Nostoc automatic cultivation equipment and method

Abstract

The application provides a kind of automatic cultivation equipment and method of Nostoc commune, comprising: the upper part of base is provided with multiple groups of culture barrels along the first direction and is spaced side by side, each group of culture barrels is provided with a plurality of culture barrels along the second direction, the first drain groove and the second drain groove along the second direction are provided on the base, the bottom of culture barrel is provided with valve port, one side of base is provided with collection barrel communicated with the second drain groove;Mounting bracket includes fixed frame extending along the second direction;Liquid adding assembly and cleaning device are movably arranged on fixed frame along the second direction;Cleaning device includes brush and driving device for driving brush to rotate and move up and down;First horizontal moving device is arranged on fixed frame, for driving liquid adding assembly and cleaning device to move.This device can realize automatic production of culture Nostoc commune and automatic cleaning of culture barrel, which not only saves manpower, reduces cost, but also improves production efficiency, reduces waste of culture solution, and improves injection accuracy of culture solution.

Description

Technical Field

[0001] The present invention relates to the technical field of automated production and cultivation of Nostoc sphaeroides, and particularly to an automated cultivation device and method for Nostoc sphaeroides. Background Art

[0002] Nostoc sphaeroides is a blue-green alga without roots, stems, or leaves, presenting in black, blue, and green colors. It is one of the traditional edible blue-green algae in China, rich in proteins, amino acids, vitamins, and trace elements, and has medicinal values such as clearing heat, astringing, replenishing qi, and improving eyesight, and can treat night blindness, burns, scalds, etc. It is said that Ge Hong, a Taoist medical scientist in the Eastern Jin Dynasty, once consumed this alga, so it was named Nostoc sphaeroides.

[0003] However, Nostoc sphaeroides is a kind of nostocaceae plant with a globular shape, and its algal body is gelatinous. Therefore, when conducting artificial cultivation, the culture solution needs to be changed every 14 days. The remaining Nostoc sphaeroides is fished out with a sieve, then the culture barrel is cleaned, and finally new culture solution is added for continuous cultivation. Its growth environment is easily affected by pollution and bacteria, and strict hygiene and safety are required during the harvesting, processing, and storage processes. At the existing technical level, most of the above steps rely on manual labor, and the technology for automatically producing and cultivating Nostoc sphaeroides is immature. There are problems such as difficulty in cleaning the culture barrel and difficulty in controlling the culture solution that need to be solved urgently. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide an automated cultivation device and method for Nostoc sphaeroides, aiming to solve the problems of difficulty in cleaning the Nostoc sphaeroides culture barrel and difficulty in controlling the culture solution in the existing technology.

[0005] Embodiments of the present invention provide an automated cultivation device for Nostoc sphaeroides, including:

[0006] A base, above which a plurality of groups of culture barrels are arranged side by side at intervals along a first direction. Each group of culture barrels has a number of culture barrels arranged along a second direction. The first direction is perpendicular to the second direction. At positions corresponding to each group of culture barrels on the base, a first discharge groove and a second discharge groove extending along the second direction are arranged at intervals. The bottom of each culture barrel has valve ports respectively corresponding to the first discharge groove and the second discharge groove. On one side of the base, a plurality of collection barrels are provided, each collection barrel corresponding to each group of culture barrels, and each collection barrel is communicated with the corresponding second discharge groove;

[0007] An installation frame, including a support frame and a fixing frame arranged on the side and above each group of culture barrels. The fixing frame extends along the second direction;

[0008] A liquid adding component, movably arranged on the fixing frame along the second direction to add culture solution to each culture barrel during the movement;

[0009] A cleaning device, movably mounted on the fixed frame along the second direction, includes a brush and a driving device, the driving device being used to drive the brush to rotate and move vertically; and...

[0010] A first lateral movement device, mounted on the fixed frame, is used to drive the liquid addition assembly and the cleaning device to move along a second direction.

[0011] Furthermore, the base is also provided with a third drain channel that is spaced apart from the second drain channel along the first direction, and the third drain channel extends along the second direction;

[0012] The cleaning device also includes:

[0013] Multiple collection boxes are arranged one-to-one on the side of each group of culture tanks. Each collection box can move along the second direction, and the bottom of the collection box is provided with a discharge valve corresponding to the third discharge trough. Each collection box is provided with a first water gun that is set obliquely upward, and the nozzle of the first water gun is set towards the culture tank.

[0014] A second lateral movement device, disposed on the base, is used to drive the collection box to move along a second direction; and,

[0015] The flipping device includes a flipping mechanism and a beak clamp connected to each other. The beak clamp is used to clamp the culture tank, and the flipping mechanism is installed on the collection box to flip the culture tank.

