A crank rocker type seedling tray lifting equipment and a lifting method thereof

Abstract

The application discloses a crank rocker type seedling tray taking-out equipment and a taking-out method thereof. In the application, the two ends of a tray taking-in guiding platform are fixed with a tray placing platform and a tray lifting triangular block respectively, a through groove one of the tray taking-in guiding platform is communicated with a through groove two corresponding to the tray placing platform and a through groove three corresponding to the tray lifting triangular block, and the through grooves constitute a guiding groove; double sets of crank rocker tray taking-in devices are located in a groove of the tray placing platform, a center plate is vertically fixed in the middle of the tray placing platform, and the tray taking-in mechanism is provided with two sets of the crank rocker devices which are symmetrically arranged about the center plate; wing plates are fixed on the two sides of the tray placing platform, a fixed frame is fixed on the two wing plates, chain transmission mechanisms are arranged above the two wing plates, and angle iron tray groups are arranged on the chain transmission mechanisms. In the application, the crank rocker mechanism is combined with a tray taking-in hook to transport the seedling tray, the stability of a tray taking-in working process is improved, two crank rocker mechanisms one and two crank rocker mechanisms two drive corresponding two tray taking-in hooks to alternately run and take in the tray, and the working efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of agricultural auxiliary machinery technology, specifically relating to a crank-rocker type seedling tray lifting device and its lifting method. Background Technology

[0002] With the development of mechanization in my country's agricultural sector, rice seedling cultivation has moved towards automated factory cultivation. The production line-style cultivation method has greatly improved the efficiency of seedling cultivation. As for the placement and laying of seedling trays, there are already relevant equipment on the market that can arrange the seedling trays one by one in an orderly manner, with a high degree of mechanization. However, there are very few devices for lifting and recycling rice seedling trays.

[0003] Currently, most rice seedling tray collection is still done manually, which is inefficient. While there are designed tray-lifting machines that can perform mechanized tray lifting, they are bulky, expensive, and require specialized longitudinal tracks, resulting in poor flexibility. Furthermore, most tray-lifting machines use belt drives, which are prone to slippage and tray jamming, leading to unstable tray delivery. Therefore, there is a need for a rice seedling tray lifting machine that can achieve full mechanization of rice cultivation, is compact, highly flexible, and highly stable. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and to propose a crank-rocker type seedling tray lifting device and its lifting method.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The present invention provides a crank-rocker type seedling tray lifting device, including a seedling tray recovery device, a tracked walking mechanism, a bearing device, and a double-set crank-rocker tray lifting device. The supporting device includes a lifting triangular block, a receiving guide platform, a placing platform, and wing plates. The inclined plate of the receiving guide platform is fixed at both ends to the placing platform and the lifting triangular block, respectively. The placing platform is horizontally positioned, while the inclined plate is tilted, with its inclined surface flush with the inclined surface of the lifting triangular block. Two through slots (slot 1) are spaced apart on the inclined plate, with both ends of slot 1 connected to through slot 2 corresponding to the placing platform and through slot 3 corresponding to the lifting triangular block, respectively. Aligned slots 1, 2, and 3 form a guide groove. Wing plates are fixed to both outer walls of the placing platform. A limit switch is located at the outer edge of the guide groove on the placing platform, and the signal output of the limit switch is connected to a controller. The tracked walking mechanism is located in a groove at the bottom of the placing platform. The two track frames of the tracked walking mechanism are fixed to the inner walls of the groove on both sides, and the DC motor of the tracked walking mechanism is controlled by the controller.

[0007] The double-crank rocker arm rewinding device is located within the groove of the rewinding platform and between the two track frames in the tracked walking mechanism. The double-crank rocker arm rewinding device includes a center plate, connecting shaft one, connecting shaft two, and a rewinding mechanism. The center plate is vertically fixed to the center of the rewinding platform. Connecting shaft one passes through a circular hole one on the center plate and is fixed to the center plate, and is symmetrically arranged about the center plate. Connecting shaft two passes through a circular hole two on the center plate, forming a rotating pair with the center plate, and is symmetrically arranged about the center plate. The rewinding mechanism has two components symmetrically arranged about the center plate. The rewinding mechanism includes a side plate, connecting rod one, connecting rod two, connecting rod three, connecting rod four, connecting rod five, a rewinding claw, an inner rotating arm, and an outer rotating arm. The side plate is fixed to the rewinding platform, and one end of the outer rotating arm forms a rotating pair with the side plate. One end of the connecting rod forms a compound hinge with one end of connecting rod 1 and one end of connecting rod 2; one end of connecting rod 4 is hinged to the other end of connecting rod 2, and the other end of connecting rod 4 and one end of connecting rod 3 both form a rotating pair with connecting shaft 1; one end of connecting rod 5 is hinged to the other end of connecting rod 3, and the other end forms a compound hinge with the other end of connecting rod 1 and one end of the inner rotating arm; the other end of the inner rotating arm is fixed to one end of connecting shaft 2; a collecting hook is fixed in the middle of both connecting rod 2 and connecting rod 5; in one of the collecting mechanisms, the end of the outer rotating arm connected to the side plate is driven by a drive motor 1, which is controlled by a controller, and the rotation center line of the outer rotating arm, the center line of connecting rod 1, and the center line of connecting shaft 2 coincide, while the rotation radius of the outer rotating arm and the rotation radius of the inner rotating arm are both equal to half the length of connecting rod 1.

