WO2021184670A1 - 提升*** - Google Patents

提升*** Download PDF

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Publication number
WO2021184670A1
WO2021184670A1 PCT/CN2020/109500 CN2020109500W WO2021184670A1 WO 2021184670 A1 WO2021184670 A1 WO 2021184670A1 CN 2020109500 W CN2020109500 W CN 2020109500W WO 2021184670 A1 WO2021184670 A1 WO 2021184670A1
Authority
WO
WIPO (PCT)
Prior art keywords
frame
lifting
cultivation
guide
cultivation frame
Prior art date
Application number
PCT/CN2020/109500
Other languages
English (en)
French (fr)
Inventor
吴劼
姜东�
丁艳锋
周国栋
Original Assignee
南京根田科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 南京根田科技有限公司 filed Critical 南京根田科技有限公司
Publication of WO2021184670A1 publication Critical patent/WO2021184670A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/02—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions

Definitions

  • the invention relates to an automatic assembly system for a cultivation frame loaded with a plurality of transparent root cultivation containers, in particular to a lifting system for transporting the cultivation frame from a conveyor belt and a multi-layer three-dimensional cultivation rack.
  • Crop phenotypes are determined by genes and the environment, including yield, disease resistance, insect resistance, quality, etc. Researching crop phenotypes is of great practical significance for increasing crop yields and ensuring future food security. High-throughput phenotyping research requires the use of new methods and new technologies to interpret and understand the mysteries of plant physiology, and the application of new methods and new technologies requires the use of auxiliary tools-the development of new equipment and instruments to complete a series of research work. Under indoor conditions, the high-throughput handling and transfer of crop cultivation devices is also one of the important aspects of high-throughput phenotyping research, which greatly reduces labor costs and saves resource space.
  • CN106852262A discloses a multi-layer three-dimensional automatic moving seedbed system.
  • the moving unit moves up and down under the drive of a gear train mechanism, and stops at a designated position under the action of a sensor positioning device.
  • the lifting platform device can automatically transfer and transport the seedbed to the designated Location.
  • the mobile automatic vegetable and fruit planting system uses the automatic equipment of the tray machine and the tray machine for cultivation and production.
  • the tray machine pushes the planting plate to move along the fluent strips.
  • These device systems can realize automatic handling and movement, which improves production efficiency to a certain extent.
  • there is no corresponding buffer device to avoid collisions between parts of the equipment during the movement, and the stability of the entire system cannot be guaranteed.
  • safety there is no corresponding sensing device, it is impossible to accurately measure the moving speed of the device and the relative orbital distance. Therefore, it is necessary to develop a high-throughput crop cultivation and transportation device with strong stability and high safety factor.
  • the multi-layer three-dimensional automatic moving seedbed system disclosed in CN106852262A, it is necessary to install a driving device for supporting the single seedbed on the cultivation unit, and install iron blocks at the front and rear ends of the single seedbed.
  • the iron block is matched with the electromagnet on the lifting platform device, and the driving device drives the single seedbed to move at the same time to complete the transfer and transportation of the single seedbed.
  • the device system realizes automatic transportation and movement, it has made significant changes to the multi-layer three-dimensional seedbed frame and the single seedbed. It has high requirements for the cultivation unit, and needs to be installed on the multi-layer three-dimensional seedbed frame.
  • a driving device, parallel guide rails, a U-shaped shell set between the parallel guide rails, etc. are provided, and iron blocks need to be provided at the front and rear ends of each single seedbed. On the one hand, it limits its large-scale use, on the other hand it increases a lot of costs.
  • the invention overcomes the deficiencies in the prior art, and is to provide a low-cost lifting system that does not need to modify the existing multi-layer three-dimensional cultivation rack and the cultivation frame.
  • a lifting system includes a cultivation frame loaded with a plurality of transparent root cultivation containers.
  • the lifting frame is arranged between the conveyor belt and the multi-layer three-dimensional cultivation rack.
  • the lifting frame is used to complete the movement between the cultivation frame and the conveyor belt and drive the cultivation frame to move up and down in the lifting frame.
  • the jacking cart is used to transfer the cultivation frame between the lifting frame and the multi-layer three-dimensional cultivation frame.
  • the walking mechanism is used to drive the lifting frame and the lifting frame to slide between the conveyor belt and the multi-layer three-dimensional cultivation frame along the width direction of the conveyor belt and the multi-layer three-dimensional cultivation frame.
  • the hoisting system further includes a speed limiter-safety gear system, the speed limiter is arranged on the walking mechanism, the top of the lifting frame is provided with pulleys, the steel wire rope passes through the pulleys and the speed limiter in turn, and is connected end to end.
  • the device is linked with the safety gear installed on the lifting frame.
  • the multi-layer three-dimensional cultivation rack includes several cultivation rack units arranged side by side, each cultivation rack unit includes a rack body, and a plurality of sets of L-shaped rails of different heights are provided along the horizontal direction of the rack body, and the L-shaped rails Extending along the length direction of the cultivating rack unit, the L-shaped rail divides the cultivating rack unit into multiple layers of cultivating frames; the cultivating frame is placed on the top of the vertical end of the L-shaped rail.
  • the lifting frame includes two uprights, and a sprocket and chain assembly arranged on the two uprights for driving the lifting frame to move up and down; the inner sides of the two uprights of the lifting frame are provided with guide rails extending in a vertical direction.
  • the lifting frame includes a frame on which there are two sets of chain conveyor belts matching the conveyor belts.
  • the two sets of chain conveyor belts are respectively arranged on the chain frames on both sides of the frame transverse frame body, and the frame transverse frame body is also arranged
  • the two rails are arranged inside the two sets of chain conveyor belts and are parallel to the chain conveyor belts.
  • the end of the horizontal frame of the frame is provided with a roller set that matches the guide rails on the inner sides of the two uprights of the lifting frame.
  • the roller set includes three rollers. Clamping space.
  • Two pallet guide plates are arranged above the horizontal frame of the frame.
  • the two pallet guide plates are arranged on the outside of the two chain conveyor belts and are parallel to the chain conveyor belts. Both ends of each pallet guide plate are equipped with through-beam photoelectric switches.
