Automatic three-dimensional cultivation system based on AGV carrying
By introducing an automated three-dimensional cultivation system based on AGV in the leafy vegetable cultivation system, the high construction cost and linkage difficulties caused by multiple independent conveying devices in the existing system are solved, and a lower cost, higher accuracy and wider AGV usage range is achieved.
Patent Information
- Application Number
- CN202422516929.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-17
- Publication Date
- 2025-06-24
- Estimated Expiration
- 2034-10-17
AI Technical Summary
The existing leafy vegetable cultivation system has multiple independent conveying devices, which leads to excessive wire harnesses and mechanical and electronic structures on the site, which increases construction costs and usage costs, and cannot achieve the linkage of multiple cultivation frames.
An automated three-dimensional cultivation system based on AGV (automatic guided transport vehicle) is adopted, and through a multi-layer three-dimensional structure frame cultivation frame, a gantry lifting system, AGV conveying system and AGV shuttle truck, the logistics interchange between the cultivation frames and the sharing of multiple sets of cultivation frames of the AGV shuttle truck.
The cost of the leafy vegetable three-dimensional cultivation system has been reduced, the accuracy of cultivation trays has been improved, the scope of use of AGV shuttle trucks has been expanded, and the degree of intelligence and operation efficiency of the system has been improved.
Smart Images
Figure CN223015534U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the field of facility agricultural equipment, and particularly relates to an automated three-dimensional cultivation system based on AGV (Automated Guided Vehicle) handling. Background Art
[0002] At present, most leafy vegetable cultivation racks are of the placement type or single-layer conveying type. Each layer of the cultivation rack has a set of conveying devices, and the linkage of multiple sets of cultivation racks within the site cannot be achieved, resulting in too many wire harnesses and mechatronic structures in the entire cultivation rack, increasing the construction cost and usage cost. A large number of components will also increase the occurrence of various problems during the use of the equipment.
[0003] In view of this, an automated three-dimensional cultivation system based on AGV handling is urgently needed to improve the intelligence level of the leafy vegetable cultivation system under the plant factory system and promote agricultural development. Summary of the Utility Model
[0004] The purpose of the utility model is to provide an automated three-dimensional cultivation system based on AGV handling, which can reduce the cost of the leafy vegetable three-dimensional cultivation system, improve the accuracy of placing cultivation trays, and expand the usage range of AGV shuttles.
[0005] To achieve the above purpose, the utility model adopts the following technical solutions: An automated three-dimensional cultivation system based on AGV handling includes: a cultivation rack configured as a multi-layer three-dimensional structure framework, a gantry lifting system connected to at least one end side of the cultivation rack, an AGV conveying system, and an AGV shuttle. Among them, the gantry lifting system includes: a gantry frame adjacently arranged on the cultivation rack, and a gantry lifting platform liftably arranged on the gantry frame; the AGV conveying system includes: cultivation rack shuttle tracks arranged on each layer of the cultivation rack, and platform shuttle tracks arranged on the gantry lifting platform to be docked with the corresponding cultivation rack shuttle tracks on each layer. The cultivation rack shuttle tracks and the platform shuttle tracks provide tracks for the AGV shuttle to travel; among them, the AGV shuttle includes: a traveling system, a housing, and a lifting mechanism arranged above the housing; the cultivation rack shuttle tracks are set as double-layer tracks. Among them, the upper layer track is a cultivation tray positioning and placing track, and the lower layer track is a shuttle track for the traveling system of the AGV shuttle. When the AGV shuttle shuttles along the lower layer track to the lower part of the cultivation tray to be carried, the lifting mechanism of the AGV shuttle starts to lift to lift the cultivation tray upward and transport it in a predetermined direction.
[0006] Preferably, a plurality of cultivation racks extending longitudinally as a whole are arranged side by side at intervals in the transverse direction; the automated three-dimensional cultivation system further includes: a transfer track extending in the transverse direction at adjacent positions of each corresponding gantry lifting system, and an AGV shuttle transfer device movably arranged along the transfer track to be docked with the gantry lifting platforms of each gantry lifting system.
[0007] Preferably, the AGV shuttle also includes: guide wheels mounted on the housing in a manner that the wheel rims protrude.
[0008] Preferably, above the housing, there is also an electric push rod connected to the motor. The electric push rod and the link mechanism articulated in a scissor - type manner through a push link form a lifting mechanism for driving the top plate to lift and lower.
[0009] Preferably, the traveling system is a four - wheel drive system.
[0010] Preferably, the cultivation tray positioning and placement track of the upper - layer track and the shuttle traveling track of the lower - layer track are connected to the same plate.
