Two-way receiving and releasing conveying device for seedling tray

Abstract

The application provides a seedling raising seedling tray two-way receiving and conveying device, which comprises a seedling tray placing and receiving device, a seedling tray carrying device, a stereoscopic shelf and a conveying device, the seedling tray placing and receiving device is arranged on a seedbed in a greenhouse and can move along the seedbed to place or receive seedling trays on the seedbed, the stereoscopic shelf is arranged outside the greenhouse, the seedling tray carrying device is arranged between the stereoscopic shelf and the greenhouse, the conveying device is arranged in the greenhouse and one end of the conveying device is arranged on the end of the seedbed and can be connected with the seedling tray placing and receiving device, the other end of the conveying device extends to the outside of the greenhouse and is connected with the seedling tray carrying device, and the seedling tray placing and receiving device and the seedling tray carrying device can work together, the seedling trays in the stereoscopic shelf can be directly conveyed to the seedbed to be placed, or the seedling trays on the seedbed can be directly conveyed to the stereoscopic shelf, the device avoids the trouble of manual carrying, improves the efficiency of seedling tray transfer, saves time and effort and is convenient and fast.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of seedling tray conveying, in particular to a bidirectional receiving and placing conveying device for seedling trays. BACKGROUND

[0002] Seedling cultivation is mainly to cultivate seedlings in a greenhouse, and the seedlings are transferred to the land or a planting greenhouse for planting after artificial cultivation until they can germinate. In the traditional greenhouse seedling cultivation, the seedling trays are mainly manually carried in and out of the greenhouse, and then transported by vehicle, which is low in work efficiency, time-consuming and laborious. Moreover, the seedling trays also need to be manually carried during the unloading and transferring process, which is very inconvenient.

[0003] In the prior art, there are solutions to the above technical problems, for example, a seedling tray conveying line is disclosed in CN106586519B, which is authorized, and the seedling trays at the end of the seedbed are carried to the tray conveying machine by the seedling mechanical hand, and then transported by the tray conveying machine. For another example, a plug tray transplanting conveying device is disclosed in CN101792064B, which is authorized, and the moving trolley device is arranged on the dynamic rail across the two static rails on both sides of the whole seedbed, so as to realize the automatic grabbing and placing of the plug tray.

[0004] However, the above prior art has the following technical problems in use. During the grabbing and placing of the seedling trays, manual assistance is required to place the seedling trays at the fixed position of the seedbed end, so as to complete the carrying. Moreover, the carrying can only be realized in the greenhouse, and cannot be combined with the transfer vehicle outside the greenhouse, which requires manual secondary carrying, and still has the problems of inconvenience, time-consuming and laborious. SUMMARY

[0005] Therefore, it is necessary to provide a bidirectional receiving and placing conveying device for seedling trays, which can directly convey the seedling trays from outside the greenhouse to the seedbed in the greenhouse, and at the same time, convey the seedling trays from the seedbed in the greenhouse to the transfer vehicle when the seedlings are germinated, so as to avoid manual secondary carrying.

[0006] The application discloses a bidirectional receiving and conveying device for seedling trays, which comprises a tray receiving and placing device, a tray carrying device, a stereoscopic shelf and a conveying device.

[0007] Preferably, the tray receiving and placing device comprises a first AGV trolley, a receiving and placing bracket and a first lifting mechanism. The first AGV trolley is horizontally arranged above the seedbed and is movable along the seedbed towards the conveying device. The first lifting mechanism is arranged on the first AGV trolley. First guide rails are longitudinally arranged on both sides of the first lifting mechanism. The receiving and placing bracket is movably arranged on the first guide rails and is connected with the first lifting mechanism. The receiving and placing bracket is driven by the first lifting mechanism to move up and down along the first guide rails, so as to receive or place the seedling trays on the seedbed or the conveying device.

[0008] Preferably, the receiving and placing bracket comprises a lifting frame and a plurality of tray arms for carrying seedling trays. The lifting frame is movably arranged on the first guide rails and is connected with the first lifting mechanism. The tray arms are horizontally arranged at the lower end of the lifting frame and are horizontally and spacedly arranged along the lower end surface of the lifting frame. The free ends of the tray arms are parallelly arranged and extend towards the conveying device. The first lifting mechanism drives the lifting frame to move up and down along the first guide rails and drives the lifting frame to move forward and backward in cooperation with the first AGV trolley, so that the free ends of the tray arms can be inserted into the bottom of the seedling trays on the seedbed or the conveying device and then the seedling trays are lifted up for receiving, or the seedling trays are placed on the seedbed or the conveying device.

