An AGV for transporting planting trays and a transportation method

Abstract

The present invention belongs to the technical field of planting tray transfer devices, and provides a planting tray transfer AGV for transferring planting trays, including an AGV main body, and further including: a temporary placement rack; and a transfer unit for transferring the planting trays placed on the planting rack to the temporary placement rack. The present invention also provides a transfer method for the above-mentioned planting tray transfer AGV, including the following steps: S100: The planting tray transfer AGV travels to one side of the target planting rack; S200: The transfer unit transfers the planting trays on the target planting rack to the temporary placement rack; S300: The planting tray transfer AGV transfers the planting trays on the temporary placement rack to the destination; S400: The transfer unit unloads the planting trays on the temporary placement rack. The planting tray transfer AGV and the transfer method provided by the present invention have a simple structure, reasonable design, can automatically transfer the planting trays, have high efficiency and low labor cost.

Description

Technical Field

[0001] The present invention relates to the technical field of planting tray transfer devices, and particularly to a planting tray transfer AGV and a transfer method thereof. Background Art

[0002] With the rise of modern planting industry, people usually place planting trays on planting shelves for the growth of plants planted in the planting trays. However, when the plants planted in the planting trays grow to a certain stage, the planting trays need to be transported to other places. In the prior art, manual transfer is usually used, which not only has low efficiency but also increases labor costs. Summary of the Invention

[0003] Aiming at the defects in the prior art, the purpose of the present invention is to provide a planting tray transfer AGV and a transfer method thereof, so as to achieve the purpose of automatically transferring planting trays, thereby improving efficiency and reducing labor costs.

[0004] To achieve the above purpose, on the one hand, the present invention provides a planting tray transfer AGV for transporting planting trays, which includes an AGV main body, and further includes:

[0005] Temporary placement racks, two of the temporary placement racks are respectively arranged at both ends of the AGV main body, and the temporary placement rack includes:

[0006] A first mounting rack, which is fixedly connected to the AGV main body; and

[0007] Carrying trays provided with accommodation grooves, the number of which is n, where n≥2, and the n carrying trays are arranged at intervals in the longitudinal direction and fixedly connected to the first mounting rack; and

[0008] A transfer unit, which is arranged on the AGV and is used to transfer the planting trays placed on the planting rack to the temporary placement rack or transfer the planting trays on the temporary placement rack to the planting rack.

[0009] Further, the transfer unit includes:

[0010] A grasping component, which is arranged on the AGV main body and is used to grasp the planting trays;

[0011] A first driving component, which is arranged on the AGV main body and is used to drive the grasping component to make a reciprocating linear motion between a first working position A and a second working position A; and

[0012] A second driving component, which is arranged on the AGV main body and is used to drive the grasping component to rotate at a preset angle α.

[0013] Further, the planting tray includes a tray body, and m placing holes are provided on the tray body, where m≥2, and the m placing holes are arranged in an array on the tray body. On both sides of the tray body, z grabbing holes are provided, where z≥2, and the z grabbing holes are arranged at intervals in sequence along the length direction of the tray body.

[0014] Further, the grabbing assembly includes:

[0015] A second mounting bracket;

[0016] Grabbing claws, which are arranged on the second mounting bracket, are L-shaped, and include a longitudinal arm and a transverse arm. The first end of the longitudinal arm is connected to the second mounting bracket, and the second end extends downward. The first end of the transverse arm is fixedly connected to the second end of the longitudinal arm, and the second end extends horizontally. The number of them is two groups, with r in each group, where z≥r≥2, and the two groups of grabbing claws are respectively arranged on both sides of the second mounting bracket; and

[0017] A telescopic mechanism, which is arranged on the second mounting bracket and is used to drive the grabbing claws to make a reciprocating linear motion horizontally between a first working position C and a second working position C.

[0018] Further, the telescopic mechanism includes:

[0019] Mounting brackets, the number of which is two. The two mounting brackets are respectively arranged on both sides of the second mounting bracket and are slidably connected to the second mounting bracket. The two groups of grabbing claws are respectively fixedly connected to the two mounting brackets; and

[0020] A driving structure, which is arranged on the second mounting bracket and is used to drive the mounting brackets to make a reciprocating linear motion horizontally.

