arm 3-7. When working, the motor 3-3 drives the driving sprocket 3-2 to work, and the driving sprocket 3-2 drives the driven sprocket 3-10 to rotate through the transmission chain 3-4, thereby driving the lifting arm 3-7 along the slide rail 3. -6 slides up and down on the vertical frame body 3-5 to realize the up and down lifting of the lifting arm 3-7. The support arm 3-8 is L-shaped. The upper end of the L-shaped vertical section is connected with the lifting arm 3-7. The L-shaped horizontal section is used to support the cultivation frame 2; The horizontal section is provided with a positioning pin (not shown in the figure) that matches the positioning groove at the outer bottom of the cultivation frame 2; in order to ensure that the L-shaped support arm is not easily deformed after being stressed, it is placed between the L-shaped vertical section and the horizontal section With reinforcing ribs 3-9.

The use process of the present invention is as follows.

The lifting arm 3-7 connected to the vertical frame body 3-5 of the gantry 3-1 slides to the bottom end of the vertical frame body 3-5.

The cultivation frame 2 loaded with the transparent root cultivation container 5 is transported out of the cultivation area through the AGV 1, and then from the horizontal frame body 8-9 of the bottom frame 8 away from the opening of the grasping area into the waiting area, so that the cultivation frame 2 Located directly above the support arm 3-8 of the gantry lifting mechanism, the vertical lifting component is controlled to move upwards along the vertical frame to drive the lifting arm 3-7 to cooperate with the support arm 3-8 to lift, and then lift the cultivation frame 2 to separate it from the AGV and It rises vertically until the bottom of the cultivating frame 2 is higher than the top of the stacking assembly 6.

The AGV drives away from the waiting area, and the transfer stacking assembly 6 moves from the grabbing area to just below the cultivation frame 2, so that the rectangular opening 2-1 at the bottom of the cultivation frame 2 is aligned with the upper plate 6-6 of the transfer stacking assembly 6, and the vertical lifting is controlled. The assembly moves downwards along the vertical frame body 3-5 to drive the lifting arm 3-7 to cooperate with the support arm 3-8 to descend, and then vertically lower the cultivation frame 2, and the stacking rod column 6-3 of the ejection mechanism cooperates with the upper plate 6-6 Pass through the rectangular opening 2-1 at the bottom of the cultivation frame 2 to push the transparent root cultivation container 5 out of the rectangular opening 2-1 at the bottom of the cultivation frame 2, and finally, the cultivation frame 2 is lowered to the bottom plate 6-2 of the stacking assembly 6 The transparent root system cultivation container 5 is all placed on the upper plate 6-6 of the stacking rod column 6-3; the two vertical lifting components of the gantry lifting mechanism are lowered to a level lower than the level of the bottom of the stacking component 6. The stacking assembly 6 slides along the length of the transverse frame 8-9 away from the waiting area and enters the grabbing area. The grabbing device as a whole drives the clamping and lifting assembly 4-14 to move until the ejection mechanism is close to the output line and the first row of stacking rods Directly in front of the transparent root cultivation container on the column, control the gripping mechanism to slide down along the boom 4-13, and the two grippers 4-23 of the gripping mechanism at the bottom of the boom 4-13 are lowered to the transparent root cultivation container 5. Under the cultivation base 5-3, drive the clamping and lifting assembly as a whole to move towards the transparent root cultivation container until the two clamping jaws 4-23 are directly below the cultivation base 5-3; then control the clamping mechanism to move upward along the boom 4-13 Movement, the two clamping jaws 4-23 move upward with the boom 4-13 and hold the transparent root cultivation container, and at the same time, the two sliding blocks 4-21 are driven by the cylinder 4-19 to drive the two clamping jaws 4-23 to move toward each other synchronously. Clamp the cultivation base 5-3. After that, the grasping device as a whole drives the transparent root cultivation container 5 to move to the conveying line 7, combined with the horizontal support plate 4-6 to slide horizontally along the length of the horizontal frame 4-5, so that the transparent root cultivation container 5 is located on the conveying line 7 positioning tooling Directly above 7-1, control the gripping mechanism to slide down along the boom 4-13, and at the same time drive the two sliders 4-21 through the cylinder 4-19 to drive the two clamping jaws 4-23 to move backwards synchronously to put down the cultivation The base 5-3 enables the transparent root cultivation container 5 to be placed on the positioning tool 7-1.