[0009] Preferably, the first lifting mechanism comprises a first driving machine and a first lifting screw rod, the first driving machine is arranged at the top end of the first AGV trolley, the first lifting screw rod is arranged longitudinally in the middle of the first AGV trolley and is connected with the output end of the first driving machine, the first guide rail is fixedly arranged at the two sides of the first lifting screw rod, the lifting frame is movably mounted on the first guide rail and is threadedly connected with the first lifting screw rod, the first driving machine drives the first lifting screw rod to rotate so as to drive the lifting frame to move up and down along the first guide rail, so as to collect or place the seedling tray on the seedbed or the conveying device.

[0010] Preferably, the seedling tray conveying device comprises a second AGV trolley, a second lifting mechanism and a conveying mechanism, the second lifting mechanism is arranged on the second AGV trolley and moves left and right along one side of the stereoscopic shelf with the second AGV trolley, the conveying mechanism is mounted in parallel on the second lifting mechanism and can move in parallel along the second lifting mechanism to the conveying device or the stereoscopic shelf, when moving to the stereoscopic shelf, it can extend into the stereoscopic shelf, the second lifting mechanism can drive the conveying mechanism to move left and right by lifting the conveying mechanism and cooperating with the second AGV trolley, so that the conveying mechanism can extend to any position in the stereoscopic shelf to convey or place the seedling tray.

[0011] Preferably, the second lifting mechanism comprises a second driving machine, a second lifting screw rod and a lifting platform, the second driving machine is arranged at the top end of the second AGV trolley, the second lifting screw rod is arranged longitudinally in the middle of the second AGV trolley and is connected with the output end of the second driving machine, the second guide rail is fixedly arranged longitudinally at the two sides of the second lifting screw rod, the lifting platform is movably mounted on the second guide rail and is threadedly connected with the second lifting screw rod, the second driving machine drives the second lifting screw rod to rotate so as to drive the lifting platform to move up and down along the second guide rail, the conveying mechanism is mounted in parallel on the lifting platform and moves up and down with the lifting platform and can move in parallel along the lifting platform to the conveying device or the stereoscopic shelf to convey or place the seedling tray.

[0012] Preferably, the upper end surface of the lifting platform is provided in parallel with a first slide rail and a first toothed rail, the conveying mechanism is mounted on the first slide rail, a third driving machine is arranged at the lower end of the conveying mechanism, the output end of the third driving machine is provided with a gear wheel engaged with the first toothed rail, the third driving machine drives the gear wheel to rotate along the laying direction of the first toothed rail, so as to drive the conveying mechanism to move along the first slide rail to the conveying device or the stereoscopic shelf to convey or place the seedling tray.

[0013] Preferably, the conveying mechanism comprises a first stage platform, a second stage platform and a conveying belt, the first stage platform is installed in parallel on a first stage slide rail, a third drive machine is arranged at the lower end of the first stage platform, a gear arranged at the output end of the third drive machine is engaged with the first stage toothed rail to push the first stage platform to move along the first stage slide rail towards the conveying device or the stereoscopic goods shelf, the upper end surface of the first stage platform is arranged in parallel with a second stage slide rail and a second stage toothed rail, the second stage platform is installed in parallel on the second stage slide rail, a fourth drive machine is arranged at the lower end of the second stage platform, a gear arranged at the output end of the fourth drive machine is engaged with the second stage toothed rail, the fourth drive machine drives the gear to rotate along the laying direction of the second stage toothed rail to push the second stage platform to move along the second stage slide rail towards the conveying device or the stereoscopic goods shelf, the conveying belt is arranged in parallel on the upper end surface of the second stage platform, a fifth drive machine is arranged on the conveying belt, the fifth drive machine drives the conveying belt to rotate to convey the seedling tray to the conveying device or the stereoscopic goods shelf.

[0014] Preferably, the stereoscopic goods shelf is a shelf body with a multi-column structure, a plurality of layers of storage shelves for placing the seedling tray are arranged in parallel in each column of the shelf body, a passage for the second stage platform to pass through is formed in the middle of each layer of the storage shelves, the passage is opposite to the conveying mechanism, and the second stage platform can extend into any passage to convey or take out the seedling tray to the storage shelf through the conveying belt.

[0015] Preferably, the conveying device comprises a conveying rack, a plurality of supporting rollers and a sixth drive machine, one end of the conveying rack is arranged in the greenhouse and is connected to the seedling tray placing and taking device, the other end of the conveying rack extends outwardly in parallel to the greenhouse and is connected to the seedling tray conveying device, the plurality of supporting rollers are arranged in a transverse and spaced manner along the upper end surface of the conveying rack, the sixth drive machine is arranged on the conveying rack and is connected to the input end of the supporting rollers, the plurality of supporting rollers are connected through a plurality of gears and a chain, the sixth drive machine can drive the supporting rollers to rotate towards the seedling tray placing and taking device or the seedling tray conveying device, and the supporting arm of the placing and taking bracket can be inserted into the gap between the supporting rollers arranged in a spaced manner to place or take the seedling tray.