[0008] Among them, the half of the outer rotating arm on the first connecting rod, the second connecting rod, the fourth connecting rod, and the line connecting the central axis of the first connecting shaft and the central axis of the second connecting shaft constitute the first crank-rocker mechanism. The half of the inner rotating arm on the first connecting rod, the third connecting rod, the fifth connecting rod, and the line connecting the central axis of the first connecting shaft and the central axis of the second connecting shaft constitute the second crank-rocker mechanism. The length of the second connecting rod is equal to the length of the fifth connecting rod, and the length of the fourth connecting rod is equal to the length of the third connecting rod. The first connecting rod is the crank, and the fourth and third connecting rods are the rockers.

[0009] The seedling tray recycling device includes a fixed frame, a chain drive mechanism, and angle iron trays. The fixed frame is vertically fixed to two wing plates. A chain drive mechanism is installed above each of the two wing plates, comprising a drive shaft, a driven shaft, sprockets, and a chain. Both the drive shaft and the driven shaft form a rotating pair with the fixed frame, and the drive shaft is connected to a second drive motor via a reducer. The second drive motor drives the drive shaft to rotate, and is controlled by a controller. Two sprockets are fixed to both the drive shaft and the driven shaft, and each set of sprockets aligned vertically on both shafts is connected by a chain. Two angle iron tray sets are symmetrically placed on both sides of the tray-laying platform. Each angle iron tray set consists of multiple angle iron trays spaced vertically, and both ends of the angle iron trays are fixed to the two chains of the corresponding side chain drive mechanism.

[0010] Preferably, the closing guiding platform includes an inclined plate and a first pulley assembly. A plurality of first slots are arranged at intervals on the inclined plate, and a plurality of first pulley assemblies are arranged at intervals in the first slots. The first pulley assembly includes a first supporting roller and a first supporting shaft. The first supporting roller forms a rotating pair with the inclined plate through the first supporting shaft.

[0011] More preferably, limiting baffles are fixed on both sides of the inclined plate. The two limiting baffles are in a shape of an eight-character with an opening increasing from the disc placing platform to the disc lifting triangular block, and the limiting baffles are arc-shaped plates.

[0012] Preferably, a plurality of second slots are arranged at intervals on the disc placing platform, and a plurality of second pulley assemblies are arranged at intervals in the second slots. The second pulley assembly includes a second supporting roller and a second supporting shaft. The second supporting roller forms a rotating pair with the disc placing platform through the second supporting shaft.

[0013] Preferably, a preset locus is used to find a connecting rod curve atlas, and according to the conditions for the establishment of a crank-rocker mechanism in a four-bar mechanism, the rod length conditions of the first crank-rocker mechanism and the second crank-rocker mechanism, as well as the rod length relationships of the closing claw, the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, and the fifth connecting rod are as follows:

[0014] Let half of the first connecting rod be the shortest rod with a length of L1, the second connecting rod and the fifth connecting rod be the longest rods with lengths of L2 each, the fourth connecting rod and the third connecting rod have lengths of L3 each, the length of the line connecting the central axes of the first connecting shaft and the second connecting shaft be L4, and the length of the closing claw be L5. Among them, L1 + L2 < L3 + L4, L1 / L2 = 8 / 13, L1 / L3 = 2 / 3, L1 / L4 = 8 / 11, L1 / L5 = 2 / 3, and the included angle between the closing claw and the second connecting rod or the fifth connecting rod is 35°.

[0015] Preferably, two longitudinal slide rails are fixed at intervals through triangular connectors on the inner side of each chain drive mechanism on the fixing frame, and both ends of each angle iron tray form sliding pairs with the two longitudinal slide rails on the corresponding side respectively.

[0016] The method for starting the disc of the present invention is as follows:

[0017] Step 1: The controller starts the DC motor of the tracked walking mechanism, which drives the tray-laying platform forward, and the lifting triangular block begins to scoop up the seedling trays. At the same time, the controller starts the drive motor. Drive motor 1 drives the corresponding outer rotating arm to rotate at a constant speed. The outer rotating arm then drives link 1 to rotate at a constant speed around the center of link 1. Thus, link 1 drives the tray-collecting hook on link 2 to move back and forth along a preset trajectory through link 2, and drives the tray-collecting hook on link 5 to move back and forth along a preset trajectory. At the same time, link 1 drives the corresponding inner rotating arm to rotate at a constant speed around the center of link 1. The inner rotating arm drives the inner rotating arm on the other side of the center plate to rotate synchronously at a constant speed through connecting shaft 2. The inner rotating arm on the other side drives the corresponding link 1 to rotate at a constant speed around the center of the corresponding link 1, thus making the link 1 on both sides of the center plate rotate synchronously at a constant speed. The two opposite tray-collecting hooks in each of the two tray-collecting mechanisms move back and forth synchronously along the preset trajectory.

