A plug tray unbedder and method of use thereof

Abstract

The application discloses a plug tray bed-out machine and a use method thereof, and belongs to the technical field of agricultural automation seedling planting, and comprises a device main body, wherein a tray bed transfer assembly and a plug tray transfer mechanism are installed on the device main body, and a deviation rectifying assembly is installed on the plug tray transfer mechanism; the plug tray transfer mechanism comprises a clamping push-pull assembly, a positioning mechanism and a turnover mechanism, the clamping push-pull assembly is connected with the positioning mechanism and the turnover mechanism, the positioning mechanism is connected with the turnover mechanism, the positioning mechanism and the turnover mechanism are connected with the device main body, and the turnover mechanism is connected with the deviation rectifying assembly. Through the above mode, the plug tray is not easy to be separated from the bed when entering and leaving the bed, the plug tray is prevented from falling off and damaging the plant seedlings, the plug tray is automatically put into the bed, the plug tray is automatically taken out of the bed during transplanting, and the like are achieved, the stability and the working efficiency of the device are improved through the application of the automatic program, the labor cost is reduced, and the labor intensity is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural automation seedling planting, in particular to a plug tray bed-out machine and a using method thereof. BACKGROUND

[0002] The plug tray seedling technology is a modern seedling technology that uses peat, vermiculite and other light substrate soilless materials as seedling substrate, mechanically seeds in precision, one hole one seed, and one-time seedling. With the development of technology in the field of seedling, a full-automatic plug tray seedling seeding machine is developed to replace manual seeding. After seeding, the plug tray needs to enter the tray bed, but the plug tray is still manually transported onto the tray bed, which undoubtedly reduces the efficiency of the plug tray entering the bed. After the seedling is completed, the plug tray arranged in the tray bed needs to be transferred to a place outside the tray bed, such as a belt machine or a transfer vehicle, for the next operation, and the plug tray is still manually transported out of the tray bed, which undoubtedly reduces the efficiency of the plug tray out of the bed.

[0003] For example, Chinese patent CN214800719U discloses a tidal seedbed bed-in and bed-out machine, which comprises a seedling tray conveying line, a tidal seedbed conveying line, a seedling tray positioning mechanism, a seedling tray jacking mechanism, a sliding table module and a seedling tray clamp. The seedling tray conveying line adopts double-row conveying belts, and the seedling tray jacking mechanism is installed between the two rows of conveying belts. The seedling tray jacking mechanism is used to jack the seedling tray on the seedling tray conveying line upward and away from the seedling tray conveying line. The seedling tray positioning mechanism is arranged in front of the seedling tray jacking mechanism, and a photoelectric switch is arranged on the rack beside the seedling tray jacking mechanism. The sliding table module comprises a door-shaped frame, an X-axis sliding table and a Z-axis sliding table.

[0004] However, the technology has the following problems. When the plug tray is clamped, the plug tray is easy to deform and fall off the gripper, causing the seedling substrate and seeds in the plug tray to splash out. Moreover, the bed-in machine has only a single overall structure, and all components are related to each other, so that when one component is replaced or disassembled, it will affect the operation of other components.

[0005] Therefore, the present application designs a plug tray bed-out machine and a using method thereof to solve the above problems. SUMMARY

[0006] In view of the above shortcomings of the prior art, the present application provides a plug tray bed-out machine and a using method thereof.

[0007] To achieve the above purpose, the present application realizes the following technical solutions:

[0008] A plug tray bed-out machine comprises a device main body, a tray bed transfer assembly and a plug tray transfer mechanism are installed on the device main body, and a deviation rectifying assembly is installed on the plug tray transfer mechanism.

[0009] The plug tray transfer mechanism comprises a clamping push-pull assembly, a positioning mechanism and a turnover mechanism, the clamping push-pull assembly is connected with the positioning mechanism and the turnover mechanism, the positioning mechanism is connected with the turnover mechanism, the positioning mechanism and the turnover mechanism are connected with the equipment main body, and the turnover mechanism is connected with the deviation rectifying assembly.

[0010] Further, the equipment main body comprises a whole steel structure frame with lifting, an electrical control cabinet, a pneumatic control cabinet, a horizontal transfer rail and a tray bed, the electrical control cabinet and the pneumatic control cabinet are fixedly installed on the front and rear sides of the whole steel structure frame with lifting, the whole steel structure frame with lifting is fixedly connected with the horizontal transfer rail, the horizontal transfer rail and the tray bed are connected with the tray bed transfer assembly, and the tray bed is slidingly connected with the horizontal transfer rail.

[0011] Further, the tray bed transfer assembly comprises a driving assembly and a driven assembly, the driving assembly is installed on the front side of the whole steel structure frame with lifting, the driven assembly is rotationally connected with the rear side of the whole steel structure frame with lifting, the driving assembly is connected with the front side of the tray bed, and the driven assembly is rollingly connected with the rear side of the tray bed.

[0012] Further, the driving assembly comprises a speed reducer, a first double rubber wheel, a double sprocket and a chain, the speed reducer is fixedly installed on the front side of the whole steel structure frame with lifting, the first double rubber wheel is rotationally connected with the front side of the whole steel structure frame with lifting, the output end of the speed reducer is fixedly connected with the driving wheel of the first double rubber wheel, the driving wheel of the first double rubber wheel is drivingly connected with the driven wheel of the first double rubber wheel through the double sprocket and the chain, and the double sprocket and the chain are meshingly connected, and the driven assembly is a second double rubber wheel.

