A vertical seedling raising and lowering automatic seedling tray equipment

Abstract

The present invention discloses an automatic upper and lower seedling tray device for vertical seedling cultivation, which relates to the field of seedling cultivation technology, including a conveyor line and a clamping mechanism; the conveyor line is provided with a blocking mechanism capable of blocking the seedling tray, a guiding structure capable of guiding the seedling tray, and a position sensor capable of detecting the position of the seedling tray; the clamping mechanism is fixedly arranged on a mechanical arm, and a walking device is arranged at the bottom of the mechanical arm; the clamping mechanism includes a lifting rod, a first driving device capable of driving the lifting rod to move up and down, and a second driving device capable of driving the lifting rod to rotate, and a top block is fixedly arranged at the end of the lifting rod, and the first driving device and the second driving device cooperate to drive the lifting rod to move to the bottom of the seedling tray and eject the seedling tray from the hanging basket. The automatic upper and lower seedling tray device for vertical seedling cultivation provided by the present invention can realize the automation of the upper and lower trays of the seedling trays, greatly improve the work efficiency of the seedling tray handling, and reduce the labor intensity and labor cost.

Description

Technical Field

[0001] The invention relates to the technical field of rice seedling cultivation, and in particular to an automatic upper and lower rice seedling tray device for vertical rice seedling cultivation. Background Art

[0002] In order to accelerate the improvement of production efficiency and commercial supply rate of high-quality rice seedlings such as rice and vegetables, my country has vigorously developed factory-based centralized seedling raising technology in recent years, which has promoted the continuous improvement of mechanized seedling raising level. Factory-based seedling raising usually uses a three-dimensional circulating motion seedling bed as a seedling raising bed to maximize land utilization and seedling raising capacity. The number of three-dimensional seedling beds needs to be determined according to the scale of the seedling raising center. At present, the seedling raising centers built in China are equipped with several or even dozens of seedling bed equipment. At the same time, the three-dimensional seedling bed is generally equipped with hundreds of hanging baskets, corresponding to the number of seedling trays that can be accommodated, reaching thousands or even tens of thousands. After the seed germination is completed, all the seedling trays need to enter the seedling raising bed for subsequent cultivation. However, at present, most of the seedling trays after germination are manually transported to the hanging basket of the three-dimensional seedling bed. When the seedling raising is completed, the seedling trays must be manually removed from the hanging basket and then transported to the placement point. The workload of the upper tray (i.e., the seedling tray enters the hanging basket) and the lower tray (i.e., the seedling tray is moved out of the hanging basket) is extremely large, and the labor intensity is extremely high.

[0003] The invention patent with application number CN202310111914.4 and titled “An Intelligent Agricultural Seedling Tray Automatic Transport Equipment and Its Transport Method” discloses a method for transporting seedling trays by using a stacking robot to clamp multiple seedling trays from a conveyor belt at one time, transfer them to a circulating motion seedling bed (i.e., upper tray), and fill the single-row space on the seedling bed at one time. However, the problem of how to move the seedling trays out of the seedling bed (i.e., lower tray) after the seedling raising is completed is not considered. According to the current situation that the seedling bed hanging basket mostly adopts a surrounding structure, that is, the seedling tray is completely sunken in the hanging basket, and the spatial position is very compact, the clamping mechanism proposed by this invention patent fails to effectively solve the above problems. At the same time, when the seedling raising center is equipped with multiple three-dimensional seedling beds, how to realize the fully automated upper and lower tray functions of all seedling trays, and the problem that the hanging basket is very easy to shake during the upper and lower trays, resulting in inaccurate spatial position of the hanging basket, has not yet been solved.

