A seedling tray mounting and dismounting device

Abstract

This invention discloses a seedling tray loading and unloading device. An omnidirectional movable chassis is placed on the ground. A seedling tray lifting mechanism is fixedly connected to the omnidirectional movable chassis. A seedling tray placement frame is fixedly connected around the omnidirectional movable chassis. A fixed beam connects the seedling tray lifting mechanism and the seedling tray placement frame. A seedling tray insertion mechanism is fixedly connected to the seedling tray lifting mechanism. A mechanical connection exists between the seedling tray and the seedling tray insertion mechanism. The bottom of the main column is fixedly connected to the outer push rod of the lifting electric push rod. A central lifting inner frame is movably mounted on the main column. A fixing block for the seedling tray insertion mechanism is movably mounted on the central lifting inner frame. An insertion transmission gear and an insertion transmission rack are meshed together. This invention enables the transfer of seedling trays on high-level seedling shelves within narrow aisles in a seedling nursery without damaging the seedlings. The entire mechanism can perform loading and unloading operations as needed, transporting four seedling trays at a time. It features a simple structure and high transfer efficiency.

Description

Technical Field

[0001] This invention relates to a seedling tray movement device in the field of automated equipment for agricultural engineering plant factories, and in particular to a seedling tray loading and unloading device. Background Technology

[0002] Plant factories typically use seedling trays for seedling cultivation. During the seedling stage, it's often necessary to transfer the trays from the germination chamber to a higher, more precisely controlled seedling room with controlled temperature and humidity. Current manual transfer methods, due to limited working height, restrict the height of the seedling racks within the seedling room, resulting in low space utilization and operational efficiency, wasted labor, and potential safety hazards. Existing technology lacks a seedling tray loading and unloading device to solve the problem of rapid transfer during the seedling stage, while simultaneously improving land utilization and operational efficiency within the seedling room. Summary of the Invention

[0003] To address the problems existing in the background art, the purpose of this invention is to design a seedling tray placement and lowering device to solve the problem that it is difficult to manually place seedling trays on existing high-rise seedling racks.

[0004] The technical solution of this invention is as follows:

[0005] The device includes an omnidirectional movable chassis, seedling trays, a seedling tray insertion mechanism, a seedling tray lifting mechanism, seedling tray placement frames, a water collection trough, a fixing beam between placement frames, and a fixing beam for the seedling tray lifting mechanism. The omnidirectional movable chassis is placed on the ground, and the water collection trough is placed in the middle of the upper surface of the omnidirectional movable chassis. The lower end of the seedling tray lifting mechanism is fixedly connected to the top of the omnidirectional movable chassis. Four seedling tray placement frames are fixedly connected to the four sides of the omnidirectional movable chassis, with two seedling tray placement frames located on one side of the seedling tray lifting mechanism and the other two seedling tray placement frames located on the other side. The two seedling tray placement frames located on the same side of the seedling tray lifting mechanism are connected by the fixing beam between placement frames. The seedling tray lifting mechanism and the seedling tray placement frames are connected by the fixing beam for the seedling tray lifting mechanism. The seedling tray insertion mechanism is fixedly connected to the seedling tray lifting mechanism, and there is a mechanical connection between the seedling tray and the seedling tray insertion mechanism.

[0006] The seedling tray lifting mechanism includes several electric push rod fixing beams, main columns, lifting electric push rods, lifting driven chains, lifting driven sprockets, a central lifting inner frame, lifting slide rails, inner frame linear slide rails, and a seedling tray insertion mechanism fixing block. The lifting electric push rods include inner push rods and outer push rods. The bottom of the inner push rod is coaxially connected to the top of the outer push rod, allowing it to move up and down. Two main columns and the lifting electric push rods are arranged at intervals along an axis perpendicular to the main columns. The lifting electric push rods and main columns are arranged along the same axis, with the two main columns located on opposite sides of the lifting electric push rods. The two main columns are fixedly connected by three electric push rod fixing beams. Each electric push rod fixing beam has a groove in its middle, and the lifting electric push rod is fixedly connected to the groove in the electric push rod fixing beam. The two main columns... The side walls are equipped with lifting slide rails. The two sides of the central lifting inner frame can be reciprocated along the axis of the main column and installed on the lifting slide rails of the two main columns. The top of the central lifting inner frame is fixedly installed with two lifting driven sprockets. The top of the central lifting inner frame is fixedly connected to the top of the inner push rod of the lifting electric push rod. The inner side wall of the central lifting inner frame is equipped with an inner frame linear slide rail. The two sides of the seedling tray insertion mechanism fixing block can be reciprocated along the axis of the main column and installed on the inner frame linear slide rail. One end of the lifting driven chain is tied to the electric push rod fixing beam between the tops of the two main columns, and the other end is tied to the seedling tray insertion mechanism fixing block after passing through the lifting driven sprockets. The lower ends of the main columns and the outer push rod, and the electric push rod fixing beam located at the lower end of the main columns are all fixedly connected to the omnidirectional moving chassis.

