A modular cultivation device for plant factories

Abstract

The present invention relates to the technical field of plant planting, and discloses a modular cultivation device for a plant factory, comprising a placement rack, which is divided into a plurality of placement areas by a partition; a planting tray, which is arranged on the placement rack and located in the placement area and is used to place hydroponic plants; an operation module, which is arranged on the placement rack; adjustment units, two of which are arranged on the top of the placement rack, and the length directions of the remaining two are horizontal to the height direction of the placement rack, and the four adjustment units are installed on the placement rack in an inverted U-shaped structure; an adjustment disk, which is used to connect the four adjustment units; a displacement unit, which is arranged on the adjustment disk; a gripping part, which is located on the displacement unit and can drive the adjustment disk to move with the cooperation of the four adjustment units, so that the adjustment disk is located in different placement areas, so that the gripping part can be located in different placement areas on the placement rack by using the operation module, so that the planting tray can be transported and the inferior seedlings in the planting tray can be removed.

Description

Technical Field

[0001] The invention relates to the technical field of plant planting, in particular to a modular cultivation device for a plant factory. Background Art

[0002] A plant factory is an efficient agricultural system that achieves continuous production of crops throughout the year through high-precision environmental control within the facility.

[0003] For example, a Chinese patent application with publication number CN114747396A discloses a multi-layer stereoscopic cultivation system for a plant factory, which includes two relatively arranged cultivation racks and a plurality of cultivation trays. The cultivation racks are provided with multi-layer cultivation grids, and a plurality of walking grooves are provided on the opposite side of the cultivation racks. The walking grooves at the same height are all slidably connected with a transport trolley; walking wheels are installed on the left and right sides of the transport trolley, and an electromagnet suction strip driven to slide by a linear motor is provided on the upper end of the transport trolley, and magnetic suction sheets are provided on the four sides of the cultivation tray.

[0004] There are still some problems in the above patent. Since the plant factory in the above patent is a multi-layer structure and each layer is equipped with a mobile cart, multiple mobile carts need to be set on a placement rack, and one mobile cart can only transplant the planting trays on the same layer, which is inefficient. At the same time, the existing mobile cart can only place and transport the planting trays. When there are one or more diseased or withered seedlings in the planting tray, the diseased seedlings can only be removed by replacing the entire planting tray or manually removing it, resulting in a waste of resources and labor.

[0005] Therefore, how to remove the diseased or withered seedlings in the planting tray is a problem to be solved at present. Summary of the invention

[0006] The present invention provides a modular cultivation device for a plant factory to solve the above problems existing in the prior art.

[0007] A modular cultivation device for a plant factory, comprising:

[0008] The placement rack is divided into multiple placement areas by partitions;

[0009] A planting tray, arranged on the placement rack and located in the placement area, for placing hydroponic plants;

[0010] An operating module is arranged on the placement rack;

[0011] The operating module includes an adjustment unit, an adjustment disk, a displacement unit and a gripping portion;

[0012] There are four adjustment units, two of which are arranged on the top of the placement rack, and the length direction of the remaining two is horizontal with the height direction of the placement rack. The four adjustment units are installed on the placement rack in an inverted U-shaped structure;

[0013] The adjusting plate is used to connect the four adjusting units, and the adjusting plate can be located in the placement areas where different planting plates are located through the driving of the adjusting units;

[0014] A displacement unit, arranged on the adjusting disk;

[0015] The gripping part is located on the displacement unit. The gripping area of ​​the gripping part on the planting tray is adjusted by driving the displacement unit so that the gripping part can remove withered hydroponic plants.

[0016] Further, the adjustment unit includes a plurality of support frames arranged on the placement frame, an adjustment slide rail for connecting the support frames, an adjustment motor installed on the adjustment slide rail, a driving wheel respectively arranged on the output end of the adjustment motor and the adjustment slide rail, an adjustment belt for connecting the driving wheel, a sliding block connected to the adjustment belt, a first connecting arm fixedly installed on the sliding block, a second connecting arm movably connected to the first connecting arm, and a hinge block arranged on the adjustment disk;

[0017] An adjusting slider is slidably connected to the adjusting slide rail, and the adjusting slider is connected to the sliding block;

[0018] The hinge block is movably connected to the second connecting arm, wherein the arm length of the second connecting arm is greater than the arm length of the first connecting arm;

[0019] The driving wheel is driven to rotate by the adjusting motor so that the adjusting belt is in working state. The moving adjusting belt will adjust the position of the sliding block in the length direction of the adjusting rail, change the angle between the first connecting arm and the second connecting arm and the second connecting arm and the hinge block. At the same time, the four adjusting units do not interfere with each other and can drive the adjusting disk to move so that the adjusting disk is located in different placement areas.

[0020] Further, the displacement unit includes a telescopic cylinder fixedly mounted on the adjustment disk, a horizontal displacement component connected to the output end of the telescopic cylinder, and a vertical displacement component connected to the horizontal displacement component;

[0021] The horizontal displacement assembly includes a base frame connected to the output end of the telescopic cylinder, a lifting motor arranged on the base frame, an adjusting screw arranged at the output end of the lifting motor, a lifting block sleeved on the adjusting screw, a lifting frame connected to the lifting block, a first lifting plate and a second lifting plate symmetrically arranged on the lifting frame, a first horizontal slide rail and a second horizontal slide rail respectively arranged on the base frame and the vertical displacement assembly, a plurality of horizontal sliders respectively connected to the first horizontal slide rail and the second horizontal slide rail, and an adjusting member connected to the horizontal slider;

[0022] Two limit guide rails symmetrically mounted on the base frame, and a lifting slider slidably connected to the limit guide rails;

[0023] The lifting frame is connected to the lifting slider, and the length direction of the limit guide rail is parallel to the length direction of the adjusting screw rod;

[0024] The length direction of the first horizontal slide rail and the second horizontal slide rail is the same as the length direction of the lifting frame;

[0025] The adjusting member on the first horizontal slide rail is connected to the first lifting plate, and the adjusting member on the second horizontal slide rail is connected to the second lifting plate.