[0016] Furthermore, the flipping mechanism includes:

[0017] A fixing plate is provided between the culture tank and the collection box. A connecting plate protrudes from the lower end of the fixing plate near the culture tank. An arc-shaped groove adapted to the outer wall of the culture tank is recessed at the end of the connecting plate. The eagle beak clamp is fixed above the fixing plate.

[0018] Two sets of linkage mechanisms are spaced apart on both sides of the collection box along the second direction. Each set of linkage mechanisms includes a first cylinder, an L-shaped connecting rod, a fixed rod, and a rotating rod. One end of the first cylinder is rotatably mounted on the side wall of the collection box. The fixed rod extends along the first direction and is fixed to the side wall of the collection box. The front end of the fixed rod is close to the culture tank. The two ends of the L-shaped connecting rod are rotatably connected to the other end of the first cylinder and the rear end of the fixed rod, respectively. One end of the rotating rod is rotatably connected to the front end of the fixed rod.

[0019] The first rotating rod is fixed to the fixed plate via a bearing seat, and its two ends are respectively rotatably connected to the other ends of the two rotating rods; and,

[0020] The second rotating rod is fixed to the fixed plate by a bearing seat and is located below the first rotating rod. The two ends of the second rotating rod are rotatably connected to the corners of the L-shaped connecting rod.

[0021] Furthermore, the beak clip includes:

[0022] The support base has a downwardly recessed sliding groove on its top wall, a vertically extending movable groove on its first side wall, and a horizontally extending through hole on its second side wall. The first side wall and the second side wall are arranged opposite to each other. The movable groove and the through hole are both connected to the sliding groove. The third side wall of the support base has an outwardly protruding rotating arm, and a rotating column protruding outward at the end of the rotating arm.

[0023] A movable rod is disposed within the sliding groove. An L-shaped fixing plate is connected to the lower end of the movable rod, and a mounting hole is provided at the lower end of the movable rod. The L-shaped fixing plate passes through the movable groove and is located outside the sliding groove. A pin is installed in the mounting hole. A first spring is provided between the pin and the L-shaped fixing plate. A second spring is provided between the lower bottom surface of the movable rod and the bottom of the sliding groove. A connecting rod perpendicular to the movable rod is provided at the upper end of the movable rod. The front end of the connecting rod is a clamp, and the clamp and the side wall of the culture tank are located on the same vertical plane.

[0024] A linkage rod, wherein the front end of the linkage rod is provided with a hook, the hook being shaped like an eagle's beak; the middle part of the linkage rod is rotatably connected to the rear end of the connecting rod; the rear end of the linkage rod is provided with an oblong hole, and the rotating column is disposed within the oblong hole; and,

[0025] The second cylinder is mounted on the support base, and the movable rod of the second cylinder is inserted into the through hole.

[0026] Furthermore, both the clamps and the hooks are provided with an anti-slip layer.

[0027] Furthermore, the liquid addition assembly includes a culture medium tube and an electric valve fixed on the first transverse device. One end of the culture medium tube extends downward and the other end is connected to the culture medium storage tank. The electric valve is installed on the culture medium tube.

[0028] Further, the first lateral movement device includes:

[0029] Two slide rails are provided at intervals along the first direction;

[0030] Multiple sliders are evenly spaced on the two slide rails;

[0031] A mounting plate is connected to a plurality of the sliders, and the driving device is mounted on the mounting plate;

[0032] A rack extends along the second direction, and the rack and the slide rail are arranged parallel to each other along the first direction;

[0033] A gear, rotatably mounted on the mounting plate, meshing with the rack; and,

[0034] A first motor, the output shaft of which is connected to the gear to drive the gear to rotate. Further, the driving device includes a lifting drive assembly and a rotating drive assembly, respectively used to drive the brush to lift and rotate vertically. The rotating drive assembly is mounted on the lifting drive assembly and includes a second motor and a rotating shaft. The second motor is mounted on the upper end of the rotating shaft to drive the rotating shaft to rotate, and the brush is mounted on the lower end of the rotating shaft.

[0035] Furthermore, the cleaning device also includes a water spray pipe and a high-pressure pump connected to it, with the end of the water spray pipe mounted on the rotating shaft.

[0036] This invention also provides an automated cultivation method for Nostoc commune, using the automated cultivation equipment for Nostoc commune described above, comprising the following steps:

[0037] S1, the first transverse device drives the liquid addition assembly to move along the second direction, and during the movement, the liquid addition assembly adds culture medium to the plurality of culture tanks one by one;

[0038] S2, after the cultivation of Nostoc commune is completed, open one of the valve ports at the bottom of the cultivation tank to discharge the culture medium from the first drainage tank. After the culture medium is discharged, close the valve port corresponding to the top of the first drainage tank and open the valve port corresponding to the top of the second drainage tank. Nostoc commune is discharged into the collection tank along the second drainage tank.