[0021] Further, the driving structure includes:

[0022] Two symmetrically arranged first transmission units, which are respectively arranged on both sides of the second mounting bracket. The first transmission unit includes:

[0023] Two oppositely arranged first belt pulleys, which are respectively arranged at both ends of the second mounting bracket and are rotatably connected to the second mounting bracket;

[0024] A first transmission belt, which is annular, is sleeved on the periphery of the two first belt pulleys and can rotate as the two first belt pulleys rotate; and

[0025] A first slider, which is slidably connected to the second mounting bracket and is fixedly connected to the mounting bracket and the first transmission belt; and

[0026] A driving unit, which is arranged on the second mounting bracket and is used to drive one of the two first pulleys to rotate.

[0027] Further, the driving unit includes:

[0028] A driving shaft, which is rotatably connected to the second mounting bracket, and one of the first pulleys of the two first transmission units is coaxially sleeved at both ends of the driving shaft and fixedly connected to the driving shaft; and

[0029] A third motor, which is fixedly installed on the second mounting bracket, and the power output shaft of which is in transmission connection with the power input end of the driving shaft.

[0030] Further, the mounting bracket includes:

[0031] A first bracket, which is slidably connected to the second mounting bracket; and

[0032] A second bracket, which is slidably connected to the first bracket, wherein the grasping claw is fixedly connected to the second bracket, and the power output end of the driving structure is fixedly connected to the first bracket;

[0033] The driving structure further includes two symmetrically arranged second transmission units, and the two second transmission units are respectively arranged on both sides of the second mounting bracket. The second transmission unit includes:

[0034] A second pulley, which is arranged at the first end of the first bracket and is rotatably connected to the first bracket;

[0035] A second transmission belt, the first end of which is fixedly connected to the second mounting bracket, and the second end of which is fixedly connected to one end of the second bracket close to the second end of the first bracket after bypassing the second pulley;

[0036] A third pulley, which is arranged at the second end of the first bracket and is rotatably connected to the first bracket; and

[0037] A third transmission belt, the first end of which is fixedly connected to the second mounting bracket, and the second end of which is fixedly connected to the other end of the second bracket after bypassing the third pulley.

[0038] On the other hand, the present invention provides a transfer method for a planting tray transfer AGV for any one of the above, including the following steps:

[0039] S100: The planting tray transfer AGV travels to one side of the target planting rack;

[0040] S200: The transfer unit transfers the planting tray on the target planting rack to the temporary placement rack;

[0041] S300: The planting tray transfer AGV transfers the planting tray on the temporary placement rack to the destination;

[0042] S400: The transfer unit unloads the planting tray on the temporary placement rack.

[0043] Further, step S200 includes the following steps:

[0044] S201: The first driving component drives the grasping component to rise or fall, so that the grasping component moves to the target layer of the planting rack;

[0045] S202: The second driving component drives the grasping component to rotate by a preset angle α, so that the grasping component aligns with the target planting tray;

[0046] S203: The telescopic mechanism drives the grasping claw to move from the first working position C to the second working position C, so that the grasping claw moves to directly above the grasping hole of the target planting tray;

[0047] S204: The first driving component drives the grasping component to descend, so that the grasping claw passes through the grasping hole of the target planting tray;

[0048] S205: The telescopic mechanism drives the grasping claw to move a distance L in the direction of the second end of the transverse arm, so that the transverse arm moves below the side wall at the bottom of the planting tray;

[0049] S206: The first driving component drives the grasping component to rise to pick up the target planting tray;

[0050] S207: The telescopic mechanism drives the grasping component to move back from the second working position C to the first working position C;

[0051] S208: The second driving component drives the grasping component to rotate by a preset angle α, so that the grasping component faces the target temporary placement rack;

[0052] S209: The first driving component drives the grasping component to rise or fall, so that the grasping component moves to the target carrier;

[0053] S210: The telescopic mechanism drives the grasping claw to move from the first working position C to the second working position C, so that the grasping claw moves the target planting tray to directly above the target carrier;

[0054] S211: The first driving component drives the grasping component to move downward, so that the grasping component places the target planting tray into the receiving groove of the target carrier;

[0055] S212: The telescopic mechanism drives the grasping claws to move a distance L in a direction away from the second end of the transverse arm, so that the transverse arm moves to below the grasping holes;

[0056] S213: The first driving component drives the grasping component to rise, so that the grasping claws are pulled out of the grasping holes;

[0057] S214: The telescopic mechanism drives the grasping claws to move back from the second working position C to the first working position C, thus completing the transfer of a planting tray from the planting rack to the temporary placement rack;

[0058] S215: Repeat S201 - S214 until all the carrier trays on the planting tray transfer AGV are loaded with planting trays or there are no more planting trays to be transferred.