The positioning tool conveys the transparent root cultivation container 5 to the imaging area through the conveying line for imaging. After the imaging is completed, the transparent root cultivation container 5 is placed on the positioning tool and conveyed back to the grasping area through the conveying line.

The gripping device integrally drives the gripping and lifting assembly 4-14 to move to the front of the transparent root cultivation container on the positioning tool 7-1 on the conveying line 7. The gripping mechanism is controlled to slide down along the boom 4-13, and the boom 4- 13 The two clamping jaws 4-23 of the bottom clamping mechanism are lowered below the cultivation base 5-3 of the transparent root cultivation container 5 on the positioning tool 7-1, and then the clamping and lifting assembly is driven to move in the direction of the transparent root cultivation container until The two clamping jaws 4-23 are located directly under the cultivation base 5-3; then the gripping mechanism is controlled to move upward along the boom 4-13, and the two clamping jaws 4-23 move upward with the boom 4-13 and hold up the transparent root system For the cultivation container, the two sliding blocks 4-21 are driven by the air cylinder 4-19 to drive the two clamping jaws 4-23 to move toward each other synchronously to clamp the cultivation base 5-3. After that, the grasping device as a whole drives the transparent root cultivation container 5 to move to the grasping area, and move to the top of the upper plate 6-6 of the first row of the stacking rods near the waiting area when the ejection mechanism is combined with the horizontal support plate 4-6. The horizontal frame body 4-5 slides horizontally in the length direction, so that the transparent root cultivation container 5 is located directly above the upper plate 6-6 of the turning stacking rod column, and then the gripping mechanism is controlled to slide down along the boom 4-13 and pass through at the same time. The cylinder 4-19 drives the two sliders 4-21 to drive the two clamping jaws 4-23 to move backwards synchronously to lower the cultivation base 5-3, so that the transparent root cultivation container 5 is placed on the upper plate 6-6 of the pallet column. . Subsequently, the above operation is repeated until the upper plates 6-6 of all the stacking rod columns of the ejector mechanism are placed with a transparent root cultivation container 5.

The stacking assembly 6 slides along the length of the horizontal frame 8-9 away from the grasping area and enters the waiting area, and transports the cultivation frame 2 full of the transparent root cultivation container 5 from the grasping area to the waiting area, so that the cultivation frame 2 Located directly above the supporting arm 3-8 of the gantry lifting mechanism, the vertical lifting component is controlled to move upwards along the vertical frame to drive the lifting arm 3-7 to cooperate with the supporting arm 3-8 to lift, and then lift the cultivation frame 2 to separate it from the transfer stack The assembly 6 rises vertically to the bottom of the cultivating frame 2 higher than the top of the transstacking assembly 6. At this time, the transparent root cultivation container 5 on the upper plate 6-6 of the transstacking rod column 6-3 falls to the rectangular opening at the bottom of the cultivating frame 2 Within 2-1. Turning stack assembly 6 leaves the waiting area and enters the grabbing area. The AGV moves to just below the cultivation frame 2, and controls the vertical lifting assembly to move downwards along the vertical frame 3-5 to drive the lifting arm 3-7 to cooperate with the support arm 3-8 Then, the cultivation frame 2 is lowered vertically, and finally, the cultivation frame 2 is lowered to the AGV, and the AGV transports the imaged transparent root cultivation container from the waiting area to the cultivation area.

The present invention is only described with the above-mentioned embodiments, and the structure, installation position and connection of each component can be changed. On the basis of the technical solution of the present invention, any improvements or equivalent changes made to individual components based on the principles of the present invention should not be excluded from the protection scope of the present invention.

Claims

An automatic transport system for a transparent root cultivation container, which is characterized in that: the system includes a transparent root cultivation container;

The cultivation frame is used for loading a plurality of the transparent root cultivation containers;

The grasping area includes a grasping device and a stacking assembly, the stacking assembly includes an ejection mechanism, the ejection mechanism is used to eject a plurality of the transparent root cultivation containers in the cultivation frame from the cultivation frame, and grab The device is used to grasp the movement of the transparent root cultivation container between the ejection mechanism and the conveying line;

The waiting area includes a gantry hoisting mechanism for hoisting the cultivation frame loaded with the transparent root cultivation container and placing it on the stacking assembly;