[0039] S3, the first transverse device drives the cleaning device to move along the second direction, and during the movement, the cleaning device cleans several of the culture tanks one by one;

[0040] S4, repeat step S1.

[0041] The beneficial effects of the technical solution provided by the embodiments of the present invention are as follows: In the automated cultivation equipment for Nostoc commune of the present invention, the liquid addition component and the cleaning device are driven to move along the second direction by the first transverse movement device, which can automatically add culture medium and clean each group of several cultivation tanks arranged along the second direction in sequence. Specifically, the liquid addition component, driven by the first transverse movement device, sequentially injects culture medium into several cultivation tanks. After the cultivation time is up, the used culture medium and Nostoc commune are discharged from the valve port to the first and second drain tanks respectively. The Nostoc commune flows into the collection tank. Then, the driving device in the cleaning device drives the brush to sequentially clean each cultivation tank along the second direction. The waste material after cleaning can also be discharged through the first drain tank. This device can realize the automatic production and cultivation of Nostoc commune and the automatic cleaning of cultivation tanks, which saves manpower, reduces costs, improves production efficiency, reduces waste of culture medium, and improves the injection accuracy of culture medium. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of an embodiment of the automated cultivation equipment for Nostoc commune provided by the present invention;

[0043] Figure 2 yes Figure 1 A schematic diagram of the flipping device in the middle;

[0044] Figure 3 yes Figure 2 A schematic diagram of the structure of the eagle beak clip;

[0045] Figure 4 yes Figure 2 Left view of the eagle-beak clip;

[0046] Figure 5 yes Figure 2 The front view of the eagle-beak clip;

[0047] Figure 6 yes Figure 1 A schematic diagram of the cleaning device in the diagram.

[0048] In the diagram: 100. Automated cultivation equipment for *Gnaphalium affine*; 1. Base; 11. First drainage trough; 12. Second drainage trough; 13. Third drainage trough; 2. Cultivation tank; 21. Valve port; 3. Collection tank; 4. Mounting frame; 41. Support frame; 42. Fixing frame; 5. Liquid addition assembly; 51. Culture medium pipe; 52. Electric valve; 6. Cleaning device; 61. Brush; 62. Drive device; 621. Lifting drive assembly; 622. Rotation drive assembly; 6221. Second motor; 6222. Rotating shaft; 63. Collection box; 631. Drainage valve port; 64. First water gun; 65. Second lateral movement device; 66. Tilting device; 661. Tilting mechanism; 1a. Fixing plate; 1b. Connecting plate ; 1c, First cylinder; 1d, L-shaped connecting rod; 1e, Fixed rod; 1f, Rotating rod; 1g, First rotating rod; 1h, Second rotating rod; 662, Eagle beak clamp; 2a, Support base; a1, Slide groove; a2, Moving groove; a3, Through hole; a4, Rotating arm; a5, Rotating column; 2b, Moving rod; b1, L-shaped fixed plate; b2, Connecting rod; b3, Clamping part; 2c, Linkage rod; c1, Hook; c2, Waist-shaped hole; 2d, Second cylinder; 2e, Pin shaft; 2f, First spring; 2g, Second spring; 663, Water spray pipe; 664, High pressure pump; 7, First transverse movement device; 71, Slide rail; 72, Slider; 73, Mounting plate; 74, Rack; 75, Gear; 76, First motor. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0050] Please refer to Figures 1-6As shown, an automated cultivation device 100 for *Gnaphalium affine* provided in an embodiment of the present invention includes a base 1, a mounting frame 4, a liquid addition assembly 5, a cleaning device 6, and a first transverse movement device 7. Multiple groups of cultivation tanks 2 are arranged side-by-side at intervals along a first direction above the base 1. Each group of cultivation tanks 2 has several cultivation tanks 2 arranged along a second direction, the first direction being perpendicular to the second direction. A first drain trough 11 and a second drain trough 12 extending along the second direction are spaced at intervals on the base 1 corresponding to the positions of each group of cultivation tanks 2. The bottom of each cultivation tank 2 is provided with a valve port 21 corresponding to the first drain trough 11 and the second drain trough 12, respectively. Multiple collection tanks 3 are provided on one side of the base 1, each collection tank 3 corresponding to each group of cultivation tanks 2, and each collection tank 3 is connected to the corresponding second drain trough 12. The mounting frame 4 includes a support frame 41 and a fixing frame 42 disposed on the side and above each group of culture tanks 2, the fixing frame 42 extending along a second direction; a liquid addition assembly 5 is movably disposed on the fixing frame 42 along the second direction to add culture medium to each culture tank 2 during movement; a cleaning device 6 is movably disposed on the fixing frame 42 along the second direction, the cleaning device 6 including a brush 61 and a driving device 62, the driving device 62 being used to drive the brush 61 to rotate and move vertically; and a first lateral movement device 7 is disposed on the fixing frame 42 for driving the liquid addition assembly 5 and the cleaning device 6 to move along the second direction.