[0059] Advantages of the present invention:

[0060] For the planting tray transfer AGV provided by the present invention, by providing a temporary placement rack and a transfer unit on the AGV main body, the purpose of temporarily storing the planting trays is achieved under the action of the temporary placement rack, and the purpose of automatically transferring the planting trays on the planting rack to the temporary placement rack is achieved under the action of the transfer unit. Under the action of the AGV main body, the purpose of transporting the planting trays to the destination is achieved, the transfer efficiency is improved, and the labor cost is reduced. Description of the drawings

[0061] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0062] Figure 1 A three - dimensional view of the planting tray transfer AGV provided by an embodiment of the present invention;

[0063] Figure 2 For Figure 1 The enlarged view of the place A shown;

[0064] Figure 3 For Figure 1 A three - dimensional structural view of the planting tray to be transported by the planting tray transfer AGV shown;

[0065] Figure 4For Figure 1 The three-dimensional structural view of the grasping component of the planting tray transfer AGV shown in

[0066] Figure 5 For Figure 4 The enlarged view at position B shown in

[0067] Figure 6 For Figure 4 The three-dimensional internal structure view of the grasping component shown in

[0068] Figure 7 For Figure 6 The enlarged view at position C shown in

[0069] Figure 8 For Figure 6 The enlarged view at position D shown in

[0070] Reference numerals:

[0071] Planting tray 100, tray main body 110, placement hole 111, grasping hole 112, AGV main body 200, third mounting bracket 210, temporary placement rack 300, first mounting bracket 310, bearing plate 320, grasping component 400, second mounting bracket 410, grasping claw 420, longitudinal arm 421, transverse arm 422, mounting bracket 430, first bracket 431, second bracket 432, first pulley 441, first transmission belt 442, first slider 443, drive shaft 451, third motor 452, second driving pulley 453, second driven pulley 454, fourth transmission belt sleeve 455, second pulley 461, second transmission belt 462, third pulley 463, third transmission belt 464, first driving component 500, second driving component 600, lifting slider 510, fifth transmission belt structure 520, second motor 610. Detailed implementation manners

[0072] Hereinafter, embodiments of the technical solutions of the present invention will be described in detail with reference to the drawings. The following embodiments are only used to illustrate the technical solutions of the present invention more clearly, and thus are only examples and cannot be used to limit the protection scope of the present invention.

[0073] It should be noted that unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meanings understood by those skilled in the art to which the present invention belongs.

[0074] In the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0075] In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. In the description of the present invention, the meaning of "a plurality" is more than two, unless otherwise specifically defined.

[0076] In the present application, unless otherwise clearly specified and defined, the terms "installed", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0077] In the present application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or simply means that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower horizontal height than the second feature.

[0078] As Figures 1-8 shown, the present invention provides a planting tray transfer AGV, which is used to transfer the planting tray 100, and includes an AGV main body 200, as well as a temporary placement rack 300 and a transfer unit provided on the above-mentioned AGV main body 200.

[0079] Among them, the number of the temporary placement racks 300 is two, and the above two temporary placement racks 300 are respectively fixedly installed at both ends of the AGV main body 200. The temporary placement rack 300 includes a first mounting rack 310 and a carrying tray 320.

[0080] The first mounting bracket 310 is fixedly connected to the AGV main body 200. A receiving groove is formed at the top of the bearing plate 320, and the number of bearing plates 320 is n, where n≥2. The above n bearing plates 320 are arranged at intervals in the longitudinal direction in sequence and are fixedly connected to the first mounting bracket 310.

[0081] The transfer unit is used to transfer the planting tray 100 placed on the planting rack to the temporary placement rack 300 or transfer the planting tray 100 on the temporary placement rack 300 to the planting rack.

[0082] During use, first, the AGV for transporting the planting tray travels to one side of the target planting rack; then, the transfer unit transfers the planting tray 100 on the target planting rack to the temporary placement rack 300; after that, the AGV for transporting the planting tray transports the planting tray 100 on the temporary placement rack 300 to the destination; finally, the transfer unit unloads the planting tray 100 on the temporary placement rack 300.