[0004] Therefore, it is of great significance to develop and design an efficient vertical seedling raising and lowering automatic seedling tray equipment suitable for multiple three-dimensional seedling beds. Summary of the invention

[0005] The purpose of the present invention is to provide an automatic upper and lower seedling tray equipment for vertical seedling cultivation to solve the problems existing in the above-mentioned prior art. It can realize the automation of the upper and lower trays of seedlings, greatly improve the work efficiency of seedling tray transportation, and reduce labor intensity and labor costs.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention provides a vertical seedling raising and lowering automatic seedling tray device, comprising a conveying line capable of conveying the seedling tray and a plurality of clamping mechanisms capable of clamping the seedling tray;

[0008] The conveying line is provided with a blocking mechanism capable of blocking the seedling tray, a guiding structure capable of guiding the seedling tray, and a position sensor capable of detecting the position of the seedling tray;

[0009] The clamping mechanism is fixedly arranged on the mechanical arm, and a walking device is arranged at the bottom of the mechanical arm;

[0010] The clamping mechanism includes a lifting rod, a first driving device capable of driving the lifting rod to move up and down, and a second driving device capable of driving the lifting rod to rotate. A lifting block is fixedly provided at the end of the lifting rod. The first driving device and the second driving device cooperate to drive the lifting rod to move to the bottom of the seedling tray and push the seedling tray out of the hanging basket.

[0011] Preferably, the blocking mechanism includes a fixed frame fixed on the conveying line and a blocking cylinder fixed on the fixed frame, a baffle is fixedly provided at the output end of the blocking cylinder, and the blocking cylinder can drive the baffle to reciprocate in the vertical direction.

[0012] Preferably, the guide structure includes guide plates symmetrically arranged on both sides of the conveyor line, one end of the guide plate is fixedly connected to the fixing plate, and the other end is fixedly connected to the fixing clip, and the fixing plate and the fixing clip are both fixedly arranged on the conveyor line.

[0013] Preferably, the walking device includes a ground rail and a moving base plate slidably connected to the ground rail, a driving structure can drive the moving base plate to reciprocate on the ground rail, and the mechanical arm is fixedly arranged on the moving base plate.

[0014] Preferably, a connecting plate is fixedly provided at the end of the robotic arm, a fixed cross bar is fixedly provided below the connecting plate, and a plurality of the clamping mechanisms are evenly arranged on the fixed cross bar.

[0015] Preferably, the clamping mechanism comprises a clamping claw connecting plate fixedly arranged on the fixed cross bar and two clamping units arranged below the clamping claw connecting plate, and the two clamping units cooperate with each other to clamp the seedling tray;

[0016] The clamping unit includes a guide rail fixedly arranged below the clamping claw connecting plate, a slider slidably connected to the guide rail, and a clamping claw hook fixing plate fixedly arranged below the slider. A clamping claw cylinder is fixedly arranged below the clamping claw connecting plate. The clamping claw hook fixing plate is transmission-connected to the clamping claw cylinder. The clamping claw cylinder can drive the clamping claw fixing plate to reciprocate along the extension direction of the guide rail. Clamping claw hooks are fixedly arranged on both sides of the clamping claw hook fixing plate.

[0017] Preferably, a limit plate is fixedly provided on the clamp connecting plate, and the first driving device includes a lifting cylinder fixedly provided on the limit plate and a cylinder connecting piece fixedly provided at the output end of the lifting cylinder, the cylinder connecting piece is fixedly connected to an inner ring of a turntable bearing, the outer ring of the turntable bearing is fixedly connected to a flange, and the lifting rod is fixedly connected to the side of the flange away from the turntable bearing.

[0018] Preferably, a first gear is arranged on the outer side of the turntable bearing, the second driving device comprises a rotating motor fixedly arranged on the limiting plate, a second gear is fixedly arranged on the output end of the rotating motor, and the second gear can mesh with the first gear.

[0019] Preferably, it also includes a seedling bed, on which a hanging basket position sensor is fixedly installed, and on which a hanging basket fixing mechanism is installed, and the hanging basket fixing mechanism includes a fixed support fixedly installed on the seedling bed, a cylinder fixing frame fixedly installed on the fixed support, and a limiting cylinder fixedly installed on the cylinder fixing frame, and a limiting pressure block is fixedly installed on the end of the limiting cylinder.

