Rotary seedling tray collecting and releasing mechanism and collecting and releasing method thereof

Abstract

The application discloses a rotary seedling tray collecting and releasing mechanism and a collecting and releasing method thereof. The collecting and releasing mechanism is located at a notch at the front end of a frame, the rotating shafts of rotating devices are fixed with rotating rods and output shafts of a driving motor respectively, the inner cavity of a protective shell fixed on the rotating rod is provided with a gear train, the rotating devices are symmetrically arranged and connected through a seedling tray supporting plate; the frame is provided with a belt transmission mechanism outside the two rotating devices; a storage frame is fixed in the middle of the frame, two transportation storage mechanisms are symmetrically arranged on the storage frame and located outside the two belt transmission mechanisms. The application has the functions of collecting and releasing, realizes full automation and one machine with multiple uses, improves work efficiency and has a simple structure; the gear train is arranged to make the seedling tray supporting plate rotate relative to the rotating plate while rotating with the rotating plate, so that the seedling tray supporting plate is always kept horizontal.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery, specifically relating to a rotating seedling tray receiving and releasing mechanism and its receiving and releasing method. Background Technology

[0002] Rice is one of the most important grains in people's daily lives, and rice seedling raising is a crucial step in rice cultivation. Raising seedlings extends the rice's growing season, thereby increasing yield. With the development of agricultural mechanization in my country, rice seedling raising has gradually become mechanized. People use seedling trays with machinery for raising seedlings, and after raising, the trays are released using tray-laying equipment. However, tray retrieval still relies heavily on manual labor, as there are few related tray retrieval devices. Furthermore, current tray-retrieval machines on the market suffer from drawbacks such as large size, inconvenience in movement, and high manufacturing costs, resulting in low adaptability. Additionally, current seedling raising equipment has relatively limited functionality, making it impossible for a single machine to complete tray retrieval, tray placement, and tray transportation, leading to low work efficiency. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and to propose a rotating seedling tray receiving and releasing mechanism and its receiving and releasing method.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] This invention discloses a rotary seedling tray receiving and discharging mechanism, comprising a frame, a seedling tray storage mechanism, a tracked walking mechanism, a receiving and discharging mechanism, a seedling tray transport vehicle, and a seedling tray transport mechanism. The receiving and discharging mechanism is located at a notch at the front end of the frame. The seedling tray storage mechanism and the seedling tray transport mechanism are located on the upper surface of the frame, and the lower surface is connected to the tracked walking mechanism via a connecting frame. The receiving and discharging mechanism includes a rotating device and a seedling tray support plate. The rotating device includes a gear system, a rotating rod, a rotating shaft, a hollow shaft, and a protective shell. The protective shell is fixed to the rotating rod, and the inner cavity of the protective shell contains a gear system. The gear system includes a sun gear, an intermediate gear, and planetary gears. One end of the hollow shaft passes through a circular hole in the protective shell and is fixed to the sun gear, forming a rotating pair with the protective shell. The other end is fixed to the frame. One end of the rotating shaft passes through the central hole of the hollow shaft and the circular hole in the sun gear and connects with the rotating rod. The rotating rod is fixed, and its other end forms a rotating pair with the frame. Two intermediate wheels are hinged to the rotating rod at a distance, and both intermediate wheels mesh with the sun gear. The connecting shafts fixed on the two planetary gears pass through a circular hole on the rotating rod, forming a rotating pair with the rotating rod, and the two planetary gears mesh with the two intermediate gears respectively. There are two symmetrically arranged rotating devices, and the two opposite connecting shafts of each of the two rotating devices are fixed to the two ends of a seedling tray support plate. A drive motor is fixed on the frame, and the output shaft of the drive motor is fixed to the rotation shaft of any rotating device. Plate-laying rods are fixed on both sides of the recess on the lower surface of the frame. The length of the seedling tray support plate is less than the distance between the two rotating rods, the two plate-laying rods are located outside the two rotating rods, and the seedling tray support plate is flush with the bottom of the track walking mechanism when it is at its lowest point.

[0006] The seedling tray transport mechanism includes a transport vehicle parking frame, guard plates, and a belt drive mechanism. The transport vehicle parking frame includes a stop plate and a transport vehicle parking frame. Two guard plates, spaced apart, are vertically fixed to the front end of the frame and located on both sides of a recess. The transport vehicle parking frame is fixed to the rear end of the frame, with an opening at one end near the middle of the frame. The belt drive mechanism has two belts, spaced apart. The driven pulleys of the two belt drive mechanisms and the two guard plates form a rotating pair, and the driving pulleys of the two belt drive mechanisms are fixed to the main shaft. The main shaft and the transport vehicle parking frame form a rotating pair, and the belt surfaces of the two belt drive mechanisms are flush. A stop plate is fixed to the open end of the transport vehicle parking frame, and the distance between the lower end of the stop plate and the two conveyor belts is less than the height of the seedling tray. A limit switch is fixed to the stop plate. The drive motor two, fixed on the frame, drives the main shaft to rotate, and two rotating rods are located between the two conveyor belts.

[0007] The seedling tray storage mechanism includes a storage frame and a transport storage mechanism. The transport storage mechanism includes a chain drive mechanism, angle iron group one, and angle iron group two. The storage frame is fixed in the middle of the machine frame. The chain drive mechanism has two vertically spaced chains. The driving sprockets in the two chain drive mechanisms are fixed by a rotating shaft, which is driven by a drive motor three fixed on the machine frame. The driven sprockets in the two chain drive mechanisms are fixed by another rotating shaft. Both rotating shafts form a rotating pair with the storage frame. Angle iron group one and angle iron group two are each composed of multiple angle irons arranged at equal intervals, and the two ends of the angle irons are fixed to the chains in the two chain drive mechanisms respectively. The storage frame has two symmetrically arranged transport storage mechanisms located outside the two conveyor belts. In angle iron group one, the distance between two adjacent angle irons is equal to the length of one chain link, and in angle iron group two, the distance between two adjacent angle irons is equal to the length of two chain links.

[0008] The seedling tray transport vehicle includes a tray collection transport vehicle and a tray placement transport vehicle. The tray collection transport vehicle includes guide rails, transport wheels, a transport frame, a support frame, and an electric slide rail. Transport wheels are hinged to the four corners of the bottom of the transport frame. An electric slide rail is fixed inside the transport frame at the bottom position. The support frame is placed inside the transport frame and fixed to the slider on the electric slide rail. The support frame has multiple rod groups that are integrally formed and equidistantly arranged vertically. Each rod group consists of two support rods arranged at horizontal intervals, and the distance between the two support rods is less than the distance between the two transport and storage mechanisms. The guide rail has two vertically arranged rods, and each guide rail is detachably fixed to a row of support rods arranged vertically. Compared with the tray collection transport vehicle, the distance between two adjacent rod groups of the tray placement transport vehicle is equal to the length of one link of the chain, and the distance between two adjacent rod groups of the tray collection transport vehicle is equal to the length of two links of the chain. Other structures are completely identical.