[0018] Step 2: A seedling tray is shoveled onto the inclined plate along the slope of the lifting triangular block. When the two opposite receiving hooks of the two receiving mechanisms are respectively located below the two guide grooves of the lifting triangular block, the output shaft of drive motor 1 rotates half a turn. The output shaft of drive motor 1 drives either crank rocker mechanism 1 or crank rocker mechanism 2 to drive the two receiving hooks into the working stroke. The two receiving hooks pass through the corresponding guide grooves and abut against both ends of this seedling tray. They move backward at a constant speed along the guide groove according to the working stroke segment of the preset trajectory. This seedling tray is transported to the tray placement platform along the inclined plate. Then, the output shaft of drive motor 1 continues to rotate half a turn, and the two receiving hooks enter the return stroke. They move forward to below the two guide grooves of the lifting triangular block according to the return stroke segment of the preset trajectory. At the same time, as the crawler walking mechanism moves forward, the next seedling tray is shoveled onto the inclined plate. The other two receiving hooks enter the working stroke, driving the next seedling tray to be transported to the tray placement platform.

[0019] Step 3: When the next seedling tray is transported to the tray-laying platform, it pushes the previous seedling tray to move backward along the platform. The previous seedling tray touches the limit switch, which sends a start signal. The controller controls the second drive motor to start working, and the second drive motor drives the chain transmission mechanism to work. The chain drives the angle iron trays on the inside of the fixed frame to move upward. The two angle iron trays at the same height on both sides of the tray-laying platform lift the two seedling trays on both sides of the tray-laying platform and drive the two seedling trays to move upward. After the two seedling trays move upward a distance of three chain links, the controller controls the second drive motor to stop. At this time, the next set of two angle iron trays at the same height move to be level with the tray-laying platform.

[0020] Step 4: As the tracked walking mechanism moves forward, repeat steps 2 and 3. The two crank rocker mechanisms 1 and 2 drive the corresponding tray-collecting hooks to move back and forth alternately, transporting the seedling trays until each pair of opposite angle iron trays are filled with seedling trays. The controller then stops the DC motor and drive motor 1, completing the tray-collecting work.

[0021] The beneficial effects of this invention are as follows:

[0022] 1. This invention uses a tracked walking mechanism to drive the tray-laying platform forward, eliminating the need for tracks and offering excellent terrain adaptability and high flexibility. Regarding tray lifting, this invention utilizes a lifting triangular block to automatically lift the tray from the bottom, significantly reducing the impact on seedlings. When transporting the seedling trays, two crank-rocker mechanisms (either one or two) drive a corresponding set of tray-collecting hooks to move synchronously back and forth. When the tray-collecting hooks enter their working stroke, they follow a preset trajectory along the guide groove, transporting the seedling tray to the tray-laying platform. The two sets of tray-collecting hooks alternate in the tray-collecting process, saving collection time and improving efficiency. The inner and outer rotating arms both rotate around the center of the driving rod (connecting rod one), ensuring the driving rod's center remains stationary while providing rotational power, and avoiding interference between the rods during movement. Furthermore, by employing a crank-rocker mechanism combined with tray-collecting hooks for tray transport, this invention improves tray delivery stability and solves the slippage and jamming problems that occur when using belt drive mechanisms.

[0023] 2. This invention features two symmetrically arranged tray-collecting mechanisms connected by a connecting shaft, enabling synchronized movement and increasing tray feeding stability. Each tray-collecting mechanism includes two crank-rocker mechanisms. The smooth stroke of these mechanisms ensures stability during the tray-collecting process. Furthermore, the driving rods in both crank-rocker mechanisms share the same connecting rod, further enhancing tray feeding stability. Additionally, the rapid return characteristic of the crank-rocker mechanisms allows for fast movement during the return stroke, further shortening the time and improving the continuity and efficiency of the seedling tray collection process.

