CN107980595A - A kind of double delivery unit self-stabilising intelligence plantation frames and control method - Google Patents

A kind of double delivery unit self-stabilising intelligence plantation frames and control method Download PDF

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Publication number
CN107980595A
CN107980595A CN201610951210.8A CN201610951210A CN107980595A CN 107980595 A CN107980595 A CN 107980595A CN 201610951210 A CN201610951210 A CN 201610951210A CN 107980595 A CN107980595 A CN 107980595A
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China
Prior art keywords
delivery unit
supporting part
upright bar
holder
hinged
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陈鸽
其他发明人请求不公开姓名
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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
    • A01G31/00—Soilless cultivation, e.g. hydroponics
    • A01G31/02—Special apparatus therefor
    • A01G31/06—Hydroponic culture on racks or in stacked containers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
    • Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Catching Or Destruction (AREA)

Abstract

The invention belongs to agricultural equipment field, discloses a kind of double delivery unit self-stabilising intelligence plantation frames, including the first delivery unit, the second delivery unit, telescopic device, sensor group and control unit.The built-in pedestal of first delivery unit, the second delivery unit and holder, holder include multilayer supporting part and upright bar, and supporting part and upright bar are hinged, and holder is assemblied on pedestal and is hinged；Pedestal, the supporting part four sides mechanism parallel with upright bar composition of delivery unit.First delivery unit is arranged at the front of the second delivery unit, is hinged at the top of two delivery units.The hinged hinged rotation direction is transversely.The sensor-based measured value of control unit, manipulates plantation frame and swings inclination and swing uprightly, supporting part staggers and is laminated again successively, and the spatial attitude of supporting part remains unchanged, and the soil or water in cultivating container placed on it will not be trickled down, and will not cause the waste of soil or water；Plantation frame has autostability, in swing process, will not turn on one's side.

Description

A kind of double delivery unit self-stabilising intelligence plantation frames and control method
Technical field
The present invention relates to a kind of plantation frame, more particularly to it is a kind of applied to plant tridimensional planting have double delivery units from Steady type intelligence plantation frame, the plantation frame during by automatic swing its longitudinally there is autostability, built in it for putting The spatial attitude for putting the supporting part of cultivating container is constant；And a kind of control method for being used to control plantation frame automatic swing, belong to Agricultural equipment field.
Background technology
In the plantation activity of plant, in order to increase efficiently using and conveniently managing for space, often cultivating container is placed on In vertical type plantation frame with multi-layer structure, multiple cultivating containers are layered on top of each other, to reduce shared space, improve unit The output capacity in space.But so cause Activities of Some Plants can not obtain the sunlight of abundance, influence plant and be normally carried out photosynthesis.In It is to generate a kind of plantation frame for being inclined by setting, multiple cultivating containers being placed can stagger successively, and plant can obtain more sufficient Sunlight, but in without sunlight, plantation frame cannot be resumed its erectility, add shared space.Then produce again A kind of soilless vegetable hydroculture rack, which sets device for regulating rotary, and operation device for regulating rotary can make vegetables Frame, which is swung, to be tilted, and each layer cultivation box staggers successively, and plant can obtain more sufficient sunlight；As needed, operation, which rotates, is adjusted Device can make vegetable frame swing the former erectility of recovery again, and each layer cultivation box is layered on top of each other again, saves the space occupied.But Being that vegetable frame center of gravity when swinging inclination is moved is also easy to produce rollover, while is also being swung without open vegetable frame Cultivation box is set to remain horizontal technical solution in journey.The inclination of cultivation box, on the one hand easily causes the nutrient solution in cultivation box Unrestrained, on the other hand causing the nutrition liquid level of side in cultivation box, the nutrient for easily causing plant absorption is uneven higher than opposite side Even, root growth and development is asynchronous, influences the synchronous growth of plant, causes finished product plant size to differ.For this reason, there is an urgent need for exploitation one Kind of double delivery unit self-stabilising intelligence plantation frames, the plantation frame tilted and swung by automatic swing it is upright during, its Longitudinal direction has autostability, and the supporting part for being used to place cultivating container built in plantation frame staggers and be layered on top of each other again, holds successively The spatial attitude in load portion remains unchanged.
The content of the invention
In order to solve the problems in the prior art, the purpose of the present invention is to, there is provided a kind of double delivery unit self-stabilisings are intelligently planted Frame, the plantation frame are tilted and swung uprightly by automatic swings, and in swing process, plantation frame has autostability, will not occur Rollover, the supporting part built in plantation frame stagger and are laminated again successively, and the spatial attitude of supporting part remains unchanged, placed on it Soil or water in cultivating container will not be spread across outside.
The technical scheme is that providing a kind of double delivery unit self-stabilising intelligence plantation frames, its designing points is, Including：
First delivery unit A, the second delivery unit B, telescopic device 30, sensor group 40 and control unit 50, described first Delivery unit A, the second delivery unit B are built-in with pedestal 10 and holder 20 respectively；
The pedestal 10, is the brace foundation of plantation frame, it is mainly made of pedestal body 11, first connecting portion 12, institute State the top that first connecting portion 12 is arranged on pedestal body 11；
The holder 20, is the arrying main body of plantation frame, it includes at least two layers of supporting part 22 and branched upright bar 23, holds Load portion 22 is parallel to each other or horizontally disposed, and supporting part 22 and upright bar 23 are respectively articulated with, and wantonly two layers of supporting part 22 and upright bar 23 are formed Parallelogram mechanism；The lower part of the holder 20 is set the second connecting portion 21 associated with upright bar 23, and described first Connecting portion 12 and second connecting portion 21 are engaged, and the holder 20 and pedestal 10 assemble, and second connecting portion 21 and first connects Portion 12 is hinged, and the hinged hinged rotation direction is transversely set, 23 structure of the pedestal 10, any supporting part 22 and upright bar Into parallelogram mechanism；
The first delivery unit A is arranged on the front of the second delivery unit B, the top and second of the first delivery unit A It is hinged at the top of delivery unit B, which is transversely set；The parallelogram mechanism is suitable for kind The holder 20 for planting frame is made relative to coupled pedestal 10 along the fore-and-aft plane perpendicular with the hinged rotation direction Longitudinal oscillation；
The telescopic device 30 includes driving device 31 and telescoping mechanism 32, and the telescoping mechanism 32 is put with first respectively Unit A, the second delivery unit B are connected, to drive plantation frame to make longitudinal oscillation；
The sensor group 40 includes being used for the displacement sensor 41 for measuring 20 amplitude of fluctuation of holder；
Operation result of the control unit 50 based on the measured value fed back to sensor group 40 swings holder 20 Control.
Intelligence plantation frame of the invention includes the first delivery unit A and the second delivery unit B, is built-in with pedestal 10 and puts Frame 20.Holder 20 includes multilayer supporting part 22 and branched upright bar 23, and supporting part 22 and upright bar 23 are respectively articulated with；Holder 20 fills Assigned on pedestal 10 and hinged；First delivery unit A is arranged on the front of the second delivery unit B, the top of the first delivery unit A It is hinged with the top of the second delivery unit B.The pedestal 10, supporting part 22 and upright bar 23 form parallel four shapes mechanism.Put Frame 20 be manipulated swinging tilt and swing it is upright during, only upright bar 23, which rotates, inclination and rotates upright, supporting part 22 are made translational motion, then the spatial attitude of supporting part remains constant, and the soil or/and water in cultivating container placed on it are not It can trickle down outside basin, waste and the soiled to planting site of soil or/and water will not be caused.Control unit 50 is to sensor group 40 The measured value progress computing of feedback, is used to manipulate plantation frame work swing inclination and is swung upright opposite based on operation result generation The control signal answered, and send telescopic device 30 to, telescopic device 30 drives plantation frame to make to swing inclination and swing uprightly, realizes Plantation frame is automatically controlled.
In the application, the present invention also has preferable technical solution further below.
Preferably, the upright bar 23 of the holder 20 is distributed in the avris of supporting part 22, upright bar 23 and supporting part 22 Avris portion be hinged.
Preferably, the supporting part 22 is square, and the upright bar 23 is distributed in two relative edge sides of supporting part 22, stands Two relative edge's sidepieces of bar 23 and supporting part 22 are hinged respectively.
Preferably, the holder 20 includes four upright bars 23a, 23b, 23c, 23d, wherein two upright bar 23a, 23b is distributed in left side side, and the left side sidepiece of supporting part 22 is hinged, and another two upright bars 23c, 23d are distributed in the right side, and hold The right sidepiece in load portion 22 is hinged.
Preferably, the second connecting portion 21 is arranged at the bottom or lower part of the upright bar 23 of holder 20.
Preferably, described " being hinged at the top of the top of the first delivery unit A and the second delivery unit B ", including：
The top of the upright bar positioned at rear avris of the first delivery unit A and the second delivery unit B's is located at preceding avris Upright bar at the top of be hinged；Alternatively,
The carrying positioned at top of the 22 and second delivery unit B of supporting part positioned at top of the first delivery unit A Portion 22 is hinged.
Preferably, the telescoping mechanism 32 pedestal 10 with the first delivery unit A, the second delivery unit B respectively Pedestal 10 is connected；Alternatively,
The upright bar 23 with the first delivery unit A, the upright bar 23 of the second delivery unit B are connected the telescoping mechanism 32 respectively Connect；Alternatively,
22 phase of supporting part of the telescoping mechanism 32 supporting part 22 with the first delivery unit A, the second delivery unit B respectively Connection.
Preferably, the telescoping mechanism 32 is one kind in screw mechanism, oil cylinder and cylinder.
It is preferably, described that " operation result of the control unit 50 based on the measured value fed back to sensor group 40 is to putting Frame 20 carries out weave control " include：
Control unit 50 obtains the measured value for 20 amplitude of fluctuation of holder that displacement sensor 41 measures, by the amplitude of fluctuation Measured value compared with the preset value of amplitude of fluctuation, and the measured value based on the amplitude of fluctuation and amplitude of fluctuation is default Comparative result between value, generation is corresponding to make the first control signal of longitudinal oscillation, and is transferred to the telescopic device 30, So that the telescopic device 30 drives holder 20 to do longitudinal oscillation, until the measured value of 20 amplitude of fluctuation of holder reaches The preset value of amplitude of fluctuation.
Preferably, the sensor group 40 further includes the light sensor 42 for detecting sunray, control unit The measured value of the 50 sunray intensity measured according to light sensor 42, judges the intensity of sunray, when passing through When the intensity of sunray is determined with sunray, generation is swung inclination corresponding first by control unit 50 with manipulating plantation frame Kind control signal transmission is to telescopic device 30, so that the telescopic device 30 performs the swing tilt operation to plantation frame.
For the problems of the prior art, present invention also offers one kind to be applied to above-mentioned double delivery unit self-stabilising intelligence The intelligent control method of plantation frame, is used for realization the intelligent control to plantation frame, its designing points includes：
The measured value for the sunray intensity that control unit 50 is detected according to light sensor 42, periodically to sunray Intensity judged, and based on the intensity to sunray judged as a result, making the judgement of sunray or without too The judgement of sunlight line；When making the judgement of sunray；
The survey for the amplitude of fluctuation that control unit 50 is fed back according to the preset value and displacement sensor 41 of acquired amplitude of fluctuation Comparative result between value, generation tends to swing the first inclined control signal for manipulating plantation frame, and sends to and stretch Compression apparatus 30, the telescoping mechanism 32 of triggering telescopic device 30 are made to stretch out movement, force the upright bar 23 of plantation frame around second connecting portion 21 and the hinged rotation axis rotation that is hinged of first connecting portion 12, until the measured value of amplitude of fluctuation of the plantation frame reaches pendulum The preset value of dynamic amplitude；
The survey for the amplitude of fluctuation that control unit 50 is fed back according to the preset value and displacement sensor 41 of acquired amplitude of fluctuation Comparative result between value, generation tends to swing the first upright control signal for manipulating plantation frame, and sends to and stretch Compression apparatus 30, the telescoping mechanism 32 of triggering telescopic device 30 make retraction movement, force the upright bar 23 of plantation frame around second connecting portion 21 and first connecting portion 12 be hinged hinged rotation axis opposite direction rotation, until the plantation frame amplitude of fluctuation measured value Reach the preset value of amplitude of fluctuation.
