A smart unmanned tray-stacking machine and its tray-stacking method

Abstract

This invention discloses an intelligent unmanned rice transplanter and its tray-laying method. The invention interacts with a rice transplanter via a GPS navigation module to plan the chassis's movement path. A second positioning camera tracks the rice crop rows, field ridges, and the rice transplanter, and performs obstacle avoidance, thus achieving autonomous movement. The invention uses a material-grabbing device to grab and release the seedling trays, and a three-axis moving device drives the material-grabbing device to place the seedling trays on a pallet, thus realizing the tray-laying operation. Before releasing the seedling trays, the positioning camera tracks the seedling trays grabbed by the material-grabbing device and the rice transplanter's frame, ensuring alignment between the seedling trays and the frame, improving the accuracy of the material-grabbing device's tray-laying. This invention enables unmanned tray-laying for rice transplanters, effectively improving the intelligence of rice transplanter tray replenishment, reducing labor costs, and improving overall efficiency.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically relating to an intelligent unmanned tray-arranging machine and its tray-arranging method. Background Technology

[0002] Rice is an important grain crop in my country, with a planting area exceeding 450 million mu (approximately 30 million hectares), accounting for 20% of the global rice planting area. For a long time, my country has relied primarily on manual rice cultivation. The emergence of rice transplanters has not only freed up some manual labor but also improved rice production efficiency. However, currently, the replenishment of rice transplanter trays is mainly done manually, which is labor-intensive, costly, and inefficient. Intelligent unmanned tray-laying machines are still in their early stages in agricultural machinery technology and are rarely used in actual production. Furthermore, when seedlings are missing from the trays during transplanter operation, the transplanter needs to be moved closer to the field ridge for manual replenishment, affecting transplanting efficiency and potentially impacting the transplanting results. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the existing technology and to propose an intelligent unmanned bowl-and-plate arranging machine and its arranging method.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] This invention discloses an intelligent unmanned tray-stacking machine, comprising a chassis, a tray buffer and feeding device, a tray picking and placing device, an upper frame, and a lower frame. The upper frame is fixed to the top of the lower frame, the chassis is fixed to the bottom of the lower frame and drives the lower frame to move, the tray buffer and feeding device is located on the lower frame, and the tray picking and placing device is located on the upper frame.

[0006] The tray buffer feeding device includes a hopper lifting assembly and a hopper range adjustment assembly. The hopper lifting assembly includes a tray, a hopper base plate, a hopper vertical plate, a hopper stop bar, a sensor one, a lifting screw, and a sensor two. The horizontally arranged hopper base plate is fixed to the bottom plate of the lower frame. The hopper vertical plate is vertically fixed to the hopper base plate. The vertically arranged lifting screw and the hopper vertical plate form a rotating pair and are driven by a drive motor one. The horizontally arranged tray and the lifting screw form a threaded pair and a sliding pair in the vertical direction with the hopper vertical plate, and is located directly above the hopper base plate. Vertically arranged hopper stop bars are fixed on both sides of the lifting screw on the hopper vertical plate. Two longitudinal slots are spaced apart on the end of the tray away from the hopper vertical plate, and a pair of transverse slots are spaced apart on the outer side of the two longitudinal slots, with the transverse slots perpendicular to the longitudinal slots. Sensor one is located at the top of the hopper vertical plate, and sensor two is located on the tray.

[0007] The hopper range adjustment assembly includes a side stop, a front stop assembly, an adjustment base plate, a bidirectional lead screw, a unidirectional lead screw, a first movable seat, and a second movable seat. The adjustment base plate is located between the hopper base plate and the pallet and is horizontally fixed to the hopper base plate. The horizontally arranged bidirectional and unidirectional lead screws both form a rotating pair with the adjustment base plate, with the bidirectional lead screw parallel to the transverse slot and the unidirectional lead screw parallel to the longitudinal slot. A hand-operated handle is fixed to the end of both the bidirectional and unidirectional lead screws. The two symmetrically arranged first movable seats form threaded pairs with the two threaded sections of the bidirectional lead screw, and both are connected to the adjustment base plate. The two movable seats form a sliding pair, with vertically arranged side stops fixed at both ends. The two side stops on each movable seat are aligned with a pair of transverse slots. The movable seat 2 forms a threaded pair with a one-way lead screw and a sliding pair with an adjusting base plate. Both ends of the movable seat 2 are provided with front stop assemblies. The front stop assembly includes a fixed bracket, front stops, and quick clamps. The fixed bracket is fixed to the movable seat 2 and has a vertical slot. The front stops are hinged to the vertical slots. The quick clamps are fixed to the fixed bracket. The two front stops are aligned with two longitudinal slots. In the initial state, the tray is at its lowest position. The two quick clamps fix the two front stops to the two vertical slots, and both front stops are vertical and located in front of the corresponding longitudinal slots. Each side stop is located outside the corresponding transverse slot.