[0020] Compared with the prior art, the present invention has achieved the following technical effects:

[0021] The vertical seedling planting automatic upper and lower seedling tray equipment provided by the present invention has a clamping mechanism with a jacking function, which solves the problem that the widely used surrounding edge-type hanging basket structure is difficult to take out the seedling tray, and realizes the automatic transportation of the seedling tray. Compared with the currently commonly used manual transportation method, the work efficiency of seedling tray transportation is greatly improved, and the labor intensity and labor cost are reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 A schematic diagram of the structure of the automatic upper and lower seedling tray equipment for vertical seedling planting provided by the present invention;

[0024] Figure 2 A schematic diagram of the structure of the blocking mechanism provided by the present invention;

[0025] Figure 3 A schematic diagram of the structure of the clamping mechanism provided by the present invention;

[0026] Figure 4 A schematic diagram of the structure of the hanging basket fixing mechanism provided by the present invention;

[0027] Figure 5 A schematic structural diagram of the guide structure provided by the present invention;

[0028] Figure 6 A schematic diagram of the structure of the present invention in a clamping state of a clamping mechanism after the seedling tray is ejected;

[0029] In the figure: 1-ground rail; 2-moving bottom plate; 3-control module; 4-mechanical arm; 5-blocking mechanism; 501-fixed frame; 502-guide rod; 503-linear bearing; 504-blocking cylinder; 505-baffle; 6-gripping mechanism; 601-connecting plate; 602-fixed cross bar; 603-gripping hook; 604-second gear; 605-first gear; 606-motor fixed frame; 607-limiting plate; 608-gripping hook fixed plate; 609-slider; 610-guide rail; 611-gripping connecting plate; 6 12-limit block; 613-lifting cylinder; 614-connecting piece; 615-rotating motor; 616-turntable bearing; 617-flange; 618-gripping cylinder; 619-lifting rod; 620-lifting block; 7-hanging basket fixing mechanism; 701-hanging basket position sensor; 702-fixed support; 703-cylinder fixing frame; 704-limiting cylinder; 705-limiting pressure block; 8-seedling bed; 9-conveying line; 10-guide plate; 101-fixing plate; 102-fixing clamp; 11-seedling tray; 12-position sensor. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] The purpose of the present invention is to provide an automatic upper and lower seedling tray device for vertical seedling cultivation to solve the problems existing in the prior art. It can realize the automation of the upper and lower trays of seedlings, greatly improve the work efficiency of seedling tray transportation, and reduce labor intensity and labor costs.

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] The present invention provides a vertical seedling raising and lowering automatic seedling tray device, such as Figures 1 to 6 As shown, in this embodiment, it includes a conveying line 9 capable of conveying the seedling tray 11 and a plurality of clamping mechanisms 6 capable of clamping the seedling tray 11;

[0034] The conveyor line 9 is provided with a blocking mechanism 5 capable of blocking the seedling tray 11, a guiding structure capable of guiding the seedling tray 11, and a position sensor 12 capable of detecting the position of the seedling tray 11;

[0035] The gripping mechanism 6 is fixedly arranged on the mechanical arm 4, and a walking device is arranged at the bottom of the mechanical arm 4;

[0036] The clamping mechanism 6 includes a lifting rod 619, a first driving device capable of driving the lifting rod 619 to move up and down, and a second driving device capable of driving the lifting rod 619 to rotate. A lifting block 620 is fixedly provided at the end of the lifting rod 619. The first driving device and the second driving device cooperate to drive the lifting rod 619 to move to the bottom of the seedling tray 11 and push the seedling tray 11 out of the hanging basket.

[0037] In one embodiment, the blocking mechanism 5 includes a fixed frame 501 fixed on the conveying line 9 and a blocking cylinder fixed on the fixed frame 501. A baffle 505 is fixedly provided at the output end of the blocking cylinder. The blocking cylinder can drive the baffle 505 to reciprocate in the vertical direction. Guide rods 502 and linear bearings 503 are installed on both sides of the blocking cylinder to play a guiding role when the blocking cylinder performs the action.