[0051] Driven by the first transverse device 7, the liquid addition assembly 5 and the cleaning device 6 move along the second direction, allowing for the automatic addition and cleaning of culture medium to each group of several culture tanks 2 arranged along the second direction. Specifically, the liquid addition assembly 5, driven by the first transverse device 7, sequentially injects culture medium into several culture tanks 2. After the culture time is up, the used culture medium and *Gnaphalium affine* are discharged from valve 21 into the first drain trough 11 and the second drain trough 12, respectively. The *Gnaphalium affine* flows into the collection tank 3. Then, the driving device 62 in the cleaning device 6 drives the brush 61 to sequentially clean each culture tank 2 along the second direction. The waste material after cleaning can also be discharged through the first drain trough 11. This device can automatically produce cultured *Gnaphalium affine* and automatically clean the culture tanks 2, saving manpower, reducing costs, improving production efficiency, reducing culture medium waste, and improving the injection accuracy of the culture medium.

[0052] In this device, multiple first transverse movement devices 7, multiple liquid addition components 5, and multiple cleaning devices 6 can be set up one-to-one with multiple sets of culture tanks 2, so that each liquid addition component 5 and cleaning device 6 moves only in the second direction; or only one first transverse movement device 7, one liquid addition component 5, and one cleaning device 6 can be set up, and then a vertical movement device can be added between the liquid addition component 5 and the cleaning device 6 and the first transverse movement device 7, so that the liquid addition component 5 and the cleaning device 6 can move in both the first direction and the second direction. The first transverse movement device 7 and the second vertical movement device can be linear modules.

[0053] Furthermore, referring to Figure 2 As shown, the base 1 is also provided with a third drain trough 13 spaced apart from the second drain trough 12 along the first direction, and the third drain trough 13 extends along the second direction; the cleaning device 6 also includes a plurality of collection boxes 63, a second transverse moving device 65 and a flipping device 66, the plurality of collection boxes 63 are respectively provided on the side of each group of culture tanks 2, each collection box 63 can move along the second direction, and the bottom of the collection box 63 is provided with a drain valve port 631 corresponding to the third drain trough 13, the drain valve port 631 is used for slag discharge. Each of the collection boxes 63 is provided with a first water gun 64 that is obliquely upward, with the nozzle of the first water gun 64 facing the culture tank 2; a second lateral movement device 65 is provided on the base 1 for driving the collection box 63 to move in a second direction; the flipping device 66 includes a flipping mechanism 661 and an eagle beak clamp 622 connected to each other, the eagle beak clamp 622 is used to clamp the culture tank 2, and the flipping mechanism 661 is installed on the collection box 63 to flip the culture tank 2.

[0054] By setting the collection box 63 to move along the second direction with the second transverse device 65, and driven by the flipping device 66, the waste material after cleaning in multiple culture tanks 2 can be poured from the opening of the culture tank 2 into the collection box 63 in sequence. Then, the culture tank 2 is cleaned again by the high-pressure water sprayed by the first water gun 64, which can not only ensure that the waste residue in the culture tank 2 is discharged cleanly, but also improve the cleanliness of the culture tank 2.

[0055] Specifically, refer to Figure 2As shown, the flipping mechanism 661 includes a fixed plate 1a, two sets of linkage mechanisms, a first rotating rod 1g, and a second rotating rod 1h. The fixed plate 1a is located between the culture tank 2 and the collection box 63. A connecting plate 1b protrudes from the lower end of the fixed plate 1a near the culture tank 2. The end of the connecting plate 1b is recessed with an arc-shaped groove that matches the outer wall of the culture tank 2. The beak clamp 622 is fixed above the fixed plate 1a. The two sets of linkage mechanisms are spaced apart along the second direction on both sides of the collection box 63. Each set of linkage mechanisms includes a first cylinder 1c, an L-shaped connecting rod 1d, a fixed rod 1e, and a rotating rod 1f. One end of the first cylinder 1c is rotatably mounted on the side wall of the collection box 63. The fixed rod 1e extends along the first direction and is fixed to the side wall of the collection box 63. On the side wall of the collection box 63, the front end of the fixed rod 1e is close to the culture tank 2, and the two ends of the L-shaped connecting rod 1d are respectively rotatably connected to the other end of the first cylinder 1c and the rear end of the fixed rod 1e. One end of the rotating rod 1f is rotatably connected to the front end of the fixed rod 1e. The first rotating rod 1g is fixed on the fixed plate 1a by a bearing seat, and the two ends of the first rotating rod 1g are respectively rotatably connected to the other ends of the two rotating rods 1f. The second rotating rod 1h is fixed on the fixed plate 1a by a bearing seat and is located below the first rotating rod 1g. The two ends of the second rotating rod 1h are respectively rotatably connected to the corner of the L-shaped connecting rod 1d.