[0016] The present application has the beneficial effects that the seedling tray placing and taking device, the seedling tray conveying device and the conveying device can work cooperatively to convey the seedling tray on the seedbed directly to the stereoscopic goods shelf outside the greenhouse, the seedling tray placing and taking device, the seedling tray conveying device and the conveying device can be reversely conveyed to convey the seedling tray in the stereoscopic goods shelf directly to the seedbed to be placed, the manual operation is avoided, the efficiency of the seedling tray conveying is improved, time and labor are saved, and the operation is convenient and fast. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0018] Figure 2Fig. 3 is a schematic view of the three-dimensional structure of the seedling tray arrangement device.

[0019] Figure 3 Fig. 4 is a schematic view of the three-dimensional structure of the seedling tray carrying device.

[0020] Figure 4 Fig. 5 is a schematic view of the three-dimensional structure of the carrying device. Figure 3

[0021] Figure 5 Fig. 6 is a schematic view of the three-dimensional structure of the stereoscopic shelf.

[0022] Figure 6 Fig. 7 is a schematic view of the top structure of the stereoscopic shelf.

[0023] Figure 7 Fig. 8 is a schematic view of the three-dimensional structure of the conveying device.

[0024] Fig. 1 is a schematic view of the three-dimensional structure of the seedling tray arrangement device 10, the first AGV trolley 101, the walking frame 1011, the first guide rail 1012, the arrangement bracket 102, the lifting frame 1021, the supporting arm 1022, the first lifting mechanism 103, the first driving machine 1031, the first lifting screw 1032, the seedling tray carrying device 20, the second AGV trolley 201, the moving frame 2011, the second guide rail 2012, the second lifting mechanism 202, the second driving machine 2021, the second lifting screw 2022, the lifting platform 2023, the first-stage slide rail 2024, the first-stage toothed rail 2025, the carrying mechanism 203, the first-stage platform 2031, the second-stage platform 2032, the conveying belt 2033, the third driving machine 2034, the second-stage slide rail 2035, the second-stage toothed rail 2036, the fourth driving machine 2037, the fifth driving machine 2038, the stereoscopic shelf 30, the storage rack 301, the passageway 302, the conveying device 40, the conveying frame 401, the supporting roller 402, the sixth driving machine 403, the supporting roller frame 404, the greenhouse 50, the seedbed 501, the track 502, the seedling tray 60. DETAILED DESCRIPTION

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings described in the following are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0026] Please refer to Figure 1 ​This invention provides a bidirectional seedling tray collection and conveying device, including a seedling tray placement and collection device 10, a seedling tray handling device 20, a three-dimensional shelf 30, and a conveying device 40. The seedling tray placement and collection device 10 is installed on a seedbed 501 inside a greenhouse 50 and can move along the seedbed 501 to collect or place the seedling trays 60 on the seedbed 501. The three-dimensional shelf 30 is located outside the greenhouse 50. The seedling tray handling device 20 is located between the three-dimensional shelf 30 and the greenhouse 50. The conveying device 40 is located inside the greenhouse 50, with one end of the conveying device 40 supported on the seedbed 501. One end can connect with the seedling tray placement and collection device 10, and the other end extends outward from the greenhouse 50 and connects with the seedling tray transport device 20. The seedling tray transport device 20 can perform bidirectional transport to transport the seedling trays 60 on the three-dimensional shelf 30 to the conveying device 40, or to transport the seedling trays 60 on the conveying device 40 to the three-dimensional shelf 30. The conveying device 40 can perform bidirectional transport, which can transport the seedling trays 60 to the seedling tray placement and collection device 10 for placement, or transport the seedling trays 60 collected by the seedling tray placement and collection device 10 to the seedling tray transport device 20, which then transports them to the three-dimensional shelf 30.

[0027] Specifically, the seedbed 501 is a support frame installed inside a greenhouse or shed for placing seedling trays 60 for seedling cultivation. Tracks 502 are installed on both sides of the seedbed 501. The seedling tray placement and retrieval device 10 is located directly above the seedbed 501 and can move along the tracks 502 to collect and place the seedling trays 60 on the seedbed 501. The three-dimensional shelf 30 is a multi-layered frame installed on a truck, capable of storing multiple seedling trays 60. The seedling tray transport device 20 is a bidirectional transport device located at the greenhouse exit, used to transport the seedling trays 60 from the three-dimensional shelf 30 into the greenhouse, or to transport... The seedling trays 60 inside the greenhouse are transported to the three-dimensional shelf 30. The conveying device 40 is set between the seedbed 501 and the seedling tray transporting device 20, and is connected to the seedling tray placement and collection device 10 and the seedling tray transporting device 20. It can carry out bidirectional transport. When it is necessary to transport the seedling trays 60 to the truck, the seedling tray placement and collection device 10 collects the seedling trays 60 on the seedbed 501 in sequence and transmits the seedling trays 60 to the conveying device 40. The conveying device 40 transports the seedling trays to the seedling tray transporting device 20 outside the greenhouse. After receiving the seedling trays 60, the seedling tray transporting device 20 loads the seedling trays 60 into the three-dimensional shelf 30 in sequence.

