WO2021184671A1 - Hoisting and carrying system - Google Patents

Hoisting and carrying system Download PDF

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Publication number
WO2021184671A1
WO2021184671A1 PCT/CN2020/109501 CN2020109501W WO2021184671A1 WO 2021184671 A1 WO2021184671 A1 WO 2021184671A1 CN 2020109501 W CN2020109501 W CN 2020109501W WO 2021184671 A1 WO2021184671 A1 WO 2021184671A1
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WO
WIPO (PCT)
Prior art keywords
frame
lifting
cultivation
horizontal
rack
Prior art date
Application number
PCT/CN2020/109501
Other languages
French (fr)
Chinese (zh)
Inventor
吴劼
姜东�
丁艳锋
周国栋
毛江美
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 WO2021184671A1 publication Critical patent/WO2021184671A1/en

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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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • 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 a loading system, in particular to a hoisting and handling system.
  • the cultivation rack system is also equipped with corresponding ground moving rails.
  • the bottom is provided with rollers and a drive motor for driving the rollers to rotate.
  • the rollers are embedded in the ground rails.
  • a set of ground rails is composed of at least two parallel rails.
  • Each group of ground rails is equipped with multiple cultivation racks at a time, and the computer control system controls the drive motor to realize the automatic operation of the cultivation rack system on the ground rails.
  • cultivating racks are stacked independently and arranged in rows, evenly divided into a plurality of unit spaces that can accommodate specific containers, a crane structure is set up to extract specific containers, and a robot loading processor is set up for multiple stacked containers.
  • a guide rail system can be provided on the uppermost surface of the stack to move around the stack in a controllable manner.
  • Each robot loading processor corresponds to a unit space and is extracted or removed to a designated station.
  • the cultivation rack system based on the ground moving track has complex equipment and needs to rely on the ground track to realize the automated operation of the cultivation system.
  • the robot loading processor accesses specific containers in the cultivation rack, which is expensive and not easy for large-scale promotion operations. Therefore, there is an urgent need to develop a high-throughput, automated crop cultivation and production management system that can greatly save work space, has a relatively simple device structure, and is low in cost.
  • the present invention aims to provide a hoisting and transporting system capable of carrying out high-throughput and automated transportation of cultivation racks loaded with cultivation containers.
  • a hoisting and transporting system includes a lifting frame, which is used to place a cultivation rack loaded with cultivation containers.
  • the lifting mechanism is used for lifting and lowering the lifting frame on which the cultivation frame is placed; the loading frame is used to move the cultivation frame loaded with the cultivation container on the lifting frame from one area to another area.
  • the bottom of the loading frame is provided with four supporting legs, and the bottom of each supporting leg is provided with a wheat wheel and a driving device for driving the wheat wheel to rotate.
  • the loading frame is a rectangular parallelepiped frame and includes a horizontal frame and a vertical frame.
  • the horizontal frame is provided with a lifting mechanism and a driving mechanism for driving the lifting mechanism to lift and lower the lifting frame on which the cultivation rack is placed.
  • the transverse frame includes a front transverse frame and a rear transverse frame
  • the lifting mechanism includes main shafts arranged on the front transverse frame and the rear transverse frame, at least two steel pulleys sleeved on each main shaft, and steel A steel belt matched with a pulley
  • the main shaft extends along the length of the front transverse frame or the rear transverse frame, and the driving mechanism is used to drive the main shaft to rotate; one end of the steel belt is wound on the steel pulley, and the other One end is connected with the lifting frame.
  • the longitudinal frame includes a left longitudinal frame and a right longitudinal frame, one of the longitudinal frames is provided with an opening extending along its length, and a support plate is provided in the opening, and the support plate is rotatably connected to the longitudinal frame to support The two ends of the board are respectively connected with two supporting legs.
  • the four corners of the lifting frame are provided with clamping grooves, each clamping groove is engaged with a supporting leg on the loading frame, and a guide wheel is provided at the clamping position.
  • the lifting frame includes a rectangular parallelepiped frame.
  • the rectangular parallelepiped frame includes a horizontal frame and a longitudinal frame.
  • Two mutually parallel support beams are installed on the horizontal frame and form a horizontal moving pair with the horizontal frame.
  • the horizontal frame is installed on the horizontal frame.
  • the horizontal frame is provided with a horizontal telescopic module
  • the driving mechanism is connected to the horizontal telescopic module, and the driving mechanism drives the horizontal telescopic module to move between the retracted position and the extended position so as to Drive the two supporting beams to move toward each other or back to each other synchronously.
  • the lateral frame body includes a front lateral frame body and a rear lateral frame body. Both ends of the front lateral frame body and the rear lateral frame body are provided with strip holes extending along their length. Both ends are connected with the slider, the slider is clamped in the strip hole and can move along the strip hole; the front and rear transverse frames are both provided with horizontal telescopic modules and
  • the drive mechanism, the horizontal telescopic module includes a gear, which is connected to the motor in transmission. Both sides of the gear are provided with a first rack and a second rack that mesh with and move in opposite directions. The slider in the strip hole at one end of the transverse frame is connected, and the opposite end of the second rack is connected with the slider in the corresponding strip hole at the other end of the transverse frame through a tie rod.
  • the present invention adopts the above technical solutions and has the following advantages: 1.
  • the lifting mechanism is used to lift and lower the lifting frame with the cultivation frame to complete the automatic loading and unloading of the cultivation frame, and the loading frame is used to remove the cultivation frame loaded with the cultivation container from one area. Move to another area to complete the automated movement of the cultivation rack, with a high degree of automation. 2.
  • the lifting and handling system of the present invention can be used to simultaneously move cultivation racks, which has high scalability.
  • the present invention integrates the lifting frame and the lifting mechanism into the loading frame, and the system structure is light and concise, and the cost is low compared to the transportation mode of the conveyor belt. 4.
  • the present invention can carry out independent transportation for any cultivation rack arranged in an array, without being affected by the arrangement order of the cultivation racks.
  • Fig. 1 is a schematic diagram of the structure of the lifting and handling system of the present invention.
  • Figure 2 is a schematic structural view of the loading frame of the present invention with supporting legs omitted.
  • Figure 3 is a schematic diagram of the structure of the lifting frame of the present invention.
  • FIG. 4 is a schematic diagram of the structure of the horizontal frame and the horizontal telescopic module of the present invention.
  • the reverse movement in the present invention means that the movement directions of the first rack and the second rack are opposite.
  • the present invention provides a lifting and handling system, including: a lifting frame 6 for placing a cultivation rack 1 loaded with a cultivation container; a lifting mechanism for lifting the lifting frame 6 on which the cultivation rack 1 is placed And put down; load the frame 2, move the cultivation frame 1 loaded with the cultivation container on the lifting frame 6 from one area to another; the loading frame 2 and the lifting frame 6 are larger than the cultivation frame 1, after the lifting frame 6 is lifted, load The frame can be moved through a whole row of cultivating racks.
  • the bottom of the loading frame 2 is provided with four supporting legs 8, and the bottom of each supporting leg 8 is provided with a wheat wheel 5 and a driving device 4 for driving the wheat wheel 5 to rotate;
  • the driving device 4 may be Motor, the motor on each support leg 8 drives the wheat wheel 5 at its bottom to rotate, the wheat wheel on the four support legs can realize the omnidirectional movement of the loading frame under the drive of each motor, and the lifting frame 6 is loaded with the cultivation container
  • the cultivating rack 1 is moved from one area to another, such as from a cultivating area to an imaging area, with fast moving speed and high reliability.