[0038] In one of the embodiments, the guide structure includes guide pieces 10 symmetrically arranged on both sides of the conveyor line 9. The guide pieces 10 are fixed to the conveyor line 9 by fixed pieces 101 and fixed clips 102 through countersunk screws. The inner side of the fixed piece 101 is a screw countersunk hole to ensure that the inner side of the guide piece 10 is flat to avoid affecting the transportation of the seedling tray 11. On the conveyor line 9, each three-dimensional seedling bed 8 is correspondingly provided with a group of guide pieces 10 and position sensors 12. The number of position sensors 12 is consistent with the number of seedling trays 11 that can be accommodated in the hanging basket. The guide piece 10 is located on the side of the seedling tray 11, and the position sensor 12 is located on the side of the blocking mechanism 5. The guide piece 10 plays a role in guiding and aligning the transported seedling trays 11, thereby avoiding the problems of large position offset of the seedling trays 11 distributed manually or by the tray dividing machine, and not being on the same straight line, resulting in inaccurate clamping.

[0039] In one of the embodiments, the walking device includes a ground rail 1 and a moving base plate 2 slidably connected to the ground rail 1, a control module 3 for controlling the movement of the moving base plate 2, a mechanical arm 4 and a clamping mechanism 6 is provided on the ground rail 1, a driving structure can drive the moving base plate 2 to reciprocate on the ground rail 1, the mechanical arm 4 is fixedly arranged on the moving base plate 2, the ground rail 1 is rigidly connected to the ground by bolts, a helical rack is installed on the ground rail 1, and a helical gear is installed under the moving base plate 2. The driving mechanism is preferably a motor, which can drive the helical gear to rotate, and the helical gear and the helical rack are meshed for transmission, thereby realizing the overall movement of the moving base plate 2 and the components installed thereon.

[0040] In one embodiment, a connecting plate 601 is fixedly provided at the end of the robot arm 4, a fixed cross bar 602 is fixedly provided below the connecting plate 601, the fixed cross bar 602 extends along the conveying direction of the conveyor line 9, and a plurality of clamping mechanisms 6 are evenly arranged on the fixed cross bar 602, and the number of clamping mechanisms 6 is preferably five.

[0041] Furthermore, the clamping mechanism 6 includes a clamping claw connecting plate 611 fixedly arranged on the fixed cross bar 602 and two clamping units arranged below the clamping claw connecting plate 611, and the two clamping units cooperate with each other to clamp the seedling tray 11;

[0042] The gripping unit includes a guide rail 610 fixedly arranged below the clamping claw connecting plate 611, a slider 609 slidably connected to the guide rail 610, and a clamping claw hook fixing plate 608 fixedly arranged below the slider 609. The guide rail 610 is a linear guide rail 610. A clamping claw cylinder 618 is fixedly arranged below the clamping claw connecting plate 611. The clamping claw hook fixing plate 608 is transmission-connected to the clamping claw cylinder 618. The clamping claw cylinder 618 can drive the clamping claw fixing plate to reciprocate along the extension direction of the guide rail 610. The clamping claw hooks are fixedly arranged on both sides of the fixing plate. 603, the two clamping cylinders 618 on the same clamping claw connecting plate 611 cooperate with each other to perform an ejection or retraction action, which can drive the two clamping claw hooks 603 located on both sides of the clamping claw connecting plate 611 to move towards or away from each other, thereby realizing the opening and closing of the clamping mechanism 6, and two limit blocks 612 are provided on the clamping claw connecting plate 611 corresponding to the two clamping claw hook fixing plates 608. The limit blocks 612 are used to limit the clamping claw hook fixing plate 608 when the clamping claw cylinder 618 is retracted, so as to ensure the stability of the retracted position of the cylinder.

[0043] In one embodiment, a limit plate 607 is fixedly provided on the clamp connecting plate 611, and the first driving device includes a lifting cylinder 613 fixedly provided on the limit plate 607, and the end of the telescopic rod of the lifting cylinder 613 is threadedly connected with a cylinder connecting piece 614, and the cylinder connecting piece 614 is fixedly connected to the inner ring of a turntable bearing 616, and the outer ring of the turntable bearing 616 is fixedly connected to the flange 617, and the side of the flange 617 away from the turntable bearing 616 is fixedly connected with a lifting rod 619, and the lifting rod 619 is J-shaped.