[0028] Please refer to Figure 1 and Figure 2Furthermore, the seedling tray handling device 10 includes a first AGV trolley 101, a handling bracket 102, and a first lifting mechanism 103. The first AGV trolley 101 consists of a walking frame 1011, servo motors, a mobile power supply, a PLC control unit, and drive wheels. The drive wheels are located on both sides of the walking frame 1011 and are driven by two servo motors respectively, controlled by the PLC control unit for synchronous operation. The mobile power supply is located on the walking frame 1011 to provide energy to the PLC control unit and the servo motors. The first AGV trolley 101 spans across the seedbed 501. The drive wheels on both sides of the walking frame 1011 are respectively located on the tracks 502 on both sides of the seedbed 501, driven by two servo motors, and can move along the tracks 502 to the conveyor. The first lifting mechanism 103 is mounted on the first AGV trolley 101 and moves in the 40-degree direction. The first lifting mechanism 103 is mounted on the first AGV trolley 101. The first guide rails 1012 are longitudinally arranged on both sides of the first lifting mechanism 103. The first guide rails 1012 are fixed on the walking frame 1011 of the first AGV trolley 101. The swing and collect bracket 102 is movably mounted on the first guide rails 1012 and is connected to the first lifting mechanism 103. The first lifting mechanism 103 is electrically connected to the PLC control unit and the mobile power supply of the first AGV trolley 101. The PLC control unit issues commands to control the first lifting mechanism 103 to drive the swing and collect bracket 102 to move up and down along the first guide rails 1012 in order to collect or place the seedling trays 60 on the seedbed 501 or the conveying device 40.

[0029] Please refer to Figure 2Furthermore, the swing-and-collection bracket 102 includes a lifting frame 1021 and a support arm 1022 for carrying the seedling tray 60. The lifting frame 1021 is movably mounted on the first guide rail 1012 and is connected to the first lifting mechanism 103. The first lifting mechanism 103 can drive the lifting frame 1021 to move up and down along the first guide rail 1012. The support arm 1022 is a multi-group thin sheet steel plate structure, which is laterally arranged at the lower end of the lifting frame 1021 and is spaced laterally along the lower end face of the lifting frame 1021. The free end of the support arm 1022 extends parallel to the direction where the conveying device 40 is located. When collecting the seedling tray 60, the first AGV trolley 101 drives the swing-and-collection bracket 102 to move behind the seedling tray 60, and the PLC controls the movement. The control unit sends a command to the first lifting mechanism 103 to drive the swing-and-collect bracket 102 to descend, so that the support arm 1022 lands on the seedbed 501. Then, the first AGV trolley 101 drives the swing-and-collect bracket 102 to move towards the seedling tray 60 on the seedbed 501, so that the free end of the support arm 1022 is inserted under the seedling tray 60. After insertion, the first AGV trolley 101 sends a command to the first lifting mechanism 103 to drive the swing-and-collect bracket 102 to rise, so that the support arm 1022 lifts the seedling tray 60 upward. At this time, the first AGV trolley 101 runs to the conveying device 40 set at the end of the seedbed 501 and places the seedling tray 60 on the conveying device 40, which then transfers it to the seedling tray transport device 20. In the process of placing the seedling trays 60 on the seedbed 501, the conveying device 40 and the seedling tray placement and collection device 10 both run in opposite directions. The first AGV trolley 101 drives the placement and collection bracket 102 to move to the conveying device 40 when it is unloaded, collects the seedling trays 60 on the conveying device 40, and transports them to the seedbed 501 for placement in sequence.

[0030] Please continue reading. Figure 2Furthermore, the first lifting mechanism 103 includes a first drive motor 1031 and a first lifting screw 1032. The first drive motor 1031 is located at the top of the first AGV trolley 101, and the first lifting screw 1032 is longitudinally located in the middle of the first AGV trolley 101 and connected to the output end of the first drive motor 1031. The first drive motor 1031 is a servo motor, powered by a mobile power supply provided on the first AGV trolley 101, and controlled by the PLC control unit of the first AGV trolley 101. The first guide rail 1012 is longitudinally... The lifting frame 1021 is fixedly mounted on the walking frame 1011 of the first AGV trolley 101, located on both sides of the first lifting screw 1032. The lifting frame 1021 is movably mounted on the first guide rail 1012 and threadedly connected to the first lifting screw 1032. After receiving the drive command from the PLC control unit of the first AGV trolley 101, the first drive motor 1031 drives the first lifting screw 1032 to rotate, thereby driving the lifting frame 1021 to move up and down along the first guide rail 1012, so as to collect or place the seedling trays 60 on the seedbed 501 or the conveying device 40.