[0007] The seedling tray insertion mechanism includes a slide rail fixing block, an insertion limiting slide rail, an L-shaped rack fixing plate, an insertion transmission rack, an insertion transmission gear, a motor fixing base, and insertion claws. The insertion limiting slide rail includes a slide rail frame, a middle slide rail, and an outer slide rail. Two middle slide rails are reciprocating along their own axes and are mounted on both sides of the slide rail frame. Two outer slide rails are reciprocating along their own axes and are respectively mounted on the outer sides of the two middle slide rails. Two slide rail fixing blocks are respectively fixedly mounted on the outer side walls of the two outer slide rails. The rack fixing plate is located above the insertion limiting slide rail, and the long side of the rack fixing plate is parallel to the middle slide rail. The long side of the rack fixing plate is fixedly connected to a middle slide rail, and the short side of the rack fixing plate is fixedly connected to another middle slide rail. Two insertion transmission racks are fixedly connected to both sides of the long side of the rack fixing plate. Two motor mounting seats are located on both sides of the long side of the rack fixing plate. One motor mounting seat is fixedly installed on the outer slide rail, and the other motor mounting seat is fixedly installed on the slide rail frame. Two insertion transmission gears are fixedly connected to the two motor mounting seats, so that the insertion transmission gear and the insertion transmission rack located on the same side of the long side of the rack fixing plate are meshed. The insertion claw is fixedly connected to the lower surface of the slide rail frame.

[0008] Both the slide rail fixing block and the outer slide rail of the insertion limit slide rail are fixedly connected to the seedling tray insertion mechanism fixing block.

[0009] The seedling tray placement frame includes several trays, transmission links and placement frame columns. Each tray can be rotatably connected to the placement frame column, and a transmission link can be movably connected between every two adjacent trays.

[0010] The main column and the placement frame column are connected by a fixed beam through the seedling tray lifting mechanism. The bottom of the placement frame column is fixedly installed around the omnidirectional movable chassis. The two placement frame columns located on the same side of the seedling tray lifting mechanism are connected by a fixed beam between the placement frames.

[0011] The tray includes side plates, a rotating shaft, a connecting rod drive shaft, a downward limiting shaft, a spring, a seedling tray fixing pin, and a pin fixing plate. Two side plates are located on either side of the support column. One end of each side plate is rotatably connected to the support column via the rotating shaft. The other ends of the two side plates are fixedly connected by the pin fixing plate. The seedling tray fixing pin is fixedly installed on the pin fixing plate. The end of each side plate closest to the support column is connected to the support column via a spring. A downward limiting shaft is also provided below the tray in the support column. Two side plates are located on either side of the transmission connecting rod. The end of each side plate closest to the support column is rotatably connected to the transmission connecting rod via the connecting rod drive shaft. The connecting rod drive shafts of every two adjacent trays are connected by a transmission connecting rod.

[0012] The bottom of the support column of the mounting frame is also provided with a spring-loaded limiting shaft, which is located below the bottommost tray.

[0013] The seedling tray includes a seedling tray hook and a seedling tray body. The seedling tray hook is fixed to the upper surface of the seedling tray body and is fixedly connected to the insertion claw of the seedling tray insertion mechanism.

[0014] The omnidirectional mobile chassis can drive the entire mechanism to move and adjust its posture between seedling racks;

[0015] The seedling tray lifting mechanism is mounted on the omnidirectional movable chassis and can lift the seedling tray insertion mechanism via a lifting electric push rod to achieve vertical movement of the seedling tray insertion mechanism;

[0016] The seedling tray insertion mechanism is located on the central slider (seedling tray insertion mechanism fixing block) of the seedling tray lifting mechanism. It can insert, lift and finally retract the seedling tray into the device through gear and rack transmission.

[0017] The seedling tray placement frame is mounted on an omnidirectional movable chassis and is connected to the seedling tray lifting mechanism via a crossbeam, enabling the seedling trays to be placed one by one from bottom to top.