Double delivery unit self-stabilising intelligence plantation frames of the present invention, are configured with control unit, and control unit is by acquired position The measured value of plantation frame amplitude of fluctuation and the preset value of amplitude of fluctuation of displacement sensor measurement are compared, when the survey of amplitude of fluctuation When value is less than the preset value of amplitude of fluctuation, control unit generation makes plantation frame make to tend to swing inclined control signal；Work as swing When the measured value of amplitude is more than the preset value of amplitude of fluctuation, control unit generation makes plantation frame make to tend to swing upright control letter Number, control unit makes plantation frame make the corresponding control signal transmission of longitudinal oscillation to telescopic device by generation, to manipulate flexible dress Put and drive plantation frame to make to swing inclination and swing uprightly, until the measured value of the plantation frame amplitude of fluctuation reaches amplitude of fluctuation Preset value；The swing of plantation frame tilts and swings upright operation realization and automatically controls.Control unit feeds back light sensor too The measured value of sunlight line strength and the intensity threshold of sunray are compared, and when measured value is more than intensity threshold, are determined with Sunray, otherwise judges no sunray.When there is sunray, control unit makes plantation frame make to swing inclination pair by generation The control signal answered sends telescopic device to, manipulates plantation frame and makees to swing inclination, the supporting part of each layer staggers successively.Accomplish have too During sunlight line, plantation frame, which is swung, to be tilted, and during no sunray, is kept upright, intelligent control is implemented in the longitudinal oscillation to plantation frame.
Double delivery unit self-stabilising intelligence plantation frames of the present invention, are upright structures, including the first delivery unit A and the Two delivery unit B, are built-in with pedestal 10 and holder 20.Holder 20 includes multilayer supporting part 22 and branched upright bar 23, holds Load portion 22 is parallel to each other or horizontally disposed, and supporting part 22 and upright bar 23 are respectively articulated with, and wantonly two layers of supporting part 22 and upright bar 23 are formed Parallelogram mechanism.Holder 20 is assemblied on pedestal 10 and hinged, first and second delivery unit of composition.First delivery unit A It is arranged on the front of the second delivery unit B, the top of the top of the first delivery unit A and the second delivery unit B are hinged, described Hinged hinged rotation direction is arranged along the horizontal.The pedestal 10, supporting part 22 and upright bar 23 form parallel four shapes mechanism, this is flat Row quadrangular mechanism causes plantation frame to have a freedom of motion, and plantation frame longitudinally has " flexibility ", suitable for plantation frame Holder makees longitudinal oscillation relative to coupled pedestal along the fore-and-aft plane perpendicular with the hinged rotation direction, wraps Include swing to tilt and recover upright, so that multilayer supporting part staggers and is laminated again successively.Due to pedestal, supporting part and upright bar structure Into parallelogram mechanism, during being manipulated making longitudinal oscillation, only upright bar rotates inclination and rotates straight plantation frame Vertical, supporting part only does translational motion, thus the spatial attitude of supporting part remains unchanged.That is, when plantation frame is put in ground On face, supporting part it is horizontal when, plantation frame, which is manipulated making to swing, to be tilted and swings upright, and each layer supporting part staggers successively and phase again Mutually stacking, the spatial attitude of supporting part is constant, remains horizontal.In plantation is applied, cultivating container is placed at plantation frame On supporting part, plantation frame is being manipulated making to swing tilting and swinging uprightly, and each layer cultivating container staggers and be laminated again successively, cultivates The spatial attitude of basin remains constant, so can ensure that the soil in cultivating container or water will not be trickled down, and will not cause native or water Waste, while be beneficial to the neat and tidy for keeping planting site again.Especially, for the horizontally disposed cultivating container of soilless culture, Cultivating container remains horizontal, and the nutrient solution in cultivating container will not be caused to trickle down, it is often more important that, it can be ensured that it is each in cultivating container It is identical to locate the height of nutrient solution liquid level, is conducive to the balanced absorption nutrient of plant, root system is synchronously developed, and promotes synchronous plant growth, Accomplish to plant while pick at the same time.
Intelligence plantation frame of the invention includes the first delivery unit A, the second delivery unit B, the first delivery unit A are arranged on the The front of two delivery unit B, the first delivery unit A's is located at front positioned at the top of rear avris and the second delivery unit B It is hinged at the top of side.When plantation frame is manipulated making to swing inclination, the first delivery unit A, two bases of the second delivery unit B Frame is mutually remote from moving along longitudinal direction, and the plane that the outermost support leg of two pedestals is surrounded expands along longitudinal direction, and area increases Add, the center of gravity of plantation frame is all the time at the central part in plantation frame or near it, while height of C.G. reduces, which all the time can In the plane that orthographic projection is surrounded to two outermost support legs of pedestal so that plantation frame has stabilization from longitudinal direction Property, by swing tilting procedure, plantation frame will not turn on one's side plantation frame.
Beneficial effect
Plantation frame automatic swing is tilted and swung uprightly, and supporting part staggers and is laminated again successively, in swing process, holds The spatial attitude in load portion remains constant.By setting control unit, sensor group and telescopic device, control unit will be acquired The measured value of plantation frame amplitude of fluctuation and the preset value of amplitude of fluctuation of displacement sensor are compared, based on this comparison As a result generation makees the corresponding control signal of longitudinal oscillation for manipulating plantation frame, and sends telescopic device to, so that flexible dress Put the work swing inclination of driving plantation frame and swing is upright, up to the measured value of plantation frame amplitude of fluctuation reaches presetting for amplitude of fluctuation Value.Pedestal, supporting part and the upright bar of plantation frame form parallelogram mechanism, and plantation frame, which is swung, to be tilted and swing uprightly, respectively Layer supporting part staggers and is laminated again successively, and in the process, the upright bar for only forming parallelogram mechanism rotates, and holds Load portion is only translatable, therefore the spatial attitude of supporting part remains unchanged；When supporting part is horizontally set, supporting part remains It is horizontal.In plantation is applied, cultivating container is placed on supporting part, when plant needs illumination, is manipulated plantation frame and is swung inclination, Each layer cultivating container staggers successively, and the plant in cultivating container can obtain the illumination of abundance, be normally carried out photosynthesis；When plant not When needing illumination, manipulate plantation frame and swing and recover upright, each layer cultivating container is laminated again, can reduce the sky of plantation frame occupancy Between, it is also convenient for operating cultivating container.Plantation frame is during being swung inclination and being swung uprightly, the space appearance of cultivating container State remains constant, it is ensured that soil or water in cultivating container will not be trickled down, and will not cause the waste of soil or water, while be beneficial to protect again Hold the neat and tidy of planting site.Especially for the horizontally disposed cultivating container of soilless culture, cultivating container remains horizontal, no The nutrient solution in cultivating container can be caused to trickle down, avoid causing the waste of nutrient solution；Importantly, nutrient solution everywhere in cultivating container The height of liquid level keeps identical, is conducive to the balanced absorption nutrient of plant, and root system is synchronously developed, and promotes synchronous plant growth, favorably Plant while pick at the same time in accomplishing.
Plantation frame has stability from longitudinal direction, during inclined by swing, will not turn on one's side.Plantation frame bag Include the first delivery unit A, the second delivery unit B, the first delivery unit A is arranged on the front of the second delivery unit B, the first storing Unit A's is hinged positioned at the top of rear avris and being located at the top of preceding avris for the second delivery unit B.When plantation frame is manipulated When making to swing inclination, the first delivery unit A, longitudinal mutually, two bases remote from moving in two pedestals edge of the second delivery unit B The plane that the outermost support leg of frame is surrounded expands along longitudinal direction, and area increase, the center of gravity of plantation frame is still in plantation frame At central part, at the same height of C.G. reduce, the center of gravity all the time can orthographic projection surrounded to two outermost support legs of pedestal Plane in so that plantation frame from longitudinal direction there is stability, by swing tilting procedure, plantation frame will not occur plantation frame Rollover.
Further, the measured value of sunray intensity and the intensity of sunray that control unit feeds back light sensor Threshold value is compared, and based on result of the comparison when being determined with sunray, control unit makes plantation frame incline as swing by generation Oblique corresponding control signal sends telescopic device to, and when accomplishing to have sunray, plantation frame, which is swung, to be tilted, during no sunray, It is kept upright, realizes the intelligent control to plantation frame longitudinal oscillation.
Brief description of the drawings
A kind of stereogram of intelligent plantation frame of Fig. 1 present invention.
The right view of intelligent plantation frame in Fig. 2 Fig. 1.
The stereogram of a delivery unit of intelligent plantation frame in Fig. 3 Fig. 1.
The right view of delivery unit in Fig. 4 Fig. 3.
The exploded view of Fig. 5 Fig. 3 delivery units.
The inclined stereogram of swing of intelligent plantation frame in Fig. 6 Fig. 1.
The right view of intelligent plantation frame in Fig. 7 Fig. 6.
The stereogram of the another embodiment of Fig. 8 pedestals.
Fig. 9 is used for a kind of electrical principle block diagram of intelligent plantation frame.
One kind application connection figure of the electrical principle block diagram of Figure 10 Fig. 9.
In figure, the first delivery units of A-, the second delivery units of B-, 10- pedestals, 11- pedestal bodies, 12 (12a, 12b, 12c, 12d)-first connecting portion, 14- supporting legs, 15- cross bars, 16- vertical poles, 20- holders, 21 (21a, 21b, 21c, 21d)-the Two connecting portions, 22- supporting parts, the first articulated sections of 221-, 23 (23a, 23b, 23c, 23d)-upright bars, the second articulated sections of 231-, 24- Top connecting portion, 25- transverse bars, 30- telescopic devices, 31- driving devices, 32- telescoping mechanisms, 321- screws, 322- fixed parts, 321 '-output shaft, 322 '-cylinder body, 40- sensor groups, 41- displacement sensor devices, 42- light sensors, 50- control units.
Embodiment
In order to clarify the technical solutions and technical objectives of the present invention, below in conjunction with the accompanying drawings and embodiment is to the present invention It is described further.
Statement in text on dimensional orientation is uniformly arranged herein, and dimensional orientation is with the first width attached drawing in embodiment Dimensional orientation is reference data, and " preceding " refers to an avris nearest from reader in attached drawing, " rear " refer in attached drawing from reader farthest one Avris, " left side " refer to the left side of attached drawing, and " right side " refers to the right side of attached drawing, and " longitudinal direction " refers in attached drawing from front to back or from back to front, " horizontal To " refer in attached drawing from left to right or from right to left, " interior " refers to the inside of attached drawing contour line, and " outer " refers to the outside of attached drawing contour line.
A kind of double delivery unit self-stabilising intelligence plantation frames of present embodiment, as shown in Fig. 1-Figure 10, the plantation frame Including the first delivery unit A, the second delivery unit B, telescopic device 30, displacement sensor and control unit.First delivery unit A and The structure construction of second delivery unit B is identical, below will be by taking the first delivery unit A as an example including pedestal 10 and holder 20 The component parts of the plantation frame of the present invention is described in detail.The first delivery unit A is built-in with pedestal 10 and holder 20, as shown in Fig. 3, Fig. 5, which is the brace foundation of the first delivery unit A, be can be placed on the place in plantation, base The top of frame 10 is equipped with first connecting portion 12.Holder 20 includes multilayer supporting part 22 and branched upright bar 23, and supporting part 22 is mutual Parallel or horizontally disposed, supporting part 22 and branched upright bar 23 are hinged respectively, which is transversely set, The axis of at least two hinged rotation axis is not conllinear in the hinged rotation axis that any supporting part 22 and upright bar 23 are hinged, and wantonly two Layer supporting part 22 and upright bar 23 form parallelogram mechanism.The bottom of holder 20 sets associated with upright bar 23 the Two connecting portions 21, second connecting portion 21 are adapted with parallelogram mechanism, and second connecting portion 21 and first connecting portion 12 coordinate. The holder 20 is assemblied on pedestal 10, and second connecting portion 21 and first connecting portion 12 are hinged, the hinged hinged rotation side To transversely setting, pedestal 10, any supporting part 22 and the upright bar 23 of the first delivery unit A form parallelogram machine Structure.Holder 20 is assemblied on pedestal 10, the first delivery unit A and the second delivery unit B can be respectively constituted.Described first Delivery unit A is arranged on the front of the second delivery unit B, and just opposite, the top of the first delivery unit A and the second delivery unit It is hinged at the top of B, which transversely, constitutes the plantation frame of the present invention, as shown in Figure 1.It is described The bottom of the pedestal 10 of second delivery unit B is equipped with universal wheel, during reducing relative movement between two pedestals 10 of plantation frame by Resistance caused by ground.The telescopic device 30 includes driving device 31 and telescoping mechanism 32, and telescoping mechanism 32 is respectively with One delivery unit A, the second delivery unit B are connected.Telescopic device 30 drive two (first, second) delivery units along with it is described The perpendicular fore-and-aft plane of hinged rotation direction makees longitudinal oscillation, and the pedestal 10 of the second delivery unit B puts list relative to first The pedestal 10 of first A moves longitudinally, and the pedestals of two delivery units is made mutually away from mobile and mutually close movement, holder 20 relative to Coupled pedestal 10, which is made to swing, to be tilted and swings uprightly, and plantation frame, which is realized, makees longitudinal oscillation, and longitudinal oscillation includes swinging Tilt and swing and is upright.During longitudinal oscillation, supporting part 22 staggers and is laminated again successively, and only upright bar 23 rotates Tilt and rotate uprightly, supporting part 22 only makees translational motion, and the spatial attitude of supporting part 22 remains unchanged, when supporting part 22 is by water When plain cloth is put, supporting part 22 remains horizontal.Displacement sensor swings inclined amplitude of fluctuation for measuring holder 20, fills Fit on telescopic device 30.Control unit is used to control the swing of plantation frame (holder) to tilt, swings upright and magnitude of inclination. The telescopic device 30, positioned at sensor respectively with control unit be electrically connected, as shown in Figure 9.