[0013] Further, the clamping push-pull assembly comprises a push-pull support, a stepping motor, a ball screw, a fixed jaw, a movable jaw, a three-axis air cylinder and a pulley set, the output end of the stepping motor is fixedly connected with the ball screw, the output sliding block of the ball screw is fixedly connected with the push-pull support, the left side of the push-pull support is fixedly connected with the fixed jaw, the three-axis air cylinder is fixedly installed on the right side of the fixed jaw, the output end of the three-axis air cylinder and the movable jaw are connected with the positioning mechanism, the fixed jaw is slidingly connected with the movable jaw, and the pulley set is provided with two groups, the upper end of the pulley set is rollingly connected with the push-pull support, and the lower end of the pulley set is connected with the turnover mechanism.

[0014] Further, the positioning mechanism comprises a through slot, a positioning pin, a connecting plate, a hole disc counting photoelectric opposite sensor, a hole disc in place photoelectric opposite sensor and a clamping jaw in place photoelectric opposite sensor; the fixed clamping jaw is provided with a through slot, the clamping jaw in place photoelectric opposite sensor is slidably connected with the through slot through the positioning pin, the positioning pin is provided with two, the connecting plate is clamped between the two positioning pins, the output end of the three-axis air cylinder is fixedly connected with the movable clamping jaw through the connecting plate, the hole disc counting photoelectric opposite sensor is provided with two and is fixedly installed on the front side of the whole lifting steel structure frame, the hole disc in place photoelectric opposite sensor is provided with two and is connected with the turnover mechanism.

[0015] Further, the three-axis air cylinder and the movable clamping jaw are equally spaced three groups, the clamping jaw in place photoelectric opposite sensor, the through slot and the positioning pin are equally spaced two groups, and the two groups of through slots, positioning pins and clamping jaw in place photoelectric opposite sensors are arranged in the gap between the three groups of movable clamping jaws.

[0016] Further, the turnover mechanism comprises a transfer disc, a turnover cylinder, a turnover main shaft support, a belt conveyor and a shockproof rubber pad assembly, the transfer disc is fixedly installed on the left side of the belt conveyor, the lower end of the belt conveyor is fixedly connected with a support assembly, the support assembly is provided with four support assemblies arranged in order from front to back at the lower end of the belt conveyor, the turnover main shaft support is provided with two, the outermost two support assemblies are rotatably connected with the upper ends of the two turnover main shaft supports respectively, the inner two support assemblies are fixedly connected with the lower ends of the two pulley sleeves respectively, the lower ends of the two turnover main shaft supports are fixedly installed on the front and rear sides of the whole lifting steel structure frame, the turnover cylinder is rotatably connected with the inner top of the whole lifting steel structure frame, the output end of the turnover cylinder is rotatably connected with a ball screw, the lower end of the belt conveyor is fixedly connected with the ball screw, the shockproof rubber pad assembly is fixedly installed on the right side of the belt conveyor, the two hole disc in place photoelectric opposite sensors are fixedly installed on the front side of the belt conveyor and are symmetrically arranged on the left and right sides of the belt conveyor, and the belt conveyor is connected with the deviation rectifying assembly.

[0017] Further, the deviation rectifying assembly comprises a deviation rectifying plate, a fixed plate and a limiting plate; the fixed plate is fixedly installed on the front side of the belt conveyor, the deviation rectifying plate is fixedly connected with the fixed plate, the deviation rectifying plate is located on the front side of the fixed plate, and the limiting plate is fixedly installed on the rear side of the belt conveyor and located at the rear end of the fixed clamping jaw.

[0018] Further, the deviation rectifying plate and the fixed plate are provided with two groups and are symmetrically arranged on the left and right sides of the belt conveyor.

[0019] In order to better achieve the purpose of the present application, the present application also provides a use method of the hole disc bed machine, comprising the following steps:

[0020] Step one: if it is a plug-in bed mode, the belt conveyor is set to move after receiving the plug-in bed each time. After the plug-in bed passes through the position correction plate and the fixed plate, the plug-in bed will be in the correct position, which is convenient for the fixed jaw and the moving jaw to clamp;

[0021] Step two: when the rear end of the plug-in bed touches the limiting plate, the belt conveyor stops moving. At this time, the right side of the plug-in bed is aligned with the position of the fixed jaw and the moving jaw, and the plug-in bed counting photoelectric sensor detects that the number of plug-in beds is three;

[0022] Step three: according to the PLC program setting, when the plug-in bed in position photoelectric sensor senses that the positions of the three plug-in beds are correct, the stepper motor drives the ball screw to move, and the output slide block of the ball screw drives the push-pull bracket to move left, the push-pull bracket pushes the moving jaw to move left to the side of the plug-in bed. After the jaw in position photoelectric sensor senses that the position of the moving jaw is correct, the three-axis cylinder drives the moving jaw to move upward, and then the moving jaw and the fixed jaw clamp the plug-in bed;

[0023] Step four: the turnover cylinder starts, the turnover cylinder drives the ball screw to move upward, the push-pull bracket moves upward, the push-pull bracket drives the fixed jaw, the pulley sleeve, and the belt conveyor to move upward, the push-pull bracket drives the belt conveyor to turn upward by a certain angle around the turnover spindle support, and the transfer disc is the transmission channel of the belt conveyor and the disc bed conveying plug-in beds;