  • the height of the support leg 8 can be determined according to the height of the position where the cultivation rack needs to be moved.
  • the height of the support leg 8 should be slightly higher than the height of the cultivation rack on the second layer. It is convenient for the loading frame to move outside the cultivation frame; in order to increase the strength and rigidity of the supporting leg 8, a reinforcing rib 3 can be provided on the supporting leg 8.
  • the loading frame 2 is a cuboid frame
  • the cuboid frame includes a horizontal frame and a vertical frame
  • the horizontal frame includes a front horizontal frame 2-8 and a rear horizontal frame 2-1
  • the lifting mechanism includes a front horizontal frame 2- 8 and the main shafts 2-7 and 2-7 on the rear horizontal frame 2-1 extend along the length of the horizontal frame where they are located.
  • the rotation of each main shaft 2-7 is driven by a motor 2-6.
  • each steel belt wheel 2-4 is provided with a steel belt 2-5 matching it, and one end of the steel belt 2-5 is wound around On the steel belt wheel 2-4, the other end of the steel belt 2-5 is connected with the lifting frame 6.
  • the motors on the front transverse frame 2-8 and the rear transverse frame 2-1 drive the main shaft to rotate at the same time, and the steel belts on the steel belt wheels on the two main shafts can be wound or unwinded at the same time, thereby lifting or lowering
  • the lifting frame greatly enhances the stability of the movement of the lifting frame.
  • the steel belt wheel has reasonable design, simple structure, long service life and low manufacturing cost.
  • the longitudinal frame includes a left longitudinal frame 2-9 and a right longitudinal frame 2-11.
  • One of the longitudinal frames is provided with an opening extending along its length, and a support plate 2-2 is provided in the opening.
  • 2-2 and the longitudinal frame are connected in series through the shaft 2-10.
  • the supporting plate 2-2 and the longitudinal frame are both provided with a bearing seat 2-3 for placing the bearing 2-10, and two supporting plates 2-2.
  • the ends are respectively connected with two of the supporting legs.
  • the support plate connected with the supporting legs can be rotated around the rotating shaft for adjustment, so that the loading frame will not be too bumpy when walking, and it can also walk on potholes, improving its stability and practicality.
  • the four corners of the lifting frame 6 are provided with clamping slots 6-1, and each clamping slot 6-1 is engaged with a supporting leg 8 on the loading frame 2, and the clamping position is provided with
  • the guide wheels 6-12 and the guide wheels 6-12 are arranged on the guide wheel frame 6-9 connected with the lifting frame 6; when the lifting mechanism lifts and lowers the lifting frame 6 with the cultivation frame 1, the lifting frame 6 is in the lifting mechanism
  • the guide wheels slide up and down along the support legs 8 on the loading frame under the driving of the loader; this makes the lifting frame 6 more stable and labor-saving when lifting and lowering, and can reduce the power of the drive motor.
  • the lifting frame 6 includes a rectangular parallelepiped frame.
  • the rectangular parallelepiped frame includes a horizontal frame and a longitudinal frame.
  • the horizontal frame includes a front lateral frame 6-6 and a rear lateral frame 6-10, two parallel to each other.
  • the support beam 6-3 is installed on the front transverse frame 6-6 and the rear transverse frame 6-10 and forms a horizontal moving pair with the front transverse frame 6-6 and the rear transverse frame 6-10.
  • the front transverse frame 6 -6 and the rear transverse frame body 6-10 are equipped with a driving mechanism for driving the two support beams 6-3 to move toward or away from each other synchronously; the support beam 6-3 is provided with a card that engages with the cultivation frame 1.
  • the engaging portion 6-4 and the engaging portion 6-4 are preferably V-shaped grooves. Both ends of each support beam are provided with a V-shaped groove.
  • the cultivation frame 1 is provided with the V-shaped groove for engaging The card block (not shown in the figure).
  • the two support beams are parallel to the longitudinal frame body, which facilitates positioning during work.
  • the front lateral frame body 6-6 and the rear lateral frame body 6-10 are both provided with horizontal telescopic modules 6-8, the driving mechanism 6-7 and the horizontal telescopic module 6 -8 connected, the driving mechanism 6-7 is preferably a motor, and the motor drives the horizontal telescopic module 6-8 to move between the retracted position and the extended position to drive the two supporting beams to move toward each other or back to each other synchronously .
  • both ends of the front transverse frame body 6-6 and the rear transverse frame body 6-10 are provided with strip holes 6-11 extending along their lengths, and two supporting beams 6-3 Both ends are connected with the slider 6-5, and the slider 6-5 is clamped in the strip hole 6-11 and can move along the strip hole 6-11.
  • the length of the strip holes 6-11 can be set according to the predetermined sliding distance of the two support beams.
  • the front transverse frame body 6-6 is provided with a gear 6-15, which is in transmission connection with the motor.
  • the gear 6-15 is provided with a first rack 6-14 and a second tooth which mesh with and move in opposite directions.
  • one end of the first rack 6-14 is connected to the left slider 6-18 in the strip hole at the left end of the front transverse frame 6-6 through the left tie rod 6-17, and the second rack 6-16 The opposite end is connected to the right slider 6-19 in the strip hole at the right end of the front transverse frame body 6-6 through the right tie rod 6-13.
  • the motor drives the gear to rotate, thereby driving the first rack 6-14 and the second rack 6-16 meshing with it to move in the opposite direction, which is connected to the first rack 6-14 and the second rack 6-16.
  • the left pull rod 6-17 and the right slider 6-19 retract and extend.
  • the same structure and working principle of the rear transverse frame are the same as those of the front transverse frame.
  • the motors on the front transverse frame and the rear transverse frame simultaneously drive the gears to rotate, thereby driving the front and rear transverse frames and the second
  • the left pull rod 6-17 and the right sliding block 6-19 connected by one rack and the second rack are retracted and extended to realize the synchronous movement of the two supporting beams toward each other or back.
  • the use process of the present invention is as follows (taking the cultivation rack loaded with the cultivation container from the cultivation area to the imaging area as an example).
  • the motors on the front transverse frame 6-6 and the rear transverse frame 6-10 of the lifting frame 6 simultaneously drive the gears 6-15 to rotate, thereby driving the gears connected to the first rack 6-14 and the second rack 6-16
  • the left tie rod 6-17 and the right tie rod 6-13 are extended, and the two support beams 6-3 slide back to the end of the strip hole synchronously.
  • the motors on the four supporting legs 8 of the loading frame 2 are controlled to simultaneously drive the wheat wheel 5 to rotate, so that the loading frame 2 moves toward the cultivation frame 1 to be moved in the cultivation area until the cultivation frame 1 is located in the center of the lifting frame 6.
  • the motors on the front transverse frame 2-8 and the rear transverse frame 2-1 of the loading frame 2 are controlled to drive the main shaft to rotate at the same time, driving the steel belt 2-5 on the steel belt wheel 2-4 to unwind at the same time, and the lifting frame 6 passes the guide wheel 6-12 Slide down the supporting legs 8 on the loading frame 2 to lower the lifting frame 6 until the level of the engaging parts 6-4 at the ends of the two supporting beams 6-3 is lower than the upper clamping block of the cultivation frame 1 The level of height.
  • the motors on the four supporting legs 8 of the loading frame 2 are controlled to simultaneously drive the wheat wheel 5 to rotate, so that the loading frame 2 drives the lifting frame 6 holding the cultivation frame 1 to move to the imaging area.