[0009] Preferably, the plate-laying rod includes a stop bar and a stop block. The upper end of the stop bar has a threaded hole, and the stop bar is fixed to the frame by bolts and the threaded hole. The lower end of the stop bar is fixed with a stop block.

[0010] Preferably, the main shaft is supported on the transport vehicle parking frame by a bearing housing one, and the driven pulley is supported on the corresponding guard plate by a bearing housing two.

[0011] Preferably, the frame has several rollers in the middle, the rollers and the support form a rotating pair, and the support is fixed to the frame.

[0012] More preferably, a protective shell II is fixed in the middle of the frame between the two conveyor belts, and the upper end face of the protective shell II is lower than the two conveyor belts, with each idler roller placed in the inner cavity of the protective shell II.

[0013] Preferably, the rotating shaft is supported on the storage frame by bearing seats.

[0014] Preferably, each connection point on the storage frame is fixed with a triangular bracket.

[0015] Preferably, the guide rail has multiple grooves spaced at intervals and equal in number to the number of support rods arranged in a row. Each support rod in the row is embedded in a corresponding groove. One end of the guide rail is an inclined surface, and the other end has an integrally formed connecting protrusion. The rear end of the transport vehicle parking frame is hinged with two connection ports.

[0016] The closing method of this invention is as follows:

[0017] Step 1: The controller controls the output shaft of drive motor 4 in the tracked walking mechanism to rotate forward, thereby causing the tracked walking mechanism to move the frame forward. At the same time, the controller controls the output shaft of drive motor 2 to rotate in reverse, which drives the two drive pulleys to rotate in reverse synchronously, thereby causing the two conveyor belts to transport backward. The controller also controls the output shaft of drive motor 1 to rotate in reverse, which drives the corresponding rotating shaft to rotate in reverse, thereby causing the corresponding rotating plate and gear protective shell to rotate in reverse together. This, in turn, drives the other rotating plate and the other gear protective shell to rotate in reverse synchronously through the two seedling tray support plates. When the two rotating plates rotate in reverse synchronously, each sun gear remains stationary. Each intermediate gear, along with the rotation of the corresponding rotating plate, meshes with the corresponding sun gear and rotates in reverse relative to the rotating plate. Simultaneously, each planet gear, along with the rotation of the corresponding rotating plate, rotates in reverse and meshes with the corresponding intermediate gear, rotating in the forward direction relative to the rotating plate. This causes each seedling tray support plate to rotate in the forward direction relative to each rotating plate while rotating in reverse, thus keeping the two seedling tray support plates horizontal at all times.

[0018] Step 2: As the tracked walking mechanism drives the frame forward, one of the seedling tray support plates scoops up the seedling tray from the lowest point. The seedling tray support plate that scoops up the seedling tray rotates with the rotating plate, and carries the seedling tray from the lowest point to the highest point. Then, the tray receiving and discharging mechanism drives the seedling tray to continue rotating. When both ends of the seedling tray come into contact with the two conveyor belts, the seedling tray is lifted by the two conveyor belts. The seedling tray support plate separates from the seedling tray as the rotating plate rotates and rotates towards the lowest point. The seedling tray moves towards the storage frame with the two conveyor belts.

[0019] Step 3: When the seedling tray is transported between the two transport and storage mechanisms and touches the limit switch, the controller controls the drive motors of the two transport and storage mechanisms to rotate forward, so that each chain drive mechanism works synchronously, thereby driving the angle irons in the angle iron group 2 inside the two transport and storage mechanisms to move from bottom to top. When the angle irons of the two angle iron groups 2 move upward by two chain links, the controller controls the two drive motors to stop working. At the same time, the two ends of the seedling tray contact the two opposite angle irons in the two angle iron groups 2, the seedling tray is lifted up and moves upward by two chain links.

[0020] Step 4: Repeat steps 2 and 3. When the two angle iron groups 2 are full of seedling trays, the controller controls drive motor 1, drive motor 2 and drive motor 4 to stop working. Then, remove the two guide rails from the tray collection transport vehicle, tilt the two guide rails and fix them to the transport vehicle parking frame. Then, the controller controls the hub motors of each transport wheel to rotate forward. The hub motors drive the transport wheels to move the transport vehicle frame, support frame and electric slide rail along the guide rail surfaces of the two guide rails to the transport vehicle parking frame.

[0021] Step 5: The controller controls the drive motors of the two transport and storage mechanisms to rotate forward, causing the angle iron groups 2 and seedling trays of the two transport and storage mechanisms to move upward until the lowest angle iron in the two angle iron groups 2 is positioned between the two lowest rod groups on the support frame. Then, the controller controls the drive motor of the electric slide rail to rotate forward, causing the slider of the electric slide rail to move the support frame outward between the two transport and storage mechanisms, with a seedling tray above each rod group of the support frame. Then, the controller controls the output shaft of the drive motor 3 to rotate in reverse, and each chain drive mechanism drives the two angle iron groups 2 to move downward until each seedling tray is placed on the corresponding rod group. At this time, each seedling tray is disengaged from the corresponding angle iron.

[0022] Step Six: The controller controls the drive motor of the electric slide rail to reverse, thereby causing the slider of the electric slide rail to move the support frame and each seedling tray into the transport vehicle frame. Then, the controller controls each hub motor to reverse, and the hub motor drives the transport wheels to move the transport vehicle frame, support frame, electric slide rail and each seedling tray along the guide rail from the transport vehicle parking frame to the ground. Then, the two guide rails are removed from the transport vehicle parking frame and fixed to the corresponding support rods. Finally, the controller controls each hub motor to work, and the tray collection transport vehicle transports the seedling trays to the designated location, completing the tray collection work.

[0023] The specific method for placing the tray according to the present invention is as follows:

[0024] The first step is to remove the two guide rails from the tray-laying transport vehicle containing the seedling trays, and then tilt the two guide rails and fix them to the transport vehicle parking frame. Then, the controller controls the hub motors of each transport wheel to rotate forward. The hub motors drive the transport wheels to move the transport vehicle frame, support frame, electric slide rails and each seedling tray along the two guide rails to the transport vehicle parking frame.

[0025] The second step involves the controller controlling the drive motors of the two transport and storage mechanisms to rotate, causing the angle iron groups of the two transport and storage mechanisms to move inward, with the lowest rod group on the support frame positioned between the two lowest angle irons in the angle iron group. Next, the controller controls the drive motor of the electric slide rail to rotate forward, causing the slider of the electric slide rail to move the support frame and each seedling tray outward between the two transport and storage mechanisms, with each angle iron in the angle iron group having a seedling tray above it. Then, the controller controls the drive motors of the two transport and storage mechanisms to rotate forward, causing the angle iron groups of the two transport and storage mechanisms to move upward until each seedling tray is lifted by the opposite angle irons of the two angle iron groups, at which point each seedling tray disengages from its corresponding rod group.

