Cultivation equipment special for agricultural greenhouse

Abstract

The invention relates to the technical field of cultivation equipment, in particular to agricultural greenhouse special cultivation equipment which comprises a three-dimensional guide rail frame, the surface of the three-dimensional guide rail frame is slidably connected with a plurality of sliding arms, and the end of each sliding arm is connected with a cultivation table through a rotating pair. The cultivation platform located on the lower layer can move to the position above the cultivation platform located on the upper layer through sliding of the sliding arms, the cultivation platform located on the lower layer comprises a first cultivation platform body, the cultivation platform located on the upper layer comprises a second cultivation platform body, and lifting columns which are vertically arranged and used for supporting the cultivation platform bodies are further included and used for driving the cultivation platform bodies to ascend and descend. The telescopic end of the lifting column is fixedly connected with a rotating support, the rotating support is connected with the cultivation table through a rotating pair, the axis of the rotating pair coincides with the axis of the rotating pair connected with the sliding arm and the cultivation table, and the purpose of reconstructing the interlayer operation space of the cultivation frame is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of cultivation equipment, in particular to special cultivation equipment for agricultural greenhouses. Background Art

[0002] An agricultural greenhouse is an agricultural facility that regulates temperature, humidity, light and carbon dioxide concentration through intelligent temperature control, ventilation, shading and other systems, providing a stable growth environment for crops. It is widely used in off-season planting, high-yield cultivation and scientific research experiments. Crops are cultivated on the cultivation racks in the greenhouse, equipped with LED fill lights, drip irrigation systems and smart sensors, supporting potted, hydroponic, substrate cultivation and other modes, and combining the characteristics of space intensiveness, precision management and efficient resource utilization. Modern cultivation racks often integrate Internet of Things technology to achieve remote control and data-based planting, and cooperate with the greenhouse's environmental control system to form an efficient agricultural production unit of "three-dimensional planting + intelligent management and control", which significantly improves land output and crop quality. It is the core equipment for the development of facility agriculture towards intelligence and intensiveness.

[0003] At present, in order to improve the utilization rate of space, agricultural greenhouses widely use multi-layer three-dimensional cultivation racks to realize the three-dimensional cultivation of seedlings. The supporting transplanting equipment mostly uses multi-degree-of-freedom robotic arms, and the end effector completes the clamping and transplanting of seedlings. When transplanting the lower seedlings, the robotic arm needs to complete the following at the same time: vertical direction: execute the downward swing movement within the layer spacing; horizontal direction: avoid interference with adjacent layers when crossing the layer gap; As a result, the existing four / five-axis robotic arms cannot meet the kinematic constraints, and six-axis redundant robotic arms need to be used forcibly, which increases the cost by 40%-60%. In addition, the existing cultivation rack equipment is not designed in coordination with the motion characteristics of the robotic arm. When the layer spacing is less than 28cm, the Jacobian matrix condition number of the six-axis robotic arm is greater than 5, and the motion dexterity decreases by 42%. It is necessary to additionally configure a force control sensor, and the system complexity is further increased. To this end, in view of the above technical bottlenecks, the present invention proposes a special cultivation equipment for agricultural greenhouses, which reconstructs the operating space between the cultivation rack layers, thereby optimizing the motion constraints of the robotic arm, and reducing the design requirements for the transplanting mechanism from the source. Summary of the invention

[0004] The purpose of the present invention is to provide a special cultivation equipment for agricultural greenhouses to solve the problem of reconstructing the operating space between cultivation racks.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A special cultivation equipment for agricultural greenhouses, including a three-dimensional guide rail frame, the surface of which is slidably connected to a plurality of sliding arms, the end of each sliding arm is connected to a cultivation platform via a rotating pair, the cultivation platform located at the lower layer can be moved to the top of the cultivation platform located at the upper layer by sliding of the sliding arm, the cultivation platform located at the lower layer includes a first cultivation platform, and the cultivation platform located at the upper layer includes a second cultivation platform.

[0007] Preferably, it also includes a lifting column vertically arranged to support the cultivation platform, and the lifting column is used to drive the cultivation platform to move up and down.