[0018] The electric push rod fixing beam is used to fix the lifting electric push rod to the main column. The lifting slide rail and the inner frame linear slide rail are used to restrict the mechanism to move only in the vertical direction of the main column. The lifting electric push rod is used to lift the central lifting inner frame to move up and down. The lifting driven chain and the lifting driven sprocket are used to transmit the force of the central lifting inner frame to the lifting fixing block of the seedling tray insertion mechanism, so as to achieve a displacement twice that of the lifting electric push rod.

[0019] The insertion limiting slide rail is installed on the slide rail fixing block to limit the movement of the insertion claw in one direction. The motor fixing base is installed on the insertion limiting slide rail to fix the stepper motor. The insertion transmission gear is driven by the stepper motor to drive the insertion transmission rack to translate. The insertion claw is installed on the inner rail of the insertion limiting slide rail for inserting the seedling tray.

[0020] The seedling tray placement frame includes a placement frame column, on which four trays are installed, and the trays are connected to each other by the transmission linkage.

[0021] The seedling tray rack can accommodate four layers of seedling trays. Each layer of seedling trays is supported by four trays and stored in the device. When no seedling trays are placed, only the tray of the lowest layer pops out, while the upper three layers are retracted. When the tray of the lowest layer is pressed down by a seedling tray, the upper layer pops out, and so on to complete the placement of the seedling trays one by one.

[0022] The side plate is mounted on the support column of the placement frame and can rotate via the rotating shaft. The connecting rod drive shaft is connected to the transmission link, enabling the transmission link to drive the tray to rotate. The downward pressure limit shaft and the spring-rebound limit shaft are mounted on the support column of the placement frame to mechanically limit the rotation of the tray. A spring is installed between the side plate and the support column of the placement frame to ensure that the tray can automatically return to the designated position when no seedling tray is placed. The seedling tray fixing pin is mounted on the pin fixing plate, and the pin fixing plate is mounted on the side plate to limit the shaking and movement of the placed seedling tray.

[0023] Three hooks are installed on each seedling tray for positioning and insertion of the insertion claw. Each seedling tray can hold four standard seedling trays, improving the efficiency of the seedling tray mounting and dismounting device in a single insertion.

[0024] The seedling tray loading and unloading device provided by this invention adopts a two-axis translation operation, which can complete the transfer of seedling trays on high-level seedling shelves in narrow aisles in the seedling room without damaging the seedlings. The entire mechanism can complete the loading and unloading operation as needed, and can transport four seedling trays at a time. It has the characteristics of simple structure and high transfer efficiency.

[0025] The beneficial effects of this invention are as follows:

[0026] 1. In the technical solution of the present invention, the three seedling tray hooks on the seedling tray are inserted by the inserting claw, which can stably lift and move the seedling tray, reducing damage to the seedling tray and seedlings.

[0027] 2. This invention simultaneously realizes the transfer and storage of seedling trays within narrow seedling rack spaces, and has the advantages of simple structure and high operating efficiency. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the complete assembly structure of an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the seedling tray lifting mechanism according to an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the seedling tray insertion mechanism according to an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of the seedling tray mounting frame assembly according to an embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the tray assembly in the seedling tray placement frame according to an embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the seedling tray assembly according to an embodiment of the present invention;

[0034] In the diagram: 1. Omnidirectional movable chassis; 2. Seedling tray; 3. Seedling tray insertion and removal mechanism; 4. Seedling tray lifting mechanism; 5. Seedling tray placement frame; 6. Water collection trough; 7. Fixing beam between placement frames; 8. Fixing beam for seedling tray lifting mechanism; 9. Fixing beam for electric push rod; 10. Main column; 11. Lifting electric push rod; 12. Lifting driven chain; 13. Lifting driven sprocket; 14. Central lifting inner frame; 15. Lifting slide rail; 16. Inner frame linear slide rail; 17. Seedling tray insertion and removal mechanism fixing block; 18. 19. Slide rail fixing block; 20. Insertion limit slide rail; 21. Rack fixing plate; 22. Insertion transmission rack; 23. Insertion transmission gear; 24. Motor fixing seat; 25. Claw; 26. Support plate; 27. Transmission connecting rod; 28. Mounting frame column; 29. ​​Side plate; 30. Rotating shaft; 31. Connecting rod transmission shaft; 32. Springback limit shaft; 33. Downward limit shaft; 34. Spring; 35. Seedling tray fixing pin; 36. Pin fixing plate; 37. Seedling tray hook; 38. Seedling tray body. Detailed Implementation