  • the jacking subcar includes a vehicle body frame, a walking assembly provided at the bottom of the vehicle body frame, and a jacking mechanism provided in the vehicle body frame for lifting and lowering the jacking plate above it.
  • the front and rear ends of both sides of the jacking plate are respectively provided with guide posts, and four guide sleeves are provided in the frame of the vehicle body, and the guide posts are vertically reciprocated and pass through the guide sleeves.
  • the jacking mechanism includes a crank-rocker mechanism drivingly connected with the driving mechanism, the rocker of the crank-rocker mechanism is connected with a rotating shaft, and two parallel rockers are respectively connected at two ends of the rotating shaft.
  • the walking mechanism includes a base bracket, a driving wheel, a driven wheel, and a driving mechanism for driving the driving wheel to rotate.
  • the walking mechanism includes a base support, a driving wheel and a driven wheel that are arranged at the bottom of the base support and slidably cooperate with the slide rail, the driving wheel is sleeved on both ends of the rotating shaft, and the driving mechanism is used to drive the rotation of the rotating shaft;
  • the bottom of the base bracket is also provided with a guide wheel group that is slidingly matched with the slide rail.
  • the guide wheel group includes two guide wheels, and the two guide wheels are respectively arranged on both sides of the slide rail and contact the side surface of the slide rail.
  • the present invention has the following advantages.
  • the transportation between the cultivation frame and the conveyor belt is completed by the lifting frame, the cultivation frame is lifted to the position of the multi-layer three-dimensional through the lifting frame and the walking mechanism, and the lifting frame and the multi-layer three-dimensional cultivation frame are completed by the jacking cart. Transfer the cultivation frame between, realize the high-throughput and automatic handling of the cultivation frame.
  • the present invention does not need to modify the existing multi-layer three-dimensional cultivation rack and the cultivation frame in the multi-layer three-dimensional cultivation rack, has low cost and is suitable for large-scale use.
  • the present invention adopts the speed limiter-safety gear system to prevent the risk of falling of the lifting frame, improve the stability and safety of the entire system, with strong stability and high safety factor.
  • Figure 1 is a schematic diagram of the structure of the lifting system of the present invention.
  • Fig. 2 is a schematic diagram of the structure of the multi-layer three-dimensional cultivation rack of the present invention.
  • Figure 3 is a schematic diagram of the structure of the lifting frame of the present invention.
  • Figure 4 is a schematic diagram of the structure of the lifting frame of the present invention.
  • Fig. 5 is a schematic diagram of the structure of the jacking sub-car of the present invention after the jacking plate is removed.
  • Figure 6 is a schematic diagram of the structure of the jacking mechanism of the present invention.
  • Figure 7 is a schematic diagram of the structure of the walking mechanism of the present invention.
  • the plant cultivation container in the existing container cultivation technology mainly puts the cultivation substrate directly into the transparent root cultivation container, and then places a plurality of transparent root cultivation containers in the cultivation frame for shading culture as a whole.
  • the use of multi-layer three-dimensional cultivation racks for placing cultivation frames has gradually become popular.
  • the phenotype of the plant needs to be studied, so it is necessary to obtain the phenotype information of the root system of the plant.
  • the existing method for obtaining plant root system phenotype information is mainly to image the root system of the plant in the transparent root system cultivation container.
  • the cultivation frame on the multi-layer three-dimensional cultivation frame needs to be transported to the imaging area to image the transparent root system cultivation container. After the root cultivation container is imaged, the cultivation frame loaded with multiple transparent root cultivation containers needs to be moved back to the original placement area after imaging.
  • the present invention provides a lifting system, see Figures 1 and 2, the system includes a cultivation frame 4 loaded with a plurality of transparent root cultivation containers; the lifting frame 1 is set on a conveyor belt (not shown in the figure) And the multi-layer three-dimensional cultivation frame 13; the lifting frame 3 is used to complete the movement between the cultivation frame 4 and the conveyor belt and to drive the cultivation frame 4 to move up and down in the lifting frame 1; the jacking cart 2 is used for The cultivation frame 4 is transferred between the lifting frame 3 and the multi-layer three-dimensional cultivation frame 13; the walking mechanism 10 is used to drive the lifting frame 1 and the lifting frame 3 between the conveyor belt and the multi-layer three-dimensional cultivation frame along the conveyor belt and the multi-layer three-dimensional cultivation The frame 13 slides in the width direction.
  • two light rails 8 are arranged between the conveyor belt and the multi-layer three-dimensional cultivation frame, and the two light rails 8 extend along the width direction of the multi-layer three-dimensional cultivation frame 13 and are perpendicular to the conveyor belt; the walking mechanism 10 is slidably arranged on the two On the light rail 8, both ends of the two light rails 8 are provided with buffers 11 to prevent the running mechanism 10 from colliding with the ends of the two light rails 8. There is a sliding contact line 6 above the lifting system to provide power for the entire lifting system.
  • the lifting system of the present invention also includes a speed limiter-safety gear system.
  • the speed limiter 9 is arranged on the walking mechanism 10, and the top of the lifting frame 1 is provided with a pulley 5, and the wire rope 12 passes through the pulley 5 and the speed limiter 9 in turn.
  • the rear end is connected, the speed limiter 9 is linked with the safety gear (not shown in the figure) installed on the lifting frame 3.
  • the speed limiter 9 monitors and controls the speed of the lifting frame 3 at any time. When the lifting frame 3 overspeeds and runs out of control Or when the transmission chain breaks, the speed limiter 9 and the safety gear (not shown in the figure) send a linkage action to stop the lifting frame 3 to prevent the risk of falling.
  • the multi-layer three-dimensional cultivation rack includes several cultivation rack units 13-6 arranged side by side, each cultivation rack unit 13-6 includes a rack body, and a plurality of groups of L with different heights are arranged along the horizontal direction of the rack body.
  • the L-shaped rail 13-5 extends along the length of the cultivating rack unit 13-6, and the L-shaped rail 13-5 divides the cultivating rack unit 13-6 into multiple layers 13-8 for cultivating frames.