[0026] The third step is to control the output shaft of drive motor five to reverse, so that the slider of the electric slide rail moves the support frame into the transport vehicle frame. Then, the controller controls the output shaft of each hub motor to reverse, and the output shaft of the hub motor drives the transport wheels to move the transport vehicle frame, support frame and electric slide rail along the two guide rails from the transport vehicle parking frame to the ground. Finally, the two guide rails are removed from the transport vehicle parking frame and fixed to the corresponding support rods.

[0027] Fourth step: The controller controls the output shaft of drive motor four in the tracked walking mechanism to rotate in reverse, causing the tracked walking mechanism to move the frame and seedling trays backward. At the same time, the controller controls the output shaft of drive motor two to rotate forward, which drives the two drive pulleys to rotate synchronously in the forward direction, thereby causing the two conveyor belts to transport the seedlings forward. The controller also controls the output shaft of drive motor one to rotate in the forward direction, which drives the corresponding rotating shaft to rotate in the forward direction, thereby causing the corresponding rotating plate and gear protective shell to rotate in the forward direction together. This, in turn, drives the other rotating plate and the other gear protective shell to rotate synchronously in the forward direction through the two seedling tray support plates. When the two rotating plates rotate synchronously in the forward direction, each sun gear remains stationary. Each intermediate gear meshes with the corresponding sun gear and rotates in the forward direction relative to the rotating plate while the corresponding rotating plate rotates in the forward direction. At the same time, each planet gear meshes with the corresponding intermediate gear and rotates in the reverse direction relative to the rotating plate while the corresponding rotating plate rotates in the forward direction. This causes each seedling tray support plate to rotate in the reverse direction relative to each rotating plate while rotating in the forward direction, thus keeping the two seedling tray support plates horizontal at all times.

[0028] Step 5: The controller controls the drive motors of the two transport and storage mechanisms to reverse, which drives the angle iron group 1 and each seedling tray of the two transport and storage mechanisms to move downward until a seedling tray is separated from the corresponding angle iron. At this time, the seedling tray falls onto the two conveyor belts, and then the two conveyor belts drive the seedling tray to the direction of the tray collection and release mechanism.

[0029] Step 6: When the empty seedling tray support plate at the lowest position rotates until its upper surface is aligned with the two conveyor belts, a seedling tray is transported above the seedling tray support plate. At the same time, the seedling tray support plate lifts the seedling tray as the rotating plate rotates, and the seedling tray is separated from the two conveyor belts. Then, the seedling tray support plate carries the seedling tray past the highest point and rotates to the lowest point. When the two ends of the seedling tray touch the two tray release bars, the two tray release bars prevent the seedling tray from moving with the seedling tray support plate. As the rotating plate continues to rotate, the seedling tray is separated from the seedling tray support plate and finally placed on the ground.

[0030] Step 7: Repeat steps 5 and 6 until all the seedling trays on both angle iron groups are placed on the ground. Then, the controller will stop drive motor 1, drive motor 2 and drive motor 4, completing the seedling tray placement process.

[0031] The beneficial effects of this invention are as follows:

[0032] 1. This invention features both tray collection and tray placement functions, achieving full automation and multi-functionality, thus improving work efficiency. Its simple structure significantly reduces manufacturing costs. Furthermore, the inclusion of a tracked walking mechanism allows for better movement in fields, enhancing adaptability. During tray collection, the tracked walking mechanism propels the frame forward. The controller controls the output shaft of drive motor one to reverse, causing the tray collection and placement mechanism to reverse as well. The tray tray support in the tray collection and placement mechanism scoops up the trays from the ground and transports them to two conveyor belts. These conveyor belts then transport the trays to the tray storage mechanism. Once the trays touch the limit switches, the controller controls the drive motors of the two transport and storage mechanisms to rotate forward, causing the two angle iron assemblies to move upwards. The two opposing angle irons in the two angle iron assemblies support both ends of the tray. After the two angle iron assemblies are full, the controller controls the tray collection transport vehicle to move its frame to the transport vehicle parking frame. The support frame extends via an electric slide rail. Finally, the controller controls the drive motors of the two transport and storage mechanisms to rotate in reverse. The rotation causes the two angle iron groups to move downwards, placing each seedling tray on the corresponding rod group, and the tray collection and transport vehicle completes the tray collection. During the tray placement process, the tray placement and transport vehicle transports the seedling trays to the transport vehicle's parking frame, and the support frame extends via an electric slide rail. Then, the controller controls the drive motor three to rotate forward, causing the two angle iron groups to move upwards and place each seedling tray on the corresponding angle iron. The seedling trays are then placed on two conveyor belts, which move them to the tray collection and placement mechanism. The controller controls the output shaft of drive motor one to rotate forward, causing the tray collection and placement mechanism to rotate forward. The tray support plate in the tray collection and placement mechanism lifts the seedling trays from the conveyor belt and transports them to the lowest point. Finally, the tray placement rod prevents the seedling trays from rotating with the tray support plate, and the seedling trays are placed on the ground, completing the tray placement process.

[0033] 2. The present invention is equipped with a gear system. When the seedling tray is being collected, the seedling tray support plate rotates in the opposite direction with the rotating plate while rotating in the same direction relative to the rotating plate. When the seedling tray is being released, the seedling tray support plate rotates in the opposite direction with the rotating plate while rotating in the same direction relative to the rotating plate. This ensures that the seedling tray support plate remains horizontal during the collection and release of the seedling trays, preventing the seedling trays from falling off during the collection and release process. This improves the stability and reliability of the collection and release mechanism during the collection and release of the seedling trays.

[0034] 3. The present invention is equipped with a seedling tray storage mechanism. During the tray collection process, the seedling trays are supported by the two angle iron groups to achieve temporary storage of the seedling trays in the vertical direction, which saves space. After the seedling trays on each angle iron group are full, they can be transported away by the tray collection and transportation vehicle, which replaces the manual collection of seedling trays one by one, saving labor. At the same time, the tray collection work can be carried out simultaneously with the work of transporting seedling trays by the tray collection and transportation vehicle, saving time and improving work efficiency.