[0026] Furthermore, the adjusting member includes a connecting seat arranged on the horizontal sliding block, a connecting block arranged on the connecting seat, a driving block arranged on the connecting block, and a placing bin arranged on the connecting seat;

[0027] The grabbing portion is located in the placement bin;

[0028] The driving block is a spherical structure, and the first lifting plate and the second lifting plate are both provided with sliding grooves with the same number as the adjusting members, and the driving block is located in the sliding grooves, and there is a predetermined angle between the length direction of the sliding grooves and the length direction of the first lifting plate, and the length direction of one of the sliding grooves is perpendicular to the length direction of the first lifting plate, and the sliding groove is a limit groove;

[0029] The adjusting member corresponding to the driving block located in the limiting groove is fixedly mounted on the base frame.

[0030] Furthermore, the vertical displacement assembly includes a servo motor and two support seats arranged on the base frame, a transmission screw connected to the support seat, a transmission block sleeved on the transmission screw, a transmission wheel connected to the output end of the servo motor and one end of the transmission screw, a transmission belt connected to the transmission wheel, and a driven plate connected to the transmission block;

[0031] The driven plate is connected to the second horizontal slide rail.

[0032] Furthermore, the vertical displacement assembly further comprises two linear slide rails symmetrically arranged on the base frame and parallel to the length direction of the servo motor, a linear slider slidably connected to the linear slide rails, a waist-shaped hole is opened on the base frame, a protruding block passing through the waist-shaped hole is arranged on the second lifting plate, and a pulley is arranged on the protruding block and abuts against the base frame;

[0033] The second horizontal slide rail is connected to the linear slide block.

[0034] Further, the grabbing part includes a rotating motor arranged in the placing bin, a rotating frame connected to the output end of the rotating motor, a plurality of connecting rods evenly arranged on the rotating frame, a rotating disk connected to one end of the connecting rod, a limiting disk arranged between the rotating disk and the rotating frame and sleeved on the connecting rod, and a plurality of clamping members arranged between the limiting disk and the rotating disk;

[0035] The limiting disk and the rotating disk are arc structures;

[0036] The limiting plate is also provided with a plurality of first arc-shaped holes, and the connecting rod passes through the first arc-shaped holes.

[0037] Furthermore, the clamping member includes a limiting slider fixedly mounted on the rotating disk, a limiting slide rail slidably connected to the limiting slider, a mounting block disposed at one end of the limiting slide rail near the center of the limiting disk, a limiting roller disposed on the mounting block, and a guide block slidably connected to the limiting slide rail;

[0038] A second arc-shaped hole is formed on the limiting plate, and a cylindrical protruding end is formed on the guide block, and the protruding end is located in the second arc-shaped hole.

[0039] Furthermore, a modular cultivation device for a plant factory also includes a loading mechanism for transporting the planting tray to a predetermined position;

[0040] A ground rail is located between the feeding mechanism and the placement rack, a transverse column is arranged on the ground rail, and a lifting mechanism is installed on the transverse column. Through the cooperation of the ground rail and the lifting mechanism, the planting tray can be moved in the length direction of the ground rail and the height direction of the lifting mechanism, so that the planting tray can be located in a predetermined placement area on the placement rack;

[0041] The transport unit is connected to the lifting mechanism and is used to receive the planting tray transported from the loading mechanism and move the planting tray in the width direction of the ground rail so that the planting tray can be placed in a predetermined position.

[0042] Furthermore, the transport unit includes a lifting seat connected to the lifting mechanism, a partition plate arranged on the lifting seat, the partition plate divides the lifting seat into upper and lower transport areas, and transport parts respectively located in the two transport areas;

[0043] The transporting part includes two transporting motors arranged opposite to each other, a transporting screw arranged at the output end of the transporting motor, a transporting block sleeved on the transporting screw, a mounting plate connected to the transporting block, two blocking cylinders symmetrically arranged on the mounting plate, a support plate connected to the mounting plate, and a linear guide rail connected to the support plate and located in the lifting seat;

[0044] The mounting plate is T-shaped, and the blocking cylinder is arranged on the shoulder of the T-shaped mounting plate;

[0045] The support plate is an I-shaped plate;

[0046] A plurality of propulsion holes are provided at the bottom of the planting tray, and the transport portion further comprises a roller bar, which abuts against the bottom of the planting tray.

[0047] Beneficial effect: The present invention discloses a modular cultivation device for plant factories, in order to be able to remove diseased or withered seedlings in the planting tray; an operation module is provided in the device, through the four inverted U-shaped adjustment units in the operation module, the adjustment motor in the adjustment unit is driven to move, the driving wheel is driven to rotate, so that the adjustment belt is in a working state, the moving adjustment belt will adjust the position of the sliding block in the length direction of the adjustment rail, change the angle between the first connecting arm and the second connecting arm and the second connecting arm and the hinge block, and at the same time the four adjustment units do not interfere with each other, so under the cooperation of the four adjustment units, it can drive The adjusting disk moves so that the adjusting disk is located in different placement areas. Therefore, by using the operating module, the grabbing part can be located in different placement areas on the placement rack, and the transportation of the planting trays can be completed without using multiple transport carts. At the same time, the device is also provided with a horizontal displacement component and a vertical displacement component. Through the cooperation of the two, the distance between adjacent adjustment parts can be adjusted, so that the position of the grabbing part can be adjusted according to the size of different planting trays or the position of vegetables in different planting trays, so that it can remove or replace withered seedlings or diseased seedlings, and remove them mechanically to reduce the burden of labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of a modular cultivation device for a plant factory of the present invention;