[0035] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0036] The implementation process of the embodiments of the present invention is as follows:

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0038] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0039] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0040] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0041] like Figure 1 As shown, the device includes an omnidirectional movable chassis 1, seedling trays 2, a seedling tray insertion mechanism 3, a seedling tray lifting mechanism 4, seedling tray placement frames 5, a water collection trough 6, a fixing beam between placement frames 7, and a fixing beam 8 for the seedling tray lifting mechanism. The omnidirectional movable chassis 1 is placed on the ground, and the water collection trough 6 is placed in the middle of the upper surface of the omnidirectional movable chassis 1. The lower end of the seedling tray lifting mechanism 4 is fixedly connected to the top of the omnidirectional movable chassis 1. Four seedling tray placement frames 5 are fixedly connected around the omnidirectional movable chassis 1, with two seedling tray placement frames 5 located on one side of the seedling tray lifting mechanism 4, and the other two seedling tray placement frames 5 located on the other side of the seedling tray lifting mechanism 4. On the other side, the two seedling tray placement frames 5 located on the same side of the seedling tray lifting mechanism 4 are connected by a fixing beam 7 between the placement frames. The seedling tray lifting mechanism 4 and the adjacent seedling tray placement frame 5 are connected by a fixing beam 8 of the seedling tray lifting mechanism. Only the two seedling tray placement frames 5 that are on the same straight line as the seedling tray lifting mechanism 4 are connected to the seedling tray lifting mechanism 4. The other two seedling tray placement frames 5 that are not on the same straight line as the seedling tray lifting mechanism 4 are not connected to the seedling tray lifting mechanism 4. The seedling tray insertion mechanism 3 is fixedly connected to the seedling tray lifting mechanism 4. The seedling tray 2 and the seedling tray insertion mechanism 3 are mechanically connected.

[0042] like Figure 2 As shown, the seedling tray lifting mechanism 4 includes several electric push rod fixing beams 9, main columns 10, lifting electric push rods 11, lifting driven chains 12, lifting driven sprockets 13, a central lifting inner frame 14, a lifting slide rail 15, an inner frame linear slide rail 16, and a seedling tray insertion mechanism fixing block 17. The lifting electric push rod 11 includes an inner push rod and an outer push rod. The bottom of the inner push rod is coaxially connected to the top of the outer push rod, which can move up and down. The two main columns 10 and the lifting electric push rod 11 are positioned along an axis perpendicular to the main columns 10. The lifting electric push rod 11 and the main column 10 are arranged along the same axis, that is, the axes of the lifting electric push rod 11 and the main column 10 are parallel, and the two main columns 10 are located on both sides of the lifting electric push rod 11. The two main columns 10 are fixedly connected by three electric push rod fixing beams 9. Each electric push rod fixing beam 9 has a groove in the middle, and the lifting electric push rod 11 is fixedly connected in the groove of the electric push rod fixing beam 9. The lifting electric push rod 11 is fixed to the electric push rod fixing beam 9. At the very center of the two main columns 10, lifting slide rails 15 are provided on the side walls of both main columns 10. The two sides of the central lifting inner frame 14 are respectively mounted on the lifting slide rails 15 of the two main columns 10, allowing for reciprocating movement along the axial direction of the main columns 10. Two lifting driven sprockets 13 are fixedly installed on the top of the central lifting inner frame 14. The top of the central lifting inner frame 14 is fixedly connected to the top of the inner push rod of the lifting electric push rod 11. An inner frame linear slide rail 16 is provided in the inner side wall of the central lifting inner frame 14. Both sides of the tray insertion mechanism fixing block 17 can be reciprocated along the axial direction of the main column 10, i.e. the extension direction of the central lifting inner frame 14, and are mounted on the inner frame linear slide rail 16. One end of the lifting driven chain 12 is tied to the electric push rod fixing beam 9 between the tops of the two main columns 10, and the other end is tied to the seedling tray insertion mechanism fixing block 17 after passing through the lifting driven sprocket 13. The lower ends of the main column 10 and the outer push rod, and the electric push rod fixing beam 9 located at the lower end of the main column 10 are all fixedly connected to the omnidirectional moving chassis 1.