[0035] 4. In this invention, the width of the tracked walking mechanism is less than the length of the seedling tray, meaning the width of the ground contact portion is less than the length of the seedling tray. Therefore, it can operate normally in environments where seedling trays are densely arranged. When performing tray collection, this invention will not affect the seedling trays on both sides. When performing tray placement, seedling trays can be placed at smaller intervals, improving the utilization rate of the site. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0037] Figure 2 This is a schematic diagram of the structure of the frame, tray loading and unloading mechanism, seedling tray storage mechanism, seedling tray transportation mechanism, and tracked walking mechanism in this invention;

[0038] Figure 3 This is a schematic diagram of the tray receiving and discharging mechanism in this invention;

[0039] Figure 4 This is a schematic diagram of the structure of the plate-laying rod in this invention;

[0040] Figure 5 This is a schematic diagram of the seedling tray transport mechanism and the tracked walking mechanism in this invention;

[0041] Figure 6 This is a schematic diagram of the seedling tray storage mechanism in this invention;

[0042] Figure 7 This is a schematic diagram of the structure of the seedling tray transport vehicle in this invention;

[0043] Figure 8 This is a schematic diagram of the guide rail structure in this invention;

[0044] Figure 9 This is a schematic diagram of the structure of the angle iron group two when storing the seedling tray in this invention;

[0045] Figure 10 This is a schematic diagram of the structure of the tray-placing transport vehicle when placing seedling trays in this invention;

[0046] Figure 11 This is a schematic diagram of the structure of the angle iron assembly in this invention when it is filled with seedling trays. Detailed Implementation

[0047] The present invention will now be further described with reference to the accompanying drawings.

[0048] like Figure 1 As shown, the present invention discloses a rotary seedling tray receiving and dispensing mechanism, comprising a frame, a receiving and dispensing mechanism 1, a seedling tray storage mechanism 2, a seedling tray transport vehicle 3, a seedling tray transport mechanism, and a tracked walking mechanism 9. The receiving and dispensing mechanism 1 is located at a notch at the front end of the frame, the seedling tray storage mechanism 2 and the seedling tray transport mechanism are located on the upper surface of the frame, and the lower surface is connected to the tracked walking mechanism 9 via a connecting frame 8 (the width of the tracked walking mechanism is less than the length of the seedling tray).

[0049] like Figure 2 and Figure 3 As shown, the tray receiving and discharging mechanism 1 includes a rotating device and a seedling tray support plate 16; the rotating device includes a gear system, a rotating rod 12, a rotating shaft 14, a hollow shaft 15, and a protective shell 17; the protective shell 17 is fixed on the rotating rod 12, and the inner cavity of the protective shell 17 is provided with a gear system, which is used to protect the gear system; the gear system includes a sun gear, intermediate gears 13, and planetary gears; one end of the hollow shaft 15 passes through a round hole in the protective shell 17 and is fixed to the sun gear, forming a rotating pair with the protective shell 17, and the other end is fixed to the frame; one end of the rotating shaft 14 passes through the center hole of the hollow shaft 15 and the round hole in the sun gear and is fixed to the rotating rod 12, and the other end forms a rotating pair with the frame; two intermediate gears 13 are hinged on the rotating rod 12 at intervals, and both intermediate gears 13 mesh with the sun gear; the connecting shafts fixed on the two planetary gears pass through a round hole in the rotating rod 12, forming a rotating pair with the rotating rod 12, and the two planetary gears mesh with the two intermediate gears 13 respectively. Two rotating devices are symmetrically arranged, and the two opposite connecting shafts of each rotating device are respectively fixed to both ends of a seedling tray support plate 16. A drive motor is fixed on the frame, and the output shaft of the drive motor is fixed to the rotation shaft 14 of any rotating device; tray-placing rods 10 are fixed on both sides of the recess on the lower surface of the frame. The length of the seedling tray support plate 16 is less than the distance between the two rotating rods 12, and the two tray-placing rods 10 are located outside the two rotating rods 12 (the distance between the two tray-placing rods 10 is less than the length of the seedling tray). When the seedling tray support plate 16 is at its lowest point, it is flush with the bottom of the crawler walking mechanism 9.

[0050] like Figure 2 and Figure 5As shown, the seedling tray transport mechanism includes a transport vehicle parking frame 5, guard plates 33, and a belt drive mechanism 34. The transport vehicle parking frame 5 includes a stop plate 7 and a transport vehicle parking frame 39. Two guard plates 33, spaced apart, are vertically fixed to the front end of the frame and located on both sides of the recess. The transport vehicle parking frame 39 is fixed to the rear end of the frame and has an opening near the middle of the frame. The belt drive mechanism 34 has two belts spaced apart. The driven pulleys of the two belt drive mechanisms 34 and the two guard plates 33 respectively form a rotating pair. All drive pulleys are fixed to the main shaft, and the main shaft and the transport vehicle parking frame 39 form a rotating pair; the belt surfaces of the two belt drive mechanisms 34 are flush; a stop plate 7 is fixed to one end of the transport vehicle parking frame 39 with an opening, and the distance between the lower end of the stop plate 7 and the two conveyor belts is less than the height of the seedling tray; a limit switch is fixed on the stop plate 7; wherein, the drive motor 37 fixed on the frame drives the main shaft to rotate, and the two rotating rods 12 are located between the two conveyor belts (the distance between the two conveyor belts is less than the length of the seedling tray).

[0051] like Figure 6 As shown, the seedling tray storage mechanism 2 includes a storage frame 19 and a transport storage mechanism. The storage frame 19 is fixed in the middle of the machine frame. The transport storage mechanism includes a chain drive mechanism, angle iron group one, and angle iron group two. The chain drive mechanism has two vertically spaced chains. The driving sprockets 18 in the two chain drive mechanisms are fixed by a rotating shaft 22, which is driven by a drive motor three fixed on the machine frame. The driven sprockets in the two chain drive mechanisms are fixed by another rotating shaft 22. Both rotating shafts 22 form a rotating pair with the storage frame 19. Angle iron group one and angle iron group two are each composed of multiple angle irons 24 arranged at equal intervals, and the two ends of the angle irons 24 are respectively fixed to the chains 23 in the two chain drive mechanisms. The storage frame 19 has two symmetrically arranged transport storage mechanisms located outside the two conveyor belts. In angle iron group one, the distance between two adjacent angle irons 24 is equal to the length of one link of chain 23, and the distance between two adjacent angle irons 24 in angle iron group two is equal to the length of two links (when two angle iron groups one or two angle iron groups two are located inside the corresponding transport and storage mechanism, the distance between two opposite angle irons in two angle iron groups one or two angle iron groups two is less than the length of the seedling tray).

[0052] like Figure 7As shown, the seedling tray transport vehicle 3 includes a tray collection transport vehicle and a tray placement transport vehicle; the tray collection transport vehicle includes a guide rail 4, transport wheels 25, a transport frame 26, a support frame 27, and an electric slide rail 28; transport wheels 25 are hinged at the four corners of the bottom of the transport frame 26; the electric slide rail 28 is fixed inside the transport frame 26 at the bottom position; the support frame 27 is placed inside the transport frame 26 and fixed to the slider on the electric slide rail 28; the support frame 27 is provided with multiple rod groups integrally formed and equidistantly arranged vertically; the rod group consists of two support rods arranged horizontally, and the distance between the two support rods is less than the distance between the two transport and storage mechanisms; the guide rail 4 has two vertically arranged rods, and each guide rail 4 is detachably fixed to a row of support rods arranged vertically. When the guide rail 4 is not detached, it is used to support the corresponding support rod when the tray collection transport vehicle transports the seedling trays to prevent damage to the support rods. Compared to the unloading transport vehicle, the spacing between two adjacent links of the unloading transport vehicle is equal to the length of one link of chain 23, while the spacing between two adjacent links of the unloading transport vehicle is equal to the length of two links of chain 23. All other structures are completely identical.