[0049] Figure 2 It is a schematic diagram of the operation module of the present invention;

[0050] Figure 3is a schematic diagram of an adjustment unit of the present invention;

[0051] Figure 4 is a schematic diagram of a vertical displacement assembly of the present invention;

[0052] Figure 5 is a schematic diagram of a horizontal displacement assembly of the present invention;

[0053] Figure 6 is a schematic diagram of a grabbing portion of the present invention;

[0054] Figure 7 is a schematic diagram of a transport unit of the present invention;

[0055] Figure 8 It is a schematic diagram of a transport portion of the present invention.

[0056] Figure numerals: 1, ground rail; 2, horizontal column; 3, lifting mechanism; 4, placement frame; 5, planting tray; 6, operation module; 61, adjustment unit; 611, support frame; 612, adjustment motor; 613, driving wheel; 614, adjustment belt; 615, sliding block; 616, adjustment slider; 617, adjustment slide rail; 618, first connecting arm; 619, second connecting arm; 6110, hinge block; 62, telescopic cylinder; 6 3. Vertical displacement assembly; 631. Base frame; 632. Lifting motor; 633. Adjusting screw rod; 634. Lifting block; 635. Lifting frame; 636. First lifting plate; 637. Adjusting member; 6371. Connecting block; 6372. Connecting seat; 6373. Placement bin; 6374. Driving block; 638. First horizontal slide rail; 639. Horizontal slider; 6310. Limiting guide rail; 6311. Lifting slider; 6312. second horizontal slide rail; 6313, second lifting plate; 64, gripping part; 641, rotating motor; 642, rotating frame; 643, connecting rod; 644, rotating disk; 645, guide block; 646, limit slide rail; 647, limit slider; 648, mounting block; 649, limit roller; 6410, limit disk; 65, adjusting disk; 66, horizontal displacement assembly; 661, servo motor; 662, support seat; 663, transmission Screw rod; 664, transmission wheel; 665, transmission belt; 666, transmission block; 667, driven plate; 668, linear guide rail; 669, linear slider; 6610, raised block; 6611, pulley; 7, feeding mechanism; 8, conveying unit; 81, lifting seat; 82, partition plate; 83, conveying part; 831, conveying motor; 832, conveying screw rod; 833, conveying block; 834, mounting plate; 835, blocking cylinder. DETAILED DESCRIPTION

[0057] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0058] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0059] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0060] The present invention discloses a modular cultivation device for a plant factory, referring to Figure 1-Figure 8 ,include:

[0061] The ground rail 1, feeding mechanism 7, planting tray 5 and lifting mechanism 3 are existing technologies and will not be described in detail here; a visual collector may also be provided on the adjustment plate 65, and through the set visual collector, the wilting of vegetables in the planting tray 5 can be detected in time and its position can be located, so that it can be removed in time.

[0062] The placing rack 4 is divided into a plurality of placing areas by a partition; a planting tray 5 is arranged on the placing rack 4 and located in the placing area, and is used to place hydroponic plants; an operating module 6 is arranged on the placing rack 4; the operating module 6 includes an adjusting unit 61, an adjusting tray 65, a displacement unit and a gripping portion 64; there are four adjusting units 61, two of which are arranged on the top of the placing rack 4, and the length direction of the remaining two is horizontal to the height direction of the placing rack 4, and the four adjusting units 61 are installed on the placing rack 4 in an inverted U-shaped structure; the adjusting tray 65 is used to connect the four adjusting units 61, and the adjusting tray 65 can be located in the placing area where different planting trays 5 are located by driving the adjusting unit 61; the displacement unit is arranged in the adjusting unit The gripping portion 64 is located on the plate 65; the gripping portion 64 is located on the displacement unit, and the gripping area of ​​the gripping portion 64 on the planting plate 5 is adjusted by the driving of the displacement unit, so that the gripping portion 64 can remove the withered hydroponic plants; the adjusting unit 61 can drive the adjusting plate 65 to move on the plane formed by the length and height of the placement rack 4, so as to adjust the position of the gripping portion 64, and the displacement unit can adjust the three-dimensional position of the gripping portion 64 in the placement area so that it can be located in a predetermined gripping area, and then the seedling cup located on the planting plate 5 can be gripped by the gripping portion 64, and it can be replaced with a seedling cup with seedlings, so that the diseased seedlings or withered seedlings can be removed without manual removal by personnel.

[0063] The adjusting unit 61 includes a plurality of supporting frames 611 arranged on the placing frame 4, an adjusting slide rail 617 for connecting the supporting frames 611, an adjusting motor 612 installed on the adjusting slide rail 617, a driving wheel 613 respectively arranged at the output end of the adjusting motor 612 and on the adjusting slide rail 617, an adjusting belt 614 for connecting the driving wheel 613, a sliding block 615 connected to the adjusting belt 614, a first connecting arm 618 fixedly installed on the sliding block 615, a second connecting arm 619 movably connected to the first connecting arm 618, and a hinge block 6110 arranged on the adjusting disk 65; an adjusting slider 616 is slidably connected to the adjusting slide rail 617, and the adjusting slider 616 is connected to the sliding block 615; the hinge block 6110 is movably connected to the second connecting arm 619, wherein the arm of the second connecting arm 619 It is longer than the arm length of the first connecting arm 618; the driving wheel 613 is driven to rotate by the adjusting motor 612, so that the adjusting belt 614 is in working state, and the moving adjusting belt 614 will adjust the position of the sliding block 615 in the length direction of the adjusting rail 617, and change the angle between the first connecting arm 618 and the second connecting arm 619 and the second connecting arm 619 and the hinge block 6110. At the same time, the four adjusting units 61 do not interfere with each other, and can drive the adjustment disk 65 to move, so that the adjustment disk 65 is located in different placement areas; through the four adjusting units 61 of the inverted U-shaped structure, the position of the adjusting disk 65 can be changed through the mutual cooperation between the various adjusting units 61, so that it can be located in the placement areas corresponding to different planting trays 5, and then the seedlings in the planting trays 5 in different placement areas can be removed and replaced, and there is no need for manual or transport carts to replace the entire planting tray 5.