[0024] 3. In this invention, when the next seedling tray is transported to the tray-laying platform, it pushes the previous seedling tray backward along the platform. The previous seedling tray touches the limit switch, at which point two opposing angle iron trays in the seedling tray recovery device lift the two seedling trays. As the angle iron trays move upward along the longitudinal slide rail, the recovery stability of the entire recovery device is enhanced. This invention achieves temporary storage of seedling trays in longitudinal space through two chain drive mechanisms and multiple sets of opposing angle iron trays, greatly improving space utilization and seedling tray recovery capacity, while reducing the volume of the seedling tray recovery device. Furthermore, this invention has a simple structure, small size, and low manufacturing cost. Attached Figure Description

[0025] Figure 1 The overall three-dimensional structure of the present invention Figure 1 ;

[0026] Figure 2 This is a schematic diagram of the overall structure of the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of the bearing device in this invention;

[0028] Figure 4 This is a schematic diagram of the structure of the double-crank rocker arm retractor device in this invention;

[0029] Figure 5 This is a simplified diagram of the structure and motion trajectory of crank-rocker mechanism one or crank-rocker mechanism two in this invention;

[0030] Figure 6 The overall three-dimensional structure of the present invention Figure 2 . Detailed Implementation

[0031] The present invention will now be further described with reference to the accompanying drawings.

[0032] like Figure 1 and Figure 2 As shown, the present invention provides a crank-rocker type seedling tray lifting device, including a bearing device 1, a double-set crank-rocker tray lifting device 2, a seedling tray recycling device 3, and a tracked walking mechanism 4.

[0033] like Figure 3 As shown, the supporting device 1 includes a lifting triangular block 5, a tray-collecting guide platform 6, a tray-laying platform 11, and wing plates 13. The inclined plate 31 of the tray-collecting guide platform 6 is fixed at both ends to the tray-laying platform 11 and the lifting triangular block 5, respectively. The tray-laying platform 11 is horizontally positioned, while the inclined plate 31 is inclined, with its inclined surface flush with the inclined surface of the lifting triangular block 5. Two through slots 1 are spaced apart on the inclined plate 31, and the two ends of through slot 1 are connected to through slot 2 corresponding to the tray-laying platform 11 and through slot 3 corresponding to the lifting triangular block 5, respectively. The aligned through slots 1, 2, and 3 form a guide groove 7. Wing plates 13 are fixed to both outer walls of the tray-laying platform 11. The height of the wing plates 13 from the ground can be designed to be 15 cm, greater than the height of ordinary seedlings, to prevent damage to surrounding seedlings during tray collection. A limit switch 12 is provided on the tray-laying platform 11 at the outer edge of the guide groove, and the signal output terminal of the limit switch is connected to a controller. The track walking mechanism 4 is located in the groove at the bottom of the tray placement platform 11. The two track frames of the track walking mechanism 4 are fixed to the inner walls of the groove on both sides of the tray placement platform 11, and the DC motor of the track walking mechanism 4 is controlled by a controller.

[0034] like Figure 4As shown, the double-crank rocker arm rewinding device 2 is located in the groove of the rewinding platform 11 and between the two track frames in the track walking mechanism 4. The double-crank rocker arm rewinding device 2 includes a center plate 14, a first connecting shaft 16, a second connecting shaft, and a rewinding mechanism 33; the center plate 14 is vertically fixed in the middle of the rewinding platform 11; the first connecting shaft 16 passes through a circular hole 1 on the center plate 14 and is fixed to the center plate 14, and is symmetrically arranged about the center plate 14; the second connecting shaft passes through a circular hole 2 on the center plate 14, forms a rotating pair with the center plate 14, and is symmetrically arranged about the center plate 14. The closing mechanism 33 has two symmetrically arranged about the center plate 14. The closing mechanism 33 includes a side plate 15, a first connecting rod 17, a second connecting rod 18, a third connecting rod 19, a fourth connecting rod, a fifth connecting rod, a closing hook 20, an inner rotating arm 34, and an outer rotating arm 35. The side plate 15 is fixed to the tray placement platform 11. One end of the outer rotating arm 35 forms a rotating joint with the side plate 15, and the other end forms a compound hinge with one end of the first connecting rod 17 and one end of the second connecting rod 18. One end of the fourth connecting rod is hinged to the other end of the second connecting rod 18, and the other end of the fourth connecting rod and one end of the third connecting rod 19 both form a rotating joint with the connecting shaft 16. One end of the fifth connecting rod is hinged to the other end of the third connecting rod 19, and the other end forms a compound hinge with the other end of the first connecting rod 17 and one end of the inner rotating arm 34. The other end of the inner rotating arm 34 is fixed to one end of the second connecting shaft. The closing hook 20 is fixed in the middle of both the second connecting rod 18 and the fifth connecting rod. In one of the closing mechanisms 33, the end of the outer rotating arm 35 connected to the side plate 15 is driven by a drive motor 21. The drive motor is controlled by a controller. The rotation center line of the outer rotating arm 35, the center line of the connecting rod 17, and the center line of the connecting shaft 2 coincide. At the same time, the rotation radius of the outer rotating arm 35 and the rotation radius of the inner rotating arm 34 are both equal to half the length of the connecting rod 17.