Wherein, the pedestal 10, is horizontal type structure, is laterally set, as shown in Fig. 3, Fig. 5, including pedestal body 11 and the One connecting portion 12.The pedestal body 11 is the frame structure in quadrangle being made of support leg 14, cross bar 15, vertical pole 16. As shown in figure 5,4 support legs 14 are distributed in the corner of quadrilateral frame, 4 support legs 14 are upright to be set.As shown in figure 5, It is fixedly connected, is located at two support legs 14 positioned at the preceding avris positioned at the both ends in horizontally disposed cross bar 15 of preceding avris The both ends in horizontally disposed cross bar 15 of avris are fixedly connected with two support legs 14 positioned at the rear avris afterwards, positioned at the left side The both ends of the vertical pole 16 set along vertical equity of side are fixedly connected with two support legs 14 positioned at the left side side, positioned at the right The both ends of the vertical pole 16 set along vertical equity of side are fixedly connected with two support legs 14 positioned at the right side.The cross bar 15th, vertical pole 16 forms above-mentioned quadrilateral frame structure with support leg 14 by being fixedly connected, and forms first (or second) and puts The brace foundation of unit.First connecting portion 12 is the articulated section for being used to be pivotally connected in " U " font, which, which is equipped with, uses In the pivot hole of assembling pivot.The quantity of first connecting portion 12 is 4, is respectively first connecting portion 12a, 12b, 12c, 12d.Such as figure Shown in 5, the top of two support legs 14 positioned at the preceding avris is arranged on positioned at two first connecting portions 12a, 12d of preceding avris Portion, the top of two support legs 14 positioned at the rear avris is arranged on positioned at two first connecting portions 12b, 12c of rear avris, the The pivot hole of one connecting portion is arranged along the horizontal；Pivot hole wherein positioned at two first connecting portions 12a, 12d of preceding avris is mutually coaxial Line, positioned at the pivot hole phase coaxial line of two first connecting portions 12b, 12c of back sidepiece.First connecting portion 12 is arranged at support The top of leg 14, to increase the bearing capacity of pedestal 10, and under same load weights, can save cross bar 15, vertical pole 16 material quantity, effectively mitigates the weight of plantation frame and reduces its manufacture cost.
It should be noted that above-mentioned pedestal body 11 can also be in grow for what is be made of support leg 14, cross bar 15, vertical pole 16 The frame structure of cube, is construed as a hollow babinet, and inside can be used for placing article, as shown in Figure 8.Support leg 14 quantity is 4, and 4 support legs 14 are distributed in the corner side of cuboid framework, and support leg 14 is upright to be set.Such as Fig. 8 institutes Show, positioned at the both ends of two cross bars 15 being transversely arranged in parallel of preceding avris and the top of preceding two support legs 14 of avris It is respectively fixedly connected with lower part, positioned at the both ends of two cross bars 15 being transversely arranged in parallel of rear avris and the rear avris two The upper and lower part of a support leg 14 is respectively fixedly connected with；Positioned at the two of the vertical pole 16 of two longitudinally parallel settings of left side side End and the upper and lower part of two support legs 14 in left side side are respectively fixedly connected with, and two positioned at the right side are longitudinally parallel The both ends of the vertical pole 16 of setting and the upper and lower part of two support legs 14 in the right side are respectively fixedly connected with.The support leg 14th, cross bar 15, vertical pole 16 constitute the cuboid framework structure by above-mentioned be fixedly connected.In addition, it is located at same avris Two cross bars 15 or vertical pole 16 can also be arranged in a crossed manner, to strengthen pedestal body 11 in stability laterally or longitudinally, improve Load capacity.
Wherein, the holder 20, is the vertical type arrying main body of first (or second) delivery unit, as shown in figure 5, bag Include supporting part 22, upright bar 23, transverse bar 25 and second connecting portion 21.The quantity of upright bar 23 is four, four upright bar 23a, 23b, 23c, 23d are distributed in the corner of holder 20, vertically set, and form the corner side of cuboid framework structure.Supporting part 22 are square, it is made of horizontally disposed square plate portion and wall portion, and wall portion is located at the surrounding avris of flat part, by putting down The upper surface of plate portion upwardly extends, and to prevent cultivating container from sliding, the tablet area that wall portion is enclosed is supporting region；In addition, carrying Portion 22 can also be only made of flat part.Supporting part 22 is horizontally disposed, and quantity is three layers, and three layers of supporting part 22 are parallel to each other, edge 23 equidistantly distributed of upright bar, as shown in Figure 5.The supporting region of supporting part 22 is selected with meshed tablet, to strengthen air perpendicular Nogata to convection current circulate, for carrying the cultivating container of cultivated plant, as shown in Figure 5.It should be noted that supporting part 22 is held It can also be tabular to carry area, can also select and (not drawn in figure with the matched bearing basket for being used to hold up cultivating container of cultivating container Go out).Two the first articulated sections 221 are set on the left side sidepiece (left side side that Fig. 5 shows) of the supporting part 22, one of them first Articulated section 221 is located at the preceding avris of supporting part, another first articulated section 221 is located at the rear avris of supporting part；Supporting part 22 Two the first articulated sections 221 are set on the right sidepiece (the right side that Fig. 5 shows), one of them first articulated section 221 is positioned at carrying The preceding avris in portion, another first articulated section 221 are located at the rear avris of supporting part.Thus, the supporting part 22 is equipped with four First articulated section 221, it is identical with the quantity of upright bar 23.The first articulated section of aforementioned four 221 is for pivot connection is in " U " word The articulated section of type, is built-in with the pivot hole for assembling pivot.Two the first the U-shaped of articulated section 221 of 22 left side side of supporting part are opened Opening's edge longitudinally outward, the U-shaped openings of two the first articulated sections 221 of 22 the right side of supporting part along longitudinally outward, as shown in figure 5, The pivot hole of first articulated section 221 is transversely distributed, wherein the pivot hole coaxial line positioned at the first articulated section 221 of preceding avris, position Pivot hole coaxial line in the first articulated section 221 of rear avris.It should be noted that first articulated section of aforementioned four " U " font The left and right ends (being not drawn into figure) of the forward and backward both sides sidepiece of supporting part 22 can also be separately positioned on, in addition, above-mentioned first pivot Socket part can also be transversely-outwardly-extending four pivots (being not drawn into figure) fixed respectively with supporting part 22.The upright bar 23 structure is identical, and three the second articulated sections 231 are set in every upright bar 23, this three the second articulated sections 231 are along upright bar length Direction equidistantly distributed, i.e., the spacing between wantonly two the second adjacent articulated sections 231 are equal.Second articulated section 231 with First articulated section 221 is engaged.Second articulated section 231 is used to be pivotally connected assembling pivot to be arranged on through hole in upright bar 23 Pivot hole, and form the articulated section of line-styled, which is engaged with the pivot hole of the U-shaped articulated section as the first articulated section. It should be noted that the second articulated section 231 can also be the pivot joint in " U " font for being used to be pivotally connected mutually fixed with upright bar Portion.Described four upright bars 23a, 23b, 23c, 23d are distributed in the outer avris of supporting part 22, wherein two upright bars 23a, 23b are located at The left side side of supporting part 22, another two upright bars 23c, 23d are located at the right side of supporting part 22, i.e., relative to supporting part 22, upright bar 23 are distributed in left and right two relative edges side.In four upright bars 23 with this layer of 22 opposite position of supporting part at share four second Articulated section 231, four the first articulated sections 221 on this four the second articulated sections 231 and supporting part 22 are engaged.The supporting part 22 mutually assemble with four upright bars 23, and are connected by four pairs of above-mentioned first articulated sections 221,231 phase pivot of the second articulated section, form Hinge, the pivot at the pivot connection are transversely distributed.Thus, two upright bars 23a, 23b in four upright bars 23 are distributed in a left side Avris, and the left side sidepiece of supporting part 22 are pivotally connected, and another two upright bars 23c, 23d are distributed in the right side, and supporting part 22 The right sidepiece is pivotally connected；In four pivots that the supporting part 22 and upright bar 23 are pivotally connected, wherein two positioned at preceding avris Pivot coaxial line, positioned at two pivot coaxial lines of rear avris.The left and right both sides sidepiece of the upright bar 23 and supporting part 22 is distinguished It is pivotally connected, can collides to avoid between upright bar 23 and supporting part 22, and avoid the cultivating container on upright bar 23 and supporting part Between collide.In this way, three layers of supporting part 22 and four upright bars 23 are assembled and are pivotally connected respectively, as shown in figure 5, three layers of carrying Portion 22 is parallel to each other, and three layers of supporting part 22 form parallel along upright bar equidistantly distributed, wantonly two layers of supporting part 22 with upright bar 23 Quadrangular mechanism.Three transverse bars 25 are transversely arranged in parallel, both ends of three transverse bars 25 and positioned at preceding avris (Fig. 3 In the avris nearest from reader) two upright bars 23a, 23d be bolted；Another three transverse bars 25 are transversely parallel to be set Put, the both ends of three transverse bars 25 and two upright bars 23b, 23c positioned at rear avris (avris farthest from reader in Fig. 3) It is bolted, for strengthening each two upright bars 23 of avris in horizontal stability and bearing strength.Wherein, transverse bar 25 It can also be arranged in an oblique way with upright bar 23, form truss structure, to further enhance holder in horizontal stability.Need It is bright, described four upright bars 23a, 23b, 23c, 23d, wherein two upright bars 23a, 23d can also and supporting part 22 front Sidepiece is hinged, and the back sidepiece of another two upright bars 23c, 23d and supporting part 22 are hinged.In addition, supporting part 22 can also be set Put two layers, four layers or more layers.The supporting part 22 being square can also be by triangular in shape, polygon, circular, ellipse The supporting part of the shape such as circular or runway-shaped is substituted.The supporting part 22 can also be arranged parallel to, supporting part 22 It is pivotally connected with upright bar 23, holder and pedestal assembling, supporting part 22 fold an acute angle with horizontal plane, i.e., supporting part is relative to water Planar tilt.