[0044] Furthermore, a first gear 605 is arranged on the outer side of the turntable bearing 616, and the second driving device includes a rotating motor 615. A motor fixing frame 606 is arranged on the limit plate 607, and the rotating motor 615 is fixed on the motor fixing frame 606. The output end of the rotating motor 615 is fixed with a second gear 604 by a fixing screw, and the lifting rod 619 is driven to reciprocate in the vertical direction by the lifting cylinder 613, so that the first gear 605 can be meshed with the second gear 604. At this time, turning on the rotating motor 615 can drive the lifting rod 619 to rotate.

[0045] In the embodiments provided by the present invention, more preferably, the automatic upper and lower seedling tray equipment for vertical seedling cultivation also includes a seedling bed 8, which is an existing conventional seedling bed 8, on which a hanging basket position sensor 701 is fixedly arranged, and a hanging basket fixing mechanism 7 is arranged on the seedling bed 8, and the hanging basket fixing mechanism 7 includes a fixed support 702 fixedly arranged on the frame of the seedling bed 8, a cylinder fixing frame 703 fixedly arranged on the fixed support 702, and a limiting cylinder 704 fixedly arranged on the cylinder fixing frame 703, and a limiting pressure block 705 is fixedly arranged at the end of the limiting cylinder 704. When the limiting cylinder 704 is pushed out, the limiting pressure block 705 is pressed onto the hanging basket to realize the fixing effect of the hanging basket.

[0046] The automatic seedling tray loading and unloading equipment for vertical seedling planting provided by the present invention, when the number of seedling beds 8 is more than two, needs to first select the seedling bed 8 to be loaded and unloaded, then the hanging basket, the mechanical arm 4 and the seedling tray 11 need to move to the corresponding position of the seedling bed 8, and finally the mechanical arm 4 is started to perform the grabbing action. The specific working method is:

[0047] When raising seedlings on the tray, after the seedling bed 8 rotates to a certain position, the hanging basket position sensor 701 outputs a signal, and the seedling bed 8 stops rotating. The limit cylinders 704 on the left and right sides of the seedling bed 8 push out at the same time to fix the hanging basket to prevent shaking during the gripping process of the manipulator, and at the same time block the cylinder 504 from being pushed out. When the seedling tray 11 after germination enters the running conveyor line 9 from the rightmost end of the conveyor line 9 by manual or tray separation machine, there is a time difference between the seedling trays 11 by manual or tray separation machine. After being guided and aligned by the guide plate 10, the position and posture of all seedling trays 11 remain consistent. Due to the restriction of the blocking mechanism 5, the seedling trays 11 will no longer move forward after reaching the designated position in turn. At this time, there is no gap between the seedling trays 11, and the position sensor 12 counts and sends a signal. When the number of seedling trays 11 reaches the number that the hanging basket can accommodate, the conveyor line 9 stops running and waits for grabbing. Taking the equipment adapted to the 3m long seedling bed 8 hanging basket as an example, that is, each hanging basket can hold 5 seedling trays 11, and the equipment can clamp 5 seedling trays 11 at a time, the mechanical arm 4 starts spatial movement, driving the end clamping mechanism 6 to move above the conveyor line 9, and descending to the end of the clamping claw hook 603 and the same height as the clamping part of the seedling tray 11, all the clamping claw cylinders 618 are synchronously retracted to clamp all the seedling trays 11. After completing the clamping of the seedling tray 11, the mechanical arm 4 drives the clamping mechanism 6 to move above the fixed hanging basket, and descends to the height of the hanging basket, and all the clamping claw cylinders 618 on the clamping mechanism 6 are synchronously ejected to achieve the placement of 5 seedling trays 11. After one group of seedling trays 11 are placed on the tray, the seedbed 8 starts to circulate, and the above-mentioned action is repeated after the next hanging basket enters the position to be placed on the tray, until the placement of all hanging baskets in the seedbed 8 is completed.