  • the cultivation frame 4 is placed on the top of the vertical end of the L-shaped rail 13-5.
  • the height of the vertical end of the L-shaped rail 13-5 is greater than the height of the jack-up cart 2, and the jack-up cart 2 can slide along the horizontal end of the L-shaped rail.
  • the frame body includes a plurality of uprights 13-1 extending upward in the vertical direction on both sides of the frame body. Two adjacent uprights 13-1 on the same side are connected by cross braces 13-2 and/or diagonal braces 13-3.
  • the track 13-5 is arranged on the cross bar 13-4 between the uprights on both sides of the frame.
  • the lifting frame 1 includes two uprights 1-1, and a sprocket and chain assembly arranged on the two uprights 1-1 for driving the lifting frame 3 to move up and down.
  • the sprocket chain assembly includes a driving sprocket 1-4 fixed on the top of the column 1-1 driven by a motor 1-3, a driven sprocket 1-7 fixed on the bottom of the column 1-1, and a drive chain
  • the transmission chain 1-5 between the wheel 1-4 and the driven sprocket 1-7, the transmission chain 1-5 passes through the lifting frame 3 and is fixedly connected to the lifting frame 3.
  • the motor 1-3 drives the driving sprocket 1-4 to work
  • the driving sprocket 1-4 works through the transmission chain 1-5 to drive the driven sprocket 1-7 to rotate, thereby driving the lifting frame 3 along the two columns 1-1 Sliding up and down to achieve the up and down lifting of the lifting frame 3.
  • the outer side of the transmission chain 1-5 is provided with a protective cover 1-8 for protecting the transmission chain 1-5.
  • the inner sides of the two uprights 1-1 of the lifting frame 1 are provided with guide rails 1-2 extending in the vertical direction to provide a guiding function for the lifting frame 3 when sliding up and down along the two uprights 1-1; in the speed limiter-safety gear system
  • the safety gear (not shown in the figure) is matched with the guide rail 1-2.
  • the top of the inner side of the two uprights 1-1 of the lifting frame 1 is provided with a buffer 1-6 to prevent the lifting frame 3 from colliding with the lifting frame 1 when the lifting frame 3 slides to the top of the lifting frame 1.
  • the two uprights 1-1 of the lifting frame 1 are also provided with reinforcing beams 7.
  • the lifting frame 3 includes a frame 3-2.
  • the frame 3-2 is provided with two sets of chain conveyor belts 3-7 that match the conveyor belts.
  • the two sets of chain conveyor belts 3-7 are respectively set on the frame 3- 2
  • the frame 3-2 is also provided on the horizontal frame body 3-4 for supporting the jacking subcar 2 and slidingly matching with the jacking subcar 2.
  • Two rails 3-5, two rails 3-5 are matched with the horizontal end of the L-shaped rail 13-5 in the cultivation rack unit 13-6 to facilitate the jacking cart 2 to slide from the lifting rack 3 into the cultivation rack unit 13
  • two tracks 3-5 are arranged inside the two sets of chain conveyor belts 3-7 and parallel to the chain conveyor belts 3-7.
  • the high speed of the chain frame 3-6 is greater than the height of the jacking subcar 2 (when the jacking plate of the jacking subcar is not lifted) on the two rails 3-5 of the horizontal frame body 3-4 of the frame 3-2.
  • the two sets of chain tension adjusting devices 3-3 are respectively arranged on the two sets of chain conveyor belts 3-7 to adjust the tension of the chain conveyor belts 3-7.
  • the lifting frame 3 is equipped with a geared motor 3-9.
  • the geared motor 3-9 drives the two chain conveyor belts 3-7 to move.
  • the conveying direction of the two chain conveyor belts 3-7 is the same as that of the conveyor belt.
  • the cultivation frame 4 is transported to the two chain conveyor belts 3-7.
  • the end of the horizontal frame body 3-4 of the frame 3-2 is provided with a roller set 3-1 that matches the guide rails 1-2 on the inner sides 1-1 of the two uprights of the lifting frame 1.
  • the roller set 3-1 includes three For the rollers, three rollers abut against the outer circumferential surface to form a clamping space for clamping the guide rail 1-2; the three rollers abut against the guide rail 1-2 to clamp the guide rail 1-2 so that the lifting frame 3 slides up and down along the guide rail 1-2 more smoothly.
  • the frame 3-2 is provided with two pallet guide plates 3-8 above the transverse frame body 3-4.
  • the two pallet guide plates 3-8 are arranged on the outside of the two chain conveyor belts 3-7 and are parallel to the chain conveyor belts 3-7. Both ends of each tray guide plate 3-8 are provided with opposite-beam photoelectric switches 3-11.
  • the top of the frame 3-2 is also provided with a slot-type photoelectric switch 3-10 for detecting the up and down sliding distance of the lifting frame 3.
  • the jack-up subcar 2 includes a car body frame 2-10, a walking assembly arranged at the bottom of the car body frame 2-10, and a jacking plate arranged in the car body frame 2-10 to (Not shown in the figure) Lifting mechanism 2-1 for lifting and lowering.
  • the front and rear ends of both sides of the jacking plate are respectively provided with guide posts 2-4, four guide sleeves 2-5 and guide posts 2-4 are provided in the car body frame 2-10.
  • the guide sleeve 2-5 can be vertically reciprocated to pass through the guide sleeve 2-5 to ensure that the jacking plate can move smoothly in the vertical direction.
  • the jacking mechanism 2-1 includes a crank-rocker mechanism that is connected to the driving mechanism 2-13.
  • the crank 2-14 and the rocker 2-15 in the crank-rocker mechanism are connected by a pin 2-16 at the end, and the crank 2 -14 and the rocker 2-15 can rotate around the pin 2-16, the other end of the rocker 2-15 is connected to the first shaft 2-17, and the two parallel rockers 2-18 are respectively connected to the first shaft 2- At both ends of 17, the first rotating shaft 2-17 is also equipped with dry single-plate electromagnetic brakes 2-19.