[0024] Step five: according to the PLC program setting, the ball screw is driven by the stepper motor, and the plug-in bed is pushed from the belt conveyor to the disc bed through the transfer disc at a set speed and distance. At the same time, the first double rubber wheel is driven by the speed reducer motor to move at a set distance and speed on the horizontal transfer rail, so that the disc bed moves to the transfer disc, the plug-in bed accurately enters the disc bed, and the three-axis cylinder drives the moving jaw to open and release the plug-in bed;

[0025] Step six: the ball screw is recycled and reset; the turnover cylinder is reset, the fixed jaw and the belt conveyor are reset, the anti-vibration rubber pad assembly is reset to build a reset support for the plug-in bed transfer platform, the fixed jaw and the belt conveyor are reset, and the next plug-in bed is waiting for positioning;

[0026] Step seven: if it is a plug tray out of bed mode, the air cylinder drives the push-pull support to turn over downward, the push-pull support drives the fixed jaw, pulley set to move downward, the push-pull support drives the belt machine to turn over a certain angle with the turning shaft support as the center, the pulley set supports the plug tray clamping push-pull to build a channel, according to the PLC program setting, the ball screw is driven by the stepper motor, and the fixed jaw and the movable jaw are pushed to the first row of plug tray positions of the tray bed according to the set speed and distance; after the movable jaw is in place, the jaw is in place photoelectric opposite sensor senses that the jaw position is correct, the three-axis air cylinder drives the movable jaw to move upward, the movable jaw clamps the plug tray with the fixed jaw; the ball screw is driven by the stepper motor to recover, the push-pull support recovers the plug tray together with the fixed jaw, and the plug tray is pulled to the center of the belt machine; the plug tray is in place photoelectric opposite sensor detects that the position of the plug tray is correct, the movable jaw is driven by the stepper motor to open, and the plug tray is released; the ball screw continues to recover and reset; the belt machine operates, and the plug tray is transferred to the set position.

[0027] The present application has the following technical effects:

[0028] 1. The present application adopts a robot to widen the jaw, and the side edges of the plug tray are clamped in the whole process, so that the problem that the plug tray is easy to be separated from the carrying in the prior art is overcome; the plug tray is pushed into the tray bed and slides on the belt machine in the whole process, so that the technical problems that the plug tray is easy to be deformed, slip, turn over, fold and damaged when entering the tray bed in the prior art are overcome; the plug tray is pulled out of the tray bed and slides on the belt machine in the whole process, so that the problem that the plug tray is easy to be separated from the carrying in the prior art is overcome; the plug tray jaw adopts a three-body split structure, and one pair of air cylinders operates each split structure, so that the defects of the whole single structure in the prior art are overcome; and the defect that the prior art cannot have the functions of entering the tray bed and pulling out of the tray bed at the same time after installation is overcome.

[0029] 2. The present application has the characteristics of a plug tray carrying mechanism that is not easy to be separated, a modular structure, the functions of automatically entering the tray bed during seeding and automatically pulling out of the tray bed during transplanting after installation, and the like, and the application of an automatic program greatly improves the stability and work efficiency of the equipment, the PLC touch screen is easy to operate, the labor cost is reduced, and the labor intensity is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0031] Figure 1 A perspective view of a plug tray out of bed machine of the present application Figure 1 ;

[0032] Figure 2Front view of a plug tray bed discharging machine of the present application

[0033] Figure 3 Perspective view of a plug tray bed discharging machine of the present application Figure 2 ;

[0034] Figure 4 Perspective view of a plug tray bed discharging machine of the present application Figure 3 ;

[0035] Figure 5 Perspective view of a plug tray bed discharging machine of the present application Figure 4 ;

[0036] Figure 6 Structure principle of a plug tray transfer mechanism Figure 1 ;

[0037] Figure 7 Structure principle of a plug tray transfer mechanism Figure 2 ;

[0038] Figure 8 ; Figure 5 Enlarged view of A in FIG. 1;

[0039] Figure 9 ; Figure 6 Enlarged view of B in FIG. 1;

[0040] Figure 10 Plug tray bed discharging flow chart

[0041] Figure 11 Plug tray bed discharging flow chart

[0042] The reference numerals in the figures respectively represent:

[0043] 1, equipment main body; 11, overall belt lifting steel structure frame; 12, electrical control cabinet; 13, pneumatic control cabinet; 14, transverse transfer guide rail; 15, tray bed; 2, tray bed transfer assembly; 21, driving assembly; 211, speed reduction motor; 212, first double rubber wheel; 213, double chain wheel; 214, chain; 22, driven assembly; 3, plug tray transfer mechanism; 31, clamping push-pull assembly; 311, push-pull support; 312, stepping motor; 313, ball screw; 314, fixed clamping jaw; 315, movable clamping jaw; 316, three-axis pneumatic cylinder; 317, pulley set; 32, positioning mechanism; 321, through slot; 322, positioning pin; 323, connecting plate; 324, plug tray counting photoelectric opposite sensor; 325, plug tray in-place photoelectric opposite sensor; 326, clamping jaw in-place photoelectric opposite sensor; 33, overturning mechanism; 331, transfer tray; 332, overturning pneumatic cylinder; 333, overturning main shaft support; 334, belt conveyor; 335, shock-absorbing rubber pad assembly; 4, deviation rectifying assembly; 41, deviation rectifying plate; 42, fixed plate; 43, limiting plate. DETAILED DESCRIPTION

[0044] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0045] The present application will be further described below with reference to the embodiments.

[0046] In the following description, "left", "right", "front", "back", "up" and "down" are oriented in the perspective of the front view.