[0008] Preferably, the telescopic end of the lifting column is fixedly connected to a rotating support, the rotating support is connected to the cultivation platform through a rotating pair, and the axis of the rotating pair coincides with the axis of the rotating pair connecting the sliding arm and the cultivation platform.

[0009] Preferably, a side surface of each of the cultivation platforms is fixedly connected with a stand overlapping block, and a top surface of each of the sliding arms is provided with a supporting slot for overlapping the stand overlapping block.

[0010] Preferably, a buffer tray is provided on the top of the three-dimensional guide rail frame, and when it is detected that the number of seedlings on the second cultivation platform is ≤5, the robot is controlled to clamp the remaining seedlings on the second cultivation platform into the buffer tray.

[0011] Preferably, after detecting that there are no seedlings on the second cultivation platform, the second cultivation platform is controlled to flip, the first cultivation platform is controlled to rise, and the robot transplanting is performed in parallel.

[0012] Preferably, a T-shaped sliding block is fixedly connected to the surface of each sliding arm, and a T-shaped sliding groove for sliding the T-shaped sliding block is provided on the surface of the three-dimensional guide rail frame.

[0013] Preferably, the T-shaped slide groove has a built-in displacement sensor, and the displacement sensor triggers an emergency stop when it detects that the position deviation of the T-shaped slide block is greater than 5mm.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. Improved space utilization and operation efficiency. The upper and lower cultivation platforms are designed with staggered sliding and flipping. While maintaining the three-dimensional cultivation density, the lower layer is moved above the upper layer through spatial displacement transformation, freeing up the narrow space between layers, avoiding the risk of interference from the manipulator shuttling between layers, shortening the transplanting path of a single plant, and reducing energy consumption.

[0016] 2. The robot operation is simplified, and the robot's operating freedom is reduced from 7 axes to 4 axes. The robot does not need to enter between two layers, but only needs to operate on the top plane, which improves the operation stability and speed;

[0017] 3. When there are ≤5 seedlings remaining on the second cultivation platform, the manipulator will move the remaining seedlings into the buffer tray in advance. The transplanting of the remaining seedlings on the second cultivation platform is carried out simultaneously with the rising of the first cultivation platform and the flipping of the second cultivation platform. During the rising process of the first cultivation platform, the manipulator directly handles the seedlings in the buffer tray. The time is completely overlapped and there is no idle time, avoiding the overall pause caused by the completion of transplanting on a single cultivation platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a structural schematic diagram of the second cultivation platform of the present invention;

[0020] Figure 3 It is a structural schematic diagram of the sliding arm of the present invention;

[0021] Figure 4 It is a schematic structural diagram of a vertical section of a three-dimensional guide rail frame of the present invention.

[0022] In the figure: 1. Equipment base; 2. Three-dimensional guide rail frame; 3. T-shaped slide groove; 4. T-shaped slider; 5. Sliding arm; 6. First cultivation platform; 7. Support slot; 8. Platform overlap block; 9. Second cultivation platform; 10. Rotating support; 11. Lifting column; 12. Buffer tray. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] See also Figures 1 to 4 , the present invention provides a technical solution.

[0025] A special cultivation equipment for agricultural greenhouses, comprising a three-dimensional guide rail frame 2, a plurality of sliding arms 5 are slidably connected to the surface of the three-dimensional guide rail frame 2, the end of each sliding arm 5 is connected to a cultivation platform through a rotating pair, and the cultivation platform located at the lower layer can be moved to the upper part of the cultivation platform located at the upper layer by sliding the sliding arm 5. For example, the left and right sides of the three-dimensional guide rail frame 2 are respectively slidably connected to two sliding arms 5 arranged in an upper and lower offset manner, and each sliding arm 5 can reciprocate in the vertical direction on the surface of the three-dimensional guide rail frame 2, wherein the lower cultivation platform includes a first cultivation platform 6, and the upper cultivation platform includes a second cultivation platform 9, the upper sliding arm 5 is connected to the second cultivation platform 9 through a rotating pair, and the lower sliding arm 5 is connected to the first cultivation platform 6 through a rotating pair;