[0008] The tray handling device includes a three-axis moving device and a material handling device. The three-axis moving device includes an X-axis linear module, a Y-axis linear module, and a Z-axis linear module. The X-axis linear module is horizontally fixed to the top plate of the upper frame and drives the Y-axis linear module to translate. The Y-axis linear module drives the Z-axis linear module to translate, and the X-axis linear module is perpendicular to the Y-axis linear module. The material handling device includes a rotating frame, a connecting column, a support plate, cylinders, support side plates, and clamping rods. The Z-axis linear module drives the rotating frame to rise and fall. The upper end of the vertically arranged connecting column forms a rotating pair with the rotating frame and is driven by a servo motor. The lower end is fixed to the horizontally arranged support plate. The upper ends of the two vertically and symmetrically arranged support side plates form sliding pairs with the two ends of the support plate and are driven to move in opposite directions or away by two horizontally and parallel cylinders. The lower ends of the two support side plates are each fixed with multiple clamping rods that are parallel to the cylinders and equidistantly arranged.

[0009] Preferably, the chassis includes a frame, a driving mechanism, and a steering mechanism. The front end of the frame has two symmetrically arranged steering mechanisms, and the rear end has two symmetrically arranged driving mechanisms. The two driving mechanisms drive the frame to move forward or backward, and the two steering mechanisms drive the frame to turn. The bottom plate is fixed to the frame.

[0010] More preferably, the walking and steering mechanism includes a front wheel, a steering motor, a reducer, and a front wheel frame. The housing of the steering motor is fixed to the housing of the reducer, the housing of the reducer is fixed to the vehicle frame, the input shaft of the reducer is fixed to the output shaft of the steering motor, the output shaft of the reducer forms a rotating pair with the vehicle frame and is fixed to the front wheel frame, and the front wheel axle of the front wheel forms a rotating pair with the front wheel frame.

[0011] More preferably, the walking drive mechanism includes a rear wheel, a second drive motor, a second reducer, a driving sprocket, a driven sprocket, a chain, a first mounting base, a drive base plate, and drive side plates. The drive base plate is fixed to the vehicle frame, and two vertically and symmetrically arranged drive side plates are fixed to both ends of the drive base plate. The rear wheel axle of the rear wheel and the two drive side plates form a rotating pair. The housing of the second drive motor is fixed to the first mounting base through the housing of the second reducer. The first mounting base is fixed to one of the drive side plates. The output shaft of the second drive motor is fixed to the input end of the second reducer. The driving sprocket and the driven sprocket are fixed to the output shaft of the second reducer and the rear wheel axle, respectively, and are connected by a chain.

[0012] Preferably, a positioning camera is provided on the top plate. When the controller controls the servo motor to drive the connecting column to rotate, the positioning camera tracks the pots and trays grabbed by the feeding device and the brackets of the rice transplanter.

[0013] Preferably, the top plate is equipped with a GPS navigation module, and the signal output terminal of the GPS navigation module is connected to the controller; the controller plans the chassis movement path and controls each steering motor and each drive motor II of the chassis to drive each front wheel and each rear wheel to walk according to the chassis movement path. The GPS navigation module performs positioning. During the movement, the positioning camera II on the chassis tracks the rice crop rows, field ridges and rice transplanter.

[0014] Preferably, the lower frame includes a frame, a door lock, a front door assembly, a rear baffle, and a side door assembly. The front door assembly is located at the front end of the frame, and the rear end is fixed with a vertically arranged rear baffle. Side door assemblies are located on both sides, with an opening at the top and a horizontally arranged base plate fixed at the bottom. The front door assembly consists of two symmetrically arranged front doors hinged to the frame, and the side door assembly consists of two symmetrically arranged side doors hinged to the frame. A door lock is provided on both the front door assembly and the two side door assemblies, and the lock body and lock cylinder of the door lock are fixed to the two front doors or the corresponding two side doors by two door lock fixing plates. The hopper vertical plate is located on the hopper base plate at the end away from the front door assembly.

[0015] Preferably, the upper frame includes a second frame, a second side door assembly, a top plate, and a second rear baffle; the bottom end of the second frame is fixed to the top end of the first frame, the front end and the bottom end of the second frame are open, the rear end is fixed with a vertically arranged second rear baffle, the two sides are provided with second side door assemblies, and the top end is fixed with a horizontally arranged top plate; the second side door assembly consists of two side doors 2 symmetrically arranged and hinged to the second frame; each second side door assembly is provided with a second door lock, and the lock body and lock cylinder of the second door lock are fixed to the corresponding two second side doors.