[0043] In the specific implementation, an external lifting and positioning sensor, such as a camera, is also provided. The relative position of the seedling tray 2 is identified and positioned by using the lifting and positioning sensor, which moves synchronously up and down with the fixing block 17 of the seedling tray insertion mechanism. During operation, the inner push rod of the lifting electric push rod 11 pushes upward, driving the central lifting inner frame 14 to rise along the lifting slide rail 15. The lifting driven sprocket 13 is installed on the central lifting inner frame 14. One end of the lifting driven chain 12 is connected to the electric push rod fixing beam 9 (fixed end), and the other end is connected to the fixing block 17 of the seedling tray insertion mechanism (driven end). Due to the lifting of the lifting driven sprocket 13, the lifting driven chain 12 rotates with the lifting driven sprocket 13, and the driven end rises upward, driving the fixing block 17 of the seedling tray insertion mechanism to move upward along the inner frame linear slide rail 16. The descent is similar. The seedling tray lifting mechanism 4 is an overall movable pulley structure; therefore, when the lifting electric push rod 11 moves one unit, the fixing block 17 of the seedling tray insertion mechanism moves two units accordingly.

[0044] like Figure 3 As shown, the seedling tray insertion mechanism 3 includes a slide rail fixing block 18, an insertion limiting slide rail 19, an L-shaped rack fixing plate 20, an insertion transmission rack 21, an insertion transmission gear 22, a motor fixing seat 23, and an insertion claw 24. The insertion limiting slide rail 19 includes a slide rail frame, a middle slide rail, and an outer slide rail. Both middle slide rails can be reciprocated along their own axial direction and are installed on both sides of the slide rail frame. The two outer slide rails can be reciprocated along their own axial direction and are respectively installed on the outer sides of the two middle slide rails. The two slide rail fixing blocks 18 are respectively fixedly installed on the outer side walls of the two outer slide rails. The upper surfaces of the slide rail frame, the middle slide rail, the outer slide rail, and the slide rail fixing blocks 18 are all flush. The rack fixing plate 20 is located above the insertion limiting slide rail 19, and the long side of the rack fixing plate 20 is parallel to the middle slide rail. The long side of the rack fixing plate 20 is connected to the middle slide rail. The block is fixedly connected to a middle slide rail. The short side of the rack fixing plate 20 is fixedly connected to another middle slide rail through a connecting block. Two insertion transmission racks 21 are fixedly connected to both sides of the long side of the rack fixing plate 20. Two motor mounting seats 23 are located on both sides of the long side of the rack fixing plate 20. One motor mounting seat 23 is fixedly installed on the outer slide rail, and the other motor mounting seat 23 is fixedly installed on the slide rail frame. Two insertion transmission gears 22 are fixedly connected to the two motor mounting seats 23, so that the insertion transmission gear 22 and the insertion transmission rack 21 located on the same side of the long side of the rack fixing plate 20 are meshed. The insertion claw 24 is fixedly connected to the lower surface of the slide rail frame. The outer slide rails of the slide rail fixing block 18 and the insertion limiting slide rail 19 are both fixedly connected to the seedling tray insertion mechanism fixing block 17.

[0045] The motor mounting base 23 houses a motor. The model and size of the motor can be selected according to the actual scenario, allowing for corresponding modifications to the motor mounting base 23. During operation, two motors simultaneously drive the insertion transmission gear 22 in the same direction, causing the insertion transmission rack 21 to move forward or backward, thus realizing the gear and rack transmission structure. This structure is mainly designed for inserting and retrieving the seedling tray 2 in the narrow space between seedling racks.

[0046] like Figure 4 As shown, the seedling tray placement frame 5 includes several trays 25, transmission links 26 and placement frame columns 27. Each tray 25 can be rotatably connected to the placement frame column 27, and a transmission link 26 can be movably connected between every two adjacent trays 25.

[0047] The main column 10 and the adjacent placement frame column 27 are connected by a seedling tray lifting mechanism fixing beam 8. The bottom of the placement frame column 27 is fixedly installed around the omnidirectional movable chassis 1. The two placement frame columns 27 located on the same side of the seedling tray lifting mechanism 4 are connected by a placement frame fixing beam 7.

[0048] Each tray 25 is connected to the others by a transmission link 26. The lower tray 25 is pressed down by the seedling tray 2, which will cause the upper tray 25 to change its state.