[0083] The AGV for transporting the planting tray provided by the present invention, by arranging the temporary placement rack 300 and the transfer unit on the AGV main body 200, under the action of the temporary placement rack 300, the purpose of temporarily storing the planting tray 100 is achieved, and under the action of the transfer unit, the purpose of automatically transferring the planting tray 100 on the planting rack to the temporary placement rack 300 is achieved. Under the action of the AGV main body 200, the purpose of transporting the planting tray 100 to the destination is achieved, improving the transfer efficiency and reducing the labor cost.

[0084] In one embodiment, the transfer unit includes a grasping component 400, a first driving component 500, and a second driving component 600.

[0085] The grasping component 400 is arranged on the AGV main body 200 and is used to grasp the planting tray 100. The first driving component 500 is arranged on the AGV main body 200 and is used to drive the grasping component 400 to make a reciprocating linear motion between the first working position A and the second working position A. During use, under the action of the first driving component 500, the first driving component 500 drives the grasping component 400 to move to the target layer of the planting rack or the target layer of the temporary placement rack 300 (i.e., the target bearing plate 320).

[0086] Specifically, the first driving component 500 includes a lifting slider 510 and a driving device for driving the lifting slider 510 to make a reciprocating linear motion in the longitudinal direction.

[0087] A third mounting bracket 210 is fixedly arranged on the AGV main body 200, and the lifting slider 510 is slidably connected to the third mounting bracket 210. The driving device includes two symmetrically arranged fifth belt structures 520 and a first motor for driving the fifth belt structure 520 to rotate. The fifth belt structure 520 includes a fifth driving pulley, a fifth driven pulley, and a fifth belt. Among them, the fifth driving pulley and the fifth driven pulley are rotatably connected to the third mounting bracket 210, and the fifth belt is sleeved on the fifth driving pulley and the fifth driven pulley. The first motor is fixedly installed on the AGV main body. These are all prior arts and will not be elaborated here.

[0088] The second driving assembly 600 is arranged on the AGV main body 200, and is used to drive the grasping assembly 400 to rotate at a preset angle α. Preferably, α = 90°. During use, under the action of the second driving assembly 600, the second driving assembly 600 drives the grasping assembly 400 to rotate, so that the grasping assembly 400 faces the target planting rack or the target temporary placement rack 300.

[0089] Specifically, the second driving assembly 600 includes a second motor 610, and the second motor 610 is fixedly installed on the lifting slider 510. The grasping assembly 400 is rotatably connected to the lifting slider 510, and the power input end of the grasping assembly 400 is in transmission connection with the power output shaft of the second motor 610. For example: the power output shaft of the second motor 610 is fixedly connected to the power input end of the grasping assembly 400, and the power output shaft of the second motor 610 is in transmission connection with the power input end of the grasping assembly 400 through a gear structure or a belt structure.

[0090] In one embodiment, the planting tray 100 includes a tray main body 110, and m placing holes 111 are formed on the tray main body 110, where m ≥ 2, and the m placing holes 111 are arranged in an array on the tray main body 110. Both sides of the tray main body 110 are provided with z grasping holes 112. Preferably, z ≥ 2, so as to achieve the purpose of improving the reliability and stability of grasping the planting tray 100. The z grasping holes 112 are arranged at intervals in sequence along the length direction of the tray main body 110.

[0091] The planting tray 100 with this structure has a simple structure, reasonable design, and is convenient for grasping.

[0092] In one embodiment, the grasping assembly 400 includes a second mounting bracket 410, a grasping claw 420, and a telescopic mechanism.

[0093] The gripping claws 420 are mounted on the second mounting bracket 410. The gripping claws 420 are L-shaped. The gripping claws 420 include a longitudinal arm 421 and a transverse arm 422. The first end of the longitudinal arm 421 is connected to the second mounting bracket 410, and the second end extends downward. The first end of the transverse arm 422 is fixedly connected to the second end of the longitudinal arm 421, and the second end extends horizontally. The number of the gripping claws 420 is two groups, with r in each group. Preferably, z≥r≥2, so as to improve the reliability and stability of gripping the planted tray. The two groups of gripping claws 420 are respectively arranged on both sides of the second mounting bracket 410. The telescopic mechanism is mounted on the second mounting bracket 410, and the telescopic mechanism is used to drive the gripping claws 420 to make a reciprocating linear motion horizontally between the first working position C and the second working position C.