[0016] The present invention discloses a method for arranging food using an intelligent unmanned food tray arranging machine, as detailed below:

[0017] The chassis-driven lower frame moves the tray buffer feeding device, tray picking and placing device, and upper frame to the side of the rice transplanter. The tray buffer feeding device and tray picking and placing device repeatedly pick up and place trays until the rice transplanter's bracket is full of trays, thus completing the tray placement work. The tray picking and placing process is as follows:

[0018] The controller controls the drive motor to drive the lifting screw, which moves the tray and the bowls on it upwards, raising the top bowl to a preset height 1. Simultaneously, the Z-axis linear module drives the rotating frame to descend, lowering the material handling device to a preset height 2. This positions the two support side plates on either side of the top bowl, with each clamping rod on each side of the bowl positioned outside a gap between adjacent rows of holes. Next, each controller controls the solenoid valve to synchronously retract the piston rods of two cylinders. The two cylinders move the two support side plates towards each other, inserting each clamping rod on each side of the bowl into a gap within the bowl. The Z-axis linear module then drives the rotating frame to its initial position, and the X-axis and Y-axis linear modules activate, enabling the material handling device to... The system moves a rice seedling tray to the top of the rice transplanter's support frame. Simultaneously, the controller controls a servo motor to rotate the connecting column, causing the feeding device to rotate the tray until it aligns with the support frame. Then, the Z-axis linear module drives the rotating frame to descend, bringing the bottom of the tray into contact with the top surface of the support frame or the top surface of a tray already placed on the frame. The controller then controls a solenoid valve to simultaneously extend the piston rods of two cylinders to their original positions. The two cylinders push two supporting side plates to move in opposite directions, causing the tray to fall onto the support frame. The Z-axis linear module then drives the rotating frame to rise to its initial height. Simultaneously, the controller controls a servo motor to rotate the connecting column, causing the feeding device to rotate to its initial position. The X-axis and Y-axis linear modules then operate, returning the feeding device to its initial position, thus completing one tray feeding cycle. If there are no trays on the tray, they are manually loaded onto it.

[0019] Preferably, the loading process of the bowls on the tray is as follows:

[0020] The chassis-driven lower frame moves the bowl and tray buffer feeding device, bowl and tray picking and placing device, and upper frame to the bowl and tray loading position. The two front doors of the lower frame and the two side doors near the double-acting screw's manual handle are opened. The two quick-release clamps are opened, releasing the locks on the two front stop levers. The two front stop levers are then manually rotated downwards to their lowest position. Next, multiple bowls are placed on the tray. The two front stop levers are manually rotated upwards to a vertical position, and the two quick-release clamps are closed, locking the two front stop levers. The two manual handles are then manually rotated clockwise, driving the double-acting screw and the unidirectional screw to rotate respectively. The double-acting screw drives the two moving seats. The two pairs of side stops move in opposite directions, with each side stop entering its corresponding transverse slot. The one-way screw drives the moving seat two and the two front stop assemblies to move towards the material hopper stop. The two front stops enter their corresponding longitudinal slots. Each side stop and each front stop pushes each bowl to be aligned, so that each bowl is aligned at a designated position on the pallet by each side stop, each front stop, and each material hopper stop. Then, the two hand cranks are manually reversed, causing the two pairs of side stops to move back to their initial positions, and the two front stops to move away from the material hopper stop to their initial positions, closing the two front doors and the two side doors, thus completing the loading of the bowls on the pallet.

[0021] The present invention has the following beneficial effects:

[0022] 1. This invention enables the tray placement function on the frame of a rice transplanter, reducing labor costs. Specifically, this invention uses a GPS navigation module to interact with the rice transplanter, planning the chassis's movement path. A second positioning camera tracks the rice rows, field ridges, and the rice transplanter, enabling obstacle avoidance and autonomous movement. This allows the chassis to move to the side of the rice transplanter, eliminating the need for the transplanter to repeatedly move to the field ridges to replenish the trays when needed, thus improving transplanting efficiency and avoiding negative impacts on transplanting results. Furthermore, this invention uses a material handling device to grab the trays, which are then driven by a three-axis moving device. The material handling device carries the trays to the top of the tray, releasing them onto the support frame. This achieves tray placement. Before releasing the trays, the controller controls a servo motor to drive the connecting column to rotate, and the positioning camera tracks the trays grabbed by the material handling device and the rice transplanter's support frame, ensuring alignment and improving the accuracy of tray placement. Therefore, this invention enables unmanned tray placement, effectively improving the intelligence of rice transplanter tray replenishment.