[0031] Please refer to Figure 1 and Figure 3 Furthermore, the seedling tray transport device 20 includes a second AGV trolley 201, a second lifting mechanism 202, and a transport mechanism 203. The second AGV trolley 201 consists of a mobile frame 2011, a servo motor, a mobile power supply, a PLC control unit, and drive wheels. The second lifting mechanism 202 is mounted on the second AGV trolley 201 and moves left and right along one side of the three-dimensional rack 30 with the second AGV trolley 201. The transport mechanism 203 is installed parallel to the second lifting mechanism 202 and can move along the second lifting mechanism 202 to the conveying device 40 or... The automated storage and retrieval system 30 moves parallel to each other in the direction of the automated storage and retrieval system 30. When moving in the direction of the automated storage and retrieval system 30, it can extend into the automated storage and retrieval system 30. After receiving the drive command from the PLC control unit of the second AGV trolley 201, the second drive motor 2021 can drive the transport mechanism 203 to move left and right, so that the transport mechanism 203 can move up, down and left and right along the automated storage and retrieval system 30, and can extend into any layer of the automated storage and retrieval system 30 to transport or place seedling trays 60.

[0032] Please refer to Figure 3Furthermore, the second lifting mechanism 202 includes a second drive motor 2021, a second lifting screw 2022, and a lifting platform 2023. The second drive motor 2021 is located at the top of the second AGV trolley 201. The second lifting screw 2022 is longitudinally located in the middle of the second AGV trolley 201 and connected to the output end of the second drive motor 2021. The second drive motor 2021 is a servo motor, powered by a mobile power supply installed on the second AGV trolley 201 and controlled by the PLC control unit of the second AGV trolley 201. A second guide rail 2012 is longitudinally fixed on the mobile frame 2011 of the second AGV trolley 201. 012 is located on both sides of the second lifting screw 2022 and is parallel to each other. The lifting platform 2023 is movably mounted on the second guide rail 2012 and is threadedly connected to the second lifting screw 2022. After receiving the drive command from the PLC control unit of the second AGV trolley 201, the second drive motor 2021 drives the second lifting screw 2022 to rotate, so as to drive the lifting platform 2023 to move up and down along the second guide rail 2012. The conveying mechanism 203 is installed parallel to the lifting platform 2023, moves up and down with the lifting platform 2023, and can move parallel to the lifting platform 2023 towards the conveying device 40 or the three-dimensional shelf 30 to transport or place the seedling tray 60.

[0033] Please refer to Figure 3 and Figure 4 Furthermore, the upper surface of the lifting platform 2023 is provided with a primary slide rail 2024 and a primary gear rail 2025 in parallel. The conveying mechanism 203 is installed on the primary slide rail 2024. A third drive motor 2034 is provided at the lower end of the conveying mechanism 203. The output end of the third drive motor 2034 is provided with a gear that meshes with the primary gear rail 2025. The third drive motor 2034 is a servo motor, powered by a mobile power supply provided on the second AGV trolley 201, and controlled by the PLC control unit of the second AGV trolley 201. The third drive motor 2034 drives the gear to rotate along the laying direction of the primary gear rail 2025, so as to push the conveying mechanism 203 to move parallel along the primary slide rail 2024 towards the conveying device 40 or the three-dimensional shelf 30, to transport or place the seedling tray 60.

[0034] Please continue reading. Figure 3 and Figure 4Furthermore, the conveying mechanism 203 includes a primary platform 2031, a secondary platform 2032, and a conveyor belt 2033. The primary platform 2031 is mounted parallel to the primary slide rail 2024. The third drive motor 2034 is located at the lower end of the primary platform 2031. The gear at the output end of the third drive motor 2034 meshes with the primary gear rail 2025 to push the primary platform 2031 along the primary slide rail 2024 toward the conveying device 40 or the automated rack 30. The primary platform 2031 has a secondary slide rail 2035 and a secondary gear rail 2036 arranged parallel to each other on its upper surface. The secondary platform 2032 is mounted parallel to the secondary slide rail 2035. A fourth drive motor 2037 is arranged at the lower end of the secondary platform 2032. The output end of the fourth drive motor 2037 is provided with a gear that meshes with the secondary gear rail 2036. The fourth drive motor 2037 drives the gear to rotate along the laying direction of the secondary gear rail 2036, thereby pushing the secondary platform 2032. The conveyor belt 2033 moves along the secondary slide rail 2035 towards the conveyor device 40 or the automated rack 30. The conveyor belt 2033 is a ring conveyor belt supported by two idlers and is set parallel to the upper surface of the secondary platform 2032. A fifth drive motor 2038 is provided at the shaft end of one of the idlers on the conveyor belt 2033. The fifth drive motor 2038 drives the idler to drive the conveyor belt 2033 to rotate, so as to transport the seedling trays 60 to the conveyor device 40 or the automated rack 30. The fourth drive motor 2037 and the fifth drive motor 2038 are both servo motors, powered by a mobile power supply provided on the second AGV trolley 201 and controlled by the PLC control unit of the second AGV trolley 201. Both the primary platform 2031 and the secondary platform 2032 of the handling mechanism 203 can move in both directions. The primary platform 2031 can act as an extension arm of the secondary platform 2032, so that the secondary platform 2032 can extend into the inner end of the automated rack 30 to transport the seedling trays 60.