  • the motors on the front lateral frame 2-8 and the rear lateral frame 2-1 of the loading frame 2 are controlled to simultaneously drive the spindle 2-7 to rotate, driving the steel belt 2 on the steel pulley 2-4 -5 Unwind at the same time, and lift the lifting frame 6 of the cultivation frame 1 to slide down the supporting legs 8 on the loading frame 2 through the guide wheels 6-12, so as to lower the lifting frame 6 so that the cultivation frame 1 falls to the support (Such as on the floor) until the level of the engaging parts 6-4 at the ends of the two support beams 6-3 is lower than the level of the clamping block on the cultivation frame 1, and the engaging parts 6 at both ends of the two support beams 6-3 -4 is disengaged from the clamping block on the cultivation frame 1, and then drives the front lateral frame body 6-6 and
  • the motors on the front lateral frame 2-8 and the rear lateral frame 2-1 of the loading frame 2 are controlled to drive the spindle 2-7 to rotate at the same time, and the steel belt 2-5 on the steel belt wheel 2-4 is rewinded at the same time, and the lifting frame is lifted. 6, until the level of the lifting frame 6 is higher than the level of the top of the cultivation frame 1; control the motors on the four support legs 8 of the loading frame 2 to drive the wheat wheel 5 to rotate at the same time, so that the loading frame 2 drives the lifting frame 6 to leave the cultivation frame , Drive to the cultivation area, repeat the above steps, so as to complete the automatic and rapid transfer of the batch cultivation racks.
  • the present invention can carry out independent transportation for any cultivation rack arranged in an array, and is not affected by the arrangement sequence of the cultivation racks.

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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

A hoisting and carrying system, comprising: a lifting frame (6), which is used for placing a cultivation frame (1) loaded with a cultivation container; a lifting mechanism, which is used for lifting and lowering the lifting frame (6) on which the cultivation frame (1) is placed; and a loading frame (2), which transports the cultivation frame (1) loaded with the cultivation container on the lifting frame (6) from one area to another area. According to the described system, the lifting mechanism is used to lift and lower the lifting frame (6) on which the cultivation frame (1) is placed so as to complete the automatic loading and unloading of the cultivation frame (1), and the loading frame (2) is used to transport the cultivation frame (1) loaded with the cultivation container from one area to another area so as to complete the automatic transportation of the cultivation frame (1), thus the degree of automation is high. Meanwhile, in the described system, the lifting frame and the lifting mechanism are integrated in the loading frame, the structure is light and simple, and costs are low compared with a conveying means of a conveying belt.

Description

一种吊载与搬运***A lifting and handling system 技术领域Technical field
本发明涉及一种装载***，尤其涉及一种吊载与搬运***。The invention relates to a loading system, in particular to a hoisting and handling system.
背景技术Background technique
现代农业面临越来越多的挑战如环境污染严重，极端气候频发、耕地面积减少，劳动力短缺等，导致粮食安全问题日益凸显，必须通过高科技手段提高耕地利用效率，增加作物产量，降低农业工人劳动强度来解决或缓解这一问题。室内作物栽培管理技术是解决这一问题的有效手段之一，通过标准化单元加工，自动化组装和作物生产与管理的栽培架***，降低了运输和安装成本，减少了种植、收获与管理的人行道空间，具有实用性强、易于推广、所占空间小、劳动力强度低等特征，深受众多农业企业和农户的喜爱。Modern agriculture is facing more and more challenges, such as serious environmental pollution, frequent extreme weather, reduction of arable land, labor shortage, etc., resulting in increasingly prominent food security problems. High-tech means must be used to improve the efficiency of arable land utilization, increase crop yields, and reduce agriculture. The labor intensity of workers can solve or alleviate this problem. Indoor crop cultivation and management technology is one of the effective means to solve this problem. Through standardized unit processing, automated assembly and crop production and management of the cultivation rack system, transportation and installation costs are reduced, and the sidewalk space for planting, harvesting and management is reduced. It has the characteristics of strong practicability, easy promotion, small space occupation, and low labor intensity. It is deeply loved by many agricultural enterprises and farmers.
通过栽培架***进行作物生产与管理模式众多。传统的移动式栽培装置，在栽培装置底部设有多个滚动轮，通过人为推动装置，促使滚轮运动，同时还设置有定向轮，保证滚轮运动过程的稳定性。另一种方案是，栽培架***还配有相应的地面移动轨道，底部设置滚轮以及用于驱动滚轮转动的驱动电机，滚轮嵌入地面轨道内，一组地面轨道由至少两条平行轨道构成，在每组地面轨道上一次设置多个栽培架，计算机控制***控制驱动电机，实现栽培架***在地面轨道的自动运行。还有一种方案是，栽培架独立式叠垛成行布置，均匀分成多个可容纳特定容器的单元空间，设置起重机构来对特定容器进行提取，设置机器人装载处理器对多个叠垛的容器进行移除，还可以在叠垛的最上部表面设有导轨***围绕叠垛被可控制的移动，每个机器人装载处理器对应一个单元空间，提取或移除至指定站位点。这些可移动式的栽培架作物生产与装配方式，在一定程度上节约了土地可利用空间。但是基于人为推动栽培***运动，劳动力资源在一定程度上并没有较大解放；基于地面移动轨道的栽培架***，设备复杂，需依赖地面轨道才能实现栽培***的自动化运行。机器人装载处理器对栽培架中的特定容器进行存取，价格高昂，不易于大规模推广操作。因此，急需研发一种能够极大节约作业空间，设备结构相对简单，成本低廉的高通量、自动化的作物栽培与生产管理***。There are many crop production and management modes through the cultivation rack system. In the traditional mobile cultivation device, a plurality of rolling wheels are arranged at the bottom of the cultivation device, and the movement of the rolling wheels is promoted through the artificial pushing device, and an orientation wheel is also provided to ensure the stability of the movement process of the rolling wheels. Another solution is that the cultivation rack system is also equipped with corresponding ground moving rails. The bottom is provided with rollers and a drive motor for driving the rollers to rotate. The rollers are embedded in the ground rails. A set of ground rails is composed of at least two parallel rails. Each group of ground rails is equipped with multiple cultivation racks at a time, and the computer control system controls the drive motor to realize the automatic operation of the cultivation rack system on the ground rails. Another solution is that the cultivating racks are stacked independently and arranged in rows, evenly divided into a plurality of unit spaces that can accommodate specific containers, a crane structure is set up to extract specific containers, and a robot loading processor is set up for multiple stacked containers. For removal, a guide rail system can be provided on the uppermost surface of the stack to move around the stack in a controllable manner. Each robot loading processor corresponds to a unit space and is extracted or removed to a designated station. The production and assembly methods of these movable cultivating racks have saved the available land space to a certain extent. However, based on the artificial promotion of the movement of the cultivation system, the labor resources are not liberated to a certain extent; the cultivation rack system based on the ground moving track has complex equipment and needs to rely on the ground track to realize the automated operation of the cultivation system. The robot loading processor accesses specific containers in the cultivation rack, which is expensive and not easy for large-scale promotion operations. Therefore, there is an urgent need to develop a high-throughput, automated crop cultivation and production management system that can greatly save work space, has a relatively simple device structure, and is low in cost.
技术问题technical problem
针对上述问题，本发明旨在提供一种能够对装载有栽培容器的栽培架进行高通量、自动化运移的吊载与搬运***。In view of the above-mentioned problems, the present invention aims to provide a hoisting and transporting system capable of carrying out high-throughput and automated transportation of cultivation racks loaded with cultivation containers.