[0064] In a further embodiment, since different vegetables have different light requirements during their growth period and different volumes of vegetables after growth, multiple planting holes are opened along the horizontal and vertical directions of the planting tray 5 according to the types of vegetables. The sizes of the planting holes and the spacing between adjacent planting holes also vary, which in turn causes differences in the spacing and sizes between the seedling cups in the planting holes. The clamping areas of existing clamping assemblies are mostly fixed, making it difficult to clamp and remove vegetables of different varieties.

[0065] The displacement unit includes a telescopic cylinder 62 fixedly mounted on the adjustment disk 65, a horizontal displacement assembly 66 connected to the output end of the telescopic cylinder 62, and a vertical displacement assembly 63 connected to the horizontal displacement assembly 66; wherein the horizontal displacement assembly 66 includes a base frame 631 connected to the output end of the telescopic cylinder 62, a lifting motor 632 arranged on the base frame 631, an adjusting screw rod 633 arranged at the output end of the lifting motor 632, a lifting block 634 sleeved on the adjusting screw rod 633, a lifting frame 635 connected to the lifting block 634, a first lifting plate 636 and a second lifting plate 6313 symmetrically arranged on the lifting frame 635, and a first horizontal slide rail 638 and a second horizontal slide rail 6312 respectively arranged on the base frame 631 and the vertical displacement assembly 63. A plurality of horizontal sliders 639 respectively connected to the first horizontal slide rail 638 and the second horizontal slide rail 6312, and an adjusting member 637 connected to the horizontal slider 639; two limiting guide rails 6310 symmetrically mounted on the base frame 631, and a lifting slider 6311 slidably connected to the limiting guide rails 6310; the lifting frame 635 is connected to the lifting slider 6311, and the length direction of the limiting guide rail 6310 is parallel to the length direction of the adjusting screw rod 633; ​​the length directions of the first horizontal slide rail 638 and the second horizontal slide rail 6312 are both the same as the length direction of the lifting frame 635; wherein the adjusting member 637 on the first horizontal slide rail 638 is connected to the first lifting plate 636, and the adjusting member 637 on the second horizontal slide rail 6312 is connected to the second lifting plate 6313;

[0066] The adjusting member 637 comprises a connecting seat 6372 arranged on the horizontal sliding block 639, a connecting block 6371 arranged on the connecting seat 6372, a driving block 6374 arranged on the connecting block 6371, and a placing bin 6373 arranged on the connecting seat 6372; the grabbing portion 64 is located in the placing bin 6373; the driving block 6374 is a spherical structure, the first lifting plate 636 and the second lifting plate 6313 are both provided with sliding grooves with the same number as the adjusting member 637, the driving block 6374 is located in the sliding groove, there is a predetermined angle between the length direction of the sliding groove and the length direction of the first lifting plate 636, one of the sliding grooves is perpendicular to the length direction of the first lifting plate 636, and the sliding groove is a limiting groove; wherein the adjusting member 637 corresponding to the driving block 6374 located in the limiting groove is fixedly mounted on the base frame 631;

[0067] After the adjustment unit 61 completes its work, the adjustment disk 65 is located at the predetermined placement area, and then the telescopic cylinder 62 starts to work. The moving telescopic cylinder 62 can push the horizontal displacement component 66 to the top of the placement area, and then the lifting motor 632 starts to work. The moving lifting motor 632 can drive the adjusting screw rod 633 to start rotating, and then the moving adjusting screw rod 633 can drive the lifting block 634 to start moving. At this time, the moving lifting block 634 can drive the lifting frame 635 to move, and then the moving lifting frame 635 can make the first lifting plate 636 and the second lifting plate 6313 move along the axis of the adjusting screw rod 633. The first lifting plate 636 and the second lifting plate 6313 move in the same direction, and during the movement of the first lifting plate 636 and the second lifting plate 6313, the adjusting member 637 can be driven to start moving. Since the driving block 6374 in the adjusting member 637 is located in the sliding groove, when the first lifting plate 636 and the second lifting plate 6313 are lifted and lowered, the driving block 6374 can move in the length direction of the sliding groove, so that the adjusting member 637 can move in the length direction of the first horizontal slide rail 638 and the second horizontal slide rail 6312, thereby changing the distance between adjacent adjusting members 637, so that the grasping portion 64 can grasp and remove different kinds of vegetables.