  • the driving mechanism is preferably a motor. When the motor works, it drives the crank 2-14 of the crank-rocker mechanism to rotate.
  • the rocker 2-15 drives the two parallel rockers 2 at both ends of the first rotating shaft 2-17.
  • the 18 rises or falls synchronously, thereby lifting and lowering the jacking plate above the car body frame 2-10.
  • the walking assembly at the bottom of the car body frame 2-10 includes the horizontal end of the L-shaped rail 13-5 in the cultivation frame unit 13-6, and the two rails on the lifting frame 3 for supporting the jacking subcar.
  • Two sets of driving wheels and two sets of driven wheels are slidingly matched.
  • the first set of driving wheels 2-7 are sleeved on both ends of the second rotating shaft 2-3, and the second set of driving wheels 2-8 pass through the gear pair ( Figure Not shown in the figure) is connected to the second shaft 2-3 in transmission, the driving device drives the second shaft 2-3 to rotate;
  • the driven wheels 2-11 group has two groups, and the two groups of driven wheels 2-11 are symmetrically arranged on the car body frame 2. -10 on both sides.
  • the driving device 2-2 is a servo motor
  • the output shaft of the motor drives the second rotating shaft 2-3 to rotate
  • the second rotating shaft 2-3 drives the first set of driving wheels 2-7 at both ends to rotate
  • the second rotating shaft 2-3 drives the second set of driving wheels 2-8 to rotate at the same time.
  • the first set of driving wheels 2-7 and the second set of driving wheels 2-8 rotate and then transfer the power to the two sets of driven wheels 2-11, the two sets of driven wheels 2-11 also rotates under the power of the first set of driving wheels 2-7 and the second set of driving wheels 2-8, so that the jack-up subcar 2 moves smoothly.
  • the car body frame 2-10 is also provided with guide wheels 2-6 for guiding the jack-up subcar 2 when traveling, and the guide wheels 2-6 are arranged around the car body frame 2-10.
  • the vehicle body frame 2-10 is provided with a through-beam photoelectric switch 2-9, and the vehicle body frame 2-10 is also provided with a power box 2-12, which is used to provide power sources for various components in the jack-up subcar 2.
  • the top of the parallel rocker 2-18 is provided with a rolling bearing set 2-20, which is used to reduce the frictional resistance when the top 2-18 of the parallel rocker contacts the jacking plate.
  • the walking mechanism 10 includes a base bracket 10-1, a driving wheel 10-5, a driven wheel 10-6, and a driving wheel 10 that are provided at the bottom of the base bracket 10-1 and slidably cooperate with the light rail 8. -5 Rotating drive mechanism 10-2.
  • the walking mechanism 10 includes a base bracket 10-1, a set of driving wheels 10-5, driven wheels 10-6, and driving wheels 10-5 that are arranged at the bottom of the base bracket 10-1 and slidably cooperate with the light rail 8.
  • the driving mechanism 10-2 is used to drive the rotating shaft 10-3;
  • the bottom of the base bracket 10-1 is also provided with a guide wheel group 10-4 that is slidingly matched with the light rail 8.
  • 10-4 includes two guide wheels, which are respectively arranged on both sides of the light rail 8 and contact the side of the light rail 8.
  • the driving mechanism is preferably a motor.
  • the output shaft of the motor drives the rotating shaft 10-3 to rotate, and the rotating shaft 10-3 drives the two driving wheels 10-5 at both ends to rotate.
  • the walking mechanism 10 is also provided with a quenching wheel 12a that is in contact with the side of the light rail 8.
  • the quenching wheel 12a is provided with an encoder (not shown in the figure). When the walking mechanism slides along the light rail 8, the quenching wheel 12a drives the encoder to rotate. To detect the travel distance of the traveling mechanism.
  • the use process of the present invention is as follows (take the cultivation frame on the multi-layer three-dimensional cultivation rack to be transported to the imaging area through the conveyor belt as an example).
  • the motor 10-2 on the walking mechanism 10 is controlled to drive the driving wheel 10-5 and the driven wheel 10-6 to rotate, driving the lifting frame 1 and the lifting frame 3 along the light rail 8 toward the cultivation frame unit 13- where the cultivation frame 4 to be transported is located.
  • Sliding in 6 directions while controlling the motor 1-3 on the lifting frame 1 to drive the driving sprocket 1-4 to work, the driving sprocket 1-4 works through the transmission chain 1-5 to drive the driven sprocket 1-7 to rotate to drive the lifting frame 3 Move up and down, so that the level of the two rails 3-5 used to support the jacking cart is equal to the two L-shaped rails 13- on the inner shelf 13-8 of the cultivation rack unit 13-6 where the cultivation frame 4 to be moved is located. 5 The level of the horizontal end is flush.