[0049] like Figure 5 As shown, the tray 25 includes side plates 28, a rotating shaft 29, a connecting rod drive shaft 30, a downward pressure limiting shaft 32, a spring 33, a seedling tray fixing pin 34, and a pin fixing plate 35. The two side plates 28 are located on opposite sides of the support column 27. One end of each side plate 28 is rotatably connected to the support column 27 via the rotating shaft 29. The other ends of the two side plates 28 are fixedly connected by the pin fixing plate 35. The seedling tray fixing pin 34 is fixedly installed on the pin fixing plate 35. One side plate 28 closest to the support column 27... The end is connected to the support column 27 of the mounting frame via spring 33. The support column 27 of the mounting frame is also provided with a downward pressure limiting shaft 32 below the support plate 25. The two side plates 28 are located on both sides of the transmission link 26. The end of the side plate 28 closest to the support column 27 of the mounting frame is rotatably connected to the transmission link 26 via the connecting rod transmission shaft 30. The transmission link 26 and the seedling tray fixing pin 34 are located on both sides of the support column 27 of the mounting frame. The connecting rod transmission shaft 30 on each two adjacent support plates 25 is movably connected to each other via the transmission link 26.

[0050] The bottom of the support column 27 is also provided with a spring-loaded limiting shaft 31, which is located below the bottom tray 25.

[0051] The connecting rod drive shaft 30 is connected to the transmission connecting rod 26, enabling the transmission connecting rod 26 to drive the tray 25 to rotate. The downward limiting shaft 32 and the spring limiting shaft 31 are installed on the mounting frame column 27 to mechanically limit the rotation of the tray 25. The spring 33 is installed between the side plate 28 and the mounting frame column 27, so that the tray 25 can automatically return to the designated position when no seedling tray is placed. The seedling tray fixing pin 34 is installed on the pin fixing plate 35, which is installed on the side plate 28 to limit the shaking and movement of the placed seedling tray.

[0052] like Figure 6 As shown, the seedling tray 2 includes a seedling tray hook 36 and a seedling tray body 37. The seedling tray hook 36 is fixed to the upper surface of the seedling tray body 37 and is fixedly connected to the insertion claw 24 of the seedling tray insertion mechanism 3.

[0053] In practice, the positions of the hooks 36 in each seedling tray should be arranged reasonably to ensure that the seedling tray 2 does not tilt or fall off when it is supported by the inserting claws 24.

[0054] In this embodiment, considering that the seedling tray 2 will shake during the lifting and insertion process, the specific moving speed of the omnidirectional moving chassis 1, the lifting speed, and the moving speed of the insertion claw 24 need to be determined according to the actual weight of the seedling crop to ensure the stability of the device.

[0055] In this embodiment, multiple sensors are included for positioning and data feedback of each actuator; the specific locations need to be determined according to actual needs. This embodiment also includes a machine vision system capable of locating QR codes. The vision system can identify QR codes in an image and return the coordinates of the QR codes in the image in real time, thereby controlling the position of the actuators. The actuators include a seedling tray insertion mechanism 3 and a seedling tray lifting mechanism 4, etc.

[0056] In this embodiment, safety protection measures are provided, including sensor obstacle avoidance, power failure brake, mechanical limit switch and other methods to protect the safety of the device, site and personnel.

[0057] In this example, in the initial state, the electric push rod 11 of the seedling tray lifting mechanism 4 in the device is in the retracted state, the claw 24 of the seedling tray insertion mechanism 3 is located at the position closest to the seedling tray lifting mechanism 4, and the three trays 25 on the seedling tray placement rack 5 are all in the retracted state, with only the lowest tray 25 in the pop-out state.

[0058] The main objective of this invention is to provide a seedling tray loading and unloading device, which aims to solve the problem of high-speed transfer of seedling trays in high-rise seedling racks.

[0059] The loading and unloading processes of this device are basically the same, only the direction of movement and steps are reversed. Therefore, only the loading operation process is described. The specific working process of this invention when it starts running is as follows:

[0060] 1. The lifting electric push rod 11 is raised, which drives the seedling tray insertion mechanism 3 to move above the seedling tray placement frame 5, and places the four seedling trays 2 to be placed on the seedling tray placement frame 5, with four seedling trays placed in each seedling tray 2.

[0061] 2. The omnidirectional moving chassis 1 drive device moves to the front of the seedling rack to be placed using an indoor positioning method.

[0062] 3. The lifting electric push rod 11 drives the seedling tray insertion mechanism 3 to descend until the insertion claw 24 is aligned with the seedling tray hook 36 of the seedling tray 2 in the uppermost seedling tray placement frame 5.