技术解决方案Technical solutions
本发明的具体技术方案如下。The specific technical scheme of the present invention is as follows.
一种吊载与搬运***，包括：升降框架，用于放置装载有栽培容器的栽培架。A hoisting and transporting system includes a lifting frame, which is used to place a cultivation rack loaded with cultivation containers.
提升机构，用于将放置有栽培架的升降框架提升和放下；装载框架，将升降框架上装载有栽培容器的栽培架从一个区域运移到另一区域。The lifting mechanism is used for lifting and lowering the lifting frame on which the cultivation frame is placed; the loading frame is used to move the cultivation frame loaded with the cultivation container on the lifting frame from one area to another area.
优选的，所述装载框架的底部设有四个支撑腿，各个支撑腿的底部均设有麦轮以及用于驱动麦轮转动的驱动装置。Preferably, the bottom of the loading frame is provided with four supporting legs, and the bottom of each supporting leg is provided with a wheat wheel and a driving device for driving the wheat wheel to rotate.
优选的，所述装载框架为长方体框架，包括横向框架和纵向框架，所述横向框架上设有提升机构以及驱动该提升机构将放置有栽培架的升降框架提升和放下的驱动机构。Preferably, the loading frame is a rectangular parallelepiped frame and includes a horizontal frame and a vertical frame. The horizontal frame is provided with a lifting mechanism and a driving mechanism for driving the lifting mechanism to lift and lower the lifting frame on which the cultivation rack is placed.
优选的，所述横向框架包括前横向框架和后横向框架，所述提升机构包括设在前横向框架和后横向框架上的主轴、套接在各个主轴上的至少两个钢带轮、与钢带轮相配合的钢带，所述主轴沿前横向框架或后横向框架的长度方向延伸，驱动机构用于驱动主轴旋转；所述钢带的一端卷收在钢带轮上，钢带的另一端与升降框架连接。Preferably, the transverse frame includes a front transverse frame and a rear transverse frame, and the lifting mechanism includes main shafts arranged on the front transverse frame and the rear transverse frame, at least two steel pulleys sleeved on each main shaft, and steel A steel belt matched with a pulley, the main shaft extends along the length of the front transverse frame or the rear transverse frame, and the driving mechanism is used to drive the main shaft to rotate; one end of the steel belt is wound on the steel pulley, and the other One end is connected with the lifting frame.
优选的，所述纵向框架包括左纵向框架和右纵向框架，其中一纵向框架设有沿其长度方向延伸的开口，开口内设有支撑板，所述支撑板转动连接在该纵向框架上，支撑板的两端分别与其中的两个支撑腿连接。Preferably, the longitudinal frame includes a left longitudinal frame and a right longitudinal frame, one of the longitudinal frames is provided with an opening extending along its length, and a support plate is provided in the opening, and the support plate is rotatably connected to the longitudinal frame to support The two ends of the board are respectively connected with two supporting legs.
优选的，所述升降框架的四角处均设有卡槽，每一卡槽与装载框架上的一个支撑腿相卡合，所述卡合处设有导轮。Preferably, the four corners of the lifting frame are provided with clamping grooves, each clamping groove is engaged with a supporting leg on the loading frame, and a guide wheel is provided at the clamping position.
优选的，所述升降框架包括长方体框架，长方体框架包括横向架体和纵向架体，两根相互平行的支撑梁安装在横向架体上并且与横向架体构成水平移动副，横向架体上安装有用于驱动两根支撑梁同步相向运动或者背向运动的驱动机构；所述支撑梁上设有与栽培架相卡合的卡合部。Preferably, the lifting frame includes a rectangular parallelepiped frame. The rectangular parallelepiped frame includes a horizontal frame and a longitudinal frame. Two mutually parallel support beams are installed on the horizontal frame and form a horizontal moving pair with the horizontal frame. The horizontal frame is installed on the horizontal frame. There is a driving mechanism for driving the two supporting beams to move toward or away from each other synchronously; the supporting beams are provided with an engaging part that is engaged with the cultivation frame.
优选的，所述横向架体上设有水平伸缩模组，所述驱动机构与水平伸缩模组相连，驱动机构驱动水平伸缩模组在所述缩回位置和所述伸出位置之间移动从而带动两根支撑梁同步相向运动或者背向运动。Preferably, the horizontal frame is provided with a horizontal telescopic module, the driving mechanism is connected to the horizontal telescopic module, and the driving mechanism drives the horizontal telescopic module to move between the retracted position and the extended position so as to Drive the two supporting beams to move toward each other or back to each other synchronously.
优选的，所述横向架体包括前横向架体和后横向架体，前横向架体和后横向架体的两端均设有沿其长度方向延伸的条形孔，两根支撑梁的两端均与滑块连接，所述滑块卡接在所述条形孔中并可沿所述条形孔移动；所述前横向架体和后横向架体上均设有水平伸缩模组和驱动机构，水平伸缩模组包括齿轮，齿轮与电机传动连接，齿轮的两侧设有与其啮合并且反向运动的第一齿条和第二齿条，第一齿条的一端通过拉杆与其对应的横向架体一端部条形孔中的滑块连接，第二齿条的相反端通过拉杆与其对应的横向架体另一端部条形孔中的滑块连接。Preferably, the lateral frame body includes a front lateral frame body and a rear lateral frame body. Both ends of the front lateral frame body and the rear lateral frame body are provided with strip holes extending along their length. Both ends are connected with the slider, the slider is clamped in the strip hole and can move along the strip hole; the front and rear transverse frames are both provided with horizontal telescopic modules and The drive mechanism, the horizontal telescopic module includes a gear, which is connected to the motor in transmission. Both sides of the gear are provided with a first rack and a second rack that mesh with and move in opposite directions. The slider in the strip hole at one end of the transverse frame is connected, and the opposite end of the second rack is connected with the slider in the corresponding strip hole at the other end of the transverse frame through a tie rod.
有益效果Beneficial effect
本发明采用以上技术方案具有如下优点：1.采用提升机构将放置有栽培架的升降框架提升和放下以完成栽培架的自动装载和卸载，采用装载框架将装载有栽培容器的栽培架从一个区域运移到另一区域以完成栽培架的自动化运移，自动化程度高。2.为了满足栽培架高通量运移的需要，可以采用本发明所述的吊载与搬运***同时进行栽培架的运移，具有高可扩展性。3.本发明将升降框架和提升机构集成在装载框架中，***结构轻便简洁，相对于传送带的运输方式来说成本低。4.本发明可以对于阵列式排布的任意一个栽培架进行单独搬运，不受栽培架的排布顺序的影响。The present invention adopts the above technical solutions and has the following advantages: 1. The lifting mechanism is used to lift and lower the lifting frame with the cultivation frame to complete the automatic loading and unloading of the cultivation frame, and the loading frame is used to remove the cultivation frame loaded with the cultivation container from one area. Move to another area to complete the automated movement of the cultivation rack, with a high degree of automation. 2. In order to meet the needs of high-throughput transportation of cultivation racks, the lifting and handling system of the present invention can be used to simultaneously move cultivation racks, which has high scalability. 3. The present invention integrates the lifting frame and the lifting mechanism into the loading frame, and the system structure is light and concise, and the cost is low compared to the transportation mode of the conveyor belt. 4. The present invention can carry out independent transportation for any cultivation rack arranged in an array, without being affected by the arrangement order of the cultivation racks.