  • the subcar 2 enters the lifting frame 3 from between the two chain frames 3-6 and is
  • the upper two chain conveyor belts 3-7 are located directly in front of the conveyor belt; the motor 1-3 on the control lifting frame 1 drives the active sprocket 1-4 to work, and the active sprocket 1-4 works through the drive chain 1-5 to drive the follower Sprockets 1-7 rotate to drive the lifting frame 3 to move up and down, so that the level of the two chain conveyor belts 3-7 is level with the level of the conveyor belt; control the reduction motor 3-9 on the lifting frame 3 to drive the two chain conveyor belts 3-7 movement, the conveying direction of
  • the lifting system of the present invention can also move the imaged cultivation frame from the conveyor belt to the vertical position of the L-shaped rail 13-5 on the inner shelf 13-8 of the cultivation frame unit 13-6 where the cultivation frame 4 was originally placed. Straight end top.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)

Abstract

一种提升***，包括装载多个透明根系栽培容器的栽培框（4）；提升框架（1），设在输送带与多层立体栽培架（13）之间；提升架（3），用于完成栽培框（4）与输送带之间的运移并带动栽培框（4）在提升框架（1）内上下运动；顶升子车（2），用于在提升架（3）与多层立体栽培架（13）之间转移栽培框（4）；行走机构（10），用于带动提升框架（1）和提升架（3）在输送带与多层立体栽培架（13）之间沿输送带和多层立体栽培架（13）的宽度方向滑动；该提升***通过提升架（3）完成栽培框（4）与输送带之间的运移，通过提升架（3）和行走机构（10）将栽培框（4）提升至所在位置，通过顶升子车（2）完成在提升架（3）与多层立体栽培架（13）之间转移栽培框（4），实现栽培框（4）的高通量、自动化搬运并且无需对已有的多层立体栽培架（13）以及其内的栽培框（4）进行改动，成本低，适合大规模使用。

Description

提升*** 技术领域
本发明涉及一种装载多个透明根系栽培容器的栽培框自动装配***，特别涉及一种用于将栽培框从输送带与多层立体栽培架之间运移的提升***。
 背景技术
作物表型决定于基因和环境，包括产量、抗病性、抗虫性、品质等，研究作物表型，对提高作物产量、保障未来粮食安全具有重要现实意义。高通量表型研究需要借助新方法，新技术来解译、理解植物生理学奥秘，而新方法，新技术的运用需要借助辅助工具——新设备新仪器配套研发来完成一系列研究工作。在室内条件下，作物栽培装置的高通量搬运、转移也是高通量表型研究的重要方面之一，大大降低了劳动力成本，节约了资源空间。
室内条件下，与作物栽培运输相关的装置已有研究。自动化货架搬运***，在每层货架放置多层周转箱或容器，每层货架周转箱顶部、与其上一层货架底部之间的空隙尽量小，节约存储空间，通过拾取单元的上支撑部和下限位部保证搬运小车在搬运的过程中互不干扰。CN106852262A公开了一种多层立体自动化移动苗床***，移动单元在轮系机构的驱动下进行升降运动，在传感器定位装置的作用下在指定位置停止，升降台装置可将苗床自动化转移并搬运至指定位置。移动式自动化蔬果种植***，通过使用上盘机和下盘机自动化设备来进行栽培生产，通过使用带有流利条的培养槽，上盘机推动种植板沿流利条运动。这些装置***能实现自动化搬运与运动，在一定程度上提高了生产效率，但是在装置运行过程中，没有相应缓冲装置避免设备在运动过程中部件与部件之间碰撞，无法保障整个***的稳定性和安全性，也没有相应的感应装置，无法准确测定装置的运移速度和相对轨道运行的距离。 因此，需要研发稳定性强、安全系数高的高通量作物栽培运输装置。
CN106852262A公开的多层立体自动化移动苗床***中，需要在栽培单元上设置支撑单体苗床的驱动装置，在单体苗床的前、后两端设置铁块。工作时，通过铁块与升降台装置上的电磁铁相配合，同时驱动装置驱动单体苗床运动，完成单体苗床的转移并搬运。该装置***虽然实现自动化搬运与运动，但其对多层立体式苗床架和单体苗床均作了大幅度改动，对栽培单元具有较高要求，需要在多层立体式苗床架的栽培单元上设置驱动装置、平行导轨、设在平行导轨之间的U形壳体等，并且需要在每个单体苗床的前、后两端设置铁块。一方面限制了其大规模使用，另外一方面增加了大量的成本。
 技术问题
本发明克服了现有技术中的不足，在于提供一种无需对已有的多层立体栽培架和栽培框进行改动、成本低的提升***。
 技术解决方案
本发明的具体技术方案如下。
一种提升***，该***包括装载多个透明根系栽培容器的栽培框。
提升框架，设在输送带与多层立体栽培架之间。
提升架，用于完成栽培框与输送带之间的运移并带动栽培框在提升框架内上下运动。
顶升子车，用于在提升架与多层立体栽培架之间转移栽培框。