It should be noted that：It may be provided for the through hole that upright bar 23 may pass through, the first pivot on the supporting part 22 Socket part is arranged at the position within 22 perimeter sides of supporting part, and the position and through hole are adapted, and upright bar 23 runs through the through hole, and and First articulated section is pivotally connected, i.e. upright bar 23 is distributed in the inside of supporting part 22.The quantity of the upright bar 23 can be three, five Branch or more branch, upright bar 23 is distributed in the perimeter sides of supporting part 22, positioned at the outside of supporting part 22；Upright bar 23 can and supporting part 22 front sidepiece and/or back sidepiece phase pivot connection, can also be with the left side sidepiece or/and the right sidepiece phase of supporting part 22 It is pivotally connected, you can be pivotally connected with any side sidepiece of supporting part 22.Further, upright bar 23 is divided into two groups, wherein One group of upright bar is distributed in being pivotally connected positioned at the avris portion of an avris on an avris, and supporting part 22, another group of upright bar point The opposite avris of an avris is distributed in, and is pivotally connected with the avris portion for being located at the opposite avris of supporting part 22.For example, put Frame has three upright bars 23, with reference to shown in Fig. 5, wherein positioned at two upright bars 23a, 23b of left side side and a left side for square supporting part 22 The rear and front end in avris portion is pivotally connected respectively, positioned at another upright bar 23c of the right side and the right sidepiece pivot of supporting part 22 Axis connection, positioned at the middle part of the right sidepiece；In addition, there is another replacement connection mode, with reference to shown in Fig. 5, wherein before being located at The left and right ends portion of two upright bars 23a, 23d of avris and the front sidepiece of supporting part 22 is pivotally connected respectively, positioned at rear avris Another upright bar 23c and the back sidepiece of supporting part 22 be pivotally connected, and positioned at the center of back sidepiece.It is in addition, described First articulated section 221, the second articulated section 211 can also select the articulated section for being used to be pivotally connected in U-typed entirely；It is or described The articulated section in U-typed is selected in one of first articulated section 221 and the second articulated section 211, another selection is matched somebody with somebody with U-typed articulated section Attach together the line-styled articulated section matched somebody with somebody.
In order to facilitate processing, assembling and safeguard, the pivot connection way between above-mentioned supporting part 22 and upright bar 23 can also quilt It is interpreted as：Two " U " font articulated sections that supporting part 22 is located at left side side are connected to form connecting rod, form the bridging of left side side Portion, " U " the font articulated section at the bridge both ends and two upright bars 23 positioned at left side side are pivotally connected respectively, bridge and are held The left side side in load portion 22 is fixedly connected；Connecting rod is connected to form positioned at two " U " font articulated sections of the right side, forms the right side Bridge, " U " the font articulated section at the bridge both ends and two upright bars 23 positioned at the right side are pivotally connected respectively, bridge Portion is fixedly connected with the right side of supporting part 22.Therefore, supporting part 22 is connected by bridge with four 23 phase pivots of upright bar, structure Into hinge, the pivot direction of pivot connection is arranged along the horizontal.Wherein supporting part 22 and bridge are realized discrete, are discrete parts, It can be processed respectively.
The second connecting portion 21 is arranged on the lower end base of holder 20, and second connecting portion 21 and upright bar 23 are associated. Second connecting portion 21 is the articulated section being adapted with first connecting portion 12, which is the through hole being arranged in upright bar 23, i.e., For the pivot hole for assembling pivot, the axis direction of pivot hole transversely, and forms the company in line-styled for being pivotally connected Socket part, as shown in Figure 5.The quantity of second connecting portion 21 is four, and four second connecting portions 21a, 21b, 21c, 21d are set gradually In the bottom of four upright bars 23a, 23b, 23c, 23d of holder 20, four first connecting portions 12 and four second companies Socket part 21 is engaged.The holder 20 is assemblied on pedestal 10, second connecting portion 21a, 21b, 21c, 21d and first connecting portion 12a, 12b, 12c, 12d phase pivot connect, composition hinge, and the pivot direction at the pivot connection is transversely distributed；Described second In four pivots that connecting portion 21 is connected with 12 phase pivot of first connecting portion, wherein positioned at two pivot coaxial lines of preceding avris, Positioned at two pivot coaxial lines of rear avris.The pedestal 10, supporting part 22 and upright bar 23 of described first (or second) delivery unit Parallelogram mechanism is formed, first (or second) delivery unit is the support unit for being built-in with parallelogram mechanism, upright bar 23 can pivot around second connecting portion 21 associated there with what 12 phase pivot of first connecting portion connected, and upright bar 23 occurs Tilt and upright.It is above-mentioned that second connecting portion 21 is arranged in upright bar 23, be second connecting portion 21 and upright bar 23 it is associated one Kind mode.It should be noted that the second connecting portion 21 can also be arranged on the lower part of upright bar 23, under upright bar 23 On end, it is construed as being arranged at a position in region between the middle part and bottom of upright bar 23, is such as arranged on distance At 1/3 upright bar length of the bottom of upright bar 23.
The evaluation formed for the parallelogram mechanism of first (or second) delivery unit, in order to express easily, herein One reference planes of predefined, the pivot which is connected with above-mentioned supporting part 22 and 23 phase pivot of upright bar is perpendicular, It is perpendicular that the hinged rotation direction of formed hinge is namely pivotally connected with supporting part 22 and upright bar 23, namely with the hinge The hinged rotation axis connect is vertical.Since the structure construction of the first delivery unit, the second delivery unit is identical, the first delivery unit, The evaluation method that the parallelogram mechanism of second delivery unit is formed is also identical, below will be by taking one of delivery unit as an example Evaluation explanation is carried out, such as by taking the first delivery unit as an example, with reference to Fig. 3, Fig. 5.
The foregoing describe a kind of preferable technical solution.Holder 20 has along longitudinally, laterally two planes of symmetry, symmetry Height, is convenient to fabricate.The upright bar 23 of holder 20 is uprightly distributed, and is distributed in leading flank and the trailing flank of cuboid framework On, holder 20 has four upright bars, namely upright bar is distributed in the corner side of cuboid framework.Holder 20 positioned at preceding avris Two projections of two upright bars 23a, 23d in the reference planes coincide, the first articulated section and upright bar on upright bar 23a Two projections of first articulated section of the opposite position on 23d in the reference planes coincide；Holder 20 is located at Two projections of two upright bars 23b, the 23c of avris in the reference planes afterwards coincide, the first articulated section on upright bar 23b Coincide with two projections of the first articulated section at the opposite position on upright bar 23c in the reference planes.Holder Two projections of 20 two upright bars 23a, the 23b positioned at left side side in the reference planes do not coincide, positioned at the right side Two projections in the reference planes of two upright bars 23c, 23d do not coincide.21 upright bar of second connecting portion, 23 phase Association further includes following situation, with reference to shown in Fig. 3, for example, holder 20 positioned at preceding avris two upright bars 23a, 23d (or Two upright bar 23b, 23c of avris afterwards) lower end be fixedly connected respectively with the transverse bar being arranged along the horizontal, second connecting portion 21 is set Put and (be not drawn on the transverse bar in figure), quantity is one or more；For another example two upright bars of the right side of holder 20 The lower end of 23c, 23d (or two upright bars 23a, 23b of left side side) are pivotally connected with longitudinally arranged longitudinal rod respectively, and second Connecting portion 21 is arranged on longitudinal rod, and quantity is one or more, and the pivot of the pivot connection is arranged along the horizontal, multiple fingers Two or more.
For above-mentioned preferable technical solution, the four of any layer supporting part 22 and four 23 phase pivot junctions of upright bar A pivot, wherein two pivot coaxial lines positioned at preceding avris, two pivot coaxial lines positioned at rear avris；Second connection There are four pivots in portion 21 and 12 phase pivot junction of first connecting portion, wherein two pivot coaxial lines positioned at preceding avris, being located at Two pivot coaxial lines of avris afterwards.Therefore, any layer supporting part 22 and four pivots of four 23 phase pivot junctions of upright bar There are two subpoints, four pivots of 12 phase pivot junction of second connecting portion 21 and first connecting portion in the reference planes There are two subpoints in the reference planes, namely two subpoints of two pivots positioned at preceding avris coaxial line are mutually overlapping Close, two subpoints positioned at two pivots of rear avris coaxial line coincide.First layer, the second layer (counting from the top down) carrying Eight pivots of portion 22 and four 23 phase pivot junctions of upright bar only have four subpoints, this four throwings in the reference planes Shadow point forms four vertex of parallelogram, namely corresponding to first layer, second layer supporting part 22 and four 23 phase pivots of upright bar Eight pivots of axis connection；That is, four that first layer, second layer supporting part 22 and the upright bar of left side side two are pivotally connected Pivot four subpoints on the reference plane, be pivotally connected with first layer, second layer supporting part 22 and the upright bar of the right side two Four pivots four subpoints on the reference plane just coincide completely, therefore, the first layer, second layer supporting part 22 and two upright bar 23a, 23b of left side side form parallelogram mechanism, and parallel with two upright bar 23c, 23d compositions of the right side Quadrangular mechanism, so, the first layer, second layer supporting part 22 and upright bar 23 form parallelogram mechanism.Using identical Evaluation method, the second layer can be evaluated respectively, third layer supporting part 22 and upright bar 23 form parallelogram mechanism, first Layer, third layer supporting part 22 and upright bar 23 form parallelogram mechanism.That is, wantonly two layers of supporting part 22 and 23 structure of upright bar Into parallelogram mechanism.Therefore, holder 20 is a kind of supporting rack of built-in parallelogram mechanism.The second connecting portion 21 and 12 pivot connection of first connecting portion at 23 pivot connection of two subpoints, first layer supporting part 22 and upright bar at two throwings Shadow point forms four vertex of parallelogram, that is, the pedestal 10, first layer supporting part 22 and two upright bars of left side side 23b, 23c form parallelogram mechanism, and form parallelogram mechanism with two upright bar 23a, 23d of the right side, so, institute State pedestal 10, first layer supporting part 22 and upright bar 23 and form parallelogram mechanism.Using identical evaluation method, can distinguish Evaluate pedestal 10, second layer supporting part 22 and upright bar 23 form parallelogram mechanism, pedestal 10, third layer supporting part 22 and vertical Bar 23 forms parallelogram mechanism.That is, the pedestal 10 of described first (or second) delivery unit, supporting part 22 and vertical Bar 23 forms parallelogram mechanism, it can be understood as the second connecting portion 21 and the parallelogram mechanism phase of holder 20 Adaptation, first (or second) delivery unit are a kind of support unit of built-in parallelogram mechanism.
For general technical solution.Holder 20 may only have a plane of symmetry longitudinally or transversely, or no pair Title face, symmetry are poor, it has not been convenient to fabricate.The upright bar 23 of holder 20 is uprightly distributed, and super distributed is not in cuboid framework knot On on the leading flank of structure and trailing flank, holder 20 has four upright bars, namely upright bar is not located at the corner side of cuboid framework entirely. Two projections of two upright bars 23a, the 23d positioned at preceding avris of holder 20 in the reference planes may be misaligned；Put Putting two projections of two upright bars 23b, the 23c positioned at rear avris of frame 20 in the reference planes may be misaligned.It is described There are four pivots in supporting part 22 and four 23 phase pivot junctions of upright bar, wherein two pivots positioned at preceding avris are not necessarily coaxial Line, two pivots also not necessarily coaxial line positioned at rear avris；12 phase pivot of the second connecting portion 21 and first connecting portion connects There are four pivots at the place of connecing, wherein not necessarily coaxial line, two pivots positioned at rear avris differ positioned at two pivots of preceding avris Determine coaxial line.For two not coaxial lines of pivot of the described not coaxial line of two pivots positioned at avris or/and rear avris Situation, as shown in figure 3, being construed as, two of the left side side (or the right side) of the plantation frame in above-mentioned preferred solution Upright bar 23 translates a distance in opposite directions makes its close, or two 23 phases of upright bar of the left side side make its remote from translation a distance From, or equidirectional joint translation a distance of two upright bars 23 of the left side side, after so processing, positioned at the two of preceding avris A pivot mutually staggers no longer coaxial line or/and mutually staggers no longer coaxial line positioned at two pivots of rear avris；Put Two projections of two upright bars positioned at preceding avris of frame 20 in the reference planes do not coincide or/and positioned at rear avris Two projections of two upright bars in the reference planes do not coincide, i.e., the upright bar 23 of holder 20 not super distributed in cuboid On on the leading flank of frame structure and trailing flank.For the general technical solution, supporting part 22 is connected with 23 phase pivot of upright bar Four pivots at place will have two, three or four subpoints, second connecting portion 21 and first connecting portion 12 in the reference planes Four pivots of phase pivot junction have in the reference planes and also have two, three or four subpoints, for holder and kind The evaluation of parallel four sides mechanism composition of frame is planted, it is necessary to using following method.