[0035] Please refer to Figure 1 , Figure 5 and Figure 6Furthermore, the three-dimensional shelving unit 30 is a multi-row structure that can be installed in a truck bed for transportation. Each row of the shelving unit has multiple parallel shelves 301 for placing seedling trays 60. One end of each shelf 301 is open, and a passage 302 is provided in the middle of each shelf 301 for the passage of the primary platform 2031 and the secondary platform 2032. The passage 302 communicates with the open end and faces the handling mechanism 203. The width of the passage 302 is greater than the width of the primary platform 2031 and the secondary platform 2032, but less than the width of the seedling trays 60. Under the control of the PLC control unit of the second AGV trolley 201, the primary platform 2031 and the secondary platform 2032 enter the shelving unit 301 through the opening end of the shelving unit 301. They are raised and lowered by the lifting platform 2023 and can pass longitudinally through the channel 302 of each shelving unit 301. When transporting seedling trays 60 into the three-dimensional shelving unit 30, the PLC control unit of the second AGV trolley 201 controls the secondary platform 2032 to move towards the conveyor device 40. The conveyor belt 2033 receives the seedling trays 60 from the conveyor device 40, and then controls the secondary platform 2032 to move towards the conveyor device 40. 2032 moves towards the automated storage and retrieval system 30 and enters the area above one of the shelves 301. After entering the position, the PLC control unit of the second AGV trolley 201 controls the lifting platform 2023 to lower the secondary platform 2032. The secondary platform 2032 passes through the channel 302 of the shelf 301, causing the seedling trays 60 on the conveyor belt 2033 to fall onto the shelf 301. At this time, the secondary platform 2032 can be driven to move out of the automated storage and retrieval system 30, and the above actions are repeated. When transporting the seedling trays 60 out of the automated storage and retrieval system 30, the second AGV trolley 2032... The PLC control unit of the first AGV trolley 201 controls the secondary platform 2032 to enter along the lower end of the shelf 301. After entering the position, the PLC control unit of the second AGV trolley 201 controls the lifting platform 2023 to raise the secondary platform 2032, so that the secondary platform 2032 passes through the channel 302 of the shelf 301. The conveyor belt 2033 lifts the seedling tray 60 on the shelf 301 upwards, and then controls the secondary platform 2032 to exit the three-dimensional shelf 30 and move towards the conveyor device 40 to transport the seedling tray 60 to the conveyor device 40. After the transport is completed, the above actions are repeated. In this embodiment, each shelf 301 is equipped with a position sensor. The second AGV trolley 201 communicates with the PLC control unit. The PLC control unit of the second AGV trolley 201 can accurately control the first platform 2031, the secondary platform 2032, the lifting platform 2023, and the second AGV trolley 201 to perform operations based on the position sensors on each shelf 301.