[0035] Among them, the half of the outer rotating arm 35 on the first connecting rod 17, the second connecting rod 18, the fourth connecting rod, and the line connecting the central axis of the first connecting shaft 16 and the central axis of the second connecting shaft constitute the first crank-rocker mechanism. The half of the inner rotating arm 34 on the first connecting rod 17, the third connecting rod 19, the fifth connecting rod, and the line connecting the central axis of the first connecting shaft 16 and the central axis of the second connecting shaft constitute the second crank-rocker mechanism. The length of the second connecting rod 18 is equal to the length of the fifth connecting rod, and the length of the fourth connecting rod is equal to the length of the third connecting rod 19. The first connecting rod 17 is a crank, and the fourth connecting rod and the third connecting rod 19 are rockers.

[0036] like Figure 6As shown, the seedling tray recycling device 3 includes a fixed frame 23, a chain drive mechanism 24, and angle iron trays 26. The fixed frame 23 is vertically fixed on two wing plates 13. A chain drive mechanism 24 is provided above each of the two wing plates 13. The chain drive mechanism 24 includes a drive shaft 27, a driven shaft, sprockets, and chains 25. The drive shaft 27 and the driven shaft form a rotating pair with the fixed frame 23 (they can be supported on the fixed frame 23 by bearing seats 29). The drive shaft 27 is connected to a second drive motor 22 via a reducer. The second drive motor 22 drives the drive shaft 27 to rotate, and the second drive motor is controlled by a controller. Two sprockets are fixed on both the drive shaft 27 and the driven shaft, and each set of sprockets aligned vertically on the drive shaft 27 and the driven shaft is connected by a chain 25. Two angle iron tray sets are symmetrically placed on both sides of the tray placement platform 11. Each angle iron tray set consists of multiple angle iron trays 26 spaced vertically. The two ends of each angle iron tray 26 are fixed to the two chains 25 of the corresponding side chain drive mechanism 24.

[0037] In a preferred embodiment, the harvesting guide platform 6 includes an inclined plate 31 and a pulley assembly 32. The inclined plate 31 has a plurality of slots arranged at intervals, and a plurality of pulley assemblies 32 arranged at intervals are provided in the slots. The pulley assembly 32 is used to reduce the friction between the seedling tray and the inclined plate 31. The pulley assembly 32 includes a support roller 8 and a support shaft 9. The support roller 8 and the inclined plate 31 form a rotating pair through the support shaft 9.

[0038] More preferably, limit baffles 10 are fixed on both sides of the inclined plate 31. The two limit baffles 10 are in the shape of an eight-shaped opening that increases from the tray placement platform 11 toward the tray lifting triangular block 5. They are used to adjust the position of the seedling tray. The limit baffles 10 are arc-shaped plates to reduce the impact force between them and the seedling tray, thereby reducing the damage to the seedling tray.

[0039] In a preferred embodiment, the tray-laying platform 11 has multiple slots arranged at intervals, and multiple pulley assemblies arranged at intervals are provided in the slots. The pulley assemblies are used to reduce the friction between the seedling tray and the tray-laying platform 11. The pulley assembly includes a support roller and a support shaft. The support roller and the tray-laying platform 11 form a rotating pair through the support shaft.

[0040] As a preferred embodiment, the linkage curve graph is found by using a preset trajectory, and based on the conditions for the crank-rocker mechanism to be established in the four-bar linkage, the link length conditions of crank-rocker mechanism one and crank-rocker mechanism two, as well as the link length relationships of the catch pawl 20, connecting rod one 17, connecting rod two 18, connecting rod three 19, connecting rod four and connecting rod five are obtained as follows:

[0041] Let half of the first connecting rod 17 be the shortest rod with a length of L1, the second connecting rod 18 and the fifth connecting rod be the longest rods with a length of L2 each, the fourth connecting rod and the third connecting rod 19 have a length of L3 each, the length of the line connecting the central axes of the first connecting shaft 16 and the second connecting shaft be L4, and the length of the closing hook 20 be L5. Among them, L1 + L2 < L3 + L4, L1 / L2 = 8 / 13, L1 / L3 = 2 / 3, L1 / L4 = 8 / 11, L1 / L5 = 2 / 3, and the angle between the closing hook 20 and the second connecting rod 18 or the fifth connecting rod is 35°. At this time, the first crank-rocker mechanism and the second crank-rocker mechanism can drive the closing hook 20 to reciprocate along the corresponding guide groove according to the preset trajectory, as Figure 4 and Figure 5 shown.

[0042] As a preferred embodiment, two longitudinally arranged slide rails 28 with a spacing are fixedly installed on the fixing frame 23 inside each chain drive mechanism 24 through triangular connectors 30. Both ends of each angle iron tray 26 form a sliding pair with the two longitudinally arranged slide rails 28 on the corresponding side. The longitudinally arranged slide rails 28 are used to reduce the influence on the recovery process caused by the vibration of the chain 25 when recovering the seedling trays.