[0023] 2. During the loading of the trays on the pallet, the hopper range adjustment component of this invention uses two pairs of side stops moving in opposite directions and two front stops moving towards the hopper stop to straighten each tray, so that each tray is straightened at a designated position on the pallet, thereby ensuring that each clamping rod can be accurately inserted into a gap on the tray, thus improving the accuracy of the material handling device in grasping the trays. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the chassis structure in this invention;

[0026] Figure 3 This is a schematic diagram of the walking and steering mechanism in this invention;

[0027] Figure 4 This is a schematic diagram of the walking drive mechanism in this invention;

[0028] Figure 5 This is a schematic diagram of the structure of the bowl-shaped buffer feeding device in this invention;

[0029] Figure 6 This is a schematic diagram of the structure of the hopper lifting assembly in this invention;

[0030] Figure 7 This is a schematic diagram of the structure of the tray, mounting plate, and slider in this invention;

[0031] Figure 8 This is a schematic diagram of the structure of the hopper range adjustment component in this invention;

[0032] Figure 9 This is a schematic diagram of the front deflector assembly in this invention;

[0033] Figure 10 This is a schematic diagram of the structure of the bowl and plate taking and placing device in this invention;

[0034] Figure 11 This is a schematic diagram of the material handling device in this invention;

[0035] Figure 12 This is a schematic diagram of the lower frame structure in this invention;

[0036] Figure 13 This is a schematic diagram of the upper frame structure in this invention. Detailed Implementation

[0037] The present invention will now be further described with reference to the accompanying drawings.

[0038] like Figure 1As shown, the present invention discloses an intelligent unmanned tray-stacking machine, comprising a chassis 1, a tray buffer and feeding device 2, a tray picking and placing device 3, a lower frame 4, and an upper frame 5. The upper frame 5 is fixed to the top of the lower frame 4, the chassis 1 is fixed to the bottom of the lower frame 4 and drives the lower frame 4 to move, the tray buffer and feeding device 2 is disposed on the lower frame 4, and the tray picking and placing device 3 is disposed on the upper frame 5.

[0039] like Figure 5 As shown, the bowl-type buffer feeding device 2 includes a hopper lifting assembly 201 and a hopper range adjustment assembly 202. For example... Figure 6 and Figure 7 As shown, the hopper lifting assembly 201 includes a tray 20101, a hopper base plate 20102, a hopper vertical plate 20103, a hopper stop bar 20108, and a lifting screw 20115. The horizontally arranged hopper base plate 20102 is fixed to the bottom plate of the lower frame 4. The hopper vertical plate 20103 is vertically fixed to the hopper base plate 20102. The vertically arranged lifting screw 20115 and the hopper vertical plate 20103 form a rotating pair and are driven by a drive motor 20104. The horizontally arranged tray 20101 and the lifting screw 20115 form a threaded pair and a vertical sliding pair with the hopper vertical plate 20103, and are located directly above the hopper base plate 20102. Vertically arranged feed rods are fixed on both sides of the lifting screw 20115 on the hopper vertical plate 20103. The hopper stop bar 20108 is used to limit the distance between the bowls on the pallet 20101 and the hopper vertical plate 20103. Two longitudinal slots are spaced apart on one end of the pallet 20101 away from the hopper vertical plate 20103, and a pair of transverse slots are spaced apart on the outer side of each of the two longitudinal slots, with the transverse slots perpendicular to the longitudinal slots. A sensor 20110 is installed at the top of the hopper vertical plate 20103 to measure its distance from the uppermost bowl on the pallet 20101, ensuring that the uppermost bowl on the pallet 20101 reaches the set pick-up height position. A sensor 2010101 is installed on the pallet 20101 to detect whether there is a bowl on the pallet 20101.