[0036] Please refer to Figure 1 and Figure 7Furthermore, the conveying device 40 includes a conveyor frame 401, several idler rollers 402, and a sixth drive motor 403. One end of the conveyor frame 401 is installed inside the greenhouse 50 and docks with the seedling tray placement and collection device 10. The other end extends parallel to the outside of the greenhouse 50 and docks with the seedling tray transport device 20. The several idler rollers 402 are arranged laterally at intervals along the upper surface of the conveyor frame 401. Several position sensors are installed on the conveyor frame 401. The sixth drive motor 403 is installed on the conveyor frame 401, and its output end... Connected to the input end of the idler roller 402, the plurality of idler rollers 402 are linked by multiple gears and chains. The sixth drive motor 403 can drive the idler rollers 402 to move in the direction of the seedling tray arranging and collecting device 10 or the seedling tray transport device 20. The sixth drive motor 403 is a servo motor and is controlled by a PLC control unit separately set on the conveyor frame 401. The PLC control unit on the conveyor frame 401 can communicate with the PLC control unit on the second AGV trolley 201 and the second AGV trolley 201 to perform associated operation and collaborative work. In this embodiment, multiple sets of parallel seedbeds 501 can be set up inside the greenhouse 50. Each set of seedbeds 501 is equipped with a seedling tray placement and collection device 10. The conveyor frame 401 of the conveyor device 40 is arranged laterally, with one side of the conveyor frame 401 facing the end of the multiple sets of seedbeds 501, so that it can dock with the seedling tray placement and collection device 10 on the multiple sets of seedbeds 501. The upper end face of the conveyor frame 401 facing the seedbed 501 is longitudinally provided with a roller frame 404. The roller frames 404 are spaced apart along the length of the conveyor frame 401. Several rollers 402 are respectively mounted on the roller frames 404. When the seedling tray placement and collection device... When the seedling trays 60 on the conveying device 40 are collected, the free end of the first AGV trolley 101 drives the support arm 1022 to enter under the roller 402 through the gap between the roller frames 404, and drives the support arm 1022 to move upward, so that it passes through the gap between the rollers 402, lifting the seedling trays 60 on the roller 402 and placing them on the seedbed 501. When the seedling tray collection device 10 places the seedling trays 60 on the conveying device 40, the support arm 1022 can move downward, passing through the gap between the rollers 402, so that the seedling trays 60 fall on the rollers 402 for transport. By utilizing the gap between the roller frames 404, the support arm 1022 of the seedling tray collection device 10 can place or collect the seedling trays 60 on the rollers 402 of the conveying device 40 more smoothly.

[0037] In another preferred embodiment, the conveying device 40 is a ring belt conveyor. A PLC control unit, a servo motor, and multiple position sensors are installed on the frame of the ring belt conveyor. The servo motor controls the conveyor belt to run in both directions. The two ends of the ring belt conveyor are respectively connected to the seedling tray receiving device 10 and the seedling tray transport device 20. The PLC control unit on the conveyor frame 401 can communicate with the PLC control unit on the second AGV trolley 201 to perform associated operation and collaborative work to complete the conveying of the seedling tray 60.

[0038] The device is highly automated, reducing manual labor intensity, improving transportation efficiency, and is flexible in movement, allowing one line to be used for multiple greenhouses 50. Each greenhouse 50 only requires a small initial investment in tooling costs, making it easy to promote.

[0039] The above-disclosed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the invention. Those skilled in the art will understand that implementing all or part of the above-described embodiments and making equivalent changes in accordance with the claims of the present invention are still within the scope of the invention.

Claims

1. A bidirectional seedling tray receiving and conveying device, characterized in that: The system includes a seedling tray placement and collection device, a seedling tray transport device, a three-dimensional shelf, and a conveying device. The seedling tray placement and collection device is installed on the seedbed inside the greenhouse and can move along the seedbed to collect or place the seedling trays on the seedbed. The three-dimensional shelf is located outside the greenhouse. The seedling tray transport device is located between the three-dimensional shelf and the greenhouse. The conveying device is located inside the greenhouse, with one end of the conveying device set up at the end of the seedbed and able to connect with the seedling tray placement and collection device, and the other end extending out of the greenhouse and connecting with the seedling tray transport device. The seedling tray transport device can perform bidirectional transport to move seedling trays from the three-dimensional shelf to the conveying device, or move seedling trays from the conveying device to the three-dimensional shelf. The conveying device can also perform bidirectional transport, either transferring seedling trays to the seedling tray placement and collection device for placement, or transferring seedling trays collected by the seedling tray placement and collection device to the seedling tray transport device, which then transports them to the three-dimensional shelf. The seedling tray collection device includes a first AGV trolley, a collection bracket, and a first lifting mechanism. The first AGV trolley spans across the seedbed and can move along the seedbed towards the conveying device. The first lifting mechanism is mounted on the first AGV trolley, and first guide rails are longitudinally arranged on both sides of the first lifting mechanism. The collection bracket is movably mounted on the first guide rails and is connected to the first lifting mechanism. The first lifting mechanism drives the collection bracket to move up and down along the first guide rails to collect or place seedling trays on the seedbed or the conveying device. The seedling tray transport device includes a second AGV trolley, a second lifting mechanism, and a transport mechanism. The second lifting mechanism is mounted on the second AGV trolley and moves left and right along one side of the three-dimensional rack. The transport mechanism is mounted parallel to the second lifting mechanism and can move parallel to the conveying device or the three-dimensional rack along the second lifting mechanism. When moving towards the three-dimensional rack, it can extend into the three-dimensional rack. The second lifting mechanism can lift and lower the transport mechanism and cooperate with the second AGV trolley to drive the transport mechanism to move left and right, so that the transport mechanism can extend into any position within the three-dimensional rack to transport or place seedling trays.