[0056] Two sets of linkage mechanisms are symmetrically arranged on the two side walls of the collection box 63, and their movements are consistent. One of them will be described below. When the movable rod of the first cylinder 1c extends, it drives the L-shaped connecting rod 1d to rotate, thereby driving the fixed plate 1a to move closer to the culture tank 2. At this time, the arc-shaped groove abuts against the outer wall surface of the culture tank 2, and the beak clamp 622 clamps and fixes the upper end of the side wall of the culture tank 2. When the movable rod of the first cylinder 1c continues to extend, the L-shaped connecting rod 1d continues to rotate, driving the rotating rod 1f to rotate. The rotating rod 1f and the L-shaped connecting rod 1d simultaneously push the fixed plate 1a to rotate, thereby realizing the flipping of the culture tank 2. After the culture tank 2 is cleaned, the first cylinder 1c resets, and the culture tank 2 returns to its original position.

[0057] It is worth noting that the fixing rod 1e here can also be integrally formed with the collection bucket 3, and the rotating rod 1f and the L-shaped connecting rod 1d can also be directly rotatably connected to the side wall of the collection bucket 3.

[0058] Specifically, the first cylinder 1c is a multi-stroke cylinder. Using a multi-stroke cylinder allows the clamping and fixing of the culture tank 2 by the beak clamp 622 and the arc groove, as well as the flipping of the culture tank 2, to be performed in stages, which is convenient for control.

[0059] Specifically, refer to Figures 3 to 5As shown, the eagle beak clamp 622 includes a support base 2a, a moving rod 2b, a linkage rod 2c, and a second cylinder 2d. The top wall of the support base 2a is recessed downwards with a sliding groove a1. The first side wall of the support base 2a has a moving groove a2 extending vertically. The second side wall of the support base 2a has a transversely extending through hole. The first side wall and the second side wall are opposite to each other. The moving groove a2 and the through hole are both connected to the sliding groove a1. The third side wall of the support base 2a has a rotating arm a4 protruding outwards, and the end of the rotating arm a4 has a rotating column a5 protruding outwards. The moving rod 2b is disposed within the sliding groove a1. The lower end of the moving rod 2b is connected to an L-shaped fixing plate b1, and the lower end of the moving rod 2b has a mounting hole. The L-shaped fixing plate b1 passes through the moving groove a2 and is located outside the sliding groove a1. A pin 2e is installed in the mounting hole. A first spring 2f is provided between the pin 2e and the L-shaped fixing plate b1. A second spring 2g is provided between the bottom surface of the moving rod 2b and the bottom of the groove a1. A connecting rod b2 perpendicular to the moving rod 2b is provided at the upper end of the moving rod 2b. The front end of the connecting rod b2 is a clamp b3. The clamp b3 and the side wall of the culture tank 2 are located on the same vertical plane. A hook c1 is provided at the front end of the linkage rod 2c. The hook c1 is shaped like an eagle's beak. The middle part of the linkage rod 2c is rotatably connected to the rear end of the connecting rod b2. The rear end of the linkage rod 2c is provided with a waist-shaped hole c2. The rotating column a5 is located in the waist-shaped hole c2. A second cylinder 2d is installed on the support base 2a. The movable rod of the second cylinder 2d is inserted into the through hole.

[0060] When the first cylinder 1c extends its first stroke, it drives the L-shaped connecting rod 1d to rotate at a certain angle and approach the culture tank 2. At this time, the clamp b3 in the moving rod 2b abuts against the side wall of the culture tank 2. Then, under the weight of the culture tank 2, the outer edge of the tank opening presses against the clamp b3 and drives the moving rod 2b to move downward. The second spring 2g is compressed. During the downward movement of the moving rod 2b, it drives the linkage rod 2c connected to it to rotate, thereby driving the hook c1 and the clamp b3 to clamp the culture tank 2 together. During this process, the pin 2e descends to the through hole and enters the through hole under the elastic force of the first spring 2f, locking the position of the hook c1 and the clamp b3, preventing the moving rod 2b from moving upward and opening the beak clamp 622 during the flipping of the culture tank 2. After the culture tank 2 is cleaned, the first cylinder 1c resets, the second cylinder 2d extends, and the pin 2e is reset to outside the through hole to release the locked state of the beak clamp 622.