Parallelogram mechanism built in holder 20, it is, the wantonly two layers of supporting part 22 and 23 structure of upright bar of holder 20 Into parallelogram mechanism, in particular to, four pivots which connects with 23 phase pivot of wantonly two upright bars There are four subpoints in the reference planes, without the subpoint to coincide in four subpoints, and form parallelogram Four vertex.In the composition evaluation (hereinafter referred to as evaluate) of parallelogram mechanism, in order to simplify evaluation procedure, above-mentioned The selection of two upright bars 23 is construed as, and before evaluation, optionally goes out a upright bar 23 from all upright bars 23 first, The upright bar 23 will participate in each evaluation, be referred to as with reference to upright bar, in each evaluation, then from having neither part nor lot in the remaining of evaluation A upright bar 23, the upright bar 23 and two upright bars 23 that participation this time evaluation is formed with reference to upright bar are arbitrarily chosen in upright bar 23.Appoint The selection of two layers of supporting part 22 is construed as, and before evaluation, is optionally gone out one layer from all supporting parts 22 first and is held Load portion 22, this layer of supporting part 22 will participate in each evaluation, be referred to as with reference to supporting part；In each evaluation, then never join This is participated in one layer of supporting part 22 of any selection in the remaining supporting part 22 of evaluation, the supporting part 22 and with reference to supporting part composition Two layers of supporting part 22 of secondary evaluation.It is described when wantonly two layers of supporting part 22 and wantonly two upright bars 23 form parallelogram mechanism Wantonly two layers of supporting part 22 and upright bar 23 form parallelogram mechanism, and the supporting part 22 of holder 20 forms parallel four with upright bar 23 Bian Xing mechanisms.
The pedestal 10, any layer supporting part 22 and upright bar 23 of described first (or second) delivery unit form parallelogram Mechanism includes, and pedestal 10, any layer supporting part 22 and wantonly two upright bars 23 form parallelogram mechanism, refer specifically to, wherein appointing Pivot that the associated second connecting portion 21 of one upright bar 23 connect with 12 phase pivot of first connecting portion, separately any 23 phase of upright bar The pivot that associated second connecting portion 21 is connected with 12 phase pivot of first connecting portion, two pivots have in the reference planes Two subpoints not coincided, are referred to as the first subpoint；Any layer supporting part 22 and above-mentioned wantonly two upright bars, 23 phase pivot Two pivots of axis connection have two subpoints not coincided in the reference planes, are referred to as the second subpoint；Institute State the first subpoint and the second subpoint forms four vertex of parallelogram.Evaluated in the composition of the parallelogram mechanism In, in order to simplify evaluation procedure, the selection of above-mentioned wantonly two upright bars 23 is construed as, before evaluation, first from all Upright bar 23 in optionally go out a upright bar 23, which will participate in each evaluation, be referred to as with reference to upright bar, each During evaluation, then a upright bar 23, the upright bar 23 and with reference to upright bar structure are arbitrarily chosen from the remaining upright bar 23 for have neither part nor lot in evaluation Into two upright bars 23 for participating in this time evaluation.In each evaluation, any layer supporting part 22 is from the supporting part for having neither part nor lot in evaluation The one layer of supporting part 22 arbitrarily chosen in 22.The pedestal 10, any layer supporting part 22 form parallel four with wantonly two upright bars 23 Bian Xing mechanisms, the then pedestal 10, any supporting part 22 and upright bar 23 form parallelogram mechanism, and the plantation frame is built-in The support device of parallelogram mechanism.
Using the first (or second) delivery unit shown in Fig. 3, Fig. 5 as reference example, above-mentioned parallelogram mechanism is formed The evaluation of principle is further described.With reference to shown in Fig. 5, plantation frame includes 10, three layers of supporting part 22 of pedestal and four upright bars 23.The quantity of supporting part 22 is three layers, and four upright bars 23 are respectively upright bar 23a, 23b, 23c, 23d.In parallelogram mechanism Composition evaluation before, optional one layer of supporting part 22 from three layers of supporting part 22, holds as first layer with reference to supporting part, is such as chosen Load portion 22 is as with reference to supporting part；Second layer supporting part 22 is selected from remaining two layers of the supporting part 22 for have neither part nor lot in evaluation again, The second layer supporting part 22 and two layers of supporting part 22 that this evaluation of participation is formed with reference to supporting part.From four upright bar 23a, 23b, An optional upright bar 23 in 23c, 23d, as reference upright bar, such as chooses upright bar 23a and is used as with reference to upright bar, then evaluated from having neither part nor lot in Remaining upright bar 23b, 23c, 23d in, choose upright bar 23b, upright bar 23b and with reference to upright bar 23a form participate in this time evaluation Two upright bars 23a, 23b.There are four pivots in first layer, second layer supporting part 22 and two upright bar 23a, 23b phase pivot junctions, Four pivots have four subpoints in the reference planes, if there is the subpoint overlapped in four subpoints, change Another two upright bars continue evaluation (similarly hereinafter), if there is no the subpoint to coincide and forming four of parallelogram tops Point, then first layer, second layer supporting part 22 and two upright bars 23a, 23b form parallelogram mechanism.Again from have neither part nor lot in evaluation Remaining two upright bars 23c, 23d in, choose upright bar 23c, upright bar 23c and with reference to upright bar 23a form participate in this time evaluation Two upright bars 23a, 23c.There are four pivots in first layer, second layer supporting part 22 and two upright bar 23a, 23c phase pivot junctions, Four pivots have four subpoints in the reference planes, there is no the subpoint to coincide in four subpoints, and Four vertex of parallelogram are formed, then first layer, second layer supporting part 22 constitute parallel four with two upright bars 23a, 23c Bian Xing mechanisms.Again from having neither part nor lot in a remaining upright bar 23d for evaluation, upright bar 23d is chosen, upright bar 23d and with reference to upright bar 23a Form two upright bars 23a, 23d for participating in this time evaluation.First layer, second layer supporting part 22 and two upright bar 23a, 23d phase pivots There are four pivots in shaft connection place, which has four subpoints in the reference planes, which forms flat Four vertex of row quadrangle, then first layer, second layer supporting part 22 and two upright bars 23a, 23d constitute parallelogram machine Structure.That is, first layer, second layer supporting part 22 and wantonly two upright bars 23 constitute parallelogram mechanism, so first Layer, second layer supporting part 22 and four upright bars 23 constitute parallelogram mechanism.Using same evaluation method, can evaluate First layer, third layer supporting part 22 and four upright bars 23 constitute parallelogram mechanism.So wantonly two layers of supporting part 22 and vertical Bar 23 forms parallelogram mechanism, and holder 20 is the supporting rack of built-in parallelogram mechanism.Second connecting portion 21 is set In the bottom of upright bar 23, quantity is four, i.e. every upright bar 23 is associated with a second connecting portion 21 respectively.Held from three layers One layer supporting part 22 of the first layer supporting part as this evaluation is chosen in load portion 22；From four upright bars 23a, 23b, 23c, 23d In an optional upright bar 23a be used as with reference to upright bar, then from having neither part nor lot in remaining three upright bars 23b, 23c, 23d of evaluation, select Take upright bar 23b, upright bar 23b and two upright bars 23a, 23b that participation this time evaluation is formed with reference to upright bar 23a.A wherein upright bar Under pivot that the second connecting portion 21a that 23a bottoms are associated is connected with first connecting portion 12a phase pivots, another upright bar 23b The pivot that the second connecting portion 21b that end is associated is connected with first connecting portion 12b phase pivots has two in the reference planes A subpoint, under being referred to as the first subpoint, it is necessary to illustrate, if two subpoint coincides, is changed after another two upright bars again Evaluated, similarly hereinafter；There are two pivots in first layer supporting part 22 and two upright bar 23a, 23b phase pivot junctions, two pivots Axis has two subpoints in the reference planes, is referred to as the second subpoint；First subpoint and the second subpoint structure Into four vertex of parallelogram, therefore, the pedestal 10, first layer supporting part 22 and two upright bars 23a, 23b form flat Row quadrangular mechanism.Again from having neither part nor lot in remaining two upright bars 23c, 23d of evaluation, upright bar 23c, upright bar 23c and ginseng are chosen Two upright bars 23a, 23c for participating in this time evaluation are formed according to upright bar 23a；A wherein upright bar 23a bottom be associated second The second connection that pivot that connecting portion 21a is connected with first connecting portion 12a phase pivots, another upright bar 23c bottom are associated The pivot that portion 21c is connected with first connecting portion 12c phase pivots has two subpoints not coincided, quilt in the reference planes Referred to as the first subpoint；There are two pivots in first layer supporting part 22 and two upright bar 23a, 23c phase pivot junctions, this two Pivot has two subpoints not coincided in the reference planes, is referred to as the second subpoint；First subpoint and Second subpoint forms four vertex of parallelogram, therefore, the pedestal 10, first layer supporting part 22 and two upright bars 23a, 23c form parallelogram mechanism.Again from having neither part nor lot in a remaining upright bar 23d for evaluation, upright bar 23d is chosen, is stood Bar 23d and two upright bars 23a, 23d that participation this time evaluation is formed with reference to upright bar 23a；Wherein a upright bar 23a bottom is related Pivot that the second connecting portion 21a of connection is connected with first connecting portion 12a phase pivots, another upright bar 23d bottom are associated Pivot that second connecting portion 21d is connected with first connecting portion 12d phase pivots has two not coincide in the reference planes Subpoint, is referred to as the first subpoint；There are two pivots in first layer supporting part 22 and two upright bar 23a, 23d phase pivot junctions Axis, two pivots have two subpoints not coincided in the reference planes, are referred to as the second subpoint；This first Subpoint and the second subpoint form four vertex of parallelogram, therefore, the pedestal 10, first layer supporting part 22 and two Branch upright bar 23a, 23d form parallelogram mechanism.That is it is construed as, the pedestal 10, first layer supporting part 22 form parallelogram mechanism with wantonly two upright bars 23, so, the pedestal 10, first layer supporting part 22 and four upright bars 23a, 23b, 23c, 23d form parallelogram mechanism.Using same evaluation method, pedestal 10, second can be evaluated respectively Layer supporting part 22 and four upright bars 23 form parallelogram mechanism, pedestal 10, third layer supporting part 22 and four 23 structures of upright bar Into parallelogram mechanism.Thus, the pedestal 10 of described first (or second) delivery unit, any layer supporting part 22 and four are vertical Bar 23 forms parallelogram mechanism, that is to say, that the second connecting portion 21 and the parallelogram mechanism phase of holder 20 Adaptation, first (or second) delivery unit are a kind of support unit of built-in parallelogram mechanism.
In addition, the second connecting portion 21 is adapted with parallelogram mechanism, can also be understood to：Holder 20 fills Assigned on pedestal 10, second connecting portion 21 is connected with 12 phase pivot of first connecting portion, which is manipulated making longitudinal oscillation When tilting and swinging upright, the upright bar 23 of holder 20 is around 12 phase pivot of the associated second connecting portion 21 of the upright bar and first connecting portion The pivot of axis connection be free to rotate, and upright bar 23 pivots inclination around this and rotates upright, 22 translational motion of supporting part, To realize that holder 20 makees longitudinal oscillation inclination and swing is upright.Second connecting portion 21 is connected with 12 phase pivot of first connecting portion Afterwards, position of the second connecting portion 21 on holder 20 cannot influence holder 20 make longitudinal oscillation tilt and swing it is upright, i.e., Its freedom of motion cannot be limited.
Parallelogram mechanism built in the holder 20 of first (or second) delivery unit causes holder 20 to have one Freedom of motion, longitudinally has " flexibility ", longitudinal oscillation is done suitable for the holder 20.Longitudinal oscillation is made including holder 20 Swing and tilt, each layer supporting part 22 is staggered successively, and the manipulation work swing of holder 20 is upright, makes each layer supporting part 22 mutual Stacking.The holder 20 does swing and tilts, and refers to, the upright bar 23 of holder 20 is by around second connection associated with the upright bar Portion 21 is pivoted with what first connecting portion 12 was pivotally connected, and upright bar produces inclination by upright, and each layer supporting part 22 staggers successively, As shown in Figure 6, Figure 7.Wantonly two layers of supporting part 22 of holder 20 and upright bar 23 form parallelogram mechanism, and holder 20 is grasped It is vertical make longitudinal oscillation during, only upright bar 23 rotates inclination in swing, and supporting part 22 only makees translational motion, so The spatial attitude of supporting part 22 remains unchanged, i.e., the angle between supporting part 22 and horizontal plane remains constant, that is to say, that holds If load portion 22 is horizontally set, holder 20, which is swung, to be tilted and swings uprightly, what supporting part 22 staggered and was layered on top of each other successively During, supporting part 22 remains horizontal.