[0047] Embodiment 1

[0048] Please refer to the drawings in the description Figures 1-11 A plug tray bed-out machine, comprising a device main body 1, a tray bed transfer assembly 2 and a plug tray transfer mechanism 3 are installed on the device main body 1, and a deviation correction assembly 4 is installed on the plug tray transfer mechanism 3.

[0049] The plug tray transfer mechanism 3 comprises a clamping and pushing assembly 31, a positioning mechanism 32 and a turnover mechanism 33, the clamping and pushing assembly 31 is connected with the positioning mechanism 32 and the turnover mechanism 33, the positioning mechanism 32 is connected with the turnover mechanism 33, and the positioning mechanism 32 and the turnover mechanism 33 are both connected with the device main body 1, and the turnover mechanism 33 is connected with the deviation correction assembly 4.

[0050] When the plug tray is put into the bed, the driving assembly 21 operates, the driven assembly 22 operates accordingly, the driven assembly 22 drives the tray bed 15 to move on the transverse transfer rail 14, the plug tray is placed on the turnover mechanism 33, after being corrected by the deviation correction assembly 4, the positioning mechanism 32 positions and counts the plug tray, the turnover mechanism 33 drives the plug tray to move to the appropriate position and stop, the clamping and pushing assembly 31 clamps the plug tray, and then the turnover mechanism 33 transports the plug tray to the tray bed;

[0051] When the plug tray is taken out of the bed, the turnover mechanism 33 is turned over, the clamping and pushing assembly 31 clamps and recycles the plug tray on the tray bed 15, the positioning mechanism 32 determines the position of the plug tray, after the plug tray is clamped on the turnover mechanism 33, the turnover mechanism 33 operates to transport the plug tray to the designated position;

[0052] It achieves the function of preventing the seedling trays from easily detaching when entering and leaving the seedbed, thus preventing the seedlings from being damaged by the seedling trays. It also features automatic seedling tray entry into the seedbed and automatic seedling tray exit during transplanting. The application of automation programs improves the stability and efficiency of the equipment, reduces labor costs, and alleviates labor intensity.

[0053] Example 2

[0054] like Figures 1-11 As shown, in a preferred embodiment of the present invention, the main body 1 of the equipment includes an integral steel structure frame 11 with hoisting, an electrical control cabinet 12, a pneumatic control cabinet 13, a transverse transfer guide rail 14, and a tray bed 15. The electrical control cabinet 12 and the pneumatic control cabinet 13 are respectively fixedly installed on the front and rear sides of the integral steel structure frame 11 with hoisting. The integral steel structure frame 11 with hoisting is fixedly connected to the transverse transfer guide rail 14. The transverse transfer guide rail 14 and the tray bed 15 are both connected to the tray bed transfer assembly 2. The tray bed 15 is slidably connected to the transverse transfer guide rail 14. The integral steel structure frame 11 with hoisting is used for electrical, pressure, and flow control of the overall equipment, and the electrical control cabinet 12 is used for the integrated application of air source for the overall equipment.

[0055] The disc bed transfer assembly 2 includes a drive assembly 21 and a driven assembly 22. The drive assembly 21 is installed on the front side of the overall steel structure frame 11 with hoisting. The driven assembly 22 is rotatably connected to the rear side of the overall steel structure frame 11 with hoisting. The drive assembly 21 is connected to the front side of the disc bed 15, and the driven assembly 22 is rolled to the rear side of the disc bed 15. The drive assembly 21 and the driven assembly 22 are symmetrically arranged on the front and rear sides of the disc bed 15. The drive assembly 21 serves as the power source for the forward and backward movement of the disc bed 15. The program setting makes the movement speed, distance, and accuracy of the disc bed 15 adjustable. The driven assembly 22 works in conjunction with the drive assembly 21 to drive the disc bed 15 to move precisely, while ensuring that the disc bed 15 remains centered and does not deviate during the movement.

[0056] The drive assembly 21 includes a geared motor 211, a first double rubber wheel 212, a double sprocket 213, and a chain 214. The geared motor 211 is fixedly installed on the front side of the overall steel structure frame 11 with hoisting. The first double rubber wheel 212 is rotatably connected to the front side of the overall steel structure frame 11 with hoisting. The output end of the geared motor 211 is fixedly connected to the drive wheel of the first double rubber wheel 212. The drive wheel of the first double rubber wheel 212 is connected to the driven wheel of the first double rubber wheel 212 through the double sprocket 213 and the chain 214. The double sprocket 213 and the chain 214 are meshed. The driven assembly 22 is a second double rubber wheel. The first double rubber wheel 212 is tumblingly connected to the front side of the disc bed 15.

[0057] The clamping push-pull assembly 31 comprises a push-pull support 311, a stepping motor 312, a ball screw 313, a fixed clamping jaw 314, a movable clamping jaw 315, a three-axis cylinder 316 and a pulley set 317; the output end of the stepping motor 312 is fixedly connected with the ball screw 313, the output sliding block of the ball screw 313 is fixedly connected with the push-pull support 311, the left side of the push-pull support 311 is fixedly connected with the fixed clamping jaw 314, the three-axis cylinder 316 is fixedly installed on the right side of the fixed clamping jaw 314, the output end of the three-axis cylinder 316 and the movable clamping jaw 315 are connected with the positioning mechanism 32, the fixed clamping jaw 314 is slidably connected with the movable clamping jaw 315, and the pulley set 317 is provided with two groups, the upper end of the pulley set 317 is rollingly connected with the push-pull support 311, and the lower end of the pulley set 317 is connected with the turnover mechanism 33.