[0026] Through such an arrangement, when using a manipulator to transplant the seedlings on the cultivation equipment, after the manipulator has transplanted all the seedlings on the second cultivation platform 9, the upper sliding arm 5 drives the second cultivation platform 9 to make a ±90° flipping movement around the rotation axis through the rotating pair, forming a vertical folding posture, vertically upward or downward, creating a vertical movement space for the first cultivation platform 6, and then when the first cultivation platform 6 moves to the top of the second cultivation platform 9, it is convenient for the manipulator to transplant the seedlings on the first cultivation platform 6. In this regard, the upper sliding arm 5 and the structure it carries are adaptively staggered with the lower sliding arm 5 and the structure it carries to ensure that they do not interfere with each other during sliding. The length adaptability of the first cultivation platform 6 is less than the length setting of the second cultivation platform 9, ensuring that when the first cultivation platform 6 moves over the second cultivation platform 9 in a vertical state, they do not interfere with each other.

[0027] After all the seedlings on the second cultivating table 9 are transplanted, the first cultivating table 6 is moved to the top of the second cultivating table 9, so that the robot arm transplants the seedlings again from the top of the equipment of the present application without moving between the two layers, thereby eliminating the interlayer interference area. This design uses spatial displacement transformation to maintain the three-dimensional cultivation density while freeing the robot arm's working space from the restricted interlayer slits to the unified working surface on the top, thereby reducing the operating freedom from 7 axes to 4 axes. At the same time, interlayer operations require 7-axis linkage, while top surface operations only require 4-axis linkage, and the seedling retrieval path is also shortened, thereby reducing the energy consumption of single plant transplanting.

[0028] The surface of each sliding arm 5 is fixedly connected to a T-shaped slider 4, and the surface of the three-dimensional guide frame 2 is cooperated with a T-shaped slide groove 3 for the T-shaped slider 4 to slide. Lateral rollers are arranged on both sides of the T-shaped slider 4 to contact the side of the T-shaped slide groove 3 to reduce lateral friction. The T-shaped slide groove 3 has a built-in displacement sensor to trigger an emergency stop when an abnormal position deviation of the T-shaped slider 4 is detected to be greater than 5mm. The abnormal detection logic threshold is determined as follows: the preset normal position range: the deviation between the center of the slider and the center of the slide groove is ≤2.5mm, with a 2.5mm safety redundancy reserved, and the trigger condition: the real-time position - the reference position is greater than the 5mm hard threshold or the displacement mutation rate is greater than 10mm / s dynamic abnormality.

[0029] Multi-level alarm mechanism: Level 1 warning deviation 3-5mm: sound and light alarm, slow down operation.

[0030] Second-level emergency stop deviation > 5mm: the lifting column 11 brake is triggered.

[0031] The displacement sensor includes a linear encoder and a magnetic ring. A groove is milled in the T-shaped slide 3, and a linear encoder such as MTS Temposonics is embedded. The magnetic ring is installed on the back of the T-shaped slide 4, and the sensor signal is connected to the PLC.

[0032] It also includes a lifting column 11 vertically arranged to support the cultivation platform. The lifting column 11 is used to drive the cultivation platform to lift and lower. The telescopic end of the lifting column 11 is fixedly connected to a rotating support 10. The rotating support 10 is connected to the cultivation platform through a rotating pair. The axis of the rotating pair coincides with the axis of the rotating pair connecting the sliding arm 5 and the cultivation platform to form a coaxial double rotating pair structure. The rotating pair is connected in the form of a bearing. The rotating support 10 coincides with the rotating pair axis of the sliding arm 5 with a coaxiality of ≤0.05mm. The coaxial design integrates two movements through a single axis, flipping + lifting, simplifies the structure, and improves space utilization. The bottom end of the lifting column 11 is fixedly supported, and each cultivation platform is supported by at least one lifting column 11;

[0033] The lifting column 11 includes an inner and outer layer. The outer layer is a high-strength aluminum alloy tower with an anodized surface for corrosion resistance. The inner layer is a multi-stage telescopic rod. The core principle is to change the overall length by sliding multiple sections of components against each other, thereby realizing the lifting, extension or contraction functions of the equipment. The maximum stroke of 1.5m meets the vertical displacement requirements of the double-layer cultivation platform. The power source is preferably a built-in 24V DC servo motor with overload protection. The hydraulic drive option is suitable for high-load scenarios. The inner wall of the tower is embedded with a linear guide rail, which cooperates with the slider on the surface of the telescopic rod to ensure the lifting accuracy of ±1mm and the load capacity of ≥500kg per column.