[0040] like Figure 8 and Figure 9As shown, the hopper range adjustment assembly 202 includes a side stop bar 20201, a front stop bar assembly 20202, an adjustment base plate 20203, a bidirectional lead screw 20210, a unidirectional lead screw, a first movable seat, and a second movable seat. The adjustment base plate 20203 is located between the hopper base plate 20102 and the tray 20101, and is horizontally fixed on the hopper base plate 20102. The horizontally arranged bidirectional lead screw 20210 and the unidirectional lead screw both form a rotating pair with the adjustment base plate 20203. The bidirectional lead screw 20210 is parallel to the transverse slot, and the unidirectional lead screw is parallel to the longitudinal slot. A hand handle 20207 is fixed to the end of both the bidirectional lead screw 20210 and the unidirectional lead screw. The two symmetrically arranged first movable seats form threaded pairs with the two threaded sections of the bidirectional lead screw 20210, and both form sliding pairs with the adjustment base plate 20203. Each movable seat 1 has vertically arranged side stops 20201 fixed at both ends, and the two side stops 20201 on each movable seat 1 are aligned with a pair of transverse slots respectively; the movable seat 2 forms a threaded pair with the one-way lead screw and a sliding pair with the adjusting base plate 20203, and both ends of the movable seat 2 are provided with front stop assemblies 20202; the front stop assembly 20202 includes a fixed bracket 2020201, a front stop 2020202 and a quick clamp 2020205, the fixed bracket 2020201 is fixed on the movable seat 2, and a vertical slot is opened on the fixed bracket 2020201, the front stop 2020202 is hinged to the vertical slot, and the quick clamp 2020205 is fixed on the fixed bracket 2020201; the two front stops 2020202 are aligned with two longitudinal slots respectively. In the initial state, the tray 20101 is in the lowest position, and the two quick clamps 2020205 fix the two front stops 2020202 to the two vertical slots. Both front stops 2020202 are in a vertical state and are located in front of the corresponding longitudinal slots. The side stops 20201 are located outside the corresponding transverse slots.

[0041] like Figure 10 and Figure 11As shown, the bowl-and-plate handling device 3 includes a three-axis moving device and a material handling device 304. The three-axis moving device includes an X-axis linear module 301, a Y-axis linear module 302, and a Z-axis linear module 303. The X-axis linear module 301 is horizontally fixed on the top plate 503 of the upper frame 5 and drives the Y-axis linear module 302 to translate. The Y-axis linear module 302 drives the Z-axis linear module 303 to translate, and the X-axis linear module 301 is perpendicular to the Y-axis linear module 302. The material handling device 304 includes a rotating frame, a connecting column, a support plate, a cylinder 30411, a support side plate 30412, and clamping rods 30415. The Z-axis linear module 303 drives the rotating frame to lift and lower. The upper end of the vertically arranged connecting column forms a rotating pair with the rotating frame and is driven by a servo motor 305. The lower end is fixed to the horizontally arranged support plate. The upper ends of the two vertically arranged and symmetrically arranged support side plates 30412 form sliding pairs with the two ends of the support plate, and are driven to move towards or away from each other by two horizontally arranged and parallel cylinders 30411. The lower ends of the two support side plates 30412 are each fixed with multiple clamping rods 30415 that are parallel to the cylinders 30411 and equidistantly arranged.

[0042] As a preferred embodiment, such as Figure 2 As shown, the chassis 1 includes a frame 101, a travel steering mechanism 102 and a travel drive mechanism 103. The front end of the frame 101 is provided with two symmetrically arranged travel steering mechanisms 102, and the rear end is provided with two symmetrically arranged travel drive mechanisms 103. The two travel drive mechanisms 103 drive the frame 101 to move forward or backward, and the two travel steering mechanisms 102 drive the frame 101 to turn. The bottom plate is fixed to the frame 101.

[0043] More preferably, such as Figure 3 As shown, the walking and steering mechanism 102 includes a front wheel 10201, a steering motor 10202, a reducer 10203, and a front wheel frame 10205. The housing of the steering motor 10202 is fixed to the housing of the reducer 10203. The housing of the reducer 10203 is fixed to the frame 101. The input shaft of the reducer 10203 is fixed to the output shaft of the steering motor 10202. The output shaft of the reducer 10203 and the frame 101 form a rotating pair and are fixed to the front wheel frame 10205. The front axle of the front wheel 10201 and the front wheel frame 10205 form a rotating pair.

[0044] More preferably, the output shaft of the reducer 10203 is supported on the frame 101 by a bearing 10204.

[0045] More preferably, the front axle is supported on the front wheel frame 10205 by bearing 10206.

[0046] More preferably, such as Figure 4As shown, the walking drive mechanism 103 includes a rear wheel 10301, a second drive motor 10302, a second reducer 10303, a drive sprocket 10304, a driven sprocket 10305, a chain 10306, a mounting base 10307, ​​a drive base 10308, and drive side plates 10309. The drive base 10308 is fixed to the frame 101, and two vertically and symmetrically arranged drive side plates 10309 are fixed to both ends of the drive base 10308. The rear wheel axle of the rear wheel 10301 is connected to the two... Each drive side plate 10309 constitutes a rotating pair. The housing of the second drive motor 10302 is fixed to the mounting base 10307 through the housing of the second reducer 10303. The mounting base 10307 is fixed to one drive side plate 10309. The output shaft of the second drive motor 10302 is fixed to the input end of the second reducer 10303. The driving sprocket 10304 and the driven sprocket 10305 are respectively fixed to the output shaft and the rear wheel axle of the second reducer 10303 and are connected by the chain 10306.