[0058] The positioning mechanism 32 comprises a through slot 321, a positioning pin 322, a connecting plate 323, a hole disc counting photoelectric opposite sensor 324, a hole disc to position photoelectric opposite sensor 325 and a clamping jaw to position photoelectric opposite sensor 326; the fixed clamping jaw 314 is provided with the through slot 321, the clamping jaw to position photoelectric opposite sensor 326 is slidably connected with the through slot 321 through the positioning pin 322, the positioning pin 322 is provided with two, the connecting plate 323 is clamped between the two positioning pins 322, the output end of the three-axis cylinder 316 is fixedly connected with the movable clamping jaw 315 through the connecting plate 323, the hole disc counting photoelectric opposite sensor 324 is provided with two and is fixedly installed on the front side of the whole steel structure frame 11, the hole disc to position photoelectric opposite sensor 325 is provided with two and is connected with the turnover mechanism 33, and the pulley set 317 supports the channel for the subsequent hole disc clamping and pushing.

[0059] The movable distance of the clamping jaw to position photoelectric opposite sensor 326 and the movable clamping jaw 315 is equal, and the purpose is that when the movable clamping jaw 315 and the fixed clamping jaw 314 clamp the hole disc, the clamping jaw to position photoelectric opposite sensor 326 is always flush with the movable clamping jaw 315, so that the movable clamping jaw 315 is conveniently positioned.

[0060] The three-axis cylinder 316 and the movable clamping jaw 315 are provided with three groups at equal intervals, the clamping jaw to position photoelectric opposite sensor 326, the through slot 321 and the positioning pin 322 are provided with two groups at equal intervals, the movable clamping jaw 315 uses a three-body split structure, each split structure corresponds to a group of three-axis cylinder 316 operation, and defects such as a whole single structure of the prior art are overcome; the two groups of through slots 321, positioning pins 322 and clamping jaw to position photoelectric opposite sensors 326 are arranged in the gap between the three groups of movable clamping jaws 315.

[0061] The turnover mechanism 33 includes a transfer disc 331, a turnover cylinder 332, a turnover spindle support 333, a belt conveyor 334 and a shock absorbing rubber pad assembly 335. The transfer disc 331 is fixedly installed on the left side of the belt conveyor 334, and provides a transmission channel for the plug trays of the belt conveyor 334 and the tray bed 15. The lower end of the belt conveyor 334 is fixedly connected with a support assembly, which is provided with four support assemblies arranged in order from front to back at the lower end of the belt conveyor 334. The turnover spindle support 333 is provided with two turnover spindle supports 333. The outermost two support assemblies are respectively rotatably connected with the upper ends of the two turnover spindle supports 333. The inner two support assemblies are respectively fixedly connected with the lower ends of the two pulley sleeves 317. The lower ends of the two turnover spindle supports 333 are respectively fixedly installed on the front and rear sides of the overall lifting steel structure frame 11. The turnover cylinder 332 is rotatably connected with the inner top of the overall lifting steel structure frame 11. The output end of the turnover cylinder 332 is rotatably connected with the ball screw 313. The lower end of the belt conveyor 334 is fixedly connected with the ball screw 313. The shock absorbing rubber pad assembly 335 is fixedly installed on the right side of the belt conveyor 334. Two plug tray in-place photoelectric opposite sensor 325 are fixedly installed on the front side of the belt conveyor 334 and symmetrically arranged on the left and right sides of the belt conveyor 334. The belt conveyor 334 is connected with the deviation correction assembly 4. The shock absorbing rubber pad assembly 335 provides reset support for the fixed jaw 314 and the movable jaw 315.

[0062] The deviation correction assembly 4 includes a deviation correction plate 41, a fixed plate 42 and a limiting plate 43. The fixed plate 42 is fixedly installed on the front side of the belt conveyor 334. The deviation correction plate 41 is fixedly connected with the fixed plate 42 and located on the front side of the fixed plate 42. The limiting plate 43 is fixedly installed on the rear side of the belt conveyor 334 and located at the rear end of the fixed jaw 314.

[0063] The deviation correction plate 41 and the fixed plate 42 are each provided with two groups and symmetrically arranged on the left and right sides of the belt conveyor 334.

[0064] According to the PLC program settings, the belt conveyor 334 transports the acupuncture trays each time they are received. After the trays are corrected by the alignment plate 41 and the fixed plate 42, they are positioned correctly to facilitate gripping by the fixed gripper 314 and the movable gripper 315. When the rear end of the acupuncture tray touches the limit plate 43, the belt conveyor 334 stops moving. At this time, the right side of the acupuncture tray aligns with the position of the fixed gripper 314 and the movable gripper 315, and the acupuncture tray counting photoelectric sensor 324 detects that the number of acupuncture trays is three. The acupuncture tray positioning photoelectric sensor 325 senses that three acupuncture trays have been reached. With all positions correct, stepper motor 312 drives ball screw 313 to move. The output slider of ball screw 313 drives push-pull bracket 311 to move to the left. Push-pull bracket 311 pushes moving jaw 315 to the side of the acupuncture plate. After the jaw is in position, photoelectric sensor 326 detects that the moving jaw 315 is in the correct position. Then, three-axis cylinder 316 drives moving jaw 315 to move upward. Then, moving jaw 315 clamps the acupuncture plate with fixed jaw 314. Tilting cylinder 332 is activated, and tilting cylinder 332 drives ball screw 313 to move. 13 moves upward, and the push-pull bracket 311 moves upward accordingly. The push-pull bracket 311 drives the fixed gripper 314, pulley set 317, and belt conveyor 334 to move upward. The push-pull bracket 311 drives the belt conveyor 334 to rotate upward at a certain angle around the rotating spindle bracket 333. The transfer plate 331 is the transmission channel for the belt conveyor and the plate bed to transfer the cavity trays. According to the PLC program setting, the ball screw 313 is driven by the stepper motor 312, and pushes the cavity trays from the belt conveyor 334 to the plate bed 1 via the transfer plate 331 at the set speed and distance. 5. Simultaneously, the drive assembly 21 and the driven assembly 22 drive the tray bed 15 to approach the transfer tray 331 at the same distance and speed. The abortion tray accurately enters the tray bed 15. The three-axis cylinder 316 drives the moving gripper 315 to open and release the abortion tray. The ball screw 313 retracts and resets. The tilting cylinder 332 resets, causing the fixed gripper 314 and the belt conveyor 334 to reset. The anti-vibration rubber pad assembly 335 provides reset support for the abortion tray transfer platform. The fixed gripper 314 and the belt conveyor 334 return to center, waiting for the next abortion tray to arrive.