行走机构，用于带动提升框架和提升架在输送带与多层立体栽培架之间沿输送带和多层立体栽培架的宽度方向滑动。
优选的，所述的提升***还包括限速器-安全钳***，限速器设在行走机构上，提升框架的顶部设有滑轮，钢丝绳依次穿过滑轮和限速器后首尾连接，限速器与安装在提升架上的安全钳联动配合。
优选的，所述多层立体栽培架包括并列设置的数个栽培架单元，各个栽培架单元包括架体，沿架体的水平方向设有若干组不同高度的L形轨道，所述L形轨道沿栽培架单元的长度方向延伸，L形轨道将栽培架单元分割成多层放置栽培框的层架；所述栽培框放置在L形轨道的竖直端顶部。
优选的，所述提升框架包括两立柱，设在两立柱上用于带动提升架上下运动的链轮链条组件；所述提升框架两立柱内侧设有沿竖直方向延伸的导轨。
优选的，所述提升架包括框架，框架上设有与输送带相匹配的两组链条传送带，两组链条传送带分别设在框架横向架体两侧的链条架上，框架横向架体上还设有用于支撑顶升子车、并且与顶升子车滑动配合的两条轨道，两条轨道设在两组链条传送带内侧并且与链条传送带平行。
优选的，所述框架横向架体的端部设有与提升框架两立柱内侧的导轨相匹配的滚轮组，滚轮组包括三个滚轮，三个滚轮相抵其外圆周面形成用于夹持导轨的夹持空间。
所述框架横向架体的上方设有两个托盘导向板，两个托盘导向板设在两组链条传送带外侧并且与链条传送带平行，各个托盘导向板的两端均设有对射光电开关。
优选的，所述顶升子车包括车体框架、设于车体框架底部的行走组件，设于车体框架内用于将其上方的顶升板顶升和下降的顶升机构。
优选的，所述顶升板两侧的前端及后端分别设有导柱，车体框架内设有四个导向套，导柱可竖直往复移动地穿设在该导向套内。
所述顶升机构包括与驱动机构传动连接的曲柄摇杆机构，曲柄摇杆机构的摇杆与转轴连接，两个平行摇杆分别连接在转轴的两端。
优选的，所述行走机构包括底座支架，设于底座支架底部并且与滑轨滑动配合的主动轮、从动轮以及用于驱动主动轮转动的驱动机构。
优选的，所述行走机构包括底座支架，设于底座支架底部并且与滑轨滑动配合的主动轮、从动轮，所述主动轮套设在转轴的两端，驱动机构用于驱动转轴的转动；所述底座支架底部还设有与滑轨滑动配合的导轮组，导轮组包括两个导轮，两个导轮分别设在滑轨的两侧并与该滑轨侧面接触。
 有益效果
本发明由于采用以上技术方案，其具有以下优点。
1.本发明通过提升架完成栽培框与输送带之间的运移，通过提升架和行走机构将栽培框提升至多层立体所在位置，通过顶升子车完成提升架与多层立体栽培架之间转移栽培框，实现栽培框的高通量、自动化搬运。
2.本发明无需对已有的多层立体栽培架、多层立体栽培架内的栽培框进行改动，成本低，适合大规模使用。
3.本发明采用了限速器-安全钳***，防止提升架发生坠落的风险，提高了整个***的稳定性和安全性，稳定性强、安全系数高。
 附图说明
图1为本发明提升***的结构示意图。
图2为本发明多层立体栽培架的结构示意图。
图3为本发明提升框架的结构示意图。
图4为本发明提升架的结构示意图。
图5为本发明顶升子车去除顶升板后的结构示意图。
图6为本发明顶升机构的结构示意图。
图7为本发明行走机构的结构示意图。
 本发明的实施方式
以下将结合附图对本发明的较佳实施例进行详细说明，以便更清楚理解本发明的目的、特点和优点。应理解的是，附图所示的实施例并不是对本发明范围的限制，而只是为了说明本发明技术方案的实质精神。本发明未提及部分均为现有技术。
现有的容器栽培技术中的植物栽培容器主要将栽培基质直接放入透明根系栽培容器中，再将多个透明根系栽培容器放置在栽培框中整体进行遮光培养。为了优化空间利用而采用多层立体栽培架用于放置栽培框的情况逐渐普及。而栽培容器内的植株在生长过程中，需要对植株表型进行研究、因此需要获取植株根系表型信息。现有的植株根系表型信息的获取方法主要是对透明根系栽培容器内植株的根系进行成像，需要将多层立体栽培架上的栽培框搬运至成像区对透明根系栽培容器进行成像，待透明根系栽培容器成像完后，需要将成像后装载多个透明根系栽培容器的栽培框搬回至原先的放置区域。
针对上述情形，本发明提供了一种提升***，参见图1和图2，该***包括装载多个透明根系栽培容器的栽培框4；提升框架1，设在输送带（图中未画出）与多层立体栽培架13之间；提升架3，用于完成栽培框4与输送带之间的运移并带动栽培框4在提升框架1内上下运动；顶升子车2，用于在提升架3与多层立体栽培架13之间转移栽培框4；行走机构10，用于带动提升框架1和提升架3在输送带与多层立体栽培架之间沿输送带和多层立体栽培架13的宽度方向滑动。
进一步的，输送带和多层立体栽培架之间设置有两条轻轨8，两条轻轨8沿多层立体栽培架13的宽度方向延伸并且与输送带垂直；行走机构10可滑动的设置在两条轻轨8上，两条轻轨8的两端均设有缓冲器11，避免行走机构10与两条轻轨8的端部发生碰撞。提升***的上方设有滑触线6，为整个提升***提供电力。
本发明所述的提升***还包括限速器-安全钳***，限速器9设在行走机构10上，提升框架1的顶部设有滑轮5，钢丝绳12依次穿过滑轮5和限速器9后首尾连接，限速器9与安装在提升架3上的安全钳（图中未画出）联动配合，限速器9随时监测控制着提升架3的速度，当提升架3超速、运行失控或传动链条断裂时，限速器9和安全钳（图中未画出）发送联动动作，使提升架3停住，防止发生坠落的风险。
进一步的，参见图2，多层立体栽培架包括并列设置的数个栽培架单元13-6，各个栽培架单元13-6包括架体，沿架体的水平方向设有若干组不同高度的L形轨道13-5，L形轨道13-5沿栽培架单元13-6的长度方向延伸，L形轨道13-5将栽培架单元13-6分割成多层放置栽培框的层架13-8；栽培框4放置在L形轨道13-5的竖直端顶部。L形轨道13-5的竖直端的高度大于顶升子车2的高度，顶升子车2可沿L形轨道的水平端滑动。架体包括架体两侧沿竖直方向向上延伸的多个立柱13-1，同一侧相邻两根立柱13-1之间通过横撑13-2和/或斜撑13-3连接，所述轨道13-5设在架体两侧立柱之间的横杆13-4上。
进一步的，参见图3，提升框架1包括两立柱1-1，设在两立柱1-1上用于带动提升架3上下运动的链轮链条组件。