[0061] Furthermore, both the clamp b3 and the hook c1 are provided with an anti-slip layer. Preferably, the anti-slip layer can be made by setting the contact surfaces of the hook c1 and the clamp b3 with the side wall of the culture tank 2 to be serrated, or a rubber layer can be provided to increase friction.

[0062] Furthermore, referring to Figure 6 As shown, the liquid addition assembly 5 includes a culture medium tube 51 fixed to the first lateral movement device 7 and an electric valve 52. One end of the culture medium tube 51 extends downwards, and the other end is connected to a culture medium storage tank. The electric valve 52 is installed on the culture medium tube 51. By driving the opening and closing of the culture medium tube 51 through the electric valve 52, the output volume of the culture medium can be controlled, thereby improving the accuracy of culture medium injection. Here, a sensor can also be installed at the electric valve 52 to measure the injection volume of the culture medium.

[0063] Specifically, in this embodiment, the first transverse movement device 7 includes two slide rails 71, a plurality of sliders 72, a mounting plate 73, a rack 74, a gear 75, and a first motor 76. The two slide rails 71 are spaced apart along the first direction; the plurality of sliders 72 are evenly spaced on the two slide rails 71; the mounting plate 73 is connected to the plurality of sliders 72, and the driving device 62 is mounted on the mounting plate 73; the rack 74 extends along the second direction and is arranged parallel to the slide rails 71 along the first direction; the gear 75 is rotatably mounted on the mounting plate 73 and meshes with the rack 74; the output shaft of the first motor 76 is connected to the gear 75 to drive the gear 75 to rotate.

[0064] The first motor 76 drives the gear 75 to rotate on the rack 74, thereby driving the mounting plate 73 to move on the slide rail 71, which in turn drives the liquid filling assembly 5 and the cleaning device 6 to move in the second direction.

[0065] Specifically, the second transverse movement device 65 has the same structure as the first transverse movement device 7.

[0066] Specifically, refer to Figure 6 As shown, the driving device 62 includes a lifting drive assembly 621 and a rotation drive assembly 622, which are used to drive the brush 61 to move up and down and rotate, respectively. The rotation drive assembly 622 is mounted on the lifting drive assembly 621. The rotation drive assembly 622 includes a second motor 6221 and a rotating shaft 6222. The second motor 6221 is mounted on the upper end of the rotating shaft 6222 to drive the rotating shaft 6222 to rotate. The brush 61 is mounted on the lower end of the rotating shaft 6222. The lifting drive assembly 621 can adopt a chain drive mechanism or other drive mechanisms, which are not limited here. In this embodiment, the brush 61 includes a body and bristles. The bottom side and side wall of the body are provided with bristles, so that the walls and bottom of the culture tank 2 can be cleaned during the rotation and up-down movement of the brush 61.

[0067] Furthermore, the cleaning device 6 also includes a water spray pipe 663 and a high-pressure pump 664 connected to each other, with the end of the water spray pipe 663 mounted on the rotating shaft 6222. The water spray pipe 663 is mounted on the rotating shaft 6222, allowing high-pressure water to simultaneously rinse and brush during the rotation and brushing process of the brush 61, thus further improving cleaning efficiency.

[0068] The present invention also provides an automated cultivation method for Nostoc commune, using the Nostoc commune automated cultivation equipment 100 as described above, comprising the following steps:

[0069] S1, the first transverse device 7 drives the liquid addition component 5 to move along the second direction, and during the movement, the liquid addition component 5 adds culture medium to each of the culture tanks 2.

[0070] Specifically, when the liquid addition component 5 moves above each culture tank 2, the electric valve 52 controls the opening of the culture medium pipe 51 to inject culture medium into the corresponding culture tank 2.

[0071] S2, after the cultivation of *Gnaphalium affine* is completed, open one of the valve ports 21 below the cultivation tank to discharge the culture medium from the first drainage tank 11. After the culture medium is discharged, close the valve port 21 corresponding to the first drainage tank 11 and open the valve port 21 corresponding to the second drainage tank 12. *Gnaphalium affine* is discharged into the collection tank 3 along the second drainage tank 12.

[0072] Specifically, a filter screen is provided at the valve port 21 above the first discharge trough 11 to prevent the gezimi from being discharged.

[0073] S3, the first transverse moving device 7 drives the cleaning device 6 to move along the second direction, and during the movement, the cleaning device 6 cleans several of the culture tanks 2 one by one.