[0047] More preferably, the rear wheel axle is supported on two drive side plates 10309 by two bearings 10310.

[0048] In a preferred embodiment, a positioning camera 6 is provided on the top plate 503. When the controller controls the servo motor 305 to drive the connecting column to rotate, the positioning camera tracks the pots and trays grabbed by the feeding device 304 and the bracket of the rice transplanter, so that the pots and trays are aligned.

[0049] In a preferred embodiment, an alarm device 505 is provided on the top plate 503. The signal input terminal of the alarm device 505 is connected to the controller. The alarm device 505 can be used for equipment fault alarm (such as when the controller cannot control the movement of each motor or linear module, it outputs a signal to the alarm device 505), navigation deviation alarm, and disk shortage alarm.

[0050] In a preferred embodiment, a GPS navigation module 506 is provided on the top plate 503. The signal output terminal of the GPS navigation module 506 is connected to the controller. The controller plans the moving path of the chassis 1 and controls each steering motor 10202 and each drive motor 10302 of the chassis 1 to drive each front wheel 10201 and each rear wheel 10301 to move according to the moving path of the chassis 1. The GPS navigation module 506 performs positioning. During the movement, the positioning camera 2 on the chassis 1 tracks the rice crop rows, field ridges and rice transplanter, so that the chassis 1 avoids obstacles and moves to the side of the rice transplanter.

[0051] As a preferred embodiment, both sides of the hopper vertical plate 20103 are provided with reinforcing plates 20106, and the two adjacent sides of each reinforcing plate 20106 are fixed to the hopper base plate 20102 and the hopper vertical plate 20103. The reinforcing plates 20106 are used to reinforce the hopper base plate 20102 and the hopper vertical plate 20103.

[0052] In a preferred embodiment, the housing of the drive motor 20104 is fixed to the position adjustment block 20113 via the mounting base 20105. A through slot is provided on the hopper base plate 20102. The position adjustment block 20113 is fixed to the through slot by bolts and nuts. The output shaft of the drive motor 20104 is connected to the lifting screw 20115 via a synchronous belt mechanism. The driving synchronous pulley 20117 and the driven synchronous pulley 20116 of the synchronous belt mechanism are respectively fixed to the output shaft of the drive motor 20104 and the lifting screw 20115. The fixed position of the position adjustment block 20113 can be adjusted by loosening the bolts and nuts, which can then be used to adjust the position of the drive motor 20104, thereby keeping the synchronous belt of the synchronous belt mechanism taut.

[0053] In a preferred embodiment, a collision protection block 20109 is fixed on the hopper vertical plate 20103 at the lower end of the lifting screw 20115.

[0054] In a preferred embodiment, sensor 20110 is fixed to the vertical plate 20103 of the hopper via mounting plate 20111.

[0055] In a preferred embodiment, the pallet 20101 is fixed on a vertically mounted mounting plate 2010103. A nut block is fixed in the middle of the mounting plate 2010103, and slider groups are fixed at both ends. The slider group consists of multiple sliders arranged vertically at intervals. Two vertically mounted guide rails 20114 are fixed on both sides of the lifting screw 20115 on the hopper mounting plate 20103 via two mounting base plates 20107. The nut block and the lifting screw 20115 form a threaded pair, and each slider in each slider group forms a sliding pair with one guide rail 20114.

[0056] More preferably, the upper and lower ends of the vertical plate 20103 of the hopper are provided with sensor 20112, and the vertical plate 2010103 is provided with sensor 2010104. The sensor 2010104 and the two sensors 20112 are used to limit the lifting range of the pallet 20101.

[0057] More preferably, each end of the mounting vertical plate 2010103 is provided with a reinforcing plate 2010102. The two adjacent sides of each reinforcing plate 2010102 are fixed to the tray 20101 and the mounting vertical plate 2010103 respectively. The reinforcing plate 2010102 is used to reinforce the tray 20101 and the mounting vertical plate 2010103.

[0058] In a preferred embodiment, the four corners of the adjustment base plate 20203 are fixed to the hopper base plate 20102 by four vertically arranged fixed support shafts 20206.