[0068] The vertical displacement assembly 63 includes a servo motor 661 and two support seats 662 arranged on the base frame 631, a transmission screw 663 for connecting the support seats 662, a transmission block 666 sleeved on the transmission screw 663, a transmission wheel 664 connected to the output end of the servo motor 661 and one end of the transmission screw 663, a transmission belt 665 for connecting the transmission wheel 664, and a driven plate 667 connected to the transmission block 666; the driven plate 667 is connected to the second The horizontal slide rail 6312 is connected; the vertical displacement assembly 63 also includes two linear slide rails 668 symmetrically arranged on the base frame 631 and parallel to the length direction of the servo motor 661, a linear slider 669 slidably connected to the linear slide rails 668, a waist-shaped hole is opened on the base frame 631, a protruding block 6610 passing through the waist-shaped hole is provided on the second lifting plate 6313, and a pulley 6611 arranged on the protruding block 6610 and abutting against the base frame 631; wherein The second horizontal slide rail 6312 is connected to the linear slider 669; when the horizontal position of the grabbing part 64 is adjusted, the servo motor 661 starts to work, and the moving servo motor 661 rotates the transmission screw 663 through the transmission wheel 664 and the transmission belt 665, and the moving transmission screw 663 can drive the transmission block 666 to move in the direction of its axis, and then the moving transmission block 666 can drive the driven plate 667 to move, and then the moving driven plate 667 can drive the second horizontal slide rail 6312 to move in the length direction of the linear slide rail 668, and the position of the grabbing part 64 is adjusted by changing the straight-line distance between the first lifting plate 636 and the second lifting plate 6313, and the position of the grabbing part 64 can be adjusted by the mutual cooperation between the vertical displacement assembly 63 and the horizontal displacement assembly 66, and the position of the grabbing part 64 can be adjusted by adjusting the position of the grabbing part 64, so that the grabbing part 64 can grab different types of vegetables, thereby completing the work of removing the seedlings.

[0069] In a further embodiment, in order to prevent the seedlings from falling directly into the nutrient solution in the planting tray 5, a seedling cup is placed in the planting hole on the planting tray 5. The seedling cup can support the seedlings. Since the seedling cup is provided with a connecting hole, the roots of the seedlings can be immersed or extended into the nutrient solution. Since the seedling cup is immersed in the nutrient solution for a long time and in order to take into account the economic effect, plastic products are used. For soft seedling cups, traditional clamping equipment will cause damage to the seedling cups when clamping them, making it difficult to replace or remove the seedlings in the seedling cups, which will cause the seedlings to rot in the nutrient solution.

[0070] In order to solve the above problems, the device is provided with a gripping part 64, which includes a rotating motor 641 arranged in the placement bin 6373, a rotating frame 642 connected to the output end of the rotating motor 641, a plurality of connecting rods 643 evenly arranged on the rotating frame 642, a rotating disk 644 connected to one end of the connecting rod 643, a limiting disk 6410 arranged between the rotating disk 644 and the rotating frame 642 and sleeved on the connecting rod 643, and a plurality of clamping members arranged between the limiting disk 6410 and the rotating disk 644; the limiting disk 6410 and the rotating disk 644 are connected to each other. The limiting plate 6410 is provided with a plurality of first arc holes, and the connecting rod 643 passes through the first arc holes; the clamping member includes a limiting slider 647 fixedly mounted on the rotating plate 644, a limiting slide rail 646 slidably connected to the limiting slider 647, a mounting block 648 disposed at one end of the limiting slide rail 646 close to the center of the limiting plate 6410, a limiting roller 649 disposed on the mounting block 648, and a guide block 645 slidably connected to the limiting slide rail 646; the limiting plate 6410 is provided with a second arc hole, and the guide block 645 is provided with a cylindrical convex The starting end, the raised end is located in the second arc-shaped hole, the guide block 645 also includes a sliding end connected to the cylindrical raised end, and the sliding end is slidably connected to the limiting slide rail 646; in order to be able to clamp seedling cups of different sizes and soft textures, when clamping work is required, the rotating motor 641 starts to work, the moving rotating motor 641 can drive the rotating frame 642 to rotate, the moving rotating frame 642 can drive the connecting rod 643 to move, so that the connecting rod 643 can move in the first arc-shaped hole, and then the moving connecting rod 643 can drive the rotating disk 644 to The rotating rotating disk 644 can drive the limiting slider 647 to move, and then the raised end of the guide block 645 can move in the second arc hole, and can drive the mounting block 648 to move toward the center of the rotating disk 644 or away from the center of the rotating disk 644, so as to adjust the distance between the limiting rollers 649 so that it can support the seedling cup, thereby completing the clamping and limiting work of the seedling cup. Since the distance between the limiting rollers 649 is adjustable, the grabbing portion 64 can clamp seedling cups of different sizes, so as to remove the seedlings and place new seedlings in the removal position.

[0071] The device also includes a loading mechanism 7 for transporting the planting tray 5 to a predetermined position; a ground rail 1 located between the loading mechanism 7 and the placement rack 4, a transverse column 2 arranged on the ground rail 1, and a lifting mechanism 3 installed on the transverse column 2. Through the cooperation of the ground rail 1 and the lifting mechanism 3, the planting tray 5 can be moved in the length direction of the ground rail 1 and the height direction of the lifting mechanism 3, so that the planting tray 5 can be located in a predetermined placement area on the placement rack 4; a transport unit 8 connected to the lifting mechanism 3 for receiving the planting tray 5 from the placement rack 4; The planting tray 5 is transported from the loading mechanism 7 and moved in the width direction of the ground rail 1, so that the planting tray 5 can be placed in a predetermined position; when placing the planting tray 5, the planting tray 5 is placed on the loading mechanism 7 by an operator or a manipulator, and then the loading mechanism 7 is used to transport the loading mechanism 7 to the conveying unit 8, and two planting trays 5 can be placed on one conveying unit 8 through the lifting mechanism 3, and then the lifting mechanism 3 and the ground rail 1 cooperate to make the planting tray 5 located in a predetermined placement area.