[0094] During use, first, under the action of the telescopic mechanism, the telescopic mechanism drives the gripping claws 420 to move from the first working position C to the second working position C, so that the gripping claws 420 move to directly above the gripping holes 112 of the target planted tray 100; then, under the action of the first driving component 500, the first driving component 500 drives the gripping component 400 to move downward, so that the gripping claws 420 pass through the gripping holes 112; then, under the action of the telescopic mechanism, the telescopic mechanism drives the gripping claws 420 to move a distance L in the direction of the second end of the transverse arm 422, so that the transverse arm 422 moves below the side wall at the bottom of the planted tray 100, so that the gripping claws 420 cannot be pulled out of the gripping holes 112; then, under the action of the first driving component 500, the first driving component 500 drives the gripping component 400 to rise, so as to achieve the purpose of lifting the planted tray 100; finally, the telescopic mechanism drives the gripping claws 420 to move from the second working position C to the first working position C. Wherein, L is equal to the distance that the longitudinal arm 421 of the gripping claw 420 moves from the first end to the second end of the gripping hole 112.

[0095] The gripping component 400 with this structure has a simple structure and reasonable design, and is convenient for gripping the planted tray 100.

[0096] In one embodiment, the telescopic mechanism includes a mounting bracket 430 and a driving structure.

[0097] The number of the mounting brackets 430 is two. The two mounting brackets 430 are respectively arranged on both sides of the second mounting bracket 410 and are slidably connected to the second mounting bracket 410. The two groups of gripping claws 420 are respectively fixedly connected to the two mounting brackets 430. The driving structure is arranged on the second mounting bracket 410, and the driving structure is used to drive the mounting bracket 430 to make a reciprocating linear motion horizontally.

[0098] When in use, under the action of the driving structure, the driving structure drives the mounting bracket 430 to perform reciprocating linear motion in the lateral direction, thereby achieving the purpose of driving the grabbing claw 420 to perform reciprocating linear motion between the first working position C and the second working position C.

[0099] In one embodiment, the driving structure includes a first transmission unit and a driving unit.

[0100] There are two first transmission units, which are symmetrically arranged on both sides of the second mounting frame 410 . The first transmission unit includes a first pulley 441 , a first transmission belt 442 and a first slider 443 .

[0101] There are two first pulleys 441 (i.e., a first driving pulley and a first driven pulley). The two first pulleys 441 are respectively arranged at both ends of the second mounting frame 410 and are rotatably connected to the second mounting frame 410. The first transmission belt 442 is annular, and the first transmission belt 442 is sleeved on the periphery of the two first pulleys 441 and can rotate with the rotation of the two first pulleys 441. The first slider 443 is slidably connected to the second mounting frame 410 and is fixedly connected to the mounting bracket 430 and the first transmission belt 442. The driving unit is installed on the second mounting frame 410, and the driving unit is used to drive one of the two first pulleys 441 to rotate. Specifically, the driving unit is used to drive the first pulley 441 to rotate in the forward direction or the reverse direction.

[0102] When in use, the driving unit drives the first pulley 441 to rotate forward or reversely, thereby driving the first transmission belt 442 to rotate forward or reversely. Under the action of the first slider 443, the first slider 443 carries the mounting bracket 430 to perform reciprocating linear motion.

[0103] The driving structure of this structure is simple in structure and reasonable in design.

[0104] In one embodiment, the driving unit includes a driving shaft 451 and a third motor 452 .

[0105] The driving shaft 451 is rotatably connected to the second mounting frame 410, and one of the first pulleys 441 of the two first transmission units is coaxially sleeved at both ends of the driving shaft 451 and fixedly connected to the driving shaft 451. The third motor 452 is fixedly mounted on the second mounting frame 410, and the power output shaft of the third motor 452 is transmission-connected to the power input end of the driving shaft 451. Specifically, a second driving pulley 453 is coaxially sleeved on the power output shaft of the third motor 452, a second driven pulley 454 is coaxially sleeved on the driving shaft 451, and a fourth transmission belt sleeve 455 is provided on the second driving pulley 453 and the second driven pulley 454 and can rotate with the rotation of the second driving pulley 453 and the second driven pulley 454.

[0106] During use, the third motor 452 drives the drive shaft 451 to rotate forward or backward, thereby driving the first pulley 441 to rotate forward or backward through the drive shaft 451, and further achieving the purpose of driving the mounting bracket 430 to perform a reciprocating linear motion.