[0065] Example 3

[0066] like Figures 1-11 As shown, in a preferred embodiment of the present invention, the present invention also provides a method of using a burrowing machine, comprising the following steps:

[0067] Step 1: If it is the acupuncture tray bed mode, then according to the PLC program setting, the belt conveyor 334 will transport the acupuncture tray each time it receives it. After the acupuncture tray passes the position correction plate 41 and the fixed plate 42, the acupuncture tray will be positioned correctly, making it convenient for the fixed gripper 314 and the moving gripper 315 to grasp it.

[0068] Step two: when the back end of the plug tray touches the limiting plate 43, the belt conveyor 334 stops moving, at this time the right side of the plug tray is aligned with the position of the fixed jaw 314 and the moving jaw 315, and the plug tray counting photoelectric sensor 324 detects that the number of plug trays is three;

[0069] Step three: according to the PLC program setting, when the plug tray to position photoelectric sensor 325 senses that the positions of the three plug trays are correct, the ball screw 313 is driven by the stepping motor 312 to move, the output slide block of the ball screw 313 drives the push-pull bracket 311 to move left, the push-pull bracket 311 pushes the moving jaw 315 to move left to the side of the plug tray, after the jaw to position photoelectric sensor 326 senses that the position of the moving jaw 315 is correct, the three-axis cylinder 316 drives the moving jaw 315 to move upward, and then the moving jaw 315 clamps the plug tray with the fixed jaw 314;

[0070] Step four: the turnover cylinder 332 is started, the turnover cylinder 332 drives the ball screw 313 to move upward, the push-pull bracket 311 moves upward, the push-pull bracket 311 drives the fixed jaw 314, the pulley sleeve 317, and the belt conveyor 334 to move upward, the push-pull bracket 311 drives the belt conveyor 334 to turn upward by a certain angle around the turnover spindle bracket 333, and the transfer disc 331 is the transmission channel for the belt conveyor 334 and the tray bed 15 to convey the plug tray;

[0071] Step five: according to the PLC program setting, the ball screw 313 is driven by the stepping motor 312 to push the plug tray from the belt conveyor 334 to the tray bed 15 according to the set speed and distance, and at the same time, the first double rubber wheel 212 is driven by the speed reducer motor 211 to move, the tray bed 15 moves on the transverse transfer rail 14 at the same distance and speed according to the setting, so that the tray bed approaches the transfer disc 331, the plug tray accurately enters the tray bed 15, and the moving jaw 315 is driven by the three-axis cylinder 316 to open and release the plug tray;

[0072] Step six: the ball screw 313 is retracted and reset; the turnover cylinder 332 is reset, so that the fixed jaw 314 and the belt conveyor 334 are reset, the anti-vibration rubber pad assembly 335 builds a reset support for the plug tray transfer platform, and the fixed jaw 314 and the belt conveyor 334 are reset, waiting for the next plug tray to be in position;

[0073] Step seven: if it is the plug tray out of bed mode, the turning cylinder 332 drives the push-pull support 311 to turn down, the push-pull support 311 drives the fixed jaw 314 and the pulley set 317 to move down, the push-pull support 311 drives the belt machine 334 to turn down a certain angle with the turning main shaft support 333 as the center, the pulley set 317 supports the channel for the plug tray clamping and pushing, according to the PLC program setting, the ball screw 313 is driven by the stepping motor 312, the fixed jaw 314 and the moving jaw 315 are pushed to the first row of plug tray position of the tray bed 15 according to the set speed and distance, after the moving jaw 315 is in place, the jaw in place photoelectric opposite sensor 326 senses the correct position of the jaw, the three-axis cylinder 316 drives the moving jaw 315 to move up, the moving jaw 315 clamps the plug tray with the fixed jaw 314, the ball screw 313 is driven by the stepping motor 312 to recover, the push-pull support 311 recovers the plug tray with the fixed jaw 314, and the plug tray is pulled to the center of the belt machine 334, the plug tray in place photoelectric opposite sensor 325 detects the correct position of the plug tray, the stepping motor 312 drives the moving jaw 315 to open and release the plug tray, the ball screw 313 continues to recover and reset, and the belt machine 334 operates to transfer the plug tray to the set position.