[0074] Specifically, when the cleaning device 6 moves above each culture tank 2, the rotation drive assembly 622 drives the brush to rotate and brush the bottom and walls of the culture tank 2. The lifting drive assembly 621 drives the brush 61 to move up and down, so that the brush 61 can brush the tank walls clean from top to bottom or from bottom to top, removing the hard-to-clean adhesive.

[0075] Furthermore, step S3 specifically includes the following steps:

[0076] S31, when the brush 61 moves above each culture tank 2, the drive device 62 drives the brush 61 to brush the bottom and wall of the culture tank 2.

[0077] S32, when the brush 61 is brushing, the high-pressure pump 664 controls the water spray pipe 663 to open and spray high-pressure water into the culture tank 2.

[0078] S33, when the brush 61 moves to the next culture tank 2, the second lateral movement device 65 drives the collection box 3 to be located on the side of the previous culture tank 2, the flipping device 66 flips the culture tank, and the first water gun 64 is turned on to rinse the culture tank.

[0079] S34, the flipping device 66 resets the culture tank 2 and moves it to the side of the next culture tank 2;

[0080] S35, repeat step S33.

[0081] S4, repeat step S1.

[0082] In this document, the directional terms such as front, back, top, and bottom are defined based on the location of the components in the accompanying drawings and their relative positions to each other, solely for the purpose of clarity and convenience in expressing the technical solution. It should be understood that the use of these directional terms should not limit the scope of protection claimed in this application.

[0083] Where there is no conflict, the above embodiments and features described herein can be combined with each other.

[0084] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automated cultivation device for *Gnaphalium affine*, characterized in that, include: A base, on which multiple groups of culture tanks are arranged side by side at intervals along a first direction above the base, and each group of culture tanks is arranged with several culture tanks along a second direction, the first direction being perpendicular to the second direction. A first drain trough and a second drain trough extending along the second direction are arranged at intervals on the base corresponding to the position of each group of culture tanks. The bottom of each culture tank is provided with a valve port corresponding to the first drain trough and the second drain trough respectively. Multiple collection tanks are provided on one side of the base, each collection tank being arranged corresponding to each group of culture tanks, and each collection tank being connected to the corresponding second drain trough. The mounting frame includes a support frame and a fixing frame disposed on the side and above each group of culture tanks, the fixing frame extending along a second direction; A liquid addition assembly is movably mounted on the fixed frame along the second direction to add culture medium to each culture tank during movement; A cleaning device, movably mounted on the fixed frame along the second direction, includes a brush and a driving device, the driving device being used to drive the brush to rotate and move vertically; and... A first lateral movement device, mounted on the fixed frame, is used to drive the liquid addition assembly and the cleaning device to move along the second direction; The first lateral movement device includes two slide rails, multiple sliders, a mounting plate, a rack, a gear, and a first motor. The two slide rails are spaced apart along the first direction. The multiple sliders are evenly spaced on the two slide rails. The mounting plate is connected to the multiple sliders, and the driving device is mounted on the mounting plate. The rack extends along the second direction and is parallel to the slide rails along the first direction. The gear is rotatably mounted on the mounting plate and meshes with the rack. The output shaft of the first motor is connected to the gear to drive the gear to rotate.

2. The automated cultivation equipment for *Gnaphalium affine* as described in claim 1, characterized in that, The base is also provided with a third drain channel that is spaced apart from the second drain channel along the first direction, and the third drain channel extends along the second direction; The cleaning device also includes: Multiple collection boxes are arranged one-to-one on the side of each group of culture tanks. Each collection box can move along the second direction, and the bottom of the collection box is provided with a discharge valve corresponding to the third discharge trough. Each collection box is provided with a first water gun that is set obliquely upward, and the nozzle of the first water gun is set towards the culture tank. A second lateral movement device, disposed on the base, is used to drive the collection box to move along a second direction; and, The flipping device includes a flipping mechanism and a beak clamp connected to each other. The beak clamp is used to clamp the culture tank, and the flipping mechanism is installed on the collection box to flip the culture tank.

3. The automated cultivation equipment for *Gnaphalium affine* as described in claim 2, characterized in that, The flipping mechanism includes: A fixing plate is provided between the culture tank and the collection box. A connecting plate protrudes from the lower end of the fixing plate near the culture tank. An arc-shaped groove adapted to the outer wall of the culture tank is recessed at the end of the connecting plate. The eagle beak clamp is fixed above the fixing plate. Two sets of linkage mechanisms are spaced apart on both sides of the collection box along the second direction. Each set of linkage mechanisms includes a first cylinder, an L-shaped connecting rod, a fixed rod, and a rotating rod. One end of the first cylinder is rotatably mounted on the side wall of the collection box. The fixed rod extends along the first direction and is fixed to the side wall of the collection box. The front end of the fixed rod is close to the culture tank. The two ends of the L-shaped connecting rod are rotatably connected to the other end of the first cylinder and the rear end of the fixed rod, respectively. One end of the rotating rod is rotatably connected to the front end of the fixed rod. The first rotating rod is fixed to the fixed plate via a bearing seat, and its two ends are respectively rotatably connected to the other ends of the two rotating rods; and, The second rotating rod is fixed to the fixed plate by a bearing seat and is located below the first rotating rod. The two ends of the second rotating rod are rotatably connected to the corners of the L-shaped connecting rod.