[0107] In one embodiment, the mounting bracket 430 includes a first bracket 431 and a second bracket 432.

[0108] The first bracket 431 is slidably connected to the second mounting bracket 410. The second bracket 432 is slidably connected to the first bracket 431. Among them, the grasping claw 420 is fixedly connected to the second bracket 432, and the power output end of the driving structure is fixedly connected to the first bracket 431.

[0109] The driving structure further includes two symmetrically arranged second transmission units. The above two second transmission units are respectively arranged on both sides of the second mounting bracket 410. The second transmission unit includes a second pulley 461, a second transmission belt 462, a third pulley 463, and a third transmission belt 464.

[0110] The second pulley 461 is arranged at the first end of the first bracket 431 and is rotatably connected to the first bracket 431. The first end of the second transmission belt 462 is fixedly connected to the second mounting bracket 410, and the second end is fixedly connected to one end of the second bracket 432 close to the second end of the first bracket 431 after bypassing the second pulley 461. The third pulley 463 is arranged at the second end of the first bracket 431 and is rotatably connected to the first bracket 431. The first end of the third transmission belt 464 is fixedly connected to the second mounting bracket 410, and the second end is fixedly connected to the other end of the second bracket 432 (i.e., the end far from the second end of the first bracket 431) after bypassing the third pulley 463.

[0111] During use, the driving unit drives the first bracket 431 to move from the first working position to the second working position. Since the first end of the second transmission belt 462 is fixedly connected to the second mounting bracket 410, when the first bracket 431 moves from the first working position to the second working position, due to the increasing distance between the second pulley 461 and the first end of the second transmission belt 462, and in the case where the length of the second transmission belt 462 cannot be changed, the second end of the second transmission belt 462 will drive the second bracket 432 to move. Thus, during the process of the first bracket 431 moving from the first working position to the second working position, the second bracket 432 will also extend forward relative to the first bracket 431, and further achieve the purpose of increasing the forward extension distance of the grasping claw 420, and further achieve the purpose of facilitating the grasping of the planting tray 100.

[0112] The driving unit drives the first bracket 431 to move from the second working position to the first working position. Since the first end of the third transmission belt 464 is fixedly connected to the second mounting bracket 410, when the first bracket 431 moves from the second working position to the first working position, the distance between the first end of the third transmission belt 464 and the third pulley 463 becomes farther and farther. Without the length of the second transmission belt 462 being able to change, the second end of the second transmission belt 462 will drive the second bracket 432 to contract.

[0113] With this structure, the extension and contraction of the first bracket 431 relative to the second mounting bracket 410 and the second bracket 432 relative to the first bracket 431 can be achieved through a single driving structure, thereby achieving multiple purposes such as saving power, reducing costs, and increasing the forward movement distance of the gripping claw 420, and the structure is compact.

[0114] On the other hand, the present invention provides a transfer method for a planting tray transfer AGV for any one of the above, including the following steps:

[0115] S100: The planting tray transfer AGV travels to one side of the target planting rack;

[0116] S200: The transfer unit transfers the planting tray 100 on the target planting rack to the temporary placement rack 300;

[0117] S300: The planting tray transfer AGV transfers the planting tray 100 on the temporary placement rack 300 to the destination;

[0118] S400: The transfer unit unloads the planting tray 100 on the temporary placement rack 300.

[0119] In one embodiment, step S200 includes the following steps:

[0120] S201: The first driving component 500 drives the gripping component 400 to rise or fall so that the gripping component 400 moves to the target layer of the planting rack;

[0121] S202: The second driving component 600 drives the gripping component 400 to rotate by a preset angle α so that the gripping component 400 aligns with the target planting tray 100;

[0122] S203: The telescopic mechanism drives the gripping claw 420 to move from the first working position C to the second working position C so that the gripping claw 420 moves directly above the gripping hole 112 of the target planting tray 100;

[0123] S204: The first driving component 500 drives the gripping component 400 to descend so that the gripping claw 420 passes through the gripping hole 112 of the target planting tray 100;

[0124] S205: The telescopic mechanism drives the gripping claw 420 to move a distance L in the direction of the second end of the transverse arm 422, so that the transverse arm 422 moves below the side wall at the bottom of the planting tray 100;

[0125] S206: The first driving assembly 500 drives the gripping assembly 400 to rise to pick up the target planting tray 100;