[0043] The method for lifting the seedling tray of the crank-rocker type seedling tray lifting equipment of the present invention is as follows:

[0044] Step 1: The controller controls the DC motor of the crawler traveling mechanism 4 to start working. The crawler traveling mechanism 4 drives the tray placing platform 11 to move forward, and the lifting triangular block 5 starts to lift the seedling tray; meanwhile, the controller controls the first driving motor to start working. The first driving motor drives the corresponding outer rotating arm 35 to rotate at a constant speed. The outer rotating arm 35 then drives the first connecting rod 17 to rotate around the center of the first connecting rod 17 at a constant speed. Thus, the first connecting rod 17 drives the closing hook 20 on the second connecting rod 18 to move back and forth along the preset trajectory through the second connecting rod 18, and drives the closing hook 20 on the fifth connecting rod to move back and forth along the preset trajectory through the fifth connecting rod. At the same time, the first connecting rod 17 drives the corresponding inner rotating arm 34 to rotate around the center of the first connecting rod 17 at a constant speed. The inner rotating arm 34 drives the inner rotating arm 34 on the other side of the center plate 14 to rotate synchronously at a constant speed through the second connecting shaft. The inner rotating arm 34 on the other side drives the corresponding first connecting rod 17 to rotate around the center of the corresponding first connecting rod 17 at a constant speed. Thus, the first connecting rods 17 on both sides of the center plate 14 rotate synchronously at a constant speed, so as to realize the synchronous back-and-forth movement of every two opposite closing hooks 20 in the two closing mechanisms 33 along the preset trajectory.

[0045] Step 2: A seedling tray is scooped onto the inclined plate 31 along the slope of the lifting triangular block 5. When the two opposite collecting hooks 20 of the two collecting mechanisms 33 are respectively located below the two guide grooves of the lifting triangular block 5, the output shaft of drive motor 1 rotates half a revolution. The output shaft of drive motor 1 drives either crank-rocker mechanism 1 or crank-rocker mechanism 2 to move the two collecting hooks 20 into the working stroke. The two collecting hooks 20 pass through the corresponding guide grooves and abut against both ends of the seedling tray, and move backward at a constant speed along the guide groove according to the preset trajectory working stroke segment. A seedling tray is transported along the inclined plate 31 to the tray placement platform 11. Then, the output shaft of the drive motor continues to rotate half a revolution, and the two tray-retrieving claws 20 enter the return stroke. Due to the quick return characteristic of the crank rocker mechanism, the two tray-retrieving claws 20 move forward quickly along the return stroke segment of the preset trajectory to the two guide slots below the tray lifting triangle block 5, ready to transport the next seedling tray. At the same time, as the crawler walking mechanism 4 moves forward, the next seedling tray is shoveled onto the inclined plate 31, and the other two tray-retrieving claws 20 enter the working stroke, driving the next seedling tray to be transported onto the tray placement platform 11.

[0046] Step 3: When the next seedling tray is transported to the tray placement platform, it pushes the previous seedling tray to move backward along the tray placement platform 11. The previous seedling tray touches the limit switch 12, and the limit switch 12 sends a start signal. The controller controls the second drive motor to start working. The second drive motor drives the chain transmission mechanism 24 to work, which drives the angle iron tray 26 inside the fixed frame 23 to move upward through the chain 25 (initially, there is an angle iron tray 26 inside each chain transmission mechanism 24, and the angle iron tray 26 is flush with the tray placement platform 11). The two angle iron trays 26 at the same height on both sides of the tray placement platform lift the two seedling trays on both sides of the tray placement platform and drive the two seedling trays to move upward. After the two seedling trays move upward a distance of three chain links, the controller controls the second drive motor to stop. At this time, the next set of two angle iron trays 26 at the same height move to be flush with the tray placement platform 11.

[0047] Step 4: As the tracked walking mechanism 4 moves forward, repeat steps 2 and 3. The two crank rocker mechanisms 1 and 2 drive the corresponding tray-collecting hooks 20 to move back and forth alternately to transport the seedling trays until each pair of opposite angle iron trays 26 are filled with seedling trays. Then, the controller controls the DC motor and drive motor 1 to stop working, completing the tray-collecting work.