2. The seedling tray bidirectional feeding and conveying device as described in claim 1, characterized in that: The lifting and collecting frame includes a lifting frame and a support arm for carrying seedling trays. The lifting frame is movably mounted on a first guide rail and is connected to a first lifting mechanism. The support arm is in multiple sets, arranged laterally at the lower end of the lifting frame and spaced laterally along the lower end face of the lifting frame. The free end of the support arm extends parallel to the direction where the conveying device is located. The first lifting mechanism drives the lifting frame to move up and down along the first guide rail and cooperates with the first AGV trolley to drive the lifting frame to move back and forth, so that the free end of the support arm can be inserted into the bottom of the seedling tray on the seedbed or the conveying device and lifted up for collection, or the seedling tray can be placed on the seedbed or the conveying device.

3. The seedling tray bidirectional feeding and conveying device as described in claim 2, characterized in that: The first lifting mechanism includes a first drive motor and a first lifting screw. The first drive motor is located at the top of the first AGV trolley. The first lifting screw is longitudinally located in the middle of the first AGV trolley and connected to the output end of the first drive motor. The first guide rail is fixedly located on both sides of the first lifting screw. The lifting frame is movably mounted on the first guide rail and threadedly connected to the first lifting screw. The first drive motor drives the first lifting screw to rotate, thereby driving the lifting frame to move up and down along the first guide rail, so as to collect or place seedling trays on the seedbed or conveying device.

4. The seedling tray bidirectional feeding and conveying device as described in claim 3, characterized in that: The second lifting mechanism includes a second drive motor, a second lifting screw, and a lifting platform. The second drive motor is located at the top of the second AGV trolley. The second lifting screw is longitudinally located in the middle of the second AGV trolley and connected to the output end of the second drive motor. Second guide rails are longitudinally fixed on both sides of the second lifting screw. The lifting platform is movably mounted on the second guide rails and threadedly connected to the second lifting screw. The second drive motor drives the second lifting screw to rotate, thereby driving the lifting platform to move up and down along the second guide rails. The conveying mechanism is installed parallel to the lifting platform, moves up and down with the lifting platform, and can move parallel to the lifting platform towards the conveying device or the three-dimensional rack to transport or place seedling trays.

5. The seedling tray bidirectional feeding and conveying device as described in claim 4, characterized in that: The upper surface of the lifting platform is provided with a primary slide rail and a primary gear rail. The conveying mechanism is installed on the primary slide rail. A third drive motor is provided at the lower end of the conveying mechanism. The output end of the third drive motor is provided with a gear that meshes with the primary gear rail. The third drive motor drives the gear to rotate along the laying direction of the primary gear rail, so as to push the conveying mechanism to move along the primary slide rail towards the conveying device or the three-dimensional shelf, to transport or place seedling trays.

6. The seedling tray bidirectional feeding and conveying device as described in claim 5, characterized in that: The conveying mechanism includes a primary platform, a secondary platform, and a conveyor belt. The primary platform is mounted parallel to a primary slide rail. A third drive motor is located at the lower end of the primary platform, and a gear at the output end of the third drive motor meshes with the primary gear rail to propel the primary platform along the primary slide rail toward the conveying device or automated rack. A secondary slide rail and a secondary gear rail are mounted parallel to the upper surface of the primary platform, and the secondary platform is mounted parallel to the secondary slide rail. A fourth drive motor is located at the lower end of the secondary platform, and a gear at the output end of the fourth drive motor meshes with the secondary gear rail. The fourth drive motor drives the gear to rotate along the laying direction of the secondary gear rail to propel the secondary platform along the secondary slide rail toward the conveying device or automated rack. The conveyor belt is mounted parallel to the upper surface of the secondary platform, and a fifth drive motor is located on the conveyor belt. The fifth drive motor drives the conveyor belt to transport seedling trays to the conveying device or automated rack.

7. The seedling tray bidirectional feeding and conveying device as described in claim 6, characterized in that: The three-dimensional rack is a rack with a multi-row structure. Each row of racks has multiple layers of shelves for placing seedling trays. Each shelf has a passage in the middle for a secondary platform to pass through. The passage is directly opposite the handling mechanism. The secondary platform can extend into any passage and transport or remove seedling trays to or from the rack via a conveyor belt.

8. The seedling tray bidirectional feeding and conveying device as described in claim 3, characterized in that: The conveying device includes a conveyor frame, several idlers, and a sixth drive motor. One end of the conveyor frame is located inside the greenhouse and connects to the seedling tray placement and collection device. The other end extends parallel to the outside of the greenhouse and connects to the seedling tray transport device. The several idlers are arranged laterally at intervals along the upper surface of the conveyor frame. The sixth drive motor is mounted on the conveyor frame, and its output end is connected to the input end of the idlers. The several idlers are linked by multiple gears and chains. The sixth drive motor can drive the idlers to move towards the seedling tray placement and collection device or the seedling tray transport device. The support arms of the placement and collection bracket can be inserted into the gaps between the spaced idlers to collect or place seedling trays.

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