[0126] S207: The telescopic mechanism drives the gripping assembly 400 to move back from the second working position C to the first working position C;

[0127] S208: The second driving assembly 600 drives the gripping assembly 400 to rotate a preset angle α so that the gripping assembly 400 faces the target temporary placement rack 300;

[0128] S209: The first driving assembly 500 drives the gripping assembly 400 to rise or fall so that the gripping assembly 400 moves to the target carrier plate 320;

[0129] S210: The telescopic mechanism drives the gripping claw 420 to move from the first working position C to the second working position C, so that the gripping claw 420 drives the target planting tray 100 to move directly above the target carrier plate 320;

[0130] S211: The first driving assembly 500 drives the gripping assembly 400 to move downward so that the gripping assembly 400 places the target planting tray 100 into the receiving groove of the target carrier plate 320;

[0131] S212: The telescopic mechanism drives the gripping claw 420 to move a distance L in the direction away from the second end of the transverse arm 422, so that the transverse arm 422 moves below the gripping hole 112;

[0132] S213: The first driving assembly 500 drives the gripping assembly 400 to rise so that the gripping claw 420 is pulled out of the gripping hole 112;

[0133] S214: The telescopic mechanism drives the gripping claw 420 to move back from the second working position C to the first working position C, thus completing the transfer of one planting tray 100 from the planting rack to the temporary placement rack 300;

[0134] S215: Repeat S201 - S214 until all the carrier plates 320 on the planting tray transfer AGV are loaded with planting trays 100 or there are no more planting trays 100 to be transferred.

[0135] In the description of the present invention, a large number of specific details are set forth. However, it is understood that embodiments of the present invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail so as not to obscure the understanding of this description.

[0136] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

Claims

1. A planting tray transfer AGV, which is used to transfer planting trays, and includes an AGV main body, characterized in that: it further includes: Temporary placement racks, two of the temporary placement racks are respectively arranged at both ends of the AGV main body, and the temporary placement rack includes: A first mounting rack, which is fixedly connected to the AGV main body; and Carrying trays provided with receiving grooves, the number of which is n, where n≥2, and the n carrying trays are arranged at intervals in the longitudinal direction in sequence and are fixedly connected to the first mounting rack; and A transfer unit, which is arranged on the AGV and is used to transfer the planting trays placed on the planting rack to the temporary placement rack or transfer the planting trays on the temporary placement rack to the planting rack; The transfer unit includes: A grasping assembly, which is arranged on the AGV main body and is used to grasp the planting trays; A first driving assembly, which is arranged on the AGV main body and is used to drive the grasping assembly to make a reciprocating linear motion between a first working position A and a second working position A; and A second driving assembly, which is arranged on the AGV main body and is used to drive the grasping assembly to rotate at a preset angle α; The grasping assembly includes: A second mounting rack; Grasping claws, which are arranged on the second mounting rack and are L-shaped. They include a longitudinal arm and a transverse arm. The first end of the longitudinal arm is connected to the second mounting rack, and the second end extends downward. The first end of the transverse arm is fixedly connected to the second end of the longitudinal arm, and the second end extends horizontally. The number of them is two groups, and each group has r, where z≥r≥2. The two groups of grasping claws are respectively arranged on both sides of the second mounting rack; and A telescopic mechanism, which is arranged on the second mounting rack and is used to drive the grasping claws to make a reciprocating linear motion between a first working position C and a second working position C in the horizontal direction; The telescopic mechanism includes: Mounting brackets, the number of which is two. The two mounting brackets are respectively arranged on both sides of the second mounting rack and are slidably connected to the second mounting rack. The two groups of grasping claws are respectively fixedly connected to the two mounting brackets; and A driving structure, which is arranged on the second mounting rack and is used to drive the mounting brackets to make a reciprocating linear motion in the horizontal direction; The driving structure includes: Two symmetrically arranged first transmission units, the two first transmission units are respectively arranged on both sides of the second mounting rack, and the first transmission unit includes: Two relatively arranged first belt pulleys, the two first belt pulleys are respectively arranged at both ends of the second mounting rack and are rotatably connected to the second mounting rack; A first transmission belt, which is annular and is sleeved on the periphery of the two first belt pulleys and can rotate with the rotation of the two first belt pulleys; and A first slider, which is slidably connected to the second mounting rack and is fixedly connected to the mounting bracket and the first transmission belt; and A driving unit, which is arranged on the second mounting rack and is used to drive one of the two first belt pulleys to rotate.