Claims

1. A crank-rocker type seedling tray lifting device, comprising a seedling tray retrieval device and a tracked walking mechanism, characterized in that: It also includes a support device and a double-crank rocker arm rewinding device; the support device includes a lifting triangular block, a rewinding guide platform, a rewinding platform, and wing plates; the two ends of the inclined plate of the rewinding guide platform are fixed to the rewinding platform and the lifting triangular block respectively, and the rewinding platform is horizontally set, the inclined plate is inclined, and the inclined surface of the inclined plate is flush with the inclined surface of the lifting triangular block; two through slots I are arranged at intervals on the inclined plate, and the two ends of through slot I are respectively connected to through slot II corresponding to the rewinding platform and through slot III corresponding to the lifting triangular block; through slots I, II, and III with aligned positions form a guide groove; wing plates are fixed on both outer walls of the rewinding platform; a limit switch is provided on the rewinding platform at the outer edge of the guide groove end, and the signal output terminal of the limit switch is connected to a controller; the track walking mechanism is located in the groove at the bottom of the rewinding platform, the two track frames of the track walking mechanism are fixed to the inner walls of both sides of the groove of the rewinding platform respectively, and the DC motor of the track walking mechanism is controlled by the controller; The double-crank rocker arm rewinding device is located within the groove of the rewinding platform and between the two track frames in the tracked walking mechanism. The double-crank rocker arm rewinding device includes a center plate, connecting shaft one, connecting shaft two, and a rewinding mechanism. The center plate is vertically fixed to the center of the rewinding platform. Connecting shaft one passes through a circular hole one on the center plate and is fixed to the center plate, and is symmetrically arranged about the center plate. Connecting shaft two passes through a circular hole two on the center plate, forming a rotating pair with the center plate, and is symmetrically arranged about the center plate. The rewinding mechanism has two components symmetrically arranged about the center plate. The rewinding mechanism includes a side plate, connecting rod one, connecting rod two, connecting rod three, connecting rod four, connecting rod five, a rewinding claw, an inner rotating arm, and an outer rotating arm. The side plate is fixed to the rewinding platform, and one end of the outer rotating arm forms a rotating pair with the side plate. One end of the connecting rod forms a compound hinge with one end of connecting rod 1 and one end of connecting rod 2; one end of connecting rod 4 is hinged to the other end of connecting rod 2, and the other end of connecting rod 4 and one end of connecting rod 3 both form a rotating pair with connecting shaft 1; one end of connecting rod 5 is hinged to the other end of connecting rod 3, and the other end forms a compound hinge with the other end of connecting rod 1 and one end of the inner rotating arm; the other end of the inner rotating arm is fixed to one end of connecting shaft 2; a collecting hook is fixed in the middle of both connecting rod 2 and connecting rod 5; in one of the collecting mechanisms, the end of the outer rotating arm connected to the side plate is driven by a drive motor 1, which is controlled by a controller, and the rotation center line of the outer rotating arm, the center line of connecting rod 1, and the center line of connecting shaft 2 coincide, while the rotation radius of the outer rotating arm and the rotation radius of the inner rotating arm are both equal to half the length of connecting rod 1; Among them, the half of the outer rotating arm on the first connecting rod, the second connecting rod, the fourth connecting rod, and the line connecting the central axis of the first connecting shaft and the central axis of the second connecting shaft constitute the first crank-rocker mechanism. The half of the inner rotating arm on the first connecting rod, the third connecting rod, the fifth connecting rod, and the line connecting the central axis of the first connecting shaft and the central axis of the second connecting shaft constitute the second crank-rocker mechanism. The length of the second connecting rod is equal to the length of the fifth connecting rod, and the length of the fourth connecting rod is equal to the length of the third connecting rod. The first connecting rod is a crank, and the fourth and third connecting rods are rockers. The seedling tray recycling device includes a fixed frame, a chain drive mechanism, and angle iron trays; the fixed frame is vertically fixed on two wing plates; chain drive mechanisms are provided above both wing plates, and the chain drive mechanism includes a driving shaft, a driven shaft, sprockets, and a chain; both the driving shaft and the driven shaft form a rotating pair with the fixed frame, and the driving shaft is connected to the second driving motor through a reducer, and the second driving motor is controlled by a controller; two sprockets are fixed on both the driving shaft and the driven shaft, and each set of sprockets on the driving shaft and the driven shaft that are vertically aligned in position is connected by a chain; two groups of angle iron trays are symmetrically arranged on both sides of the tray placing platform, and each group of angle iron trays consists of multiple angle iron trays arranged at an upper and lower interval, and both ends of the angle iron trays are respectively fixed to the two chains of the corresponding side chain drive mechanism.

2. The crank-rocker type seedling tray lifting device according to claim 1, characterized in that: The tray receiving guiding platform includes an inclined plate and a first pulley assembly, multiple first slots arranged at intervals are formed on the inclined plate, and multiple first pulley assemblies arranged at intervals are provided in the first slots. The first pulley assembly includes a first supporting roller and a first supporting shaft, and the first supporting roller forms a rotating pair with the inclined plate through the first supporting shaft.

3. The crank-rocker type seedling tray lifting device according to claim 2, characterized in that: Limit baffles are fixed on both sides of the inclined plate, and the two limit baffles are in a shape of an eight-character with an opening increasing from the tray placing platform to the tray lifting triangular block, and the limit baffles are arc-shaped plates.