The pedestal 10, any supporting part 22 and upright bar 23 of first (or second) delivery unit form parallelogram mechanism, Wherein, pedestal 10, supporting part 22 are pivotally connected with upright bar 23 respectively, the pivot direction cross direction profiles of pivot connection, so first (or second) delivery unit has a freedom of motion, longitudinally has " flexibility ".First (or second) delivery unit is grasped Indulge during making longitudinal oscillation, the pedestal 10 put on the ground is motionless, and only upright bar 23 is around second connecting portion 21 and first The pivot that connecting portion 12 is pivotally connected rotates, and supporting part 22 only makees translational motion, so the spatial attitude of supporting part 22 begins Remain unchanged eventually, i.e., the angle between supporting part 22 and horizontal plane remains constant.That is, when first (or second) is put When unit is placed on the ground, supporting part 22 is horizontal, first (or second) delivery unit is manipulated making to swing tilting and swinging Uprightly, supporting part 22 staggers and is laminated again successively, and in the process, supporting part 22 remains horizontal, as shown in Figure 7.This Sample, the cultivating container being seated on supporting part 22, the cultivating container of special soilless culture, cultivating container remain horizontal, and cultivating container is not Can run-off the straight, therefore soil in cultivating container or water planting liquid will not be caused to trickle down, and cause the waste of soil or water planting liquid, while again Unrestrained soil or water planting liquid is avoided to destroy the neat and tidy of planting site.
The plantation frame of the present invention includes the first delivery unit A and the second delivery unit B.First delivery unit A is arranged on The front of second delivery unit B, just relatively, the top of the first delivery unit A be connected at the top of the second delivery unit B. The connection mode can be realized by upright bar 23 and connected, i.e. the first delivery unit A's is located at rear avris two upright bars 23b, 23c Top top connecting portion 24 is set respectively, labeled as the first top connecting portion 24, the second delivery unit B's is vertical positioned at preceding avris two The top of bar 23a, 23d set top connecting portion 24 respectively, and labeled as the second top connecting portion 24, the top connecting portion 24 is for pivot The articulated section of axis connection.Avris before two upright bars 23b, 23c and the second delivery unit B of avris after the first delivery unit A Two upright bars 23a, 23d pass through described first, second top connecting portion 24 phase pivot respectively and connect, the pivot edge of the pivot connection Cross direction profiles, are a kind of preferable connection mode.Can also be by holding it should be noted that being connected at the top of two delivery units Realize that the first delivery unit A's is set top connecting portion 24 on the rear avris of the supporting part 22 at top, is identified in load portion 22 For the first top connecting portion 24；Second delivery unit B's is set the top being adapted on the preceding avris of the supporting part 22 at top Connecting portion 24, is identified as the second top connecting portion 24, it is to connect for pivot that first top connecting portion 24, second, which pushes up connecting portion 24, The articulated section connect.The holding positioned at top of the 22 and second delivery unit B of supporting part positioned at top of the first delivery unit A The cooperation of connecting portion 24 assembling is pushed up by the described first top connecting portion 24, second by load portion 22 and phase pivot connects, the pivot connection Pivot is transversely distributed.Pedestal 10, any supporting part 22 and the upright bar 23 of first delivery unit A forms parallelogram mechanism, Pedestal 10, any supporting part 22 and the upright bar 23 of second delivery unit B forms parallelogram mechanism, wherein, pedestal 10, carrying Portion 22 is pivotally connected with upright bar 23 respectively, and the top of the first delivery unit A is connected with the top pivot of the second delivery unit B, institute The pivot direction cross direction profiles of pivot connection are stated, first, second delivery unit has a freedom of motion, thus, plantation frame tool There is a freedom of motion, longitudinally there is " flexibility ", longitudinal oscillation can be made along the fore-and-aft plane perpendicular with the pivot. When plantation frame is manipulated making to swing inclination, two pedestals of first and second delivery unit are forced to mutually move away from from movement, compel Tilt the holder swing backward of the first delivery unit, the holder of the second delivery unit swings forward inclination, swings herein In tilting procedure, plane that the contact point between the outermost support leg of pedestal of two delivery units and ground is surrounded along longitudinal direction by Step increase, and the center of gravity of plantation frame is still within the central part of plantation frame, the center of gravity all the time can orthographic projection to by two pedestals In the plane that outermost support leg is surrounded, and the height of center of gravity is gradually lower so that plantation frame has very from longitudinal direction Strong stability.By in swing tilting procedure, the center of gravity of plantation frame is lower plantation frame, and the support leg that plantation frame most locates side is surrounded The area of plane gradually increase, all so that plantation frame become more stable, will not turn on one's side.
Plantation frame is manipulated during making longitudinal oscillation, and the pedestal 10 of the first delivery unit A is motionless, the second delivery unit The pedestal 10 of B makees translational motion along ground, and two pedestals move away from or progressively close, and only upright bar 23 is around each associated the The pivot that two connecting portions 21 are pivotally connected with first connecting portion 12 rotates inclinations, and supporting part 22 only makees translational motion, carrying The spatial attitude in portion 22 remains constant, and the angle between supporting part 22 and horizontal plane remains constant.That is, when kind When planting that frame is placed on the ground, supporting part 22 is horizontal, the first, the second delivery unit of plantation frame be manipulated making to swing tilt and Swing uprightly, supporting part 22 staggers and is layered on top of each other again successively, and in the process, the spatial attitude of supporting part 22 remains It is constant, as shown in Figure 7.In this way, the soil or water planting liquid in the cultivating container being placed on supporting part 22 will not be trickled down, soil will not be caused Or the waste of water planting liquid, while unrestrained soil or water planting liquid soiled planting site are avoided again.
Wherein, the telescopic device 30 includes driving device 31 and telescoping mechanism 32, as shown in Figure 5.Telescoping mechanism 32 wraps Screw 321 and fixed part 322 are included, the one end and fixed part 322 of the screw 321 form lead screw pair；Driving device 31 includes Motor and speed reducer is driven, drives the output shaft of motor and the input shaft axis connection of gear reducer.The other end of screw 321 and set The block put on fixed part 322 is rotatably assorted, and block only has rotational freedom to limit screw 321, does not translate freedom Degree, makes it to rotate.321 axis connection of output shaft and screw of gear reducer, to drive screw to rotate, drives two delivery units Pedestal mutually away from mobile and mutually close to mobile, realize plantation frame make to swing tilt and swing uprightly.The fixed part 322 and 10 phase of pedestal of one delivery unit A is assembled and fixed, 10 phase of the pedestal assembling of the other end of screw 321 and the second delivery unit B And be pivotally connected, to drive the pedestal 10 of the second delivery unit B to be moved along after longitudinal phase, two pedestals move away from, and drive kind Plant frame and swing inclination；And to drive the pedestal 10 of the second delivery unit B to be moved along longitudinal phase front, two pedestals are progressively close, Frame swing is planted to drive uprightly.In addition, telescoping mechanism 32 can also be assembled in the left side side (or/and the right side) of plantation frame In upright bar, by taking a set of telescoping mechanism 32 as an example, 322 and first delivery unit of fixed part of telescoping mechanism 32 is located at the vertical of left side side Bar is hinged, and the upright bar that 321 and second delivery unit of screw is located at left side side is assembled and is hinged.In addition, telescoping mechanism 32 may be used also To be assembled on the supporting part 22 of plantation frame, the basecoat of 322 and first delivery unit of fixed part of telescoping mechanism 32 22 assembly connection of supporting part, the supporting part 22 of the corresponding basecoat of 321 and second delivery unit of screw are assembled and are hinged. The driving motor is all understood to driving electricity through gear reducer and screw axis connection and by gear mechanism and screw axis connection The output shaft and screw axis connection of machine.
It should be noted that the telescoping mechanism 32 can also be the oil being mainly made of cylinder body 322 ' and output shaft 321 ' Cylinder, driving device 31 include driving motor, oil pump and reversal valve.The output shaft of motor and the input shaft axis connection of oil pump are driven, To maintain the pressure of energy storage oil；The flow direction of commutation Vavle switching energy storage oil, is stretched out, contracting with changing the output shaft 321 ' of oil cylinder The motion state returned.The reversal valve uses electric control reversing valve, and electric control reversing valve and control unit are electrically connected.The cylinder body 322 ' and 10 phase of pedestal of first delivery unit A is assembled and fixed, 10 phase of pedestal of the one end of output shaft 321 ' and the second delivery unit B Connection, to drive the pedestal 10 of the second delivery unit B to be moved along after longitudinal phase with phase front.In addition, telescoping mechanism 32 can be with It is assembled in the upright bar of left side side (or/and the right side) of plantation frame, by taking a set of telescoping mechanism 32 as an example, telescoping mechanism 32 The upright bar that cylinder body 322 ' and the first delivery unit are located at left side side is hinged, and output shaft 321 ' and the second delivery unit are located at the left side The upright bar of side is hinged.In addition, telescoping mechanism 32 can also be assembled on the supporting part 22 of plantation frame, the cylinder of telescoping mechanism 32 22 assembly connection of supporting part of the second layer of body 322 ' and the first delivery unit (counting from the top down), output shaft 321 ' and second are put The supporting part 22 for putting the corresponding second layer of unit is assembled and is hinged.
It should be noted that the telescoping mechanism 32 can also be the gas being mainly made of cylinder body 322 ' and output shaft 321 ' Cylinder, driving device 31 include driving motor, air pump and reversal valve.The output shaft of motor and the input shaft axis connection of air pump are driven, To maintain the pressure of energy storage gas；The flow direction of commutation Vavle switching energy storage gas, is stretched out, contracting with changing the output shaft 321 ' of cylinder The motion state returned.The reversal valve uses electric control reversing valve, and electric control reversing valve and control unit are electrically connected.The cylinder body 322 ' and 10 phase of pedestal of first delivery unit A is assembled and fixed, 10 phase of pedestal of the one end of output shaft 321 ' and the second delivery unit B Connection, to drive the pedestal 10 of the second delivery unit B to be moved along after longitudinal phase with phase front.
Institute's displacement sensors device selects angular displacement sensor, is assemblied in the afterbody of driving motor, is driven for directly measurement The angular displacement of dynamic motor.Control unit uses built-in algorithm, according to the driving angular displacement of motor, the speed reducing ratio of gear reducer, screw Pitch, calculate the collapsing length of screw, and determine the extension elongation of screw, control unit further according to screw extension elongation, The height of holder extrapolates the upright bar of holder 20 and the angle of vertical direction, that is, the upright bar of holder 20 connects around second The rotating angle of pivot institute that socket part 21 is connected with 12 phase pivot of first connecting portion, the i.e. holder 20 swing inclined pendulum Dynamic amplitude.
It should be noted that displacement sensor device, can also select linear movement pick-up, telescoping mechanism 32 and rack are assemblied in On body 11, for measuring the extension elongation of telescoping mechanism, the extension elongation of the telescoping mechanism measured according to linear movement pick-up, The height of holder calculates holder 20 by control unit and swings inclined amplitude of fluctuation.In addition, displacement sensor device can also select With multiple proximity sensors, the multiple proximity sensor is evenly arranged into linear array, linear movement pick-up is formed, for surveying Measure the extension elongation of telescoping mechanism；Or the multiple proximity sensor is evenly arranged into circular arc array, angular displacement sensor is formed, For directly measuring pivot institute of the upright bar 23 of holder 20 around 12 phase pivot junction of second connecting portion 21 and first connecting portion Rotating angle, that is to say that holder 20 swings inclined amplitude of fluctuation.