[0063] 4. The motor-driven insertion transmission gear 22 inside the seedling tray insertion mechanism 3 drives the insertion claw 24 to extend into the seedling tray hook 36. The lifting electric push rod 11 raises the seedling tray insertion mechanism 3, and the insertion claw 24 lifts the seedling tray 2 until it leaves the seedling tray placement frame 5.

[0064] 5. The lifting electric push rod 11 raises the insertion claw 24 until the seedling tray 2 is aligned with the target layer of the seedling rack. The seedling tray insertion mechanism 3 further pushes the insertion claw 24 to send the seedling tray 2 into the seedling rack. The seedling tray 2 is located directly above the water trough inside the seedling rack.

[0065] 6. The seedling tray lifting mechanism 4 lowers the seedling tray insertion mechanism 3 until the seedling tray 2 falls into the seedling rack water trough. At this time, the insertion claw 24 is located at the center of the seedling tray hook ring 36 and does not contact the seedling tray hook ring 36.

[0066] 7. The seedling tray insertion mechanism 3 retracts the insertion claw 24 to the position closest to the main column 10, completing the process of placing a seedling tray 2 on the shelf.

[0067] 8. The operation process of the last three seedling trays 2 is the same as that of the first tray. The difference is that after the seedling tray 2 is lifted from the seedling tray placement frame 5 by the insertion claw 24, the upper layer of the tray plate 25 will pop up and stick to the placement frame column 27, without affecting the lifting of the seedling tray 2 below.

[0068] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made under the concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A seedling tray mounting and dismounting device, characterized in that: The system includes an omnidirectional movable chassis (1), seedling trays (2), a seedling tray insertion mechanism (3), a seedling tray lifting mechanism (4), a seedling tray placement frame (5), a water collection trough (6), a fixing beam between placement frames (7), and a fixing beam for the seedling tray lifting mechanism (8). The omnidirectional movable chassis (1) is placed on the ground, the water collection trough (6) is placed in the middle of the upper surface of the omnidirectional movable chassis (1), the lower end of the seedling tray lifting mechanism (4) is fixedly connected to the top of the omnidirectional movable chassis (1), and four seedling tray placement frames (5) are fixedly connected to the four sides of the omnidirectional movable chassis (1). Two seedling tray placement frames (5) are located on one side of the seedling tray lifting mechanism (4), and two other seedling tray placement frames (5) are located on the other side of the seedling tray lifting mechanism (4). The two seedling tray placement frames (5) located on the same side of the seedling tray lifting mechanism (4) are connected by a fixing beam (7) between placement frames. The seedling tray lifting mechanism (4) and the seedling tray placement frames (5) are connected by a fixing beam (8) of the seedling tray lifting mechanism. The seedling tray insertion mechanism (3) is fixedly connected to the seedling tray lifting mechanism (4). The seedling tray (2) and the seedling tray insertion mechanism (3) are mechanically connected. The seedling tray placement frame (5) includes several trays (25), transmission links (26) and placement frame columns (27). Each tray (25) can be rotatably connected to the placement frame column (27), and a transmission link (26) can be movably connected between every two adjacent trays (25). The main column (10) and the placement frame column (27) are connected by a fixed beam (8) of the seedling tray lifting mechanism. The bottom of the placement frame column (27) is fixedly installed around the omnidirectional moving chassis (1). The two placement frame columns (27) located on the same side of the seedling tray lifting mechanism (4) are connected by a fixed beam (7) between the placement frames. The tray (25) includes a side plate (28), a rotating shaft (29), a connecting rod drive shaft (30), a downward pressure limiting shaft (32), a spring (33), a seedling tray fixing pin (34), and a pin fixing plate (35). The two side plates (28) are located on both sides of the support column (27) of the mounting frame. One end of the side plate (28) is rotatably connected to the support column (27) of the mounting frame via the rotating shaft (29). The other ends of the two side plates (28) are fixedly connected to each other via the pin fixing plate (35). The seedling tray fixing pin (34) is fixedly installed on the pin fixing plate (35). On the upper side plate (28), one end of the side plate (28) near the support column (27) is connected to the support column (27) via a spring (33). A downward pressure limiting shaft (32) is also provided below the support plate (25) in the support column (27). The two side plates (28) are located on both sides of the transmission link (26). One end of the side plate (28) near the support column (27) is rotatably connected to the transmission link (26) via a link drive shaft (30). The link drive shafts (30) of each two adjacent support plates (25) are connected by the transmission link (26). The bottom of the mounting frame column (27) is also provided with a spring-loaded limiting shaft (31), which is located below the bottom tray (25).