附图说明Description of the drawings
图1为本发明吊载与搬运***的结构示意图。Fig. 1 is a schematic diagram of the structure of the lifting and handling system of the present invention.
图2为本发明装载框架略去支撑腿后的结构示意图。Figure 2 is a schematic structural view of the loading frame of the present invention with supporting legs omitted.
图3为本发明升降框架的结构示意图。Figure 3 is a schematic diagram of the structure of the lifting frame of the present invention.
图4为本发明横向架体与水平伸缩模组的结构示意图。4 is a schematic diagram of the structure of the horizontal frame and the horizontal telescopic module of the present invention.
本发明的实施方式Embodiments of the present invention
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。Hereinafter, the preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, so as to have a clearer understanding of the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but merely to illustrate the essential spirit of the technical solution of the present invention. The parts not mentioned in the present invention are all the prior art.
本发明所述的反向运动是指第一齿条和第二齿条的运动方向相反。The reverse movement in the present invention means that the movement directions of the first rack and the second rack are opposite.
参见图1，本发明提供了一种吊载与搬运***，包括：升降框架6，用于放置装载有栽培容器的栽培架1；提升机构，用于将放置有栽培架1的升降框架6提升和放下；装载框架2，将升降框架6上装载有栽培容器的栽培架1从一个区域运移到另一区域；装载框架2和升降框架6均大于栽培架1，升降框架6提升后，装载框架可以穿过一整排栽培架进行移动。Referring to Figure 1, the present invention provides a lifting and handling system, including: a lifting frame 6 for placing a cultivation rack 1 loaded with a cultivation container; a lifting mechanism for lifting the lifting frame 6 on which the cultivation rack 1 is placed And put down; load the frame 2, move the cultivation frame 1 loaded with the cultivation container on the lifting frame 6 from one area to another; the loading frame 2 and the lifting frame 6 are larger than the cultivation frame 1, after the lifting frame 6 is lifted, load The frame can be moved through a whole row of cultivating racks.
进一步的，参见图1，装载框架2的底部设有四个支撑腿8，各个支撑腿8的底部均设有麦轮5以及用于驱动麦轮5转动的驱动装置4；驱动装置4可以是电机，各个支撑腿8上的电机驱动其底部的麦轮5转动，四个支撑腿上的麦轮在各自电机的驱动下可实现装载框架的全向移动，将升降框架6上装载有栽培容器的栽培架1从一个区域运移到另一区域，如从栽培区域运移到成像区域，移动速度快且可靠性高。本发明中支撑腿8的高度可根据需要运移的栽培架所在位置的高度来定，如栽培架1共有两层，则支撑腿8的高度应该略高于第二层上栽培架的高度，便于装载框架在栽培架外移动；为了增加支撑腿8的强度和刚度，可在支撑腿8上设置加强筋3。Further, referring to FIG. 1, the bottom of the loading frame 2 is provided with four supporting legs 8, and the bottom of each supporting leg 8 is provided with a wheat wheel 5 and a driving device 4 for driving the wheat wheel 5 to rotate; the driving device 4 may be Motor, the motor on each support leg 8 drives the wheat wheel 5 at its bottom to rotate, the wheat wheel on the four support legs can realize the omnidirectional movement of the loading frame under the drive of each motor, and the lifting frame 6 is loaded with the cultivation container The cultivating rack 1 is moved from one area to another, such as from a cultivating area to an imaging area, with fast moving speed and high reliability. In the present invention, the height of the support leg 8 can be determined according to the height of the position where the cultivation rack needs to be moved. If the cultivation rack 1 has two layers, the height of the support leg 8 should be slightly higher than the height of the cultivation rack on the second layer. It is convenient for the loading frame to move outside the cultivation frame; in order to increase the strength and rigidity of the supporting leg 8, a reinforcing rib 3 can be provided on the supporting leg 8.
进一步的，参见图2，装载框架2为长方体框架，长方体框架包括横向框架和纵向框架，横向框架包括前横向框架2-8和后横向框架2-1；提升机构包括设在前横向框架2-8和后横向框架2-1上的主轴2-7、主轴2-7沿其所在横向框架的长度方向延伸，每一主轴2-7的旋转均由一个电机2-6驱动、在每个主轴2-7的两端分别套接一个钢带轮2-4、每个钢带轮2-4上设有与其相配合的钢带2-5，所述钢带2-5的一端卷收在钢带轮2-4上，钢带2-5的另一端与升降框架6连接。在使用时，前横向框架2-8和后横向框架2-1上的电机同时驱动主轴旋转，两根主轴上的钢带轮上的钢带可以同时进行收卷或者放卷，从而提升或者放下升降框架，大大增强了升降框架运动的稳定性。另外，该钢带轮设计合理、结构简单、使用寿命长、制造成本低。Further, referring to Figure 2, the loading frame 2 is a cuboid frame, the cuboid frame includes a horizontal frame and a vertical frame, the horizontal frame includes a front horizontal frame 2-8 and a rear horizontal frame 2-1; the lifting mechanism includes a front horizontal frame 2- 8 and the main shafts 2-7 and 2-7 on the rear horizontal frame 2-1 extend along the length of the horizontal frame where they are located. The rotation of each main shaft 2-7 is driven by a motor 2-6. Two ends of 2-7 are respectively sleeved with a steel belt wheel 2-4, each steel belt wheel 2-4 is provided with a steel belt 2-5 matching it, and one end of the steel belt 2-5 is wound around On the steel belt wheel 2-4, the other end of the steel belt 2-5 is connected with the lifting frame 6. When in use, the motors on the front transverse frame 2-8 and the rear transverse frame 2-1 drive the main shaft to rotate at the same time, and the steel belts on the steel belt wheels on the two main shafts can be wound or unwinded at the same time, thereby lifting or lowering The lifting frame greatly enhances the stability of the movement of the lifting frame. In addition, the steel belt wheel has reasonable design, simple structure, long service life and low manufacturing cost.
进一步的，参见图2，纵向框架包括左纵向框架2-9和右纵向框架2-11，其中一纵向框架设有沿其长度方向延伸的开口，开口内设有支撑板2-2，支撑板2-2与该纵向框架通过转轴2-10串接而成，支撑板2-2与该纵向框架上均设有用于放置轴承2-10的轴承座2-3，支撑板2-2的两端分别与其中的两个支撑腿连接。遇到坑洼的地面时，与支撑腿连接的支撑板可以绕转轴转动以作调整，使得装载框架行走时不会太颠簸，在坑洼地面也能行走，提高其稳固性实用性。Further, referring to Figure 2, the longitudinal frame includes a left longitudinal frame 2-9 and a right longitudinal frame 2-11. One of the longitudinal frames is provided with an opening extending along its length, and a support plate 2-2 is provided in the opening. 2-2 and the longitudinal frame are connected in series through the shaft 2-10. The supporting plate 2-2 and the longitudinal frame are both provided with a bearing seat 2-3 for placing the bearing 2-10, and two supporting plates 2-2. The ends are respectively connected with two of the supporting legs. When encountering potholes on the ground, the support plate connected with the supporting legs can be rotated around the rotating shaft for adjustment, so that the loading frame will not be too bumpy when walking, and it can also walk on potholes, improving its stability and practicality.