[0072] The transport unit 8 includes a lift seat 81 connected to the lift mechanism 3, a partition plate 82 arranged on the lift seat 81, the partition plate 82 divides the lift seat 81 into an upper and a lower transport area, and a transport portion 83 respectively located in the two transport areas; the transport portion 83 includes two transport motors 831 arranged opposite to each other, a transport screw rod 832 arranged at the output end of the transport motor 831, a transport block 833 sleeved on the transport screw rod 832, a mounting plate 834 connected to the transport block 833, two blocking cylinders 835 symmetrically arranged on the mounting plate 834, a support plate connected to the mounting plate 834, and a support plate connected to the support plate. And the linear guide rail is located in the lifting seat 81; the mounting plate 834 is T-shaped, and the blocking cylinder 835 is arranged on the shoulder of the T-shaped mounting plate 834; the support plate is I-shaped; a plurality of propulsion holes are provided at the bottom of the planting tray 5, and the number of the propulsion holes is four; when the planting tray 5 needs to be transferred from the feeding mechanism 7 to the conveying unit 8, one of the conveying motors 831 starts to work, and the moving conveying motor 831 can drive the conveying screw 832 to rotate, and the moving conveying screw 832 can drive the conveying block 833 to move in the direction of its axis, and the moving conveying block 833 can drive the mounting plate 834 to move, so that the mounting plate 834 can be adjusted The blocking cylinder 835 on the adjusting part is positioned so that one of the blocking cylinders 835 is located below the propulsion hole, and then the blocking cylinder 835 starts to work, and the output end of the blocking cylinder 835 can extend into the propulsion hole, and then with the operation of the transport motor 831, the planting tray 5 can be transferred from the feeding mechanism 7 to the transport unit 8, and then the output end of the blocking cylinder 835 is away from the propulsion hole and the transport motor 831 moves in the opposite direction, so that the two blocking cylinders 835 in the adjusting part are located below the two propulsion holes in the length direction thereof, and then the output end of the blocking cylinder 835 extends into the propulsion hole, and then the transport motor 831 starts to work, so that the planting tray 5 is located at a predetermined position, and at the same time the other transport unit The blocking cylinder 835 in 83 starts to work so that its output end can be located in the other two propulsion holes, thereby completing the fixation of the planting tray 5. Then, the position of the planting tray 5 is adjusted by the provided ground rail 1 and the lifting mechanism 3. When it is located at a predetermined position, the output end of the blocking cylinder 835 in one of the transport parts 83 is away from the propulsion hole, and the transport motor 831 in the other transport part 83 starts to work, and the planting tray 5 is located on the placement rack 4 through the provided blocking cylinder 835. Then, by changing the output end of the blocking cylinder 835 and making it located in different propulsion holes, the planting tray 5 is placed on the placement rack 4. The working process is opposite to that above, and the placement of the planting tray 5 is completed.

[0073] By placing the planting tray 5 in sections on the placement rack 4, the stability of the planting tray 5 can be ensured during the placement process.

[0074] Description of the working principle: when the planting tray 5 is needed, it is transferred from the feeding mechanism 7 to the transport unit 8, at this time, one of the transport motors 831 starts to work, and the moving transport motor 831 can drive the transport screw 832 to rotate, and the moving transport screw 832 can drive the transport block 833 to move in the direction of its axis, and the moving transport block 833 can drive the mounting plate 834 to move, so that the position of the blocking cylinder 835 on the mounting plate 834 can be adjusted, so that one of the blocking cylinders 835 is located below the propulsion hole, and then the blocking cylinder 835 starts to work, and the output end of the blocking cylinder 835 can penetrate into the propulsion hole, and then with the operation of the transport motor 831, the planting tray 5 can be transferred from the feeding mechanism 7 to the transport unit 8, and then the output end of the blocking cylinder 835 is away from the propulsion hole and the transport motor 831 moves in the opposite direction, so that the two The blocking cylinder 835 is located below the two propulsion holes in its length direction, and then the output end of the blocking cylinder 835 extends into the propulsion hole, and then the transport motor 831 starts working to make the planting tray 5 located at a predetermined position. At the same time, the blocking cylinder 835 in the other transport part 83 starts working so that its output end can be located in the other two propulsion holes, thereby completing the fixation of the planting tray 5. Then, the position of the planting tray 5 is adjusted by the provided ground rail 1 and the lifting mechanism 3. When it is located at a predetermined position, the output end of the blocking cylinder 835 in one of the transport parts 83 is away from the propulsion hole, and the transport motor 831 in the other transport part 83 starts working, and the planting tray 5 is located on the placement rack 4 through the provided blocking cylinder 835. Then, by changing the output end of the blocking cylinder 835 to be located in different propulsion holes, the planting tray 5 is placed on the placement rack 4, thereby completing the placement of the planting tray 5.

[0075] When placing the planting tray 5, the operator or the manipulator places the planting tray 5 on the loading mechanism 7, and then the loading mechanism 7 is used to transport the loading mechanism 7 to the transport unit 8. The lifting mechanism 3 is used to place two planting trays 5 on one transport unit 8, and then the lifting mechanism 3 cooperates with the ground rail 1 to place the planting tray 5 in a predetermined placement area.