Wherein, the control unit 50, as shown in Figure 9, Figure 10, is mainly built-in with processor, memory, drive circuit, biography Sensor interface, mixed-media network modules mixed-media, keyboard interface and display interface.Motor is driven to be electrically connected through drive circuit and control unit.Touch-control Screen is electrically connected through display interface and control unit, and keyboard special is electrically connected through keyboard interface and control unit, mobile terminal, such as mobile phone, Communication connection is established through mixed-media network modules mixed-media and control unit.Touch screen, keyboard special, mobile terminal may be incorporated for control unit 50 into Row parameter setting, the strong threshold value of degree, the preset value of the amplitude of fluctuation of plantation frame, plantation frame as characterization has sunray swing inclination The setting of the parameters such as the setting value of duration, network parameter, and manually the swing of control plantation frame tilt and swing it is upright.According to Need that one of which or several can be matched.Preferred keyboard special, mobile terminal and touch screen, wherein network in present embodiment Module is built-in with bluetooth unit, and mobile terminal is mobile phone or tablet computer, and mobile terminal passes through bluetooth communication channel and control unit 50 establish communication connection.It is provided with " 0-9 " 10 number keys, " deletion ", " confirmation " key on keyboard special, and " inclination ", " straight It is vertical " key, the swing for controlling plantation frame manually tilts and swings upright.Control unit 50 be used for swing to plantation frame tilt, Swing the upright and inclined amplitude of fluctuation of swing and carry out intelligent control.Next it is right by taking telescoping mechanism 32 is screw mechanism as an example The intelligent control process and swing principle of plantation frame of the present invention are specifically described, as described below.
Need to carry out necessary parameter setting before intelligent control.Pass through the mobile terminals such as keyboard special, touch screen or mobile phone The intensity threshold of sunray is set, which is used to characterize whether have sunray, when the intensity level of sunray is big When the intensity threshold, representative has sunray；Characterization plantation frame is set to swing the preset value of inclined amplitude of fluctuation, preset value For 0 when represent that plantation frame is upright, represent that plantation frame tilts during more than 0；The judgement cycle of sunray is set, represents control unit 50 The time interval judged the presence or absence of sunray；Set and tilt duration, it is lasting to represent that plantation frame is in heeling condition Longest time span.
Sunray judges step.According to the time interval for judging the cycle, control unit 50 to the having of sunray, without following Ring judges.Control unit 50 obtains the measured value for the sunray intensity that light sensor 42 detects, and light sensor 42 is visited The measured value of sunray intensity and the intensity threshold of sunray of survey are compared, when the measured value of sunray intensity is big When the intensity threshold of sunray, control unit 50 makes the judgement of sunray, otherwise makes the judgement of no sunray. When making the judgement of sunray, according to the preset value of plantation frame amplitude of fluctuation, control unit 50 carries out plantation frame as follows Automatically control.
Plantation frame, which is swung, tilts step.Control unit 50 feeds back the preset value of acquired amplitude of fluctuation and displacement sensor 41 The measured value of amplitude of fluctuation be compared, when the measured value of amplitude of fluctuation is less than the preset value of amplitude of fluctuation, generation is used for Manipulation holder 20 tends to swing the first inclined control signal, and sends telescopic device 30 to, and telescopic device is manipulated, and touches Hair driving motor rotates, and gear reducer obtains input torque, drives screw to rotate, and drives two pedestals of plantation frame mutually from movement, and two Pedestal moves away from, and forces pivot rotation of the upright bar 23 of plantation frame at 12 pivot connection of second connecting portion 21 and first connecting portion Turn, the holder 20 of the first delivery unit A tilts backwards, and the holder 20 of the second delivery unit B turns forward, until institute's rheme The measured value for 20 amplitude of fluctuation of holder that displacement sensor 41 is fed back reaches the preset value of amplitude of fluctuation, and driving motor stops turning It is dynamic.For example, when the preset value of amplitude of fluctuation is 30 degree, plantation frame, which is swung, to be tilted, and each layer supporting part 22 in plantation frame is wrong successively Open, as shown in Figure 6, Figure 7.
Plantation frame swings upright step.When no sunray or plantation frame is in the time duration of heeling condition and has reached The amplitude of fluctuation for feeding back the preset value of acquired amplitude of fluctuation and displacement sensor 41 to the inclination duration of setting, control unit 50 The measured value of degree is compared, and when the measured value of amplitude of fluctuation is more than the preset value of amplitude of fluctuation, generation, which is used to manipulate, puts Frame 20 tends to swing the first upright control signal, and sends telescopic device 30 to, and telescopic device is manipulated, triggering driving electricity Machine rotates backward, and gear reducer obtains reverse input torque, drives screw to rotate backward, drives two pedestals of plantation frame to move in opposite directions Dynamic, two pedestals are progressively close, force pivot negative side of the upright bar 23 at 12 pivot connection of second connecting portion 21 and first connecting portion To rotation, until the measured value for 20 amplitude of fluctuation of holder that displacement sensor 41 is fed back reaches the default of the amplitude of fluctuation Value, drives motor stalls.When the preset value of amplitude of fluctuation is 0 degree, holder 20 recovers former upright posture, plantation frame Supporting part 22 is layered on top of each other again, as shown in Figure 1 and Figure 2.
The measured value for 20 amplitude of fluctuation of holder that upper displacement sensors 41 are fed back reaches the default of the amplitude of fluctuation Value, is construed as the measured value of 20 amplitude of fluctuation of holder and the presetting for the amplitude of fluctuation of the feedback of displacement sensor 41 The relative value of the difference of value is less than a certain value, and such as less than 3%；Wherein " relative value of difference " is defined as " ABS (measured values-pre- If value)/preset value * 100% ".
It is flexibly connected between two components, and with the free degree of a relative rotation, hinge connection can be used, can also be adopted With pivot connection.Two components are pivotally connected by pivot, and two components can be rotated relative to pivot, which forms hinge Chain, therefore, is pivotally connected as hinged one kind.Herein, hinge connection is referred to as hinged, is pivotally connected and is referred to as pivotally connected. Pivot connection way between two components being referred to herein, can be substituted using hinge connection mode.When not having in hinge When having rotation axis, what is surrounded when being relatively rotated between mutually hinged two pieces portion is bar straight line.Pivot connection is hingedly connected After replacement, the correspondence of two kinds of connection modes：When being relatively rotated between mutually hinged two pieces portion the rotation axis that is surrounded or Straight line, is referred to as the hinged rotation axis of hinge connection (hinged), corresponding with the pivot of pivot connection；Phase hinge connection (hinged) Two pieces portion between the direction of angular speed that relatively rotates, namely the axis direction of hinged rotation axis is referred to as hinge connection (hinge Connect) hinged rotation direction, be pivotally connected (pivot joint) pivot direction it is corresponding.It is hinged using realization is pivotally connected, goes back It is to be hinged using hinge, according to the design needs and processing skill determines.
Plantation frame of the prior art is generally the vertical type shelf of sandwich construction, realizes solid growth, improves unit space Output capacity.So cause the plant of non-top layer to cannot get the abundant irradiation of sunlight, influence the photosynthesis of plant, influence plant Normal growth.Occur being inclined by the plantation frame set therewith, multiple cultivating containers stagger successively, and plant can obtain the abundant of sunlight Irradiation, but add space hold.Then occur a kind of energy again and rotate the plantation frame for tilting and making each layer cultivating container stagger successively, Which solve the problem of plant fully irradiates sunlight, but the cultivating container in plantation frame also tilts therewith, cause soil in disk and Water is trickled down, and in addition when its rotation tilts, plantation frame is easily turned on one's side.
The plantation frame of the present invention is upright structures, including the first delivery unit A and the second delivery unit that structure is identical B, is built-in with pedestal 10 and holder 20.Multilayer supporting part 22 built in holder 20 and upright bar 23, supporting part 22 are parallel to each other (level) is set, and upright bar 23 is vertically arranged, and each layer supporting part 22 is hinged with upright bar 23 respectively, and supporting part 22 is laminated mutually.Put Put frame 20 to be assemblied on pedestal 10, and be hinged with pedestal 10, respectively constitute the first delivery unit A and the second delivery unit B；Institute Hinged hinged rotation direction is stated to be arranged along the horizontal.Pedestal 10, the supporting part 22 of first delivery unit A forms parallel with upright bar 23 Quadrangular mechanism, pedestal 10, supporting part 22 and the upright bar 23 of the second delivery unit B form parallelogram mechanism.First puts Unit A is arranged on the front of the second delivery unit B, and being put positioned at the top of rear avris and second for the first delivery unit A is single First B's is hinged at the top of preceding avris, which is arranged along the horizontal.The storing list of the plantation frame Pedestal 10, any layer supporting part 22 of member form parallelogram mechanism with upright bar 23, which to plant Frame has a freedom of motion, and plantation frame longitudinally has " flexibility ", put suitable for the first delivery unit A of plantation frame and second Put unit B to swing inclination along longitudinal work and swing uprightly, so that multilayer supporting part 22 staggers and is laminated again successively.Plantation frame Two pedestals 10 are placed on the ground, and plantation frame is made during swinging inclination and swinging directly by control unit manipulation, two pedestals 10 mutually move away from and move towards progressively close from moving along longitudinal direction, and two pedestals 10 only make translational motion along ground；Form flat The hinged rotation that the upright bar 23 of row quadrangular mechanism is hinged around second connecting portion 21 associated with it and first connecting portion 12 Axis rotates, and upright bar rotates inclination, and supporting part 22 only makees translational motion, so the spatial attitude of supporting part 22 remains not Become.That is, when plantation frame is placed on the ground, supporting part 22 is horizontal, plantation frame is manipulated by control unit inclines as swing Tiltedly and during swing uprightly, supporting part 22 remains horizontal.In the plantation application of plant, plantation frame is placed on kind Plant on place, on balcony.Cultivating container is placed on the supporting part 22 of plantation frame, realizes solid growth, saves space, is improved The output capacity of unit space.When plant needs illumination, telescopic device 30 is manipulated by control unit, the telescoping mechanism of telescopic device to Movement is overhang, drives two pedestals, 10 phase to move away from from movement, force the holder 20 of the first delivery unit along longitudinally rearward Swing and tilt, the holder 20 of the second delivery unit swings inclination longitudinally forward, and each layer being placed on supporting part 22 is cultivated Basin staggers successively, and the plant in cultivating container can obtain sufficient illumination, is normally carried out photosynthesis, and plantation frame, which is in, to be swung Heeling condition.When illumination is not required in plant, telescopic device 30 is manipulated by control unit, and the telescoping mechanism of telescopic device is inwardly retracted It is mobile, drive two pedestals 10 to move towards, it is progressively close, force the holder 20 of the first delivery unit to swing longitudinally forward directly Vertical, the holder 20 of the second delivery unit is upright along swinging longitudinally rearward, and plantation frame makees longitudinal oscillation and recovers former erectility, respectively Layer cultivating container is layered on top of each other again, and plantation frame saves shared space.Plantation frame by control unit manipulate make swing tilt and Swinging uprightly, each layer cultivating container on supporting part staggers and is layered on top of each other again successively, in this swing process, the sky of cultivating container Between posture remain unchanged, so can ensure that the soil in cultivating container or water will not be trickled down, the waste of soil or water will not be caused, while again Beneficial to the neat and tidy for keeping planting site.Especially for the horizontally disposed cultivating container of soilless culture, cultivating container remains Level, will not cause the nutrient solution in cultivating container to trickle down, it is often more important that, it can be ensured that the nutrient solution liquid level in cultivating container everywhere Height it is identical, be conducive to that plant is balanced to absorb nutrient, root system is synchronously developed, and promotes synchronous plant growth, finished product plant it is big Small difference is little, can accomplish to plant while pick at the same time.
The plantation frame of the present invention is arranged on second including the first delivery unit A, the second delivery unit B, the first delivery unit A The front of delivery unit B, the first delivery unit A's is located at preceding avris positioned at the top of rear avris and the second delivery unit B Top be hinged.When plantation frame is manipulated making to swing inclination, the first delivery unit A, two pedestals of the second delivery unit B Mutually remote from moving along longitudinal direction, the plane that the outermost support leg of two pedestals is surrounded expands along longitudinal direction, area increase, The center of gravity of plantation frame is still at the central part of plantation frame or near it, while height of C.G. reduces, which can just throw all the time In the plane that shadow is surrounded to two outermost support legs of pedestal so that plantation frame has stability from longitudinal direction, plants Frame is planted by swing tilting procedure, and plantation frame will not turn on one's side.