[0053] Among them, drive motor one, drive motor two 37, drive motor three, drive motor four in the track walking mechanism 9, hub motor of drive transport wheel 25, and drive motor five of electric slide rail 28 in the coiling transport vehicle and the coiling transport vehicle are all controlled by the controller, and the signal output terminal of the limit switch is connected to the controller.

[0054] As a preferred embodiment, such as Figure 4 As shown, the plate-laying rod 10 includes a stop bar 42 and a stop block 43. The upper end of the stop bar 42 is provided with a threaded hole 41. The stop bar 42 is fixed to the frame by bolts and the threaded hole. The lower end of the stop bar 42 is fixed with a stop block 43.

[0055] In a preferred embodiment, the main shaft is supported on the transport vehicle parking frame 39 by bearing housing 6, and the driven pulley is supported on the corresponding guard plate 33 by bearing housing 2.

[0056] In a preferred embodiment, a number of idler rollers 35 are provided in the middle of the frame. The idler rollers 35 and the bracket 40 form a rotating pair to support the two conveyor belts. The bracket 40 is fixed to the frame.

[0057] More preferably, a protective shell 36 is fixed in the middle of the frame between the two conveyor belts, and the upper end of the protective shell 36 is lower than the two conveyor belts. Each idler roller 35 is placed in the inner cavity of the protective shell 36. The protective shell 36 is used to protect each idler roller 35 and prevent soil and other debris brought up from the field with the seedling tray from affecting the normal operation of the belt drive mechanism 34.

[0058] In a preferred embodiment, the rotating shaft 22 is supported on the storage frame 19 by bearing housing 3 20.

[0059] In a preferred embodiment, each connection point on the storage frame 19 is fixed with a triangular bracket 21, which is used to increase the stability of the storage frame 19.

[0060] As a preferred embodiment, such as Figure 8 As shown, the guide rail 4 has multiple grooves 31 arranged at intervals, the number of which is equal to the number of the vertically arranged support rods. Each support rod in the vertically arranged support rods is embedded in a corresponding groove 31. One end of the guide rail 4 is set as an inclined surface 32, and the other end is provided with an integrally formed connecting protrusion 30. The rear end of the transport vehicle parking frame 39 is hinged with two connection ports 38. The connecting protrusion is used to embed into the connection port 38 of the transport vehicle parking frame 39 when the guide rail 4 is fixed to the transport vehicle parking frame 39.

[0061] The present invention discloses a method for collecting seedling trays using a rotary seedling tray collecting and releasing mechanism, as detailed below:

[0062] Step 1: The controller controls the output shaft of drive motor 4 in the tracked walking mechanism 9 to rotate forward, thereby causing the tracked walking mechanism 9 to move the frame forward. At the same time, the controller controls the output shaft of drive motor 2 37 to rotate in reverse, and the output shaft of drive motor 2 37 drives the two drive pulleys to rotate in reverse synchronously, thereby causing the two conveyor belts to transport backward. The controller also controls the output shaft of drive motor 1 to rotate in reverse, and the output shaft of drive motor 1 drives the corresponding rotating shaft 14 to rotate in reverse, thereby causing the corresponding rotating plate 12 and gear protective housing 17 to rotate in reverse together. This, in turn, drives the other rotating plate 12 and the other gear protective housing 17 to rotate in reverse synchronously through the two seedling tray support plates 16. When the two rotating plates 12 rotate in reverse synchronously, each sun gear remains stationary. Each intermediate gear 13, while rotating with the corresponding rotating plate 12, meshes with the corresponding sun gear and rotates in reverse relative to the rotating plate 12. At the same time, each planet gear, while rotating with the corresponding rotating plate 12, meshes with the corresponding intermediate gear and rotates in the forward direction relative to the rotating plate 12. This causes each seedling tray support plate 16 to rotate in the forward direction relative to each rotating plate 12 while rotating in reverse, thus keeping the two seedling tray support plates 16 horizontal at all times.

[0063] Step 2: As the tracked walking mechanism 9 moves the frame forward, one of the seedling tray support plates 16 scoops up the seedling tray 11 from the lowest point. The seedling tray support plate 16 that scoops up the seedling tray 11 rotates with the rotating plate 12, and carries the seedling tray 11 from the lowest point to the highest point. Then, the tray receiving and discharging mechanism 1 drives the seedling tray 11 to continue rotating. When the two ends of the seedling tray 11 come into contact with the two conveyor belts, the seedling tray 11 is lifted by the two conveyor belts. The seedling tray support plate 16 separates from the seedling tray 11 as the rotating plate 12 rotates and rotates towards the lowest point. The seedling tray 11 moves towards the storage frame 19 with the two conveyor belts.

[0064] Step 3: When the seedling tray 11 is transported between the two transport and storage mechanisms and touches the limit switch, the controller controls the drive motors of the two transport and storage mechanisms to rotate forward, causing each chain drive mechanism to work synchronously. This drives the angle irons in the angle iron group two inside the two transport and storage mechanisms to move from bottom to top (initially, there are no angle irons on the inside of the transport and storage mechanisms above the transmission belt). After the angle irons of the two angle iron groups two move upward by two chain links, the controller controls the two drive motors three to stop working. At the same time, the two ends of the seedling tray contact the two opposite angle irons in the two angle iron groups two, the seedling tray is lifted, and moves upward by two chain links. Figure 9 As shown.

[0065] Step 4: Repeat steps 2 and 3. When the two angle iron groups 2 are full of seedling trays, the controller controls drive motor 1, drive motor 2 37 and drive motor 4 to stop working. Then, remove the two guide rails 4 from the tray collection transport vehicle, tilt the two guide rails 4 and fix them to the transport vehicle parking frame 39. Then, the controller controls the hub motors of each transport wheel 25 to rotate forward. The hub motors drive the transport wheels 25 to move the transport vehicle frame 26, support frame 27 and electric slide rail 28 along the guide rail surface 29 of the two guide rails 4 to the transport vehicle parking frame 39.

[0066] Step 5: The controller controls the drive motors of the two transport and storage mechanisms to rotate forward, causing the angle iron groups 2 and seedling trays of the two transport and storage mechanisms to move upward until the lowest angle iron in the two angle iron groups 2 is positioned between the two lowest rod groups on the support frame 27. Then, the controller controls the drive motor of the electric slide rail 28 to rotate forward, causing the slider of the electric slide rail 28 to move the support frame 27 outward between the two transport and storage mechanisms, with a seedling tray above each rod group of the support frame 27. Then, the controller controls the output shaft of the drive motor 3 to rotate in reverse, and each chain drive mechanism drives the two angle iron groups 2 to move downward until each seedling tray is placed on the corresponding rod group. At this time, each seedling tray is disengaged from the corresponding angle iron.