[0076] When it is necessary to remove the withered or diseased seedlings in the planting tray 5, the driving wheel 613 is driven to rotate by the adjusting motor 612, so that the adjusting belt 614 is in working state. The moving adjusting belt 614 will adjust the position of the sliding block 615 in the length direction of the adjusting slide rail 617, change the angle between the first connecting arm 618 and the second connecting arm 619 and the second connecting arm 619 and the hinge block 6110, and at the same time, the four adjusting units 61 do not interfere with each other, and can drive the adjusting disk 65 to move, so that the adjusting disk 65 is located in different placement areas; through the four adjusting units 61 of the inverted U-shaped structure, the position of the adjusting disk 65 can be changed through the mutual cooperation between the various adjusting units 61, so that it can be located in the placement areas corresponding to different planting trays 5, and the seedlings in the planting trays 5 in different placement areas can be removed and replaced, without the need for manual or transport carts to replace the entire planting tray 5; after the adjusting unit 61 completes the work, the adjusting disk 65 is located at the predetermined placement area, and then the telescopic cylinder 62 starts to work, and the moving telescopic cylinder 62 can move The horizontal displacement assembly 66 is pushed above the placement area, and then the lifting motor 632 starts to work. The moving lifting motor 632 can drive the adjusting screw rod 633 to start rotating, and then the moving adjusting screw rod 633 can drive the lifting block 634 to start moving. At this time, the moving lifting block 634 can drive the lifting frame 635 to move, and then the moving lifting frame 635 can make the first lifting plate 636 and the second lifting plate 6313 move along the axis direction of the adjusting screw rod 633. During the movement, the adjusting member 637 can be driven to start moving. Since the driving block 6374 in the adjusting member 637 is located in the sliding groove, when the first lifting plate 636 and the second lifting plate 6313 are lifted and lowered, the driving block 6374 can move in the length direction of the sliding groove, so that the adjusting member 637 can move in the length direction of the first horizontal slide rail 638 and the second horizontal slide rail 6312, and the distance between adjacent adjusting members 637 can be changed, so that the grasping portion 64 can grasp and remove different kinds of vegetables.After the horizontal position of the grabbing part 64 is adjusted, the servo motor 661 starts to work, and the moving servo motor 661 rotates the transmission screw 663 through the transmission wheel 664 and the transmission belt 665, and the moving transmission screw 663 can drive the transmission block 666 to move in the direction of its axis, and then the moving transmission block 666 can drive the driven plate 667 to move, and then the moving driven plate 667 can drive the second horizontal slide rail 6312 to move in the length direction of the linear slide rail 668, and the position of the grabbing part 64 is adjusted by changing the straight-line distance between the first lifting plate 636 and the second lifting plate 6313, and the position of the grabbing part 64 can be adjusted by the mutual cooperation between the vertical displacement component 63 and the horizontal displacement component 66, and the position adjustment work of the grabbing part 64 can be completed by adjusting the position of the grabbing part 64, so that the grabbing part 64 can grab different types of vegetables, thereby completing the work of removing the seedlings; in order to be able to grow seedlings of different sizes and soft textures The cup is clamped, so when the clamping work is needed, the rotating motor 641 starts to work, the moving rotating motor 641 can drive the rotating frame 642 to rotate, the moving rotating frame 642 can drive the connecting rod 643 to move, so that the connecting rod 643 can move in the first arc hole, and then the moving connecting rod 643 can drive the rotating disk 644 to rotate, and the rotating rotating disk 644 can drive the limiting slider 647 to move, so that the protruding end on the guide block 645 can move in the second arc hole, and can drive the mounting block 648 to move toward the center of the rotating disk 644 or away from the center of the rotating disk 644, so as to adjust the distance between the limiting rollers 649, so that it can support the seedling cup, thereby completing the clamping and limiting work of the seedling cup, because the distance between the limiting rollers 649 is adjustable, the grabbing part 64 can clamp seedling cups of different sizes, so as to remove the seedlings, and also place new seedlings in the removal position. ;

[0077] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various equivalent transformations can be made to the technical scheme of the present invention, and these equivalent transformations all belong to the protection scope of the present invention.

Claims

1. A modular cultivation device for a plant factory, characterized in that: include: The placement rack is divided into multiple placement areas by partitions; A planting tray, arranged on the placement rack and located in the placement area, for placing hydroponic plants; An operating module is arranged on the placement rack; The operating module includes an adjustment unit, an adjustment disk, a displacement unit and a gripping portion; There are four adjustment units, two of which are arranged on the top of the placement rack, and the length direction of the remaining two is horizontal with the height direction of the placement rack. The four adjustment units are installed on the placement rack in an inverted U-shaped structure; The adjusting plate is used to connect the four adjusting units, and the adjusting plate can be located in the placement areas where different planting plates are located through the driving of the adjusting units; A displacement unit, arranged on the adjusting disk; The gripping part is located on the displacement unit, and the gripping area of ​​the gripping part on the planting tray is adjusted by driving the displacement unit, so that the gripping part can remove the withered hydroponic plants; The adjustment unit includes a plurality of support frames arranged on the placement rack, an adjustment slide rail for connecting the support frames, an adjustment motor installed on the adjustment slide rail, driving wheels respectively arranged on the output end of the adjustment motor and the adjustment slide rail, an adjustment belt for connecting the driving wheel, a sliding block connected to the adjustment belt, a first connecting arm fixedly installed on the sliding block, a second connecting arm movably connected to the first connecting arm, and a hinge block arranged on the adjustment disk.

2. A modular cultivation device for a plant factory according to claim 1, characterized in that: An adjusting slider is slidably connected to the adjusting slide rail, and the adjusting slider is connected to the sliding block; The hinge block is movably connected to the second connecting arm, wherein the arm length of the second connecting arm is greater than the arm length of the first connecting arm; The driving wheel is driven to rotate by the adjusting motor so that the adjusting belt is in working state. The moving adjusting belt will adjust the position of the sliding block in the length direction of the adjusting rail, change the angle between the first connecting arm and the second connecting arm and the second connecting arm and the hinge block. At the same time, the four adjusting units do not interfere with each other and can drive the adjusting disk to move so that the adjusting disk is located in different placement areas.