[0074] The above examples are only used to illustrate the technical solutions of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements will not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A plug flat unloader comprising a device body (1), characterized in that: The device body (1) is provided with a tray bed transfer assembly (2) and a plug tray transfer mechanism (3), and the plug tray transfer mechanism (3) is provided with a deviation rectifying assembly (4); The plug tray transfer mechanism (3) comprises a clamping push-pull assembly (31), a positioning mechanism (32) and a turnover mechanism (33), the clamping push-pull assembly (31) is connected with the positioning mechanism (32) and the turnover mechanism (33), the positioning mechanism (32) is connected with the turnover mechanism (33), and the positioning mechanism (32) and the turnover mechanism (33) are connected with the device body (1), and the turnover mechanism (33) is connected with the deviation rectifying assembly (4); The device body (1) comprises a whole lifting steel structure frame (11), an electrical control cabinet (12), a pneumatic control cabinet (13), a horizontal transfer rail (14) and a tray bed (15), the electrical control cabinet (12) and the pneumatic control cabinet (13) are fixedly installed on the front and rear sides of the whole lifting steel structure frame (11) respectively, the whole lifting steel structure frame (11) is fixedly connected with the horizontal transfer rail (14), the horizontal transfer rail (14) and the tray bed (15) are connected with the tray bed transfer assembly (2), and the tray bed (15) is slidably connected with the horizontal transfer rail (14); The clamping push-pull assembly (31) comprises a push-pull support (311), a stepping motor (312), a ball screw (313), a fixed jaw (314), a movable jaw (315), a three-axis cylinder (316) and a pulley set (317); the output end of the stepping motor (312) is fixedly connected with the ball screw (313), the output sliding block of the ball screw (313) is fixedly connected with the push-pull support (311), the left side of the push-pull support (311) is fixedly connected with the fixed jaw (314), the three-axis cylinder (316) is fixedly installed on the right side of the fixed jaw (314), the output end of the three-axis cylinder (316) and the movable jaw (315) are connected with the positioning mechanism (32), the fixed jaw (314) is slidably connected with the movable jaw (315), and the pulley set (317) is provided with two groups, the upper end of the pulley set (317) is rollingly connected with the push-pull support (311), and the lower end of the pulley set (317) is connected with the turnover mechanism (33); the pulley set (317) is provided with two groups, the upper end of the pulley set (317) is rollingly connected with the push-pull support (311), and the lower end of the pulley set (317) is connected with the turnover mechanism (33); The positioning mechanism (32) comprises a through slot (321), a positioning pin (322), a connecting plate (323), a hole disc counting photoelectric opposite sensor (324), a hole disc in-place photoelectric opposite sensor (325) and a clamping jaw in-place photoelectric opposite sensor (326); the fixed clamping jaw (314) is provided with the through slot (321), the clamping jaw in-place photoelectric opposite sensor (326) is slidably connected with the through slot (321) through the positioning pin (322), the positioning pin (322) is provided with two, the connecting plate (323) is clamped between the two positioning pins (322), the output end of the three-axis cylinder (316) is fixedly connected with the moving clamping jaw (315) through the connecting plate (323), the hole disc counting photoelectric opposite sensor (324) is provided with two and is fixedly installed on the front side of the whole lifting steel structure frame (11), the hole disc in-place photoelectric opposite sensor (325) is provided with two and is connected with the turnover mechanism (33); The three-axis cylinder (316) and the moving clamping jaw (315) are provided with three groups at equal intervals, the clamping jaw in-place photoelectric opposite sensor (326), the through slot (321) and the positioning pin (322) are provided with two groups at equal intervals, and the two groups of the through slot (321), the positioning pin (322) and the clamping jaw in-place photoelectric opposite sensor (326) are arranged in the gap between the three groups of moving clamping jaws (315); The turnover mechanism (33) comprises a transfer disc (331), a turnover cylinder (332), a turnover main shaft support (333), a belt machine (334) and a shockproof rubber pad block assembly (335), the transfer disc (331) is fixedly installed on the left side of the belt machine (334), the lower end of the belt machine (334) is fixedly connected with a support assembly, the support assembly is provided with four and is arranged in order from front to back at the lower end of the belt machine (334), the turnover main shaft support (333) is provided with two, the outermost two support assemblies are rotatably connected with the upper ends of the two turnover main shaft supports (333) respectively, the inner two support assemblies are fixedly connected with the lower ends of the two pulley sleeves (317) respectively, the lower ends of the two turnover main shaft supports (333) are fixedly installed on the front and rear sides of the whole lifting steel structure frame (11), the turnover cylinder (332) is rotatably connected with the inner top of the whole lifting steel structure frame (11), the output end of the turnover cylinder (332) is rotatably connected with the ball screw (313), the lower end of the belt machine (334) is fixedly connected with the ball screw (313), the shockproof rubber pad block assembly (335) is fixedly installed on the right side of the belt machine (334), the two hole disc in-place photoelectric opposite sensors (325) are fixedly installed on the front side of the belt machine (334) and are symmetrically arranged on the left and right sides of the belt machine (334), and the belt machine (334) is connected with the deviation rectifying assembly (4).

2. The plug flat machine of claim 1, wherein, The disc bed transfer assembly (2) comprises a driving assembly (21) and a driven assembly (22), the driving assembly (21) is installed on the front side of the whole lifting steel structure frame (11), the driven assembly (22) is rotationally connected with the rear side of the whole lifting steel structure frame (11), the driving assembly (21) is connected with the front side of the disc bed (15), and the driven assembly (22) is rollingly connected with the rear side of the disc bed (15), and the driving assembly (21) and the driven assembly (22) are symmetrically arranged on the front and rear sides of the disc bed (15).