[0011] Preferably, above the cultivation tray positioning and placement tracks arranged opposite to each other on the upper left and upper right of the AGV shuttle, cultivation trays are erected.
[0012] Preferably, the platform shuttle track and the cultivation rack shuttle track are both set as double - layer tracks.
[0013] Preferably, one of the cultivation racks is only provided with one layer.
[0014] Preferably, the AGV shuttle transfer device is provided with a platform with a fixed height or a liftable platform for handing over the AGV shuttle.
[0015] The beneficial effects of the present utility model: Its precise positioning can greatly reduce the construction cost of the traditional leafy vegetable cultivation system, improve the placement accuracy of the cultivation trays, expand the application range of the AGV shuttle, and has the advantages of high intelligence, convenience and high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the embodiments of the present utility model, the following will describe the embodiments in conjunction with the drawings.
[0017] Figure 1 is a three - dimensional structure schematic diagram of the automatic three - dimensional cultivation system of the present utility model.
[0018] Figure 2 is a schematic diagram of the AGV shuttle used in the present utility model.
[0019] Figure 3 is a schematic diagram of the cooperation structure between the AGV shuttle and the cultivation rack shuttle track. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0020] The exemplary embodiments of the present utility model will be described in detail below with reference to the accompanying drawings. The exemplary embodiments described below and shown in the drawings are intended to teach the principles of the present utility model so that those skilled in the art can implement and use the present utility model in several different environments and for several different applications. Therefore, the protection scope of the present utility model is defined by the appended claims, and the exemplary embodiments are not intended to, and should not be considered as, a restrictive description of the protection scope of the present utility model. Moreover, for the convenience of description, the dimensions of the various parts shown in the drawings are not necessarily drawn according to the actual proportional relationship. Regarding the orientation description, such as the lateral direction transverse to the longitudinal length of the cultivation rack, up, down, left, right, top, bottom, etc., indicating the orientation or positional relationship, are all based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation to the present utility model. Throughout the drawings, the same elements are represented by the same or similar reference numerals. When it may cause confusion in the understanding of the present disclosure or is not easy to observe and understand, the conventional structure or local structure will be omitted. Unless otherwise specifically stated, the order of the components and the assembly steps and the numerical values set forth in the embodiments do not limit the scope of the present utility model.
[0021] As Figures 1 to 3 shown, an automated three-dimensional cultivation system based on AGV handling according to an exemplary embodiment of the present utility model includes: a cultivation rack 1, a gantry lifting system 2, an AGV conveying system 3, and an AGV shuttle car 4.
[0022] The cultivation rack 1 is an aluminum profile frame, for example, constructed by using European standard 4040 and European standard 4080 aluminum profiles to form a multi-layer three-dimensional structure frame. Each layer is used to place and convey leafy vegetable cultivation containers and other objects to be handled, such as hydroponic tanks, etc. (collectively referred to as cultivation trays herein). Here, a plurality of cultivation racks 1 extending longitudinally as a whole are arranged side by side at intervals in the lateral direction.
[0023] The gantry lifting system 2 includes: gantry frames 21 respectively adjacently provided at at least one end side (here, both end sides) of each cultivation rack 1, and a gantry lifting platform 22 vertically liftably provided inside the gantry frames 21. Thus, the logistics handover can be carried out between the gantry lifting platform 22 and each layer of the cultivation rack 1.
[0024] The AGV conveying system 3 includes: cultivation rack shuttle tracks 31 provided on each layer of the cultivation rack 1, platform shuttle tracks 32 provided on the gantry lifting platform 22 to be docked with the corresponding cultivation rack shuttle tracks 31 on each layer, an AGV shuttle car transfer device 33, and a transfer track 34. The cultivation rack shuttle tracks 31 and the platform shuttle tracks 32 provide tracks for the AGV shuttle car 4 to travel, and their structures are as Figure 3As shown. The transfer track 34 is disposed adjacent to each corresponding gantry lifting system 2 along the transverse direction. Thus, the AGV shuttle transfer device 33 can dock with the gantry lifting platforms 22 of each gantry lifting system 2 arranged side by side and the cultivation racks on each desired layer through lateral movement on the transfer track 34. That is, the AGV shuttle transfer device 33 itself can be provided with a platform of a fixed height or a liftable platform to more effectively conduct the handover of the AGV shuttle (4).