[0059] In a preferred embodiment, the two ends of the bidirectional lead screw 20210 are supported on the adjustment base plate 20203 by two bearing seats 1 20204, and the middle part is supported on the adjustment base plate 20203 by bearing seat 2 20205.

[0060] In a preferred embodiment, guide rail 20209 and two collinearly arranged guide rails 20208 are fixed on the adjustment base plate 20203. Guide rail 20209 and guide rail 20208 are parallel to the bidirectional lead screw 20210. The sliders 2 fixed at one end of the two movable seats form sliding pairs with guide rail 20209, and the sliders 3 fixed at the other end form sliding pairs with the two guide rails 20208 respectively.

[0061] In a preferred embodiment, guide rails four parallel to the unidirectional lead screw are fixed on both sides of the adjustment base plate 20203, and sliders four are fixed at both ends of the moving seat two. The two sliders four and the two guide rails four respectively form sliding pairs.

[0062] In a preferred embodiment, the fixed bracket 2020201 is fixed to the movable seat 2 via the front stop base 2020204.

[0063] In a preferred embodiment, the front stop lever 2020202 forms a rotating pair with the fixed bracket 2020201 via the rotating shaft 2020203.

[0064] In a preferred embodiment, the quick clamp 2020205 is fixed to the fixed bracket 2020201 by the quick clamp support 2020206.

[0065] In a preferred embodiment, the rotating frame includes a rotating plate 30403 and a connecting plate 30405. The Z-axis linear module 303 drives the horizontally arranged rotating plate 30403 to rise and fall, and the connecting plate 30405 is vertically fixed on the rotating plate 30403.

[0066] More preferably, a pressure gauge 30407 is fixed on the connecting plate 30405 by a pressure gauge bracket 30406, and the pressure gauge 30407 is used to display the air pressure of the two cylinders 30411.

[0067] More preferably, the housing of the servo motor 305 is fixed to the housing of the reducer 30402 via the mounting base 30401, the output shaft of the servo motor 305 is fixed to the input shaft of the reducer 30402, the housing of the reducer 30402 is fixed to the rotating plate 30403, the connecting column and the rotating plate 30403 form a rotating pair, and the output shaft of the reducer 30402 is fixed to the connecting column.

[0068] More preferably, the rotating plate 30403 is provided with an encoder 30404, which is used to limit the rotation angle of the connecting column and prevent the servo motor 305 from rotating a full circle, thereby causing loss of control.

[0069] In a preferred embodiment, the support plate includes a support bracket 30408 ​​and a support base plate 30410. The support bracket 30408 ​​and the support base plate 30410 are arranged horizontally and parallel to each other, and the support base plate 30410 is fixed on the support bracket 30408. A bracket fixing block 30409 is fixed on the connecting column, and the bracket fixing block 30409 passes through a through hole opened on the support base plate 30410 and is fixed to the support bracket 30408.

[0070] More preferably, two horizontally parallel and symmetrically arranged guide shafts 30414 are fixed on both sides of the connecting column on the support base plate 30410, and the two ends of each support side plate 30412 and the two guide shafts 30414 respectively form a sliding pair.

[0071] More preferably, the support side plate 30412 is supported on the guide shaft 30414 by bearing four 30413 (linear bearing).

[0072] As a preferred embodiment, such as Figure 12 As shown, the lower frame 4 includes a frame 401, a door lock 402, a front door assembly 404, a rear baffle 405, and a side door assembly 406. The front door assembly 404 is located at the front end of the frame 401, and the rear end is fixed with a vertically arranged rear baffle 405. Side door assemblies 406 are located on both sides, with an opening at the top and a horizontally arranged base plate fixed at the bottom. The front door assembly 404 consists of two front doors that are symmetrically arranged and hinged to the frame 401, and the side door assembly 406 consists of two side doors that are symmetrically arranged and hinged to the frame 401. Door locks 402 are provided on both the front door assembly 404 and the two side door assemblies 406, and the lock body and lock cylinder of the door lock 402 are fixed to the two front doors or the corresponding two side doors through two door lock fixing plates 403. The hopper vertical plate 20103 is located on the hopper base plate 20102 at the end away from the front door assembly 404.

[0073] More preferably, such as Figure 13As shown, the upper frame 5 includes a second frame 501, a second side door assembly 502, a top plate 503, and a second rear baffle 504. The bottom end of the second frame 501 is fixed to the top end of the first frame 401. The front end and the bottom end of the second frame 501 are open, and the rear end is fixed with a vertically arranged second rear baffle 504. The second side door assembly 502 is provided on both sides, and the top end is fixed with a horizontally arranged top plate 503. The second side door assembly 502 consists of two side doors 2 that are symmetrically arranged and hinged to the second frame 501. Each second side door assembly 502 is provided with a second door lock, and the lock body and lock cylinder of the second door lock are fixed to the corresponding two second side doors.