2. The seedling tray mounting and dismounting device according to claim 1, characterized in that: The seedling tray lifting mechanism (4) includes several electric push rod fixing beams (9), main columns (10), lifting electric push rods (11), lifting driven chains (12), lifting driven sprockets (13), central lifting inner frame (14), lifting slide rails (15), inner frame linear slide rails (16), and seedling tray insertion mechanism fixing blocks (17). The lifting electric push rods (11) include inner push rods and outer push rods. The bottom of the inner push rod is coaxially connected to the top of the outer push rod, which can move up and down. The two main columns (10) and the lifting mechanism are also included. Electric push rods (11) are arranged at intervals along an axis perpendicular to the main column (10). The lifting electric push rods (11) and the main column (10) are arranged along the same axis, and the two main columns (10) are located on both sides of the lifting electric push rods (11). The two main columns (10) are fixedly connected by three electric push rod fixing beams (9). Each electric push rod fixing beam (9) has a groove in the middle. The lifting electric push rods (11) are fixedly connected in the grooves of the electric push rod fixing beams (9). The two main columns (10) are fixedly connected by three electric push rod fixing beams (9). The side walls of the central lifting inner frame (14) are equipped with lifting slide rails (15). The two sides of the central lifting inner frame (14) are respectively installed on the lifting slide rails (15) of the two main columns (10) and can reciprocate along the axis of the main column (10). Two lifting driven sprockets (13) are fixedly installed on the top of the central lifting inner frame (14). The top of the central lifting inner frame (14) and the top of the inner push rod of the lifting electric push rod (11) are fixedly connected. The inner side wall of the central lifting inner frame (14) is equipped with an inner frame linear slide rail (16). Seedling tray insertion Both sides of the mechanism fixing block (17) can be installed on the inner frame linear slide rail (16) along the axial direction of the main column (10). One end of the lifting driven chain (12) is tied to the electric push rod fixing beam (9) between the tops of the two main columns (10), and the other end is tied to the seedling tray insertion mechanism fixing block (17) after passing through the lifting driven sprocket (13). The lower ends of the main column (10) and the outer push rod, and the electric push rod fixing beam (9) located at the lower end of the main column (10) are all fixedly connected to the omnidirectional moving chassis (1).

3. The seedling tray mounting and dismounting device according to claim 2, characterized in that: The seedling tray insertion mechanism (3) includes a slide rail fixing block (18), an insertion limiting slide rail (19), an L-shaped rack fixing plate (20), an insertion transmission rack (21), an insertion transmission gear (22), a motor fixing seat (23), and an insertion claw (24). The insertion limiting slide rail (19) includes a slide rail frame, a middle slide rail, and an outer slide rail. Both middle slide rails can be reciprocated along their own axial direction and installed on both sides of the slide rail frame. The two outer slide rails can be reciprocated along their own axial direction and installed on the outer sides of the two middle slide rails respectively. The two slide rail fixing blocks (18) are fixedly installed on the outer side walls of the two outer slide rails respectively. The rack fixing plate (20) is located above the insertion limiting slide rail (19), and the long side of the rack fixing plate (20) is parallel to the middle slide rail. The long side of the fixed plate (20) is fixedly connected to a middle slide rail, the short side of the rack fixed plate (20) is fixedly connected to another middle slide rail, two insertion transmission racks (21) are fixedly connected to both sides of the long side of the rack fixed plate (20), two motor mounting seats (23) are located on both sides of the long side of the rack fixed plate (20), one motor mounting seat (23) is fixedly installed on the outer slide rail, and the other motor mounting seat (23) is fixedly installed on the slide rail frame. Two insertion transmission gears (22) are fixedly connected to the two motor mounting seats (23), and the insertion transmission gears (22) and the insertion transmission racks (21) located on the same side of the long side of the rack fixed plate (20) are meshed. The insertion claw (24) is fixedly connected to the lower surface of the slide rail frame. The outer slide rails of the slide rail fixing block (18) and the insertion limiting slide rail (19) are both fixedly connected to the seedling tray insertion mechanism fixing block (17).

4. The seedling tray mounting and dismounting device according to claim 3, characterized in that: The seedling tray (2) includes a seedling tray hook (36) and a seedling tray body (37). The seedling tray hook (36) is fixed on the upper surface of the seedling tray body (37), and the seedling tray hook (36) is fixedly connected to the insertion claw (24) of the seedling tray insertion mechanism (3).

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