[0067] Step Six: The controller controls the drive motor of the electric slide rail 28 to reverse, thereby causing the slider of the electric slide rail 28 to move the support frame 27 and each seedling tray into the transport vehicle frame 26. Then, the controller controls each hub motor to reverse, and the hub motor drives the transport wheels 25 to move the transport vehicle frame 26, support frame 27, electric slide rail 28 and each seedling tray along the guide rail 4 from the transport vehicle parking frame 39 to the ground. Then, the two guide rails 4 are removed from the transport vehicle parking frame 39 and fixed to the corresponding support rods. Finally, the controller controls each hub motor to work, and the tray collection transport vehicle transports the seedling trays to the designated location, completing the tray collection work.

[0068] The present invention discloses a method for releasing a rotating seedling tray, as follows:

[0069] The first step is to remove the two guide rails 4 from the tray-laying transport vehicle containing the seedling trays, tilt the two guide rails 4 and fix them to the transport vehicle parking frame 39. Then, the controller controls the hub motors of each transport wheel 25 to rotate forward. The hub motors drive the transport wheels 25 to move the transport vehicle frame 26, support frame 27, electric slide rail 28 and each seedling tray along the two guide rails 4 onto the transport vehicle parking frame 39.

[0070] The second step involves the controller controlling the drive motors of the two transport and storage mechanisms to rotate (either forward or reverse), moving the angle iron assemblies of the two transport and storage mechanisms to the inner side, with the lowest rod on the support frame 27 positioned between the two lowest angle irons in the angle iron assemblies. Next, the controller controls the drive motor of the electric slide rail 28 to rotate forward, causing the slider of the electric slide rail 28 to move the support frame 27 and each seedling tray outward between the two transport and storage mechanisms, with a seedling tray above each angle iron in the angle iron assemblies. Then, the controller controls the drive motors of the two transport and storage mechanisms to rotate forward, moving the angle iron assemblies of the two transport and storage mechanisms upward until each seedling tray is supported by the opposite angle irons of the two angle iron assemblies. At this point, each seedling tray disengages from its corresponding rod assembly. Figure 10 and Figure 11 As shown.

[0071] Third, the controller controls the output shaft of the drive motor 5 to reverse, so that the slider of the electric slide rail 28 moves the support frame 27 into the transport frame 26. Then, the controller controls the output shaft of each hub motor to reverse, and the output shaft of the hub motor drives the transport wheel 25 to move the transport frame 26, the support frame 27 and the electric slide rail 28 along the two guide rails 4 from the transport vehicle parking frame 39 to the ground. Finally, the two guide rails 4 are removed from the transport vehicle parking frame 39 and fixed to the corresponding support rods.

[0072] Fourth step: The controller reverses the output shaft of drive motor four in the tracked walking mechanism 9, causing the tracked walking mechanism 9 to move the frame and seedling trays backward. At the same time, the controller controls the output shaft of drive motor two 37 to rotate forward, driving the two drive pulleys to rotate synchronously forward, thereby causing the two conveyor belts to transport the material forward. The controller also controls the output shaft of drive motor one to rotate forward, driving the corresponding rotating shaft 14 to rotate forward, thereby causing the corresponding rotating plate 12 and gear protective housing 17 to rotate forward together, and through the two seedling tray support plates 16... Another rotating plate 12 and another gear protective housing 17 rotate synchronously forward. When the two rotating plates 12 rotate synchronously forward, each sun gear remains stationary. Each intermediate gear 13 meshes with the corresponding sun gear as the corresponding rotating plate 12 rotates forward and rotates forward relative to the rotating plate 12. At the same time, each planet gear meshes with the corresponding intermediate gear as the corresponding rotating plate 12 rotates forward and rotates in the opposite direction relative to the rotating plate 12. This causes each seedling tray support plate 16 to rotate in the opposite direction relative to each rotating plate 12 as the rotating plate 12 rotates forward, thereby keeping the two seedling tray support plates 16 always horizontal.

[0073] Step 5: The controller controls the drive motors of the two transport and storage mechanisms to reverse three times, which drives the two angle iron groups of the two transport and storage mechanisms and each seedling tray to move downward until a seedling tray is separated from the corresponding angle iron. At this time, the seedling tray falls onto the two conveyor belts, and then the two conveyor belts carry the seedling tray towards the direction of the tray receiving and discharging mechanism 1.

[0074] Step 6: When the empty seedling tray support plate 16 at the lowest position rotates until its upper surface is aligned with the two conveyor belts, a seedling tray is transported above the seedling tray support plate 16. At the same time, the seedling tray support plate 16 lifts the seedling tray as the rotating plate 12 rotates, and the seedling tray is separated from the two conveyor belts. Then, the seedling tray support plate 16 carries the seedling tray past the highest point and rotates to the lowest point. When the two ends of the seedling tray touch the two tray release rods 10, the two tray release rods 10 prevent the seedling tray from moving with the seedling tray support plate 16. As the rotating plate 12 continues to rotate, the seedling tray is separated from the seedling tray support plate 16 and is finally placed on the ground.

[0075] Step 7: Repeat steps 5 and 6 until all the seedling trays on both angle iron groups are placed on the ground. Then, the controller will stop drive motor 1, drive motor 2, and drive motor 4, thus completing the seedling tray placement process.