3. A modular cultivation device for a plant factory according to claim 2, characterized in that: The displacement unit comprises a telescopic cylinder fixedly mounted on the adjustment disk, a horizontal displacement assembly connected to the output end of the telescopic cylinder, and a vertical displacement assembly connected to the horizontal displacement assembly; The horizontal displacement assembly includes a base frame connected to the output end of the telescopic cylinder, a lifting motor arranged on the base frame, an adjusting screw arranged at the output end of the lifting motor, a lifting block sleeved on the adjusting screw, a lifting frame connected to the lifting block, a first lifting plate and a second lifting plate symmetrically arranged on the lifting frame, a first horizontal slide rail and a second horizontal slide rail respectively arranged on the base frame and the vertical displacement assembly, a plurality of horizontal sliders respectively connected to the first horizontal slide rail and the second horizontal slide rail, and an adjusting member connected to the horizontal slider; Two limit guide rails symmetrically mounted on the base frame, and a lifting slider slidably connected to the limit guide rails; The lifting frame is connected to the lifting slider, and the length direction of the limit guide rail is parallel to the length direction of the adjusting screw rod; The length directions of the first horizontal slide rail and the second horizontal slide rail are both the same as the length direction of the lifting frame; wherein the adjusting member on the first horizontal slide rail is connected to the first lifting plate, and the adjusting member on the second horizontal slide rail is connected to the second lifting plate.

4. A modular cultivation device for a plant factory according to claim 3, characterized in that: The adjusting member comprises a connecting seat arranged on the horizontal sliding block, a connecting block arranged on the connecting seat, a driving block arranged on the connecting block, and a placing bin arranged on the connecting seat; The grabbing portion is located in the placement bin; The driving block is a spherical structure, and the first lifting plate and the second lifting plate are both provided with sliding grooves with the same number as the adjusting members, and the driving block is located in the sliding grooves, and there is a predetermined angle between the length direction of the sliding grooves and the length direction of the first lifting plate, and the length direction of one of the sliding grooves is perpendicular to the length direction of the first lifting plate, and the sliding groove is a limit groove; The adjusting member corresponding to the driving block located in the limiting groove is fixedly mounted on the base frame.

5. The modular cultivation device for plant factory according to claim 3, characterized in that: The vertical displacement assembly includes a servo motor and two support seats arranged on the base frame, a transmission screw connected to the support seat, a transmission block sleeved on the transmission screw, a transmission wheel connected to the output end of the servo motor and one end of the transmission screw, a transmission belt connected to the transmission wheel, and a driven plate connected to the transmission block; The driven plate is connected to the second horizontal slide rail.

6. A modular cultivation device for a plant factory according to claim 5, characterized in that: The vertical displacement assembly also includes two linear slide rails symmetrically arranged on the base frame and parallel to the length direction of the servo motor, a linear slider slidably connected to the linear slide rails, a waist-shaped hole is opened on the base frame, a protruding block passing through the waist-shaped hole is arranged on the second lifting plate, and a pulley is arranged on the protruding block and abuts against the base frame; The second horizontal slide rail is connected to the linear slide block.

7. The modular cultivation device for a plant factory according to claim 4, characterized in that: The grabbing part includes a rotating motor arranged in the placing bin, a rotating frame connected to the output end of the rotating motor, a plurality of connecting rods evenly arranged on the rotating frame, a rotating disk connected to one end of the connecting rod, a limiting disk arranged between the rotating disk and the rotating frame and sleeved on the connecting rod, and a plurality of clamping members arranged between the limiting disk and the rotating disk; The limiting disk and the rotating disk are arc structures; The limiting plate is also provided with a plurality of first arc-shaped holes, and the connecting rod passes through the first arc-shaped holes.

8. A modular cultivation device for a plant factory according to claim 7, characterized in that: The clamping member includes a limiting slider fixedly mounted on the rotating disk, a limiting slide rail slidably connected to the limiting slider, a mounting block disposed at one end of the limiting slide rail near the center of the limiting disk, a limiting roller disposed on the mounting block, and a guide block slidably connected to the limiting slide rail; A second arc-shaped hole is formed on the limiting plate, and a cylindrical protruding end is formed on the guide block, and the protruding end is located in the second arc-shaped hole.

9. The modular cultivation device for a plant factory according to claim 1, characterized in that: It also includes a loading mechanism for transporting the planting tray to a predetermined position; A ground rail is located between the feeding mechanism and the placement rack, a transverse column is arranged on the ground rail, and a lifting mechanism is installed on the transverse column. Through the cooperation of the ground rail and the lifting mechanism, the planting tray can be moved in the length direction of the ground rail and the height direction of the lifting mechanism, so that the planting tray can be located in a predetermined placement area on the placement rack; The transport unit is connected to the lifting mechanism and is used to receive the planting tray transported from the loading mechanism and move the planting tray in the width direction of the ground rail so that the planting tray can be placed in a predetermined position.

10. A modular cultivation device for a plant factory according to claim 9, characterized in that: The transport unit comprises a lifting seat connected to the lifting mechanism, a partition plate arranged on the lifting seat, the partition plate divides the lifting seat into an upper transport area and a lower transport area, and transport parts respectively located in the two transport areas; The transporting part includes two transporting motors arranged opposite to each other, a transporting screw arranged at the output end of the transporting motor, a transporting block sleeved on the transporting screw, a mounting plate connected to the transporting block, two blocking cylinders symmetrically arranged on the mounting plate, a support plate connected to the mounting plate, and a linear guide rail connected to the support plate and located in the lifting seat; The mounting plate is T-shaped, and the blocking cylinder is arranged on the shoulder of the T-shaped mounting plate; The support plate is an I-shaped plate; A plurality of propulsion holes are arranged at the bottom of the planting tray.

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