[0025] In some embodiments, the cultivation rack shuttle track 31 is fixed to each layer of the cultivation rack 1 by bolts, and the platform shuttle track 32 is fixed to the gantry lifting platform 22 by bolts. During the lifting process of the gantry lifting platform 22, the docking of the two groups of tracks, namely the cultivation rack shuttle track 31 and the platform shuttle track 32, is realized, so that the AGV shuttle 4 can shuttle between the gantry lifting platform 22 and the cultivation rack 1. The AGV shuttle 4 arriving at the gantry lifting platform 22 from the cultivation rack 1 can then be transferred to the AGV shuttle transfer device 33. Through the movement of the AGV shuttle transfer device 33 on the transfer track 34, the AGV shuttle 4 can be switched from the AGV shuttle transfer device 33 to another row of the gantry lifting platform 22 and the cultivation rack 1.
[0026] The AGV shuttle 4 includes: a traveling system 41, a housing 42, and guide wheels 43. The guide wheels 43 are installed on the housing 42, and the wheel rims protrude 10 mm beyond the outermost side of the housing 42 to prevent the housing 42 from rubbing against the side of the corresponding track during the traveling of the AGV shuttle 4. Above the housing 42, an electric push rod 44 connected to a motor is further provided. The electric push rod 44 drives a lifting mechanism of a top plate 47 through a push rod 45 and a link mechanism 46 such as a scissor hinge to drive, for example, a cultivation tray on the top plate 47 to be lifted to a target position.
[0027] In some embodiments, the cultivation rack shuttle track 31 and the platform shuttle track 32 are double-layer tracks. Among them, the upper layer track is a cultivation tray positioning and placing track 35, and the lower layer track is a shuttle track 36 for the traveling system 41 (wheels) of the AGV shuttle 4. The corresponding upper and lower layer tracks are welded to the same plate 37 to form the final style of the track, such as Figure 3 the cultivation rack shuttle track 31 shown. The cultivation tray is configured as a square tray of 800*800 mm (not shown) and is simultaneously placed on the upper layer tracks on opposite sides (see Figure 3 the cultivation tray positioning and placing tracks 35 at the upper left and upper right of the AGV shuttle 4 in the figure). When the AGV shuttle 4 shuttles along the lower layer track (shuttle track 36) to directly below the tray, the lifting mechanism of the AGV shuttle 4 starts to lift. When the top plate 47 contacts the bottom of the tray, the tray is further lifted upward, and then the tray starts to be transported in a predetermined direction.
[0028] In some embodiments, there is a set of gantry lifting systems 2 at both ends of the cultivation rack 1, and the cultivation rack 1 is connected to the gantry lifting systems 2 through aluminum profile angle pieces and special aluminum profile bolts.
[0029] In some embodiments, the traveling system 41 is a four-wheel drive system.
[0030] In some embodiments, the maximum lifting speed of the gantry lifting platform 22 is 0.6 m / s, the maximum load is 100 kg, and the maximum transfer speed of the transfer track 34 is 0.5 m / s. The cultivation rack shuttle track 31 and the platform shuttle track 32 are aluminum alloy welded tracks. The upper layer track is a 20 mm * 40 mm aluminum alloy flat tube, and the lower layer track is a 40 mm * 80 mm aluminum alloy flat tube. The two flat tubes are welded to an aluminum alloy plate to form an integral shuttle track, and the net size of the upper and lower layers is 150 mm. That is, the distance from the bottom surface of the upper flat tube to the top surface of the lower flat tube is 150 mm, slightly higher than the height of the outer shell plane of the AGV shuttle car 4, so as to ensure the free passage of the AGV shuttle car 4.
[0031] Thus, the AGV shuttle car 4 can not only reach each cultivation rack 1 as the AGV shuttle car transfer device 33 moves along the transfer track 34, but also reach the predetermined positions of each layer of each cultivation rack 1 as the gantry lifting platform 22 lifts within the gantry frame 21, and use the lifting mechanism to transfer the target container. Thus, the transfer track 34 can realize the sharing of a single AGV shuttle car 4 on multiple sets of cultivation racks 1.
[0032] The above has been described by taking a number of cultivation racks 1 arranged in rows, the transfer track 34, etc. as examples, but it is not limited thereto. The present utility model is also equally applicable to the scenario of only one cultivation rack 1. At this time, the gantry lifting system 2 can be used to realize the logistics control between the layers of the cultivation rack 1. It is also not limited to the multi-layer cultivation rack 1. The present utility model is also equally applicable to multiple cultivation racks 1 arranged side by side including a cultivation rack 1 with only one layer. Moreover, it is not limited to the above one lifting mechanism, and more lifting mechanisms can also be provided, or one or more lifting mechanisms in which the electric push rod 44 is directly connected to and pushes the moving support (not shown). For example, in the scenario of only one lifting mechanism, the top plate 47 is not limited to the long strip shape shown in the figure, and can also be a cross shape or other shapes adapted to the lifting object.