Claims

1. A rotary seedling tray receiving and placing mechanism, comprising a frame, a seedling tray storage mechanism, and a tracked walking mechanism, characterized in that: It also includes a tray receiving and discharging mechanism, a seedling tray transport vehicle, and a seedling tray transport mechanism; the tray receiving and discharging mechanism is provided at the notch at the front end of the frame, the upper surface of the frame is provided with a seedling tray storage mechanism and a seedling tray transport mechanism, and the lower surface is connected to the tracked walking mechanism through a connecting frame; the tray receiving and discharging mechanism includes a rotating device and a seedling tray support plate; the rotating device includes a gear system, a rotating rod, a rotating shaft, a hollow shaft, and a protective shell; the protective shell is fixed on the rotating rod, and the inner cavity of the protective shell is provided with a gear system; the gear system includes a sun gear, an intermediate gear, and planetary gears; one end of the hollow shaft passes through a circular hole in the protective shell and is fixed to the sun gear, forming a rotating pair with the protective shell, and the other end is fixed to the frame; one end of the rotating shaft passes through the central hole of the hollow shaft and the circular hole in the sun gear and is fixed to the rotating rod, and the other end forms a rotating pair with the frame. The rotating rod is hinged with two intermediate wheels spaced apart, and both intermediate wheels mesh with the sun gear; the connecting shafts fixed on the two planetary gears pass through a circular hole opened on the rotating rod, forming a rotating pair with the rotating rod, and the two planetary gears mesh with the two intermediate wheels respectively; the rotating device has two symmetrically arranged, and the two opposite connecting shafts of each of the two rotating devices are fixed to the two ends of a seedling tray support plate respectively; a drive motor is fixed on the frame, and the output shaft of the drive motor is fixed to the rotation shaft of any rotating device; tray-laying rods are fixed on both sides of the recess on the lower surface of the frame; wherein, the length of the seedling tray support plate is less than the distance between the two rotating rods, the two tray-laying rods are located outside the two rotating rods, and the seedling tray support plate is flush with the bottom of the crawler walking mechanism when it is at its lowest point; The seedling tray transport mechanism includes a transport vehicle parking frame, guard plates, and a belt drive mechanism. The transport vehicle parking frame includes a stop plate and a transport vehicle parking frame. Two guard plates, spaced apart, are vertically fixed to the front end of the frame and located on both sides of a recess. The transport vehicle parking frame is fixed to the rear end of the frame, with an opening at one end near the middle of the frame. The belt drive mechanism has two belts, spaced apart. The driven pulleys of the two belt drive mechanisms and the two guard plates form a rotating pair, and the driving pulleys of the two belt drive mechanisms are fixed to the main shaft. The main shaft and the transport vehicle parking frame form a rotating pair, and the belt surfaces of the two belt drive mechanisms are flush. A stop plate is fixed to the open end of the transport vehicle parking frame, and the distance between the lower end of the stop plate and the two conveyor belts is less than the height of the seedling tray. A limit switch is fixed to the stop plate. The drive motor two, fixed on the frame, drives the main shaft to rotate, and two rotating rods are located between the two conveyor belts. The seedling tray storage mechanism includes a storage frame and a transport storage mechanism. The transport storage mechanism includes a chain drive mechanism, angle iron group one, and angle iron group two. The storage frame is fixed in the middle of the machine frame. The chain drive mechanism has two vertically spaced chains. The driving sprockets in the two chain drive mechanisms are fixed by a rotating shaft, which is driven by a drive motor three fixed on the machine frame. The driven sprockets in the two chain drive mechanisms are fixed by another rotating shaft. Both rotating shafts form a rotating pair with the storage frame. Angle iron group one and angle iron group two are each composed of multiple angle irons arranged at equal intervals, and the two ends of the angle irons are fixed to the chains in the two chain drive mechanisms respectively. The storage frame has two symmetrically arranged transport storage mechanisms located outside the two conveyor belts. In angle iron group one, the distance between two adjacent angle irons is equal to the length of one chain link, and in angle iron group two, the distance between two adjacent angle irons is equal to the length of two chain links. The seedling tray transport vehicle includes a tray collection transport vehicle and a tray placement transport vehicle. The tray collection transport vehicle includes guide rails, transport wheels, a transport frame, a support frame, and an electric slide rail. Transport wheels are hinged to the four corners of the bottom of the transport frame. An electric slide rail is fixed inside the transport frame at the bottom position. The support frame is placed inside the transport frame and fixed to the slider on the electric slide rail. The support frame has multiple rod groups that are integrally formed and equidistantly arranged vertically. Each rod group consists of two support rods arranged at horizontal intervals, and the distance between the two support rods is less than the distance between the two transport and storage mechanisms. The guide rail has two vertically arranged rods, and each guide rail is detachably fixed to a row of support rods arranged vertically. Compared with the tray collection transport vehicle, the distance between two adjacent rod groups of the tray placement transport vehicle is equal to the length of one link of the chain, and the distance between two adjacent rod groups of the tray collection transport vehicle is equal to the length of two links of the chain. Other structures are completely identical.

2. The rotary seedling tray receiving and releasing mechanism according to claim 1, characterized in that: The plate-laying rod includes a stop bar and a stop block. The upper end of the stop bar has a threaded hole, and the stop bar is fixed to the frame by bolts and the threaded hole. The lower end of the stop bar is fixed with a stop block.

3. The rotary seedling tray receiving and releasing mechanism according to claim 1, characterized in that: The main shaft is supported on the transport vehicle parking frame by a bearing housing, and the driven pulley is supported on the corresponding guard plate by a bearing housing.

4. The rotary seedling tray receiving and releasing mechanism according to claim 1, characterized in that: The frame is provided with several rollers in the middle, and the rollers and the support form a rotating pair. The support is fixed to the frame.

5. The rotary seedling tray receiving and releasing mechanism according to claim 4, characterized in that: A protective shell is fixed in the middle of the frame between the two conveyor belts, and the upper surface of the protective shell is lower than the two conveyor belts. Each idler roller is placed in the inner cavity of the protective shell.

6. The rotary seedling tray receiving and releasing mechanism according to claim 1, characterized in that: The rotating shaft is supported on the storage frame by bearing seats.

7. The rotary seedling tray receiving and releasing mechanism according to claim 1, characterized in that: Each connection point on the storage frame is fixed with a triangular bracket.

8. The rotary seedling tray receiving and releasing mechanism according to claim 1, characterized in that: The guide rail has multiple grooves spaced at intervals, the number of which is equal to the number of the vertically arranged support rods. Each support rod in the vertically arranged support rods is embedded in a corresponding groove. One end of the guide rail is set as an inclined surface, and the other end is provided with an integrally formed connecting protrusion. The rear end of the transport vehicle parking frame is hinged with two connection ports.