进一步的，链轮链条组件包含固定在立柱1-1顶部的由电机1-3驱动的主动链轮1-4、固定在立柱1-1底部的从动链轮1-7、设置在主动链轮1-4与从动链轮1-7之间的传动链条1-5，所述传动链条1-5穿过提升架3并与提升架3固定连接。工作时，电机1-3驱动主动链轮1-4工作，主动链轮1-4工作经传动链条1-5带动从动链轮1-7转动，从而带动提升架3沿两立柱1-1上下滑动，以实现提升架3的上下升降。传动链条1-5的外侧设有用来保护传动链条1-5的保护罩1-8。
进一步的，提升框架1两立柱1-1内侧设有沿竖直方向延伸的导轨1-2，对提升架3沿两立柱1-1上下滑动时提供导向作用；限速器-安全钳***中的安全钳（图中未画出）与该导轨1-2相配合。提升框架1两立柱1-1内侧顶部设有缓冲器1-6，避免提升架3滑动至提升框架1顶部时与提升框架1发生碰撞。提升框架1两立柱1-1上还设有加强梁7。
进一步的，参见图4，提升架3包括框架3-2，框架3-2上设有与输送带相匹配的两组链条传送带3-7，两组链条传送带3-7分别设在框架3-2横向架体3-4两侧的链条架3-6上，框架3-2横向架体3-4上还设有用于支撑顶升子车2、并且与顶升子车2滑动配合的两条轨道3-5，两条轨道3-5与栽培架单元13-6内的 L形轨道13-5的水平端相配合，便于顶升子车2从提升架3上滑动进入栽培架单元13-6的层架13-8上，两条轨道3-5设在两组链条传送带3-7内侧并且与链条传送带3-7平行。链条架3-6的高速大于框架3-2横向架体3-4两条轨道3-5上的顶升子车2（顶升子车的顶升板未被顶升时）的高度。两组链条张力调节装置3-3分别设置在两组链条传送带3-7上，对链条传送带3-7的张力进行调节。提升架3上设有减速电机3-9，减速电机3-9带动两组链条传送带3-7运动，两组链条传送带3-7的传送方向与输送带的传送方向相同，将输送带上的栽培框4运输至两组链条传送带3-7上。
进一步的，框架3-2横向架体3-4的端部设有与提升框架1两立柱内侧1-1的导轨1-2相匹配的滚轮组3-1，滚轮组3-1包括三个滚轮，三个滚轮相抵其外圆周面形成用于夹持导轨1-2的夹持空间；三个滚轮相抵将导轨1-2夹持使得提升架3沿导轨1-2上下滑动时更加平稳。框架3-2横向架体3-4的上方设有两个托盘导向板3-8，两个托盘导向板3-8设在两组链条传送带3-7外侧并且与链条传送带3-7平行，各个托盘导向板3-8的两端均设有对射光电开关3-11。框架3-2的顶部还设有槽式光电开关3-10，用于对提升架3的上下滑动距离进行检测。
进一步，参见图5，顶升子车2包括车体框架2-10、设于车体框架2-10底部的行走组件，设于车体框架2-10内用于将其上方的顶升板（图中未画出）顶升和下降的顶升机构2-1。
进一步，参见图5和图6，顶升板两侧的前端及后端分别设有导柱2-4，车体框架2-10内设有四个导向套2-5，导柱2-4可竖直往复移动地穿设在该导向套2-5内，保证该顶升板能够平稳地沿竖直方向移动。顶升机构2-1包括与驱动机构2-13传动连接的曲柄摇杆机构，曲柄摇杆机构中的曲柄2-14与摇杆2-15通过端部的销轴2-16连接，曲柄2-14和摇杆2-15能够绕销轴2-16转动，摇杆2-15的另一端与第一转轴2-17连接，两个平行摇杆2-18分别连接在第一转轴2-17的两端，第一转轴2-17上还套设有干式单板电磁制动器2-19，当驱动机构2-13停电时，能够可靠地进行制动并停止。驱动机构优选为电机，电机工作时，带动曲柄摇杆机构的曲柄2-14转动，曲柄2-14转动时由摇杆2-15带动第一转轴2-17两端的两个平行摇杆2-18同步上升或下降，从而将车体框架2-10上方的顶升板顶升和下降。
进一步的，车体框架2-10底部的行走组件包括与栽培架单元13-6内的 L形轨道13-5的水平端、并且与提升架3上用于支撑顶升子车的两条轨道3-5滑动配合的两组主动轮、两组从动轮，第一组主动轮2-7套设在第二转轴2-3的两端，第二组主动轮2-8通过齿轮副（图中未画出）与第二转轴2-3传动连接，驱动装置驱动第二转轴2-3转动；从动轮2-11组有两组，两组从动轮2-11对称设置在车体框架2-10的两侧。采用两组主动轮、两组从动轮增强了顶升子车2行进时的稳定性。优选的，驱动装置2-2为伺服电机，电机输出轴带动第二转轴2-3转动，第二转轴2-3带动其两端的第一组主动轮2-7转动，第二转轴2-3通过齿轮副同时带动第二组主动轮2-8转动，第一组主动轮2-7和第二组主动轮2-8转动后将动力传递给两组从动轮2-11，两组从动轮2-11在第一组主动轮2-7和第二组主动轮2-8的动力带动下也发生转动，从而使得顶升子车2平稳移动。车体框架2-10上还设有对顶升子车2行进时进行导向的导轮2-6，导轮2-6设在车体框架2-10的四周。车体框架2-10的周围设有对射光电开关2-9，车体框架2-10内还设有电源箱2-12，用于为顶升子车2内的各部件提供电力来源。平行摇杆2-18顶部设有滚动轴承组2-20，用于减小平行摇杆顶2-18与顶升板接触时的摩擦阻力。
进一步的，参见图7，行走机构10包括底座支架10-1，设于底座支架10-1底部并且与轻轨8滑动配合的主动轮10-5、从动轮10-6以及用于驱动主动轮10-5转动的驱动机构10-2。
进一步的，参见图7，行走机构10包括底座支架10-1，设于底座支架10-1底部并且与轻轨8滑动配合的主动轮10-5、从动轮10-6，主动轮10-5套设在转轴10-3的两端，驱动机构10-2用于驱动转轴10-3的转动；底座支架10-1底部还设有与轻轨8滑动配合的导轮组10-4，导轮组10-4包括两个导轮，两个导轮分别设在轻轨8的两侧并与该轻轨8侧面接触。驱动机构优选为电机，电机输出轴带动转轴10-3转动，转轴10-3带动其两端的两个主动轮10-5转动，主动轮10-5转动后将动力传递给从动轮10-6，从动轮10-6在主动轮10-5的动力带动下也发生转动，从而使得行走机构10平稳移动。导轮组10-4有四个，设在底座支架10-1底部的四周，不仅可以起到导向的作用，还可以减少提升***发生左右晃动的现象，增强了整个提升***行进时的稳定性，而且行走机构10行进时更加省力，可以降低驱动电机的功率。行走机构10上还设有与轻轨8侧面接触的淬火轮12a，淬火轮12a上设有编码器（图中未画出），行走机构沿轻轨8滑动时，淬火轮12a带动编码器转动，用于检测行走机构的行驶距离。