4. The crank-rocker type seedling tray lifting device according to claim 1, characterized in that: Multiple second slots arranged at intervals are formed on the tray placing platform, and multiple second pulley assemblies arranged at intervals are provided in the second slots. The second pulley assembly includes a second supporting roller and a second supporting shaft, and the second supporting roller forms a rotating pair with the tray placing platform through the second supporting shaft.

5. The crank-rocker type seedling tray lifting device according to claim 1, characterized in that: By searching a linkage curve atlas through a preset locus and according to the conditions for the establishment of a crank-rocker mechanism in a four-bar mechanism, the rod length conditions of the first crank-rocker mechanism and the second crank-rocker mechanism, as well as the rod length relationships of the tray receiving claw, the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, and the fifth connecting rod are as follows: Let half of the first connecting rod be the shortest rod with a length of L1, the second connecting rod and the fifth connecting rod be the longest rods with lengths of L2, the lengths of the fourth connecting rod and the third connecting rod be L3, the length of the line connecting the central axes of the first connecting shaft and the second connecting shaft be L4, and the length of the tray receiving claw be L5. Among them, L1 + L2 < L3 + L4, L1 / L2 = 8 / 13, L1 / L3 = 2 / 3, L1 / L4 = 8 / 11, L1 / L5 = 2 / 3, and the included angle between the tray receiving claw and the second connecting rod or the fifth connecting rod is 35°.

6. The crank-rocker type seedling tray lifting device according to claim 1, characterized in that: Two longitudinal slide rails arranged at intervals are fixed on the fixed frame inside each chain drive mechanism through triangular connectors, and both ends of each angle iron tray respectively form a sliding pair with the two longitudinal slide rails on the corresponding side.

7. A method for lifting seedling trays using a crank-rocker type device according to any one of claims 1 to 6, characterized in that: Specifically as follows: Step 1: The controller starts the DC motor of the tracked walking mechanism, which drives the tray-laying platform forward, and the lifting triangular block begins to scoop up the seedling trays. At the same time, the controller starts the drive motor. Drive motor 1 drives the corresponding outer rotating arm to rotate at a constant speed. The outer rotating arm then drives link 1 to rotate at a constant speed around the center of link 1. Thus, link 1 drives the tray-collecting hook on link 2 to move back and forth along a preset trajectory through link 2, and drives the tray-collecting hook on link 5 to move back and forth along a preset trajectory. At the same time, link 1 drives the corresponding inner rotating arm to rotate at a constant speed around the center of link 1. The inner rotating arm drives the inner rotating arm on the other side of the center plate to rotate synchronously at a constant speed through connecting shaft 2. The inner rotating arm on the other side drives the corresponding link 1 to rotate at a constant speed around the center of the corresponding link 1, thus making the link 1 on both sides of the center plate rotate synchronously at a constant speed. The two opposite tray-collecting hooks in each of the two tray-collecting mechanisms move back and forth synchronously along the preset trajectory. Step 2: A seedling tray is shoveled onto the inclined plate along the slope of the lifting triangular block. When the two opposite receiving hooks of the two receiving mechanisms are located below the two guide grooves of the lifting triangular block, the output shaft of drive motor 1 rotates half a turn. The output shaft of drive motor 1 drives either crank rocker mechanism 1 or crank rocker mechanism 2 to drive the two receiving hooks into the working stroke. The two receiving hooks pass through the corresponding guide grooves and abut against the two ends of this seedling tray. They move backward at a constant speed along the guide groove according to the working stroke segment of the preset trajectory. This seedling tray is transported to the tray placement platform along the inclined plate. Then, the output shaft of drive motor 1 continues to rotate half a turn, and the two receiving hooks enter the return stroke. They move forward to the two guide grooves of the lifting triangular block according to the return stroke segment of the preset trajectory. At the same time, as the crawler walking mechanism moves forward, the next seedling tray is shoveled onto the inclined plate. The other two receiving hooks enter the working stroke, driving the next seedling tray to be transported to the tray placement platform. Step 3: When the next seedling tray is transported to the tray-laying platform, it pushes the previous seedling tray to move backward along the tray-laying platform. The previous seedling tray touches the limit switch, and the limit switch sends a start signal. The controller controls the second drive motor to start working. The second drive motor drives the chain transmission mechanism to work. Through the chain, it drives the angle iron trays on the inside of the fixed frame to move upward. The two angle iron trays at the same height on both sides of the tray-laying platform lift the two seedling trays on both sides of the tray-laying platform and drive the two seedling trays to move upward. After the two seedling trays move upward a distance of three chain links, the controller controls the second drive motor to stop. At this time, the next set of two angle iron trays at the same height move to be level with the tray-laying platform. Step 4: As the tracked walking mechanism moves forward, repeat steps 2 and 3. The two crank rocker mechanisms 1 and 2 drive the corresponding tray-collecting hooks to move back and forth alternately, transporting the seedling trays until each pair of opposite angle iron trays are filled with seedling trays. The controller then stops the DC motor and drive motor 1, completing the tray-collecting work.

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