9. A method for collecting seedling trays according to any one of claims 1 to 8, characterized in that: Specifically as follows: Step 1: The controller controls the output shaft of drive motor 4 in the tracked walking mechanism to rotate forward, thereby causing the tracked walking mechanism to move the frame forward. At the same time, the controller controls the output shaft of drive motor 2 to rotate in reverse, which drives the two drive pulleys to rotate in reverse synchronously, thereby causing the two conveyor belts to transport backward. The controller also controls the output shaft of drive motor 1 to rotate in reverse, which drives the corresponding rotating shaft to rotate in reverse, thereby causing the corresponding rotating plate and gear protective shell to rotate in reverse together. This, in turn, drives the other rotating plate and the other gear protective shell to rotate in reverse synchronously through the two seedling tray support plates. When the two rotating plates rotate in reverse synchronously, each sun gear remains stationary. Each intermediate gear, along with the rotation of the corresponding rotating plate, meshes with the corresponding sun gear and rotates in reverse relative to the rotating plate. Simultaneously, each planet gear, along with the rotation of the corresponding rotating plate, rotates in reverse and meshes with the corresponding intermediate gear, rotating in the forward direction relative to the rotating plate. This causes each seedling tray support plate to rotate in the forward direction relative to each rotating plate while rotating in reverse, thus keeping the two seedling tray support plates horizontal at all times. Step 2: As the tracked walking mechanism drives the frame forward, one of the seedling tray support plates scoops up the seedling tray from the lowest point. The seedling tray support plate that scoops up the seedling tray rotates with the rotating plate, and carries the seedling tray from the lowest point to the highest point. Then, the tray receiving and discharging mechanism drives the seedling tray to continue rotating. When both ends of the seedling tray come into contact with the two conveyor belts, the seedling tray is lifted by the two conveyor belts. The seedling tray support plate separates from the seedling tray as the rotating plate rotates and rotates towards the lowest point. The seedling tray moves towards the storage frame with the two conveyor belts. Step 3: When the seedling tray is transported between the two transport and storage mechanisms and touches the limit switch, the controller controls the drive motors of the two transport and storage mechanisms to rotate forward, so that each chain drive mechanism works synchronously, thereby driving the angle irons in the angle iron group 2 inside the two transport and storage mechanisms to move from bottom to top. When the angle irons of the two angle iron groups 2 move upward by two chain links, the controller controls the two drive motors to stop working. At the same time, the two ends of the seedling tray contact the two opposite angle irons in the two angle iron groups 2, the seedling tray is lifted up and moves upward by two chain links. Step 4: Repeat steps 2 and 3. When the two angle iron groups 2 are full of seedling trays, the controller controls drive motor 1, drive motor 2 and drive motor 4 to stop working. Then, remove the two guide rails from the tray collection transport vehicle, tilt the two guide rails and fix them to the transport vehicle parking frame. Then, the controller controls the hub motors of each transport wheel to rotate forward. The hub motors drive the transport wheels to move the transport vehicle frame, support frame and electric slide rail along the guide rail surfaces of the two guide rails to the transport vehicle parking frame. Step 5: The controller controls the drive motors of the two transport and storage mechanisms to rotate forward, causing the angle iron groups 2 and seedling trays of the two transport and storage mechanisms to move upward until the lowest angle iron in the two angle iron groups 2 is positioned between the two lowest rod groups on the support frame. Then, the controller controls the drive motor of the electric slide rail to rotate forward, causing the slider of the electric slide rail to move the support frame outward between the two transport and storage mechanisms, with a seedling tray above each rod group of the support frame. Then, the controller controls the output shaft of the drive motor 3 to rotate in reverse, and each chain drive mechanism drives the two angle iron groups 2 to move downward until each seedling tray is placed on the corresponding rod group. At this time, each seedling tray is disengaged from the corresponding angle iron. Step Six: The controller controls the drive motor of the electric slide rail to reverse, thereby causing the slider of the electric slide rail to move the support frame and each seedling tray into the transport vehicle frame. Then, the controller controls each hub motor to reverse, and the hub motor drives the transport wheels to move the transport vehicle frame, support frame, electric slide rail and each seedling tray along the guide rail from the transport vehicle parking frame to the ground. Then, the two guide rails are removed from the transport vehicle parking frame and fixed to the corresponding support rods. Finally, the controller controls each hub motor to work, and the tray collection transport vehicle transports the seedling trays to the designated location, completing the tray collection work.

10. A method for releasing a rotating seedling tray according to any one of claims 1 to 8, characterized in that: Specifically as follows: The first step is to remove the two guide rails from the tray-laying transport vehicle containing the seedling trays, and then tilt the two guide rails and fix them to the transport vehicle parking frame. Then, the controller controls the hub motors of each transport wheel to rotate forward. The hub motors drive the transport wheels to move the transport vehicle frame, support frame, electric slide rails and each seedling tray along the two guide rails to the transport vehicle parking frame. The second step involves the controller controlling the drive motors of the two transport and storage mechanisms to rotate, causing the angle iron groups of the two transport and storage mechanisms to move inward, with the lowest rod group on the support frame positioned between the two lowest angle irons in the angle iron group. Next, the controller controls the drive motor of the electric slide rail to rotate forward, causing the slider of the electric slide rail to move the support frame and each seedling tray outward between the two transport and storage mechanisms, with each angle iron in the angle iron group having a seedling tray above it. Then, the controller controls the drive motors of the two transport and storage mechanisms to rotate forward, causing the angle iron groups of the two transport and storage mechanisms to move upward until each seedling tray is lifted by the opposite angle irons of the two angle iron groups, at which point each seedling tray disengages from its corresponding rod group. The third step is to control the output shaft of drive motor five to reverse, so that the slider of the electric slide rail moves the support frame into the transport vehicle frame. Then, the controller controls the output shaft of each hub motor to reverse, and the output shaft of the hub motor drives the transport wheels to move the transport vehicle frame, support frame and electric slide rail along the two guide rails from the transport vehicle parking frame to the ground. Finally, the two guide rails are removed from the transport vehicle parking frame and fixed to the corresponding support rods. Fourth step: The controller controls the output shaft of drive motor four in the tracked walking mechanism to rotate in reverse, causing the tracked walking mechanism to move the frame and seedling trays backward. At the same time, the controller controls the output shaft of drive motor two to rotate forward, which drives the two drive pulleys to rotate synchronously in the forward direction, thereby causing the two conveyor belts to transport the seedlings forward. The controller also controls the output shaft of drive motor one to rotate in the forward direction, which drives the corresponding rotating shaft to rotate in the forward direction, thereby causing the corresponding rotating plate and gear protective shell to rotate in the forward direction together. This, in turn, drives the other rotating plate and the other gear protective shell to rotate synchronously in the forward direction through the two seedling tray support plates. When the two rotating plates rotate synchronously in the forward direction, each sun gear remains stationary. Each intermediate gear meshes with the corresponding sun gear and rotates in the forward direction relative to the rotating plate while the corresponding rotating plate rotates in the forward direction. At the same time, each planet gear meshes with the corresponding intermediate gear and rotates in the reverse direction relative to the rotating plate while the corresponding rotating plate rotates in the forward direction. This causes each seedling tray support plate to rotate in the reverse direction relative to each rotating plate while rotating in the forward direction, thus keeping the two seedling tray support plates horizontal at all times. Step 5: The controller controls the drive motors of the two transport and storage mechanisms to reverse, which drives the angle iron group 1 and each seedling tray of the two transport and storage mechanisms to move downward until a seedling tray is separated from the corresponding angle iron. At this time, the seedling tray falls onto the two conveyor belts, and then the two conveyor belts drive the seedling tray to the direction of the tray collection and release mechanism. Step 6: When the empty seedling tray support plate at the lowest position rotates until its upper surface is aligned with the two conveyor belts, a seedling tray is transported above the seedling tray support plate. At the same time, the seedling tray support plate lifts the seedling tray as the rotating plate rotates, and the seedling tray is separated from the two conveyor belts. Then, the seedling tray support plate carries the seedling tray past the highest point and rotates to the lowest point. When the two ends of the seedling tray touch the two tray release bars, the two tray release bars prevent the seedling tray from moving with the seedling tray support plate. As the rotating plate continues to rotate, the seedling tray is separated from the seedling tray support plate and finally placed on the ground. Step 7: Repeat steps 5 and 6 until all the seedling trays on both angle iron groups are placed on the ground. Then, the controller will stop drive motor 1, drive motor 2 and drive motor 4, completing the seedling tray placement process.

Images