4. The automated cultivation equipment for *Gnaphalium affine* as described in claim 2, characterized in that, The eagle-beak clip includes: The support base has a downwardly recessed sliding groove on its top wall, a vertically extending movable groove on its first side wall, and a horizontally extending through hole on its second side wall. The first side wall and the second side wall are arranged opposite to each other. The movable groove and the through hole are both connected to the sliding groove. The third side wall of the support base has an outwardly protruding rotating arm, and a rotating column protruding outward at the end of the rotating arm. A movable rod is disposed within the sliding groove. An L-shaped fixing plate is connected to the lower end of the movable rod, and a mounting hole is provided at the lower end of the movable rod. The L-shaped fixing plate passes through the movable groove and is located outside the sliding groove. A pin is installed in the mounting hole. A first spring is provided between the pin and the L-shaped fixing plate. A second spring is provided between the lower bottom surface of the movable rod and the bottom of the sliding groove. A connecting rod perpendicular to the movable rod is provided at the upper end of the movable rod. The front end of the connecting rod is a clamp, and the clamp and the side wall of the culture tank are located on the same vertical plane. A linkage rod, wherein the front end of the linkage rod is provided with a hook, the hook being shaped like an eagle's beak; the middle part of the linkage rod is rotatably connected to the rear end of the connecting rod; the rear end of the linkage rod is provided with an oblong hole, and the rotating column is disposed within the oblong hole; and, The second cylinder is mounted on the support base, and the movable rod of the second cylinder is inserted into the through hole.

5. The automated cultivation equipment for *Gnaphalium affine* as described in claim 4, characterized in that, Both the clamps and hooks are equipped with anti-slip layers.

6. The automated cultivation equipment for *Gnaphalium affine* as described in claim 1, characterized in that, The liquid addition assembly includes a culture medium tube and an electric valve fixed on the first transverse device. One end of the culture medium tube extends downward and the other end is connected to the culture medium storage tank. The electric valve is installed on the culture medium tube.

7. The automated cultivation equipment for *Gnaphalium affine* as described in claim 1, characterized in that, The first lateral movement device includes: Two slide rails are provided at intervals along the first direction; Multiple sliders are evenly spaced on the two slide rails; A mounting plate is connected to a plurality of the sliders, and the drive device is mounted on the mounting plate; A rack extends along the second direction, and the rack and the slide rail are arranged parallel to each other along the first direction; A gear, rotatably mounted on the mounting plate, meshing with the rack; and, A first motor, the output shaft of which is connected to the gear to drive the gear to rotate.

8. The automated cultivation equipment for *Gnaphalium affine* as described in claim 1, characterized in that, The driving device includes a lifting drive assembly and a rotating drive assembly, which are used to drive the brush to lift and rotate in the vertical direction, respectively. The rotating drive assembly is mounted on the lifting drive assembly. The rotating drive assembly includes a second motor and a rotating shaft. The second motor is mounted on the upper end of the rotating shaft to drive the rotating shaft to rotate. The brush is mounted on the lower end of the rotating shaft.

9. The automated cultivation equipment for *Ge Xian Mi* as described in claim 8, characterized in that, The cleaning device also includes a water spray pipe and a high-pressure pump connected to it, with the end of the water spray pipe mounted on the rotating shaft.

10. An automated cultivation method for *Gynostemma pentaphyllum*, characterized in that, The automated cultivation equipment for *Gnaphalium affine* as described in any one of claims 1-9 includes the following steps: S1, the first transverse device drives the liquid addition assembly to move along the second direction, and during the movement, the liquid addition assembly adds culture medium to the plurality of culture tanks one by one; S2, after the cultivation of Nostoc commune is completed, open one of the valve ports at the bottom of the cultivation tank to discharge the culture medium from the first drainage tank. After the culture medium is discharged, close the valve port corresponding to the top of the first drainage tank and open the valve port corresponding to the top of the second drainage tank. Nostoc commune is discharged into the collection tank along the second drainage tank. S3, the first transverse device drives the cleaning device to move along the second direction, and during the movement, the cleaning device cleans several of the culture tanks one by one; S4, repeat step S1.

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