[0048] Similarly, when the seedling raising is completed and the lower tray is carried out, after the seedbed 8 rotates to a certain position, the hanging basket is fixed in the above manner. Subsequently, the clamping mechanism 6 at the end of the mechanical arm 4 moves to the top of the fixed hanging basket, and descends to the same height as the upper edge of the hanging basket at the end of the clamping claw hook 603. Subsequently, the lifting cylinder 613 is ejected, driving the first gear 605 to move downward, and meshing with the second gear 604, and then the rotary motor 615 rotates, and after gear transmission, the lifting rod 619 and the top block 620 rotate, and stop rotating after reaching 180 °. The lifting cylinder 613 is folded, and the lifting rod 619 and the top block 620 rise, and the top block 620 ejects the corresponding seedling tray 11 from the hanging basket, so that the clamping position of the seedling tray 11 is exposed. All the clamping claw cylinders 618 on the clamping mechanism 6 are synchronously folded to achieve the clamping of 5 seedling trays 11. Then the lifting cylinder 613 is pushed out, the lifting rod 619 and the top block 620 are rotated and reset, and the lifting cylinder 613 is retracted and reset. After the seedling tray 11 is clamped, the mechanical arm 4 drives the clamping mechanism 6 to move above the conveyor line 9, and descends to the height of the conveyor line 9, and all the clamping claw cylinders 618 on the lifting clamping mechanism 6 are pushed out synchronously to achieve the placement of 5 seedling trays 11. When the tray is lowered, the blocking cylinder 504 always remains in a retracted state, and the conveyor line 9 is in a running state to ensure that the seedling tray 11 after the basket is removed is transported to the designated position through the conveyor line 9. After a group of seedling trays 11 are lowered, the seedling bed 8 starts a circular motion, and the above action is repeated after the next hanging basket enters the position to be lowered, until the lowering of all hanging baskets in the seedling bed 8 is completed.

[0049] The clamping mechanism 6 adopts the method of cylinder and linear guide 610 to achieve high strength and high precision of the lifting clamping mechanism 6. A plurality of clamping hooks 603 are arranged on the clamping mechanism 6, which can realize the one-time clamping of the maximum capacity of the seedling tray 11 of the hanging basket. The single-sided clamping claw of a single seedling tray 11 is integrated, which not only reduces the number of cylinders, but also ensures the synchronization of the action of the two clamping hooks 603 on one side. At the same time, according to the different sizes of the seedling tray 11, the position of the clamping claw on the fixed cross bar 602 can be adjusted, and the clamping hooks 603 of different sizes can be replaced to adapt to different types of seedling trays 11.

[0050] The clamping mechanism 6 is equipped with a seedling tray 11 ejection mechanism, which can be operated when the tray is lowered, and can successfully eject the seedling tray 11 sunken in the hanging basket, so that the clamping position of the seedling tray 11 is exposed and at the same height as the clamping claw hook 603, so that the clamping claw hook 603 can smoothly clamp the seedling tray 11. At other times, the lifting rod 619 and the ejection block 620 are both facing outwards, which does not affect the execution of the actions of other modules.

[0051] In the case of multiple seedling beds 8, through the cooperation of the ground rail 1 and the moving bottom plate 2, the robot arm 4 and the clamping mechanism 6 and other modules can be transported to the position of the seedling bed 8 to be moved, so as to realize the upper and lower seedling trays 11 of all seedling beds 8. When a seedling bed 8 is raised and lowered, the corresponding blocking mechanism 5 is operated to block and limit the seedling tray 11.

[0052] The vertical seedling raising automatic upper and lower seedling tray equipment provided by the present invention solves the problem that the seedling tray 11 is difficult to enter and move out of the three-dimensional circulating motion seedling bed 8 in an efficient and labor-saving manner after germination and seedling raising. At the same time, the clamping mechanism 6 has a self-lifting function, which solves the problem that the widely used surrounding hanging basket structure is difficult to remove the seedling tray 11, and realizes the automatic transportation of the seedling tray 11. Compared with the currently commonly used manual transportation method, it greatly improves the work efficiency of the transportation of the seedling tray 11, reduces the labor intensity and labor cost, and the mobility of the equipment and the coordination between the various modules such as the blocking mechanism 5 realize that a single upper and lower tray equipment can meet the transportation needs of multiple seedling beds 8 in the seedling raising center. The clamping mechanism 6 using a cylinder and a linear guide 610 effectively ensures the accuracy and stability of the clamping process.