3. The plug flat machine of claim 2, wherein, The driving assembly (21) comprises a speed reducer (211), a first double rubber wheel (212), a double sprocket (213) and a chain (214), the speed reducer (211) is fixedly installed on the front side of the whole lifting steel structure frame (11), the first double rubber wheel (212) is rotationally connected with the front side of the whole lifting steel structure frame (11), the output end of the speed reducer (211) is fixedly connected with the driving wheel of the first double rubber wheel (212), the driving wheel of the first double rubber wheel (212) is drivingly connected with the driven wheel of the first double rubber wheel (212) through the double sprocket (213) and the chain (214), and the double sprocket (213) and the chain (214) are meshedly connected, and the driven assembly (22) is a second double rubber wheel.

4. The plug flat of claim 3, wherein, The deviation rectifying assembly (4) comprises a deviation rectifying plate (41), a fixed plate (42) and a limiting plate (43), the fixed plate (42) is fixedly installed on the front side of the belt conveyor (334), the deviation rectifying plate (41) is fixedly connected with the fixed plate (42), the deviation rectifying plate (41) is located on the front side of the fixed plate (42), and the limiting plate (43) is fixedly installed on the rear side of the belt conveyor (334) and located at the rear end of the fixed jaw (314); the deviation rectifying plate (41) and the fixed plate (42) are both provided with two groups and symmetrically arranged on the left and right sides of the belt conveyor (334).

5. A method of using a plug planter as defined in claim 4, wherein, The method comprises the following steps: Step one: if it is a plug tray bed mode, the belt conveyor (334) is set according to the PLC program and transports after receiving the plug tray each time, after the position of the plug tray is corrected by the deviation rectifying plate (41) and the fixed plate (42), the plug tray is placed in the correct position, so that the fixed jaw (314) and the movable jaw (315) can be clamped; Step two: when the rear end of the plug tray touches the limiting plate (43), the belt conveyor (334) stops moving, at this time, the right side of the plug tray is aligned with the position of the fixed jaw (314) and the movable jaw (315), and the plug tray counting photoelectric opposite sensor (324) detects that the number of plug trays is three. Step three: according to the PLC program setting, the plug-in tray is in place, and the photoelectric sensor (325) senses that the three plug-in trays are in the correct position. The stepper motor (312) drives the ball screw (313) to move. The output slide block of the ball screw (313) drives the push-pull bracket (311) to move left. The push-pull bracket (311) pushes the movable clamp jaw (315) to move left to the side of the plug-in tray. After the clamp jaw to the position photoelectric sensor (326) senses that the movable clamp jaw (315) is in the correct position, the three-axis air cylinder (316) drives the movable clamp jaw (315) to move up, and then the movable clamp jaw (315) and the fixed clamp jaw (314) clamp the plug-in tray; Step four: the turnover cylinder (332) starts, the turnover cylinder (332) drives the ball screw (313) to move up, the push-pull bracket (311) moves up, the push-pull bracket (311) drives the fixed clamp jaw (314), the pulley sleeve (317), and the belt machine (334) to move up. The push-pull bracket (311) drives the belt machine (334) to turn over a certain angle around the turnover spindle bracket (333). The transfer disc (331) is the transmission channel for the belt machine (334) and the disc bed (15) to convey the plug-in tray; Step five: according to the PLC program setting, the ball screw (313) is driven by the stepper motor (312) to push the plug-in tray from the belt machine (334) to the disc bed (15) through the transfer disc (331) at a set speed and distance. At the same time, the speed reducer motor (211) drives the first double rubber wheel (212) to move. The first double rubber wheel (212) drives the disc bed (15) to move on the horizontal transfer rail (14) at a set distance and speed. The disc bed moves towards the transfer disc (331), and the plug-in tray accurately enters the disc bed (15). The three-axis air cylinder (316) drives the movable clamp jaw (315) to open and release the plug-in tray; Step six: the ball screw (313) is retracted and reset. The turnover cylinder (332) is reset, the fixed clamp jaw (314) and the belt machine (334) are reset, the anti-vibration rubber pad block assembly (335) is reset to support the plug-in tray transfer platform, the fixed clamp jaw (314) and the belt machine (334) are reset, and the next plug-in tray is waiting to be in place. Step seven: if it is a plug tray out of bed mode, the reversing cylinder (332) drives the push-pull support (311) to turn down, the push-pull support (311) drives the fixed jaw (314) and the pulley set (317) to move down, the push-pull support (311) drives the belt machine (334) to turn down a certain angle with the main shaft support (333) as the center, the pulley set (317) builds a channel support for the plug tray clamping push-pull, according to the PLC program setting, the ball screw (313) is driven by the stepper motor (312), and the fixed jaw (314) and the movable jaw (315) are pushed to the first row of plug tray positions of the tray bed (15) according to the set speed and distance; after the movable jaw (315) is in place, the jaw in place photoelectric opposite sensor (326) senses that the jaw position is correct, the three-axis cylinder (316) drives the movable jaw (315) to move up, the movable jaw (315) and the fixed jaw (314) clamp the plug tray; the ball screw (313) is driven by the stepper motor (312) to recover, the push-pull support (311) cooperates with the fixed jaw (314) to recover the plug tray, and the plug tray is pulled to the center of the belt machine (334); the plug tray in place photoelectric opposite sensor (325) detects that the position of the plug tray is correct, the stepper motor (312) drives the movable jaw (315) to open, and the plug tray is released; the ball screw (313) continues to recover and reset; the belt machine (334) runs, and the plug tray is transferred to the set position.

Images