The stacking assembly is used for transferring the cultivation frame and the transparent root cultivation container between the grabbing area and the waiting area.
The automatic transport system for transparent root cultivation containers according to claim 1, characterized in that it further comprises a bottom frame, the grabbing device and the gantry lifting mechanism are sequentially arranged on the horizontal frame of the bottom frame, and the transfer stacking assembly is arranged in the horizontal direction. The inner side of the frame body can slide along the length direction of the transverse frame body.
The automatic transport system for a transparent root cultivation container according to claim 1 or 2, wherein the transparent root cultivation container comprises a cultivation base, a transparent inner tube and a transparent outer tube nested and fixed on the cultivation base A transparent top cover is provided on the top of the transparent inner tube, and the upper and lower sides of the transparent outer tube are open; a root annular cultivation space is formed between the transparent inner tube and the transparent outer tube, and the root annular cultivation space is covered The light-shielding cover overlaps the top of the transparent inner tube and the transparent outer tube.
The automatic transport system for transparent root cultivation containers according to claim 1 or 2, wherein the cultivation frame is a rectangular parallelepiped frame, the inner bottom of which is crisscrossed to form a plurality of rectangular openings, and each of the transparent root cultivation containers is connected to Corresponding to the rectangular opening, the cultivation base of the transparent root cultivation container is placed on the rectangular opening, and the light-shielding cover on the top of the transparent root cultivation container is placed on the top four edges of the rectangular parallelepiped frame.
The transparent root cultivation container automatic transport system according to claim 4, wherein the four corners of the rectangular mouth are provided with extensions facing the center of the rectangle for placing the cultivation base, and the middle position of the four sides of the rectangular mouth is Each is provided with a convex edge, and an inner concave area is formed between the extension part and the convex edge; the extension part is provided with an L-shaped protrusion above the corner of the rectangle.
The automatic transport system for a transparent root cultivation container according to claim 1 or 2, wherein the grasping device comprises a bracket, a horizontal sliding assembly and a gripping and lifting assembly, and the bracket is arranged between the conveying line and the waiting area between;

The horizontal sliding assembly includes a horizontal support plate and a boom. The horizontal support board is vertically arranged on the horizontal frame at the top of the bracket close to one end of the conveying line and can slide along the length of the horizontal frame. The boom is connected vertically to the horizontal frame. The lateral support plate can slide along the axis of the lateral support plate; the clamping and lifting assembly is used for clamping and driving the transparent root cultivation container to move up and down along the boom.
The automatic transport system for a transparent root cultivation container according to claim 6, wherein the horizontal sliding assembly further comprises a driving mechanism that drives the horizontal support plate to slide along the length of the horizontal frame, and drives the boom along the axis of the horizontal support plate Directional sliding drive mechanism;

The clamping and lifting assembly includes a connecting part arranged at the bottom of the boom, a driving mechanism for driving the connecting part to move up and down along the boom, and a clamping mechanism arranged at the lower end of the connecting part;

The clamping mechanism includes a fixed mounting plate. Two clamping jaws are mounted on the fixed mounting plate and form a horizontal moving pair with the fixed mounting plate. The fixed mounting plate is equipped with a driving mechanism for driving the two clamping jaws to move toward or away from each other synchronously. .
The automatic transfer system for a transparent root cultivation container according to claim 5, wherein the transstack assembly includes a base support, a transstack base plate on the base support, and an ejection mechanism provided on the transstack base plate; The ejection mechanism includes a plurality of rotating stacking rod columns, each of the rotating stacking rod columns corresponds to the rectangular opening at the bottom of the cultivation frame, and the top of each of the rotating stacking rod columns is provided with an upper plate for placing a transparent root cultivation container, so The size of the upper board corresponds to the rectangular opening, and the upper board is also provided with sidewalls around the side. The position of the sidewall corresponds to the recessed area of the rectangular opening. The rectangular opening at the bottom of the frame is ejected.
The automatic transport system for a transparent root cultivation container according to claim 1 or 2, wherein the gantry lifting mechanism comprises a gantry, and two vertical lifting components are slidably arranged on the two vertical frame bodies on the gantry. , Used to cooperate with the cultivation frame and drive it to move up and down.
The automatic transport system for a transparent root cultivation container according to claim 9, wherein each of the vertical lifting components includes a lifting arm slidably arranged on the vertical frame and fixedly arranged at the bottom of the lifting arm A support arm for supporting the cultivation frame, and a driving mechanism for driving the lifting arm to slide up and down along the vertical frame body.