[0053] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A vertical seedling raising automatic seedling tray loading and unloading device, comprising a conveying line capable of conveying seedling trays and a plurality of clamping mechanisms capable of clamping the seedling trays, characterized in that: The conveying line is provided with a blocking mechanism capable of blocking the seedling tray, a guiding structure capable of guiding the seedling tray, and a position sensor capable of detecting the position of the seedling tray; The clamping mechanism is fixedly arranged on the mechanical arm, and a walking device is arranged at the bottom of the mechanical arm; The clamping mechanism includes a lifting rod, a first driving device capable of driving the lifting rod to move up and down, and a second driving device capable of driving the lifting rod to rotate, a lifting block is fixedly provided at the end of the lifting rod, and the first driving device and the second driving device cooperate to drive the lifting rod to move below the seedling tray and eject the seedling tray from the hanging basket; A connecting plate is fixedly provided at the end of the mechanical arm, a fixed cross bar is fixedly provided below the connecting plate, and a plurality of the clamping mechanisms are evenly arranged on the fixed cross bar; The clamping mechanism comprises a clamping claw connecting plate fixedly arranged on the fixed cross bar and two clamping units arranged below the clamping claw connecting plate, and the two clamping units cooperate with each other to clamp the seedling tray; The gripping unit comprises a guide rail fixedly arranged below the clamping claw connecting plate, a slider slidably connected to the guide rail, and a clamping claw hook fixing plate fixedly arranged below the slider, a clamping claw cylinder is fixedly arranged below the clamping claw connecting plate, the clamping claw hook fixing plate is transmission-connected to the clamping claw cylinder, the clamping claw cylinder can drive the clamping claw fixing plate to reciprocate along the extending direction of the guide rail, and clamping claw hooks are fixedly arranged on both sides of the clamping claw hook fixing plate; A limit plate is fixedly arranged on the clamping claw connecting plate, the first driving device comprises a lifting cylinder fixedly arranged on the limit plate, and a cylinder connecting piece fixedly arranged on the output end of the lifting cylinder, the cylinder connecting piece is fixedly connected to an inner ring of a turntable bearing, the outer ring of the turntable bearing is fixedly connected to a flange, and the lifting rod is fixedly connected to a side of the flange away from the turntable bearing; A first gear is arranged outside the turntable bearing, and the second driving device includes a rotating motor fixedly arranged on the limiting plate. A second gear is fixedly arranged at the output end of the rotating motor, and the second gear can mesh with the first gear.

2. The automatic seedling tray loading and unloading equipment for vertical seedling planting according to claim 1 is characterized in that: The blocking mechanism includes a fixed frame fixed on the conveying line and a blocking cylinder fixed on the fixed frame, a baffle is fixedly provided at the output end of the blocking cylinder, and the blocking cylinder can drive the baffle to reciprocate in the vertical direction.

3. The automatic seedling tray loading and unloading equipment for vertical seedling planting according to claim 1 is characterized in that: The guide structure includes guide plates symmetrically arranged on both sides of the conveying line, one end of the guide plate is fixedly connected to a fixing plate, and the other end is fixedly connected to a fixing clip, and the fixing plate and the fixing clip are both fixedly arranged on the conveying line.

4. The automatic seedling tray loading and unloading equipment for vertical seedling planting according to claim 1 is characterized in that: The walking device comprises a ground rail and a moving base plate slidably connected to the ground rail, a driving structure can drive the moving base plate to reciprocate on the ground rail, and the mechanical arm is fixedly arranged on the moving base plate.

5. The automatic seedling tray loading and unloading equipment for vertical seedling planting according to claim 1 is characterized in that: It also includes a seedbed, on which a hanging basket position sensor is fixedly arranged, and a hanging basket fixing mechanism is arranged on the seedbed. The hanging basket fixing mechanism includes a fixed support fixedly arranged on the seedbed, a cylinder fixing frame fixedly arranged on the fixed support, and a limit cylinder fixedly arranged on the cylinder fixing frame, and a limit pressure block is fixedly arranged on the end of the limit cylinder.

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