进一步的，参见图3，升降框架6的四角处均设有卡槽6-1，每一卡槽6-1与装载框架2上的一个支撑腿8相卡合，所述卡合处设有导轮6-12，导轮6-12设在与升降框架6连接的导轮架6-9上；提升机构将放置有栽培架1的升降框架6提升和放下时，升降框架6在提升机构的带动下通过导轮沿着装载框架上的支撑腿8上下滑动；使得升降框架6在提升和放下时更加稳固和省力，可以降低驱动电机的功率。Further, referring to Fig. 3, the four corners of the lifting frame 6 are provided with clamping slots 6-1, and each clamping slot 6-1 is engaged with a supporting leg 8 on the loading frame 2, and the clamping position is provided with The guide wheels 6-12 and the guide wheels 6-12 are arranged on the guide wheel frame 6-9 connected with the lifting frame 6; when the lifting mechanism lifts and lowers the lifting frame 6 with the cultivation frame 1, the lifting frame 6 is in the lifting mechanism The guide wheels slide up and down along the support legs 8 on the loading frame under the driving of the loader; this makes the lifting frame 6 more stable and labor-saving when lifting and lowering, and can reduce the power of the drive motor.
进一步的，参见图3，升降框架6包括长方体框架，长方体框架包括横向架体和纵向架体，横向架体包括前横向架体6-6和后横向架体6-10，两根相互平行的支撑梁6-3安装在前横向架体6-6和后横向架体6-10上并且与前横向架体6-6和后横向架体6-10构成水平移动副，前横向架体6-6和后横向架体6-10上安装有用于驱动两根支撑梁6-3同步相向运动或者背向运动的驱动机构；支撑梁6-3上设有与栽培架1相卡合的卡合部6-4，卡合部6-4优选为V形卡槽，每根支撑梁的两端均设有一个V形卡槽，栽培架1上设有与该V形卡槽相卡合的卡块（图中未画出）。优选的，两根支撑梁与纵向架体平行，工作时便于进行定位。Further, referring to Figure 3, the lifting frame 6 includes a rectangular parallelepiped frame. The rectangular parallelepiped frame includes a horizontal frame and a longitudinal frame. The horizontal frame includes a front lateral frame 6-6 and a rear lateral frame 6-10, two parallel to each other. The support beam 6-3 is installed on the front transverse frame 6-6 and the rear transverse frame 6-10 and forms a horizontal moving pair with the front transverse frame 6-6 and the rear transverse frame 6-10. The front transverse frame 6 -6 and the rear transverse frame body 6-10 are equipped with a driving mechanism for driving the two support beams 6-3 to move toward or away from each other synchronously; the support beam 6-3 is provided with a card that engages with the cultivation frame 1. The engaging portion 6-4 and the engaging portion 6-4 are preferably V-shaped grooves. Both ends of each support beam are provided with a V-shaped groove. The cultivation frame 1 is provided with the V-shaped groove for engaging The card block (not shown in the figure). Preferably, the two support beams are parallel to the longitudinal frame body, which facilitates positioning during work.
进一步的，参见图3和图4，前横向架体6-6和后横向架体6-10上均设有水平伸缩模组6-8，所述驱动机构6-7与水平伸缩模组6-8相连，驱动机构6-7优选为电机，电机驱动水平伸缩模组6-8在所述缩回位置和所述伸出位置之间移动从而带动两根支撑梁同步相向运动或者背向运动。Further, referring to Figures 3 and 4, the front lateral frame body 6-6 and the rear lateral frame body 6-10 are both provided with horizontal telescopic modules 6-8, the driving mechanism 6-7 and the horizontal telescopic module 6 -8 connected, the driving mechanism 6-7 is preferably a motor, and the motor drives the horizontal telescopic module 6-8 to move between the retracted position and the extended position to drive the two supporting beams to move toward each other or back to each other synchronously .
进一步的，参见图4，前横向架体6-6和后横向架体6-10的两端均设有沿其长度方向延伸的条形孔6-11，两根支撑梁6-3的两端均与滑块6-5连接，所述滑块6-5卡接在所述条形孔6-11中并可沿所述条形孔6-11移动。条形孔6-11的长度可以根据两根支撑梁预定的滑动距离进行设定。前横向架体6-6上设齿轮6-15，齿轮6-15与电机传动连接，齿轮6-15的两侧设有与其啮合并且反向运动的第一齿条6-14和第二齿条6-16，第一齿条6-14的一端通过左拉杆6-17与前横向架体6-6左端部条形孔中的左滑块6-18连接，第二齿条6-16的相反端通过右拉杆6-13与前横向架体6-6右端部条形孔中的右滑块6-19连接。工作时，电机驱动齿轮转动，从而带动与其啮合的第一齿条6-14和第二齿条6-16反向运动，与第一齿条6-14和第二齿条6-16连接的左拉杆6-17、右滑块6-19缩回和伸出。同样的后横向架体采用的结构以及工作原理与前横向架体一样，前横向架体和后横向架体上的电机同时驱动齿轮转动，从而带动前横向架体和后横向架体上与第一齿条和第二齿条连接的左拉杆6-17、右滑块6-19缩回和伸出，实现两根支撑梁同步相向运动或者背向运动。Further, referring to Figure 4, both ends of the front transverse frame body 6-6 and the rear transverse frame body 6-10 are provided with strip holes 6-11 extending along their lengths, and two supporting beams 6-3 Both ends are connected with the slider 6-5, and the slider 6-5 is clamped in the strip hole 6-11 and can move along the strip hole 6-11. The length of the strip holes 6-11 can be set according to the predetermined sliding distance of the two support beams. The front transverse frame body 6-6 is provided with a gear 6-15, which is in transmission connection with the motor. The gear 6-15 is provided with a first rack 6-14 and a second tooth which mesh with and move in opposite directions. 6-16, one end of the first rack 6-14 is connected to the left slider 6-18 in the strip hole at the left end of the front transverse frame 6-6 through the left tie rod 6-17, and the second rack 6-16 The opposite end is connected to the right slider 6-19 in the strip hole at the right end of the front transverse frame body 6-6 through the right tie rod 6-13. When working, the motor drives the gear to rotate, thereby driving the first rack 6-14 and the second rack 6-16 meshing with it to move in the opposite direction, which is connected to the first rack 6-14 and the second rack 6-16. The left pull rod 6-17 and the right slider 6-19 retract and extend. The same structure and working principle of the rear transverse frame are the same as those of the front transverse frame. The motors on the front transverse frame and the rear transverse frame simultaneously drive the gears to rotate, thereby driving the front and rear transverse frames and the second The left pull rod 6-17 and the right sliding block 6-19 connected by one rack and the second rack are retracted and extended to realize the synchronous movement of the two supporting beams toward each other or back.
本发明的使用过程如下（以装载有栽培容器的栽培架从栽培区运移到成像区为例）。The use process of the present invention is as follows (taking the cultivation rack loaded with the cultivation container from the cultivation area to the imaging area as an example).
控制装载框架2前横向框架2-8和后横向框架2-1上的电机同时驱动主轴2-7旋转，带动两根主轴2-7上的钢带轮2-4上的钢带2-5同时进行收卷，升降框架6通过导轮6-12沿着装载框架2上的支撑腿8向上滑动，从而提升升降框架6，将升降框架6提升至装载框架2的顶部。Control the motors on the front lateral frame 2-8 and the rear lateral frame 2-1 of the loading frame 2 to drive the spindle 2-7 to rotate at the same time, driving the steel belt 2-5 on the steel belt wheel 2-4 on the two spindles 2-7 At the same time, the lifting frame 6 slides upward along the supporting legs 8 on the loading frame 2 through the guide wheels 6-12, thereby lifting the lifting frame 6 and lifting the lifting frame 6 to the top of the loading frame 2.