Double delivery unit self-stabilising intelligence plantation frames of the present invention, are built-in with control unit, and control unit is by acquired displacement The measured value of plantation frame amplitude of fluctuation and the preset value of amplitude of fluctuation of sensor measurement are compared, and knot based on this comparison Fruit generation is corresponding to make plantation frame make the control signal of longitudinal oscillation, and is transferred to telescopic device, so that telescopic device driving kind Plant frame work swing inclination and swing is upright, up to the measured value of the plantation frame amplitude of fluctuation reaches the preset value of amplitude of fluctuation. The measured value of sunray intensity and the intensity threshold of sunray that light sensor is fed back are compared by control unit, are based on For the comparative result when being determined with sunray, control unit makes plantation frame make the corresponding control letter of longitudinal oscillation inclination by generation Number send telescopic device to；When accomplishing to have sunray, plantation frame, which is swung, to be tilted, and during no sunray, is kept upright, and is realized pair The intelligent control of plantation frame longitudinal oscillation.Control unit 50 carries out swinging inclination and swings upright intelligent control, intelligence to plantation frame The process that can be controlled is described in detail below.
The judgement step of sunray.Control unit 50 has, without progress periodic cycle judgement to sunray.Sentencing every time In disconnected, control unit 50 obtains the measured value for the sunray intensity that light sensor 42 detects, and light sensor 42 is detected The measured value of sunray intensity and the intensity threshold of sunray be compared, when the measured value of sunray intensity is more than During the intensity threshold of sunray, control unit 50 makes the judgement of sunray, otherwise makes the judgement of no sunray.When When having sunray, according to the preset value of plantation frame amplitude of fluctuation, control unit 50 carries out following control operation to plantation frame.
Plantation frame, which is swung, tilts step.Control unit 50 feeds back the preset value of acquired amplitude of fluctuation and displacement sensor 41 The measured value of amplitude of fluctuation be compared, when the measured value of amplitude of fluctuation is less than the preset value of amplitude of fluctuation, generation is used for Manipulation holder 20 tends to swing the first inclined control signal, and sends telescopic device 30 to, and telescopic device is manipulated, and touches The telescoping mechanism 32 for sending out telescopic device 30 is made to stretch out movement, drives two pedestals, 10 phase of plantation frame to move away from, force from movement The hinged rotation axis rotation that upright bar 23 is hinged around second connecting portion 21 and first connecting portion 12, the storing of the first delivery unit A Frame 20 tilts backwards, and the holder 20 of the second delivery unit B turns forward, until the plantation frame that institute's displacement sensors 41 are fed back The measured value of amplitude of fluctuation reaches the preset value of amplitude of fluctuation, 32 stop motion of telescoping mechanism, and plantation frame swings inclined swing Amplitude reaches the magnitude of inclination of setting.For example, when the preset value of amplitude of fluctuation is 30 degree, plantation frame, which is swung, to be tilted, and each layer is held Load portion 22 staggers successively.
Plantation frame swings upright step.When no sunray or when the plantation frame inclined duration reaches the inclination of setting When long, the measured value of the amplitude of fluctuation that control unit 50 feeds back the preset value of acquired amplitude of fluctuation and displacement sensor 41 into Row compares, and when the measured value of amplitude of fluctuation is more than the preset value of amplitude of fluctuation, generation tends to swing for manipulating holder 20 The first upright control signal, and send telescopic device 30 to, telescopic device is manipulated, and triggers the telescopic machine of telescopic device 30 Structure 32 makees retraction movement, drives two pedestals 10 of plantation frame to move towards, progressively close, forces upright bar 23 around second connecting portion 21 The hinged rotation axis opposite direction rotation being hinged with first connecting portion 12, until the holder 20 that displacement sensor 41 is fed back is swung The measured value of amplitude reaches the preset value of amplitude of fluctuation, 32 stop motion of telescoping mechanism.When the preset value of amplitude of fluctuation is 0 degree When, holder 20 recovers former upright posture, and the supporting part 22 of plantation frame is layered on top of each other again.
Basic principle, main feature and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, the present invention Claimed scope is delineated by the appended claims, the specification and equivalents thereof from the appended claims.

Claims (10)

  1. A kind of 1. double delivery unit self-stabilising intelligence plantation frames, it is characterised in that including：
    First delivery unit (A), the second delivery unit (B), telescopic device (30), sensor group (40) and control unit (50), institute State the first delivery unit (A), the second delivery unit (B) is built-in with pedestal (10) and holder (20) respectively；
    The pedestal (10), is the brace foundation of plantation frame, it is mainly made of pedestal body (11), first connecting portion (12), The first connecting portion (12) is arranged on the top of pedestal body (11)；
    The holder (20), is the arrying main body of plantation frame, it includes at least two layers of supporting part (22) and branched upright bar (23), Supporting part (22) is parallel to each other or horizontally disposed, and supporting part (22) and upright bar (23) are respectively articulated with, wantonly two layers of supporting part (22) and Upright bar (23) forms parallelogram mechanism；The lower part of the holder (20) is set second associated with upright bar (23) and connects Socket part (21), the first connecting portion (12) and second connecting portion (21) are engaged, the holder (20) and pedestal (10) dress Match somebody with somebody, second connecting portion (21) and first connecting portion (12) are hinged, and the hinged hinged rotation direction is transversely set, described Pedestal (10), any supporting part (22) and upright bar (23) form parallelogram mechanism；
    First delivery unit (A) is arranged on the front of the second delivery unit (B), the top of the first delivery unit (A) and It is hinged at the top of two delivery units (B), which is transversely set；The parallelogram mechanism is fitted In plantation frame holder (20) relative to coupled pedestal (10) along with perpendicular vertical of the hinged rotation direction Make longitudinal oscillation to plane；
    The telescopic device (30) includes driving device (31) and telescoping mechanism (32), and the telescoping mechanism (32) is respectively with first Delivery unit (A), the second delivery unit (B) are connected, to drive plantation frame to make longitudinal oscillation；
    The sensor group (40) includes being used for the displacement sensor (41) for measuring holder (20) amplitude of fluctuation；
    The control unit (50) is based on putting holder (20) operation result of the measured value of sensor group (40) feedback Dynamic control.
  2. 2. double delivery unit self-stabilising intelligence plantation frames according to claim 1, it is characterised in that：
    The upright bar (23) of the holder (20) is distributed in the avris of the avris of supporting part (22), upright bar (23) and supporting part (22) Portion is hinged.
  3. 3. double delivery unit self-stabilising intelligence plantation frames according to claim 2, it is characterised in that：
    The supporting part (22) is square, and the upright bar (23) is distributed in two relative edge sides of supporting part (22), upright bar (23) and Two relative edge's sidepieces of supporting part (22) are hinged respectively.
  4. 4. double delivery unit self-stabilising intelligence plantation frames according to claim 3, it is characterised in that：The holder (20) Including four upright bars (23a, 23b, 23c, 23d), wherein two upright bars (23a, 23b) are distributed in left side side, and supporting part (22) Left side sidepiece be hinged, another two upright bars (23c, 23d) be distributed in the right side, mutually cut with scissors with the right sidepiece of supporting part (22) Connect.
  5. 5. double delivery unit self-stabilising intelligence plantation frames according to claim 1-5 any claims, it is characterised in that： The second connecting portion (21) is arranged at the bottom or lower part of the upright bar (23) of holder (20).
  6. 6. double delivery unit self-stabilising intelligence plantation frames according to claim 1, it is characterised in that described " first puts It is hinged at the top of the top of unit (A) and the second delivery unit (B) ", including：
    The top of the upright bar positioned at rear avris of first delivery unit (A) and the second delivery unit (B) are located at preceding avris Upright bar at the top of be hinged；Alternatively,
    The supporting part (22) positioned at top of first delivery unit (A) and the holding positioned at top of the second delivery unit (B) Load portion (22) is hinged.
  7. 7. double delivery unit self-stabilising intelligence plantation frames according to claim 1, it is characterised in that：
    The pedestal (10) of the telescoping mechanism (32) pedestal (10) with the first delivery unit (A), the second delivery unit (B) respectively It is connected；Alternatively,
    The telescoping mechanism (32) upright bar (23) with the first delivery unit (A), the upright bar (23) of the second delivery unit (B) respectively It is connected；Alternatively,
    The supporting part of the telescoping mechanism (32) supporting part (22) with the first delivery unit (A), the second delivery unit (B) respectively (22) it is connected；
    The telescoping mechanism (32) is one kind in screw mechanism, oil cylinder and cylinder.
  8. 8. double delivery unit self-stabilising intelligence plantation frames according to claim 1, it is characterised in that " control unit (50) it is based on carrying out weave control to holder (20) to the operation result of the measured value of sensor group (40) feedback " include：
    Control unit (50) obtains the measured value of holder (20) amplitude of fluctuation of displacement sensor (41) measurement, by the amplitude of fluctuation The measured value of degree is compared with the preset value of amplitude of fluctuation, and the measured value based on the amplitude of fluctuation and amplitude of fluctuation is pre- If the comparative result between value, generation is corresponding to make the first control signal of longitudinal oscillation, and is transferred to the telescopic device (30), so that the telescopic device (30) driving holder (20) makees longitudinal oscillation, until the holder (20) amplitude of fluctuation Measured value reach the preset value of amplitude of fluctuation.
  9. 9. double delivery unit self-stabilising intelligence plantation frames according to claim 1-8 any claims, it is characterised in that： The sensor group (40) further includes the light sensor (42) for detecting sunray, and control unit (50) is according to light level The measured value of the sunray intensity of device (42) measurement, judges the intensity of sunray, when passing through the strong of sunray Degree is when being determined with sunray, and generation is swung corresponding the first control signal of inclination by control unit (50) with manipulating plantation frame Telescopic device (30) is transferred to, so that the telescopic device (30) performs the swing tilt operation to plantation frame.
  10. A kind of 10. control method of double delivery unit self-stabilising intelligence plantation frames, suitable for the plantation described in control claim 9 Frame,
    It is characterized in that：
    The measured value for the sunray intensity that control unit (50) is detected according to light sensor (42), periodically to sunray Intensity judged, and based on the intensity to sunray judged as a result, making the judgement of sunray or without too The judgement of sunlight line；When making the judgement of sunray；
    The survey for the amplitude of fluctuation that control unit (50) is fed back according to the preset value and displacement sensor (41) of acquired amplitude of fluctuation Comparative result between value, generation tends to swing the first inclined control signal for manipulating plantation frame, and sends to and stretch Compression apparatus (30), the telescoping mechanism (32) of triggering telescopic device (30) are made to stretch out movement, force the upright bar (23) of plantation frame around the The hinged rotation axis rotation that two connecting portions (21) and first connecting portion (12) are hinged, until the amplitude of fluctuation of the plantation frame Measured value reaches the preset value of amplitude of fluctuation；
    The survey for the amplitude of fluctuation that control unit (50) is fed back according to the preset value and displacement sensor (41) of acquired amplitude of fluctuation Comparative result between value, generation tends to swing the first upright control signal for manipulating plantation frame, and sends to and stretch Compression apparatus (30), the telescoping mechanism (32) of triggering telescopic device (30) make retraction movement, force the upright bar (23) of plantation frame around the The hinged rotation axis opposite direction rotation that two connecting portions (21) and first connecting portion (12) are hinged, until the swing of the plantation frame The measured value of amplitude reaches the preset value of amplitude of fluctuation.
CN201610951210.8A 2016-10-26 2016-10-26 A kind of double delivery unit self-stabilising intelligence plantation frames and control method Withdrawn CN107980595A (en)

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Application Number Priority Date Filing Date Title
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109392677A (en) * 2018-12-11 2019-03-01 江苏农牧科技职业学院 A kind of combined type agricultural planting motherboard
CN109863992A (en) * 2019-04-02 2019-06-11 潍坊科技学院 A kind of Novel pot plant culture apparatus
CN113273415A (en) * 2020-02-20 2021-08-20 王绍勇 Buckwheat planting device and method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109392677A (en) * 2018-12-11 2019-03-01 江苏农牧科技职业学院 A kind of combined type agricultural planting motherboard
CN109863992A (en) * 2019-04-02 2019-06-11 潍坊科技学院 A kind of Novel pot plant culture apparatus
CN113273415A (en) * 2020-02-20 2021-08-20 王绍勇 Buckwheat planting device and method

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