[0034] It also includes a laser displacement sensor: real-time monitoring of the telescopic rod stroke, and a force sensor: monitoring the load and overturning moment of the cultivation platform and triggering an overload alarm.

[0035] By such arrangement, the lifting column 11 can be activated to extend and retract to drive the cultivation platform to move up and down. The up and down movement of the cultivation platform causes the sliding arm 5 to move up and down, causing the T-shaped slider 4 to slide up and down along the track of the T-shaped slide groove 3.

[0036] A motor is installed on the surface of each sliding arm 5, and the motor is used to drive the second cultivation platform 9 to perform a flipping movement around the rotation axis. Through such an arrangement, the motor can be started to drive the second cultivation platform 9 to perform a ±90° flipping movement around the rotation axis.

[0037] The side of each cultivation platform is fixedly connected with a frame overlap block 8, and the top surface of each sliding arm 5 is provided with a support slot 7 for the frame overlap block 8 to overlap. Through such an arrangement, under normal cultivation conditions, the cultivation platform is overlapped on the top surface of the sliding arm 5 through the cooperation of the frame overlap block 8 and the support slot 7 to form a supporting structure, and the sliding arm 5 provides a vertical supporting reaction force for the cultivation platform.

[0038] The width of the support slot 7 is 2-3mm larger than the width of the frame overlap block 8, and the tolerance is controlled within ±0.1mm to ensure that the frame overlap block 8 can be smoothly flipped and inserted into the support slot 7. A buffer pad is set at the bottom of the support slot 7. The buffer pad is made of rubber material with a hardness of Shaw A60-70 and a thickness of 5-10mm. The buffer pad can play a role in shock absorption and buffering, reducing the impact between the cultivation platform and the sliding arm 5.

[0039] The bottom surface of the three-dimensional guide rail frame 2 is fixedly connected with a device base 1, and the device base 1 is used to provide support stability.

[0040] A buffer tray 12 is provided on the top of the three-dimensional guide rail frame 2. When the photoelectric sensor PS2 series detects that the number of seedlings on the second cultivation platform 9 is ≤5, a "buffer area activation" signal is sent to the PLC to control the manipulator to clamp the remaining seedlings on the second cultivation platform 9 into the buffer tray 12;

[0041] Photoelectric sensors determine the presence of objects by emitting light beams such as infrared light and detecting reflected or blocked signals. Photoelectric sensors are arranged according to the spacing of the acupoints on the cultivation platform, or scanned acupoint by acupoint through mechanical movement to detect the status of each acupoint for the presence or absence of seedlings. The number of signal changes at the transplanted acupoints is recorded through PLC. The total number of seedlings minus the number of transplanted acupoints is the remaining number.

[0042] PLC is an industrial computer that implements functions such as logic control, sequential control, timing, counting and arithmetic operations through programming. Its core functions are to receive input signals from sensors, buttons, etc., such as the status of seedling trays detected by photoelectric sensors, execute preset logic programs such as calculating the number of remaining seedlings, controlling the movement of transplanting machinery, and output control signals to actuators such as motors. PLC electrically connects all motors, sensors and manipulators.

[0043] The PLC controls the manipulator to clamp the remaining seedlings on the second cultivation platform 9 into the buffer tray 12;

[0044] After the photoelectric sensor detects that there is no seedling on the second cultivation platform 9, it sends a "transplanting completed" signal to the PLC to control the second cultivation platform 9 to flip, the first cultivation platform 6 to rise, and the robot to transplant in parallel;

[0045] The PLC controls the second cultivation table 9 to perform a flip so that it is in a vertical position. At the same time, the first cultivation table 6 is controlled to synchronously rise through the lifting column 11 to reach the top transfer position of the equipment;

[0046] The PLC controls the manipulator to move above the buffer tray 12 and start transplanting the seedlings in the buffer tray 12;

[0047] After the robot has finished transplanting the seedlings in the buffer tray 12 , it continues to transplant the seedlings in the first cultivation platform 6 .