升降框架6的前横向架体6-6和后横向架体6-10上的电机同时驱动齿轮6-15转动，从而带动与第一齿条6-14和第二齿条6-16连接的左拉杆6-17、右拉杆6-13伸出，两根支撑梁6-3同步背向运动滑至条形孔的端部。控制装载框架2四个支撑腿8上的电机同时驱动麦轮5转动，使得装载框架2向栽培区中待移动的栽培架1方向移动，直至移动至栽培架1位于升降框架6的正中心。The motors on the front transverse frame 6-6 and the rear transverse frame 6-10 of the lifting frame 6 simultaneously drive the gears 6-15 to rotate, thereby driving the gears connected to the first rack 6-14 and the second rack 6-16 The left tie rod 6-17 and the right tie rod 6-13 are extended, and the two support beams 6-3 slide back to the end of the strip hole synchronously. The motors on the four supporting legs 8 of the loading frame 2 are controlled to simultaneously drive the wheat wheel 5 to rotate, so that the loading frame 2 moves toward the cultivation frame 1 to be moved in the cultivation area until the cultivation frame 1 is located in the center of the lifting frame 6.
控制装载框架2前横向框架2-8和后横向框架2-1上的电机同时驱动主轴旋转，带动钢带轮2-4上的钢带2-5同时进行放卷，升降框架6通过导轮6-12沿着装载框架2上的支撑腿8向下滑动，从而放下升降框架6，直至两根支撑梁6-3两端的卡合部6-4的水平高度低于栽培架1上卡块的水平高度。再驱动升降框架6的前横向架体6-6和后横向架体6-10上与第一齿条6-14和第二齿条6-16连接的左拉杆6-17、右拉杆6-13缩回直至两根支撑梁6-3两端的卡合部6-4位于栽培架1上卡块的正下方。然后控制装载框架2前横向框架2-8和后横向框架2-1上的电机同时驱动主轴2-7旋转，带动钢带轮2-4上的钢带2-5同时进行收卷，提升升降框架6，两根支撑梁6-3两端的卡合部6-4与栽培架1上的卡块相卡合后将栽培架1托起，托起的高度可根据实际需要进行调整，不影响装载框架的运移即可；如果装载框架穿过的区域无其他障碍的话只需将栽培架托起至略高于栽培架的高度即可，如果装载框架是穿过一排栽培架的话，栽培架的托起高度应高于下方栽培架的高度。The motors on the front transverse frame 2-8 and the rear transverse frame 2-1 of the loading frame 2 are controlled to drive the main shaft to rotate at the same time, driving the steel belt 2-5 on the steel belt wheel 2-4 to unwind at the same time, and the lifting frame 6 passes the guide wheel 6-12 Slide down the supporting legs 8 on the loading frame 2 to lower the lifting frame 6 until the level of the engaging parts 6-4 at the ends of the two supporting beams 6-3 is lower than the upper clamping block of the cultivation frame 1 The level of height. Then drive the left pull rod 6-17 and the right pull rod 6 of the front lateral frame body 6-6 and the rear lateral frame body 6-10 of the lifting frame 6 which are connected to the first rack 6-14 and the second rack 6-16 13 Retract until the engaging parts 6-4 at both ends of the two supporting beams 6-3 are located directly below the clamping blocks on the cultivation frame 1. Then control the motors on the front lateral frame 2-8 and the rear lateral frame 2-1 of the loading frame 2 to drive the spindle 2-7 to rotate at the same time, and drive the steel belt 2-5 on the steel belt wheel 2-4 to rewind and lift at the same time. Frame 6, the two supporting beams 6-3 at both ends of the clamping part 6-4 and the clamping block on the cultivation frame 1, after the cultivation frame 1 is held up, the height of the holding up can be adjusted according to actual needs, and does not affect The transport of the loading frame is sufficient; if there are no other obstacles in the area through which the loading frame passes, only the cultivation frame needs to be lifted to a height slightly higher than the height of the cultivation frame. If the loading frame passes through a row of cultivation frames, the cultivation The lifting height of the rack should be higher than the height of the cultivation rack below.
控制装载框架2四个支撑腿8上的电机同时驱动麦轮5转动，使得装载框架2带动托起栽培架1的升降框架6向成像区移动。当装载框架2移动至成像区后，控制装载框架2前横向框架2-8和后横向框架2-1上的电机同时驱动主轴2-7旋转，带动钢带轮2-4上的钢带2-5同时进行放卷，托起栽培架1的升降框架6通过导轮6-12沿着装载框架2上的支撑腿8向下滑动，从而放下升降框架6，使得栽培架1落至支撑物（如地板）上，直至两根支撑梁6-3两端的卡合部6-4的水平高度低于栽培架1上卡块的水平高度，两根支撑梁6-3两端的卡合部6-4与栽培架1上的卡块脱离；再驱动升降框架6的前横向架体6-6和后横向架体6-10上与第一齿条6-14和第二齿条6-16连接的左拉杆6-17、右拉杆6-13伸出，两根支撑梁6-3同步背向运动滑至条形孔的端部。The motors on the four supporting legs 8 of the loading frame 2 are controlled to simultaneously drive the wheat wheel 5 to rotate, so that the loading frame 2 drives the lifting frame 6 holding the cultivation frame 1 to move to the imaging area. When the loading frame 2 moves to the imaging area, the motors on the front lateral frame 2-8 and the rear lateral frame 2-1 of the loading frame 2 are controlled to simultaneously drive the spindle 2-7 to rotate, driving the steel belt 2 on the steel pulley 2-4 -5 Unwind at the same time, and lift the lifting frame 6 of the cultivation frame 1 to slide down the supporting legs 8 on the loading frame 2 through the guide wheels 6-12, so as to lower the lifting frame 6 so that the cultivation frame 1 falls to the support (Such as on the floor) until the level of the engaging parts 6-4 at the ends of the two support beams 6-3 is lower than the level of the clamping block on the cultivation frame 1, and the engaging parts 6 at both ends of the two support beams 6-3 -4 is disengaged from the clamping block on the cultivation frame 1, and then drives the front lateral frame body 6-6 and the rear lateral frame body 6-10 of the lifting frame 6 to connect with the first rack 6-14 and the second rack 6-16 The connected left pull rod 6-17 and right pull rod 6-13 extend, and the two supporting beams 6-3 slide back to the end of the strip hole synchronously.
控制装载框架2前横向框架2-8和后横向框架2-1上的电机同时驱动主轴2-7旋转，带动钢带轮2-4上的钢带2-5同时进行收卷，提升升降框架6，直至升降框架6的水平高度高于栽培架1顶部的水平高度；控制装载框架2四个支撑腿8上的电机同时驱动麦轮5转动，使得装载框架2带动升降框架6离开该栽培架、驶向栽培区，重复以上步骤，从而完成对批量栽培架自动化、快速运移。The motors on the front lateral frame 2-8 and the rear lateral frame 2-1 of the loading frame 2 are controlled to drive the spindle 2-7 to rotate at the same time, and the steel belt 2-5 on the steel belt wheel 2-4 is rewinded at the same time, and the lifting frame is lifted. 6, until the level of the lifting frame 6 is higher than the level of the top of the cultivation frame 1; control the motors on the four support legs 8 of the loading frame 2 to drive the wheat wheel 5 to rotate at the same time, so that the loading frame 2 drives the lifting frame 6 to leave the cultivation frame , Drive to the cultivation area, repeat the above steps, so as to complete the automatic and rapid transfer of the batch cultivation racks.