本发明的使用过程如下（以将多层立体栽培架上的栽培框通过输送带运移至成像区为例）。
控制行走机构10上的电机10-2驱动主动轮10-5和从动轮10-6转动，带动提升框架1和提升架3沿轻轨8朝着待运移栽培框4所在的栽培架单元13-6方向滑动，同时控制提升框架1上的电机1-3驱动主动链轮1-4工作，主动链轮1-4工作经传动链条1-5带动从动链轮1-7转动，带动提升架3上下运动，使得用于支撑顶升子车的两条轨道3-5的水平高度与待运移栽培框4所在的栽培架单元13-6内层架13-8上两L形轨道13-5水平端的水平高度齐平。
控制顶升子车2上的伺服电机2-2驱动主动轮2-7和从动轮2-11转动，带动顶升子车2从用于支撑顶升子车2的两条轨道3-5驶入待运移栽培框4所在层架13-8上的两L形轨道13-5的水平端、朝着待运移栽培框4方向滑动，直至顶升子车2滑动至待运移栽培框4的正下方；控制顶升子车2上的电机2-13带动两个平行摇杆2-18同步上升带动顶升板将L形轨道13-5的竖直端顶部的栽培框4顶起；控制顶升子车2上的伺服电机驱动2-2主动轮2-7和从动轮2-11转动，带动顶升子车2和栽培框4朝着提升架3的方向滑动，直至顶升子车2从两个链条架3-6之间进入提升架3内并且位于支撑顶升子车的两条轨道3-5的正上方。
控制顶升子车2上的电机2-13带动两个平行摇杆2-18同步下降带动顶升板上的栽培框4下降，直至顶升板上的栽培框4放置在两组链条传送带3-7上；控制行走机构10上的电机10-2驱动主动轮10-5和从动轮10-6转动，带动提升框架1和提升架3沿轻轨8朝着输送带方向滑动，直至提升架3上两组链条传送带3-7位于输送带的正前方；控制提升框架1上的电机1-3驱动主动链轮1-4工作，主动链轮1-4工作经传动链条1-5带动从动链轮1-7转动，带动提升架3上下运动，使得两组链条传送带3-7的水平高度与输送带的水平高度齐平；控制提升架3上的减速电机3-9带动两组链条传送带3-7运动，两组链条传送带3-7的传送方向与输送带的传送方向相同，直至两组链条传送带3-7上的栽培框4运输至输送带上，经输送带送至成像区进行成像。重复上面的步骤。
采用本发明所述提升***还可以将成像完后的栽培框从输送带运移至原来放置栽培框4的栽培架单元13-6内层架13-8上的L形轨道13-5的竖直端顶部。
本发明仅以上述实施例进行说明，各部件的结构、设置位置及其连接都是可以有所变化的。在本发明技术方案的基础上，凡根据本发明原理对个别部件进行的改进或等同变换，均不应排除在本发明的保护范围之外。

Claims (10)

  1. 一种提升***，其特征在于：该***包括装载多个透明根系栽培容器的栽培框；
    提升框架，设在输送带与多层立体栽培架之间；
    提升架，用于完成栽培框与输送带之间的运移并带动栽培框在提升框架内上下运动；
    顶升子车，用于在提升架与多层立体栽培架之间转移栽培框；
    行走机构，用于带动提升框架和提升架在输送带与多层立体栽培架之间沿输送带和多层立体栽培架的宽度方向滑动。
  2. 根据权利要求1所述的提升***，其特征在于，还包括限速器-安全钳***，限速器设在行走机构上，提升框架的顶部设有滑轮，钢丝绳依次穿过滑轮和限速器后首尾连接，限速器与安装在提升架上的安全钳联动配合。
  3. 根据权利要求1或2所述的提升***，其特征在于，所述多层立体栽培架包括并列设置的数个栽培架单元，各个栽培架单元包括架体，沿架体的水平方向设有若干组不同高度的L形轨道，所述L形轨道沿栽培架单元的长度方向延伸，L形轨道将栽培架单元分割成多层放置栽培框的层架；所述栽培框放置在L形轨道的竖直端顶部。
  4. 根据权利要求1或2所述的提升***，其特征在于，所述提升框架包括两立柱，设在两立柱上用于带动提升架上下运动的链轮链条组件；所述提升框架两立柱内侧设有沿竖直方向延伸的导轨。
  5. 根据权利要求1或2任一项所述的提升***，其特征在于，所述提升架包括框架，框架上设有与输送带相匹配的两组链条传送带，两组链条传送带分别设在框架横向架体两侧的链条架上，框架横向架体上还设有用于支撑顶升子车、并且与顶升子车滑动配合的两条轨道，两条轨道设在两组链条传送带内侧并且与链条传送带平行。
  6. 根据权利要求5所述的提升***，其特征在于，所述框架横向架体的端部设有与提升框架两立柱内侧的导轨相匹配的滚轮组，滚轮组包括三个滚轮，三个滚轮相抵其外圆周面形成用于夹持导轨的夹持空间；
    所述框架横向架体的上方设有两个托盘导向板，两个托盘导向板设在两组链条传送带外侧并且与链条传送带平行，各个托盘导向板的两端均设有对射光电开关。
  7. 根据权利要求1或2所述的提升***，其特征在于，所述顶升子车包括车体框架、设于车体框架底部的行走组件，设于车体框架内用于将其上方的顶升板顶升和下降的顶升机构。
  8. 根据权利要求7所述的提升***，其特征在于，所述顶升板两侧的前端及后端分别设有导柱，车体框架内设有四个导向套，导柱可竖直往复移动地穿设在该导向套内；
    所述顶升机构包括与驱动机构传动连接的曲柄摇杆机构，曲柄摇杆机构的摇杆与转轴连接，两个平行摇杆分别连接在转轴的两端。
  9. 根据权利要求1或2所述的提升***，其特征在于，所述行走机构包括底座支架，设于底座支架底部并且与滑轨滑动配合的主动轮、从动轮以及用于驱动主动轮转动的驱动机构。
  10. 根据权利要求9所述的提升***，其特征在于，所述行走机构包括底座支架，设于底座支架底部并且与滑轨滑动配合的主动轮、从动轮，所述主动轮套设在转轴的两端，驱动机构用于驱动转轴的转动；所述底座支架底部还设有与滑轨滑动配合的导轮组，导轮组包括两个导轮，两个导轮分别设在滑轨的两侧并与该滑轨侧面接触。
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