[0048] The bottom of the incubator is integrated with LED matrix, 400-700nm full spectrum, 100-2000μmol / m 2 / s is adjustable.

[0049] The specific scheme is as follows: Seedling cultivation: Daily management: The force sensor monitors the root development in real time. When the load increment is greater than 10kg, the water and fertilizer addition instruction is triggered. When transplanting, the seedlings on the second cultivation platform 9 are transplanted first. When the photoelectric sensor detects that the remaining seedlings on the second cultivation platform 9 are ≤5, the PLC sends an "activate buffer area" signal to the manipulator, and the manipulator moves the remaining seedlings into the buffer tray 12. The photoelectric sensor confirms that there are no seedlings on the second cultivation platform 9. The PLC triggers a flip command, and the sliding arm 5 motor drives the second cultivation platform 9 to flip 90°. The servo motor of the lifting column 11 Start, drive the first cultivating platform 6 to move up, the sliding arm 5 corresponding to the first cultivating platform 6 rises synchronously along the T-shaped slide groove 3 through the T-shaped slider 4, the robot starts from the edge of the buffer plate 12, and takes the seedlings according to the principle of "far first and then near" to reduce the empty stroke, and then transplants the seedlings on the first cultivating platform 6 after taking them. The second cultivating platform 9 can move down during this process, and then turn over to a horizontal state to supplement the seedlings. When the seedlings on the first cultivating platform 6 are transplanted, the seedlings can be supplemented directly. At this time, the positions of the first cultivating platform 6 and the second cultivating platform 9 are upside down to cultivate the seedlings.

[0050] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A special cultivation equipment for agricultural greenhouses, comprising a three-dimensional guide rail frame (2), characterized in that: The surface of the three-dimensional guide rail frame (2) is slidably connected to a plurality of sliding arms (5), and the end of each sliding arm (5) is connected to a cultivation platform via a rotating pair. The cultivation platform located at the lower layer can be moved to the upper part of the cultivation platform located at the upper layer by sliding the sliding arm (5). The cultivation platform located at the lower layer includes a first cultivation platform (6), and the cultivation platform located at the upper layer includes a second cultivation platform (9).

2. According to claim 1, a special cultivation equipment for agricultural greenhouses, characterized in that: It also comprises a lifting column (11) vertically arranged for supporting the cultivation platform, wherein the lifting column (11) is used for driving the cultivation platform to move up and down.

3. According to claim 2, a special agricultural greenhouse cultivation equipment is characterized in that: The telescopic end of the lifting column (11) is fixedly connected to a rotating support (10), and the rotating support (10) is connected to the cultivation platform via a rotating pair, and the axis of the rotating pair coincides with the axis of the rotating pair connecting the sliding arm (5) and the cultivation platform.

4. The special cultivation equipment for agricultural greenhouses according to claim 1, characterized in that: The side surface of each of the cultivation platforms is fixedly connected with a platform overlap block (8), and the top surface of each of the sliding arms (5) is provided with a supporting slot (7) for the platform overlap block (8) to overlap.

5. The agricultural greenhouse cultivation equipment according to claim 1, characterized in that: A buffer tray (12) is arranged on the top of the three-dimensional guide rail frame (2). When it is detected that the number of seedlings on the second cultivation platform (9) is less than or equal to 5, the robot is controlled to clamp the remaining seedlings on the second cultivation platform (9) into the buffer tray (12).

6. The agricultural greenhouse cultivation equipment according to claim 5, characterized in that: After detecting that there are no seedlings on the second cultivation platform (9), the second cultivation platform (9) is controlled to flip, the first cultivation platform (6) is controlled to rise, and the robot transplants in parallel.

7. The agricultural greenhouse cultivation equipment according to claim 1, characterized in that: The surface of each sliding arm (5) is fixedly connected with a T-shaped sliding block (4), and the surface of the three-dimensional guide rail frame (2) is matched with a T-shaped sliding groove (3) for the T-shaped sliding block (4) to slide.

8. The agricultural greenhouse cultivation equipment according to claim 7, characterized in that: The T-shaped slide groove (3) has a built-in displacement sensor, and when the displacement sensor detects that the position deviation of the T-shaped slide block (4) is greater than 5 mm, an emergency stop is triggered.

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