本发明可以对于阵列式排布的任意一个栽培架进行单独搬运，不受栽培架的排布顺序的影响。The present invention can carry out independent transportation for any cultivation rack arranged in an array, and is not affected by the arrangement sequence of the cultivation racks.
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。The present invention is only described with the above-mentioned embodiments, and the structure, installation position and connection of each component can be changed. On the basis of the technical solution of the present invention, any improvements or equivalent changes made to individual components based on the principles of the present invention should not be excluded from the protection scope of the present invention.

Claims (9)

  1. 一种吊载与搬运***，其特征在于包括：A hoisting and handling system, which is characterized in that it comprises:
    升降框架，用于放置装载有栽培容器的栽培架；Lifting frame, used to place the cultivation rack loaded with cultivation containers;
    提升机构，用于将放置有栽培架的升降框架提升和放下；Lifting mechanism for lifting and lowering the lifting frame with the cultivation frame;
    装载框架，将升降框架上装载有栽培容器的栽培架从一个区域运移到另一区域。The frame is loaded, and the cultivating rack loaded with the cultivating container on the lifting frame is moved from one area to another area.
  2. 根据权利要求1所述的吊载与搬运***，其特征在于，所述装载框架的底部设有四个支撑腿，各个支撑腿的底部均设有麦轮以及用于驱动麦轮转动的驱动装置。The lifting and handling system according to claim 1, wherein the bottom of the loading frame is provided with four supporting legs, and the bottom of each supporting leg is provided with a wheat wheel and a driving device for driving the wheat wheel to rotate .
  3. 根据权利要求1或2所述的吊载与搬运***，其特征在于，所述装载框架为长方体框架，包括横向框架和纵向框架，所述横向框架上设有提升机构以及驱动该提升机构将放置有栽培架的升降框架提升和放下的驱动机构。The lifting and handling system according to claim 1 or 2, wherein the loading frame is a rectangular parallelepiped frame, including a horizontal frame and a vertical frame, the horizontal frame is provided with a lifting mechanism and driving the lifting mechanism to place There is a driving mechanism for lifting and lowering the lifting frame of the cultivation frame.
  4. 根据权利要求3所述的吊载与搬运***，其特征在于，所述横向框架包括前横向框架和后横向框架，所述提升机构包括设在前横向框架和后横向框架上的主轴、套接在各个主轴上的至少两个钢带轮、与钢带轮相配合的钢带，所述主轴沿前横向框架或后横向框架的长度方向延伸，驱动机构用于驱动主轴旋转；所述钢带的一端卷收在钢带轮上，钢带的另一端与升降框架连接。The lifting and handling system according to claim 3, wherein the transverse frame includes a front transverse frame and a rear transverse frame, and the lifting mechanism includes a main shaft and a socket set on the front transverse frame and the rear transverse frame. At least two steel belt wheels on each main shaft and a steel belt matched with the steel belt wheels, the main shaft extends along the length of the front transverse frame or the rear transverse frame, and the driving mechanism is used to drive the main shaft to rotate; the steel belt One end of the steel belt is wound on the steel belt wheel, and the other end of the steel belt is connected with the lifting frame.
  5. 根据权利要求3所述的吊载与搬运***，其特征在于，所述纵向框架包括左纵向框架和右纵向框架，其中一纵向框架设有沿其长度方向延伸的开口，开口内设有支撑板，所述支撑板转动连接在该纵向框架上，支撑板的两端分别与其中的两个支撑腿连接。The lifting and handling system according to claim 3, wherein the longitudinal frame comprises a left longitudinal frame and a right longitudinal frame, wherein one of the longitudinal frames is provided with an opening extending along its length, and a support plate is provided in the opening The supporting plate is rotatably connected to the longitudinal frame, and two ends of the supporting plate are respectively connected with two supporting legs.
  6. 根据权利要求2所述的吊载与搬运***，其特征在于，所述升降框架的四角处均设有卡槽，每一卡槽与装载框架上的一个支撑腿相卡合，所述卡合处设有导轮。The lifting and handling system according to claim 2, wherein the four corners of the lifting frame are provided with clamping slots, and each clamping slot is engaged with a supporting leg on the loading frame, and the clamping There is a guide wheel at the place.
  7. 根据权利要求1或2所述的吊载与搬运***，其特征在于，所述升降框架包括长方体框架，长方体框架包括横向架体和纵向架体，两根相互平行的支撑梁安装在横向架体上并且与横向架体构成水平移动副，横向架体上安装有用于驱动两根支撑梁同步相向运动或者背向运动的驱动机构；所述支撑梁上设有与栽培架相卡合的卡合部。The lifting and handling system according to claim 1 or 2, wherein the lifting frame includes a rectangular parallelepiped frame, the rectangular parallelepiped frame includes a horizontal frame and a longitudinal frame, and two mutually parallel support beams are installed on the horizontal frame. It forms a horizontal moving pair with the horizontal frame body, and the horizontal frame body is equipped with a driving mechanism for driving the two supporting beams to move toward each other or back to each other synchronously; the supporting beam is provided with a snap fit that engages with the cultivation frame Department.
  8. 根据权利要求7所述的吊载与搬运***，其特征在于，所述横向架体上设有水平伸缩模组，所述驱动机构与水平伸缩模组相连，驱动机构驱动水平伸缩模组在所述缩回位置和所述伸出位置之间移动从而带动两根支撑梁同步相向运动或者背向运动。The lifting and handling system according to claim 7, wherein the horizontal frame is provided with a horizontal telescopic module, the driving mechanism is connected to the horizontal telescopic module, and the driving mechanism drives the horizontal telescopic module in the The movement between the retracted position and the extended position drives the two supporting beams to move toward or away from each other synchronously.
  9. 根据权利要求8所述的吊载与搬运***，其特征在于，所述横向架体包括前横向架体和后横向架体，前横向架体和后横向架体的两端均设有沿其长度方向延伸的条形孔，两根支撑梁的两端均与滑块连接，所述滑块卡接在所述条形孔中并可沿所述条形孔移动；The lifting and handling system according to claim 8, wherein the transverse frame includes a front transverse frame and a rear transverse frame, and both ends of the front transverse frame and the rear transverse frame are provided along the A strip-shaped hole extending in the length direction, both ends of the two support beams are connected with a slider, and the slider is clamped in the strip-shaped hole and can move along the strip-shaped hole;
    所述前横向架体和后横向架体上均设有水平伸缩模组和驱动机构，水平伸缩模组包括齿轮，齿轮与电机传动连接，齿轮的两侧设有与其啮合并且反向运动的第一齿条和第二齿条，第一齿条的一端通过拉杆与其对应的横向架体一端部条形孔中的滑块连接，第二齿条的相反端通过拉杆与其对应的横向架体另一端部条形孔中的滑块连接。The front transverse frame and the rear transverse frame are both provided with a horizontal telescopic module and a driving mechanism. The horizontal telescopic module includes a gear, which is in transmission connection with a motor. Both sides of the gear are provided with a second gear that meshes with and moves in the opposite direction. A rack and a second rack, one end of the first rack is connected to the slider in the strip hole at one end of the corresponding transverse frame through a tie rod, and the opposite end of the second rack is connected to the corresponding transverse frame through the tie rod. The slider in the strip hole at one end is connected.
PCT/CN2020/109501 2020-03-15 2020-08-17 Hoisting and carrying system WO2021184671A1 (en)

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