[0033] The automatic three-dimensional cultivation system based on AGV handling of the present utility model has accurate positioning, can provide an efficient planting carrier for the leafy vegetable production field, greatly reduce the construction cost, improve the placement accuracy of the cultivation trays, and expand the use range of the AGV shuttle car. It scientifically manages farming operations and has the characteristics of automation and high efficiency.
[0034] In the description of the present application, the meaning of "a plurality of" is two or more than two, unless otherwise specifically defined. Unless otherwise clearly stipulated and defined, terms such as "installed", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances. Although the present utility model has been described with reference to various specific embodiments, it should be understood that modifications can be made within the spirit and scope of the described inventive concept. Therefore, it is intended that the present utility model is not limited to the described embodiments, but will have the full scope defined by the language of the appended claims.
Claims
1. An automated three-dimensional cultivation system based on AGV transportation, characterized in that: include: A cultivation rack (1) is constituted as a multi-layer three-dimensional structural frame, a gantry lifting system (2) connected to at least one end of the cultivation rack (1), an AGV conveying system (3) and an AGV shuttle vehicle (4), wherein the gantry lifting system (2) comprises: a gantry frame (21) arranged adjacent to the cultivation rack (1), and a gantry lifting platform (22) arranged on the gantry frame (21) so as to be liftable; the AGV conveying system (3) comprises: a cultivation rack shuttle track (31) arranged on each layer of the cultivation rack (1), a platform shuttle track (32) arranged on the gantry lifting platform (22) so as to be connected to the cultivation rack shuttle track (31) corresponding to each layer, and the cultivation rack shuttle track (31) is connected to the gantry lifting platform (22). 1) and a platform shuttle track (32) provide a track for the AGV shuttle vehicle (4) to travel; wherein the AGV shuttle vehicle (4) comprises: a travel system (41), a shell (42), and a lifting mechanism arranged above the shell (42); the cultivation rack shuttle track (31) is set as a double-layer track, wherein the upper track is a cultivation tray positioning and placing track (35), and the lower track is a shuttle vehicle travel track (36) for the travel system (41) of the AGV shuttle vehicle (4); when the AGV shuttle vehicle (4) travels along the lower track to the bottom of the cultivation tray to be transported, the lifting mechanism of the AGV shuttle vehicle (4) starts to lift the cultivation tray upward and transport it in a predetermined direction.
2. The automated three-dimensional cultivation system based on AGV transportation according to claim 1, characterized in that: A plurality of overall longitudinally extended cultivation racks (1) are arranged in parallel with each other at intervals along the transverse direction; the automated three-dimensional cultivation system further comprises: a transfer track (34) extending along the transverse direction is provided at an adjacent position of each corresponding gantry lifting system (2); and an AGV shuttle vehicle transfer device (33) movably arranged along the transfer track (34) to dock with the gantry lifting platform (22) of each gantry lifting system (2).
3. The automated three-dimensional cultivation system based on AGV transportation according to claim 1, characterized in that: The AGV shuttle vehicle (4) further comprises: a guide wheel (43) mounted on the housing (42) in a manner such that the wheel rim protrudes.
4. The automated three-dimensional cultivation system based on AGV transportation according to claim 1, characterized in that: An electric push rod (44) connected to the motor is also provided above the housing (42). The electric push rod (44) pushes the connecting rod (45) and the scissor-shaped hinged connecting rod mechanism (46) to form a lifting mechanism for driving the top plate (47) to move up and down.
5. The automated three-dimensional cultivation system based on AGV transportation according to claim 1, characterized in that: The walking system (41) is a four-wheel drive system.
6. The automated three-dimensional cultivation system based on AGV transportation according to claim 1, characterized in that: The cultivation tray positioning and placing track (35) of the upper track and the shuttle vehicle traveling track (36) of the lower track are connected to the same plate (37).
7. The automated three-dimensional cultivation system based on AGV transportation according to claim 1, characterized in that: The cultivation tray positioning and placing tracks (35) arranged opposite to each other on the upper left and upper right of the AGV shuttle vehicle (4) are used to set up the cultivation tray.
8. The automated three-dimensional cultivation system based on AGV transportation according to claim 1, characterized in that: The platform shuttle track (32) is configured as a double-layer track similar to the cultivation rack shuttle track (31).
9. The automated three-dimensional cultivation system based on AGV transportation according to claim 2, characterized in that: One of the cultivation racks (1) is provided with only one layer.
10. The automated three-dimensional cultivation system based on AGV transportation according to claim 2, characterized in that: The AGV shuttle transfer device (33) is provided with a platform at a fixed height or a platform that can be raised or lowered for receiving and transferring the AGV shuttle (4).