2. The planting tray transfer AGV according to claim 1, characterized in that: The planting tray includes a tray body, and m placing holes are provided on the tray body, where m≥2, and the m placing holes are arranged in an array on the tray body. On both sides of the tray body, z grabbing holes are provided, where z≥2, and the z grabbing holes are sequentially arranged at intervals along the length direction of the tray body.

3. The planting tray transfer AGV according to claim 2, characterized in that: The driving unit includes: a driving shaft, which is rotatably connected to the second mounting bracket, and one first pulley of the two first transmission units is coaxially sleeved at both ends of the driving shaft and fixedly connected to the driving shaft; and a third motor, which is fixedly installed on the second mounting bracket, and the power output shaft thereof is in transmission connection with the power input end of the driving shaft.

4. The planting tray transfer AGV according to any one of claims 1-3, characterized in that: The mounting bracket includes: a first bracket, which is slidably connected to the second mounting bracket; and a second bracket, which is slidably connected to the first bracket, wherein the grabbing claw is fixedly connected to the second bracket, and the power output end of the driving structure is fixedly connected to the first bracket; The driving structure further includes two symmetrically arranged second transmission units, and the two second transmission units are respectively arranged on both sides of the second mounting bracket. The second transmission unit includes: a second pulley, which is arranged at the first end of the first bracket and is rotatably connected to the first bracket; a second transmission belt, the first end of which is fixedly connected to the second mounting bracket, and the second end of which is wound around the second pulley and then fixedly connected to one end of the second bracket close to the second end of the first bracket; a third pulley, which is arranged at the second end of the first bracket and is rotatably connected to the first bracket; and a third transmission belt, the first end of which is fixedly connected to the second mounting bracket, and the second end of which is wound around the third pulley and then fixedly connected to the other end of the second bracket.

5. A transfer method for the planting tray transfer AGV according to any one of claims 1-4, characterized in that: It includes the following steps: S100: The planting tray transfer AGV travels to one side of the target planting rack; S200: The transfer unit transfers the planting tray on the target planting rack to the temporary placement rack; S300: The planting tray transfer AGV transfers the planting tray on the temporary placement rack to the destination; S400: The transfer unit unloads the planting tray on the temporary placement rack.

6. The transfer method according to claim 5, characterized in that: Step S200 includes the following steps: S201: The first driving component drives the grabbing component to rise or fall, so that the grabbing component moves to the target layer of the planting rack; S202: The second driving component drives the grabbing component to rotate by a preset angle α, so that the grabbing component aligns with the target planting tray; S203: The telescopic mechanism drives the grasping claw to move from the first working position C to the second working position C, so that the grasping claw moves directly above the grasping hole of the target planting tray; S204: The first driving component drives the grasping component to descend, so that the grasping claw passes through the grasping hole of the target planting tray; S205: The telescopic mechanism drives the grasping claw to move a distance L in the direction of the second end of the transverse arm, so that the transverse arm moves below the side wall at the bottom of the planting tray; S206: The first driving component drives the grasping component to ascend to pick up the target planting tray; S207: The telescopic mechanism drives the grasping component to move back from the second working position C to the first working position C; S208: The second driving component drives the grasping component to rotate a preset angle α, so that the grasping component faces the target temporary placement rack; S209: The first driving component drives the grasping component to ascend or descend, so that the grasping component moves to the target bearing tray; S210: The telescopic mechanism drives the grasping claw to move from the first working position C to the second working position C, so that the grasping claw moves the target planting tray to directly above the target bearing tray; S211: The first driving component drives the grasping component to move downward, so that the grasping component places the target planting tray into the receiving groove of the target bearing tray; S212: The telescopic mechanism drives the grasping claw to move a distance L in the direction away from the second end of the transverse arm, so that the transverse arm moves below the grasping hole; S213: The first driving component drives the grasping component to ascend, so that the grasping claw is pulled out of the grasping hole; S214: The telescopic mechanism drives the grasping claw to move back from the second working position C to the first working position C, thus completing the transfer of a planting tray from the planting rack to the temporary placement rack; S215: Repeat S201 - S214 until all the bearing trays on the planting tray transfer AGV are loaded with planting trays or there are no more planting trays to be transferred.

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