[0074] Among them, two cylinders 30411 are connected to the air pump through solenoid valves. The solenoid valves, drive motor 1 20104, X-axis linear module 301, Y-axis linear module 302, Z-axis linear module 303, servo motor 305, each steering motor 10202 and each drive motor 2 10302 are all controlled by the controller. The signal output terminals of sensor 1 20110, sensor 2 2010101, sensor 3 20112, encoder 30404, positioning camera 1 6 and positioning camera 2 are all connected to the controller.

[0075] The present invention discloses a method for arranging food using an intelligent unmanned food tray arranging machine, as detailed below:

[0076] The chassis 1 drives the lower frame 4, which in turn moves the tray buffer feeding device 2, the tray picking and placing device 3, and the upper frame 5 to the side of the rice transplanter. The tray buffer feeding device 2 and the tray picking and placing device 3 repeatedly pick up and place the trays until the trays on the rice transplanter's frame are full, thus completing the tray placement process. The tray picking and placing process is as follows:

[0077] The controller controls the drive motor 20104 to drive the lifting screw 20115 to rotate forward. The lifting screw 20115 drives the tray 20101 and each bowl on the tray to move upward, raising the uppermost bowl to a preset height one. Simultaneously, the Z-axis linear module 303 drives the rotating frame to descend, lowering the material handling device 304 to a preset height two, so that the two support side plates 30412 are located on both sides of the uppermost bowl, and each clamping rod 30415 on each side of the bowl is located outside a gap between every two adjacent rows of holes on the bowl. Then, each controller controls the solenoid valve to drive the piston rods of the two cylinders 30411 to retract synchronously. The two cylinders 30411 drive the two support side plates 30412 to move towards each other, so that each clamping rod 30415 on each side of the bowl is inserted into a gap in the bowl. The Z-axis linear module 303 drives the rotating frame to rise to the initial position, and the X-axis linear module 301 and Y-axis linear module 302 operate, causing the material handling device 304 to... 4. Move a rice tray to the top of the rice transplanter's support frame. Simultaneously, the controller controls the servo motor 305 to drive the connecting column to rotate, causing the feeding device 304 to rotate the rice tray until it aligns with the support frame. Then, the Z-axis linear module 303 drives the rotating frame to descend, making the bottom surface of the rice tray contact the top surface of the support frame or the top surface of the rice tray already placed on the support frame (this is the case after the first rice tray placement). The controller controls the solenoid valve to drive the piston rods of the two cylinders 30411 to extend synchronously to their original positions. The two cylinders 30411 push the two support side plates 30412 to move in opposite directions, and the rice tray falls onto the support frame. The Z-axis linear module 303 drives the rotating frame to rise to the initial height. Simultaneously, the controller controls the servo motor 305 to drive the connecting column to rotate, causing the feeding device 304 to rotate to its initial state. The X-axis linear module 301 and the Y-axis linear module 302 work, causing the feeding device 304 to return to its initial position, thus completing one rice tray feeding operation.

[0078] When there is no bowl on tray 20101, the bowl is manually loaded onto tray 20101. The loading process is as follows:

[0079] The chassis 1 drives the lower frame 4, which in turn moves the bowl tray buffer feeding device 2, the bowl tray picking and placing device 3, and the upper frame 5 to the bowl tray loading position. The two front doors of the lower frame 4 and the two side doors near the double-acting screw 20210 and the upper handle 20207 are opened. The two quick clamps 2020205 are opened, the two front stop levers 2020202 are released from their locks, and the two front stop levers 2020202 are manually rotated downwards to their lowest position. Then, multiple bowl trays are placed on the tray. On 20101, manually rotate both front stop levers 2020202 upwards to a vertical position and close both quick clamps 2020205, locking the two front stop levers 2020202 with the quick clamps 2020205. Then manually rotate both hand levers 20207 clockwise. The two hand levers 20207 will drive the double-acting screw 20210 and the single-acting screw to rotate respectively. The double-acting screw 20210 will drive the two moving seats and the two pairs of side stop levers 20201 to move in opposite directions. Each side stop lever 20201 enters its corresponding transverse slot. The one-way screw drives the moving seat 2 and the two front stop lever assemblies 20202 to move towards the hopper stop lever 20108. The two front stop levers 2020202 enter their corresponding longitudinal slots. Each side stop lever 20201 and each front stop lever 2020202 pushes each bowl to be aligned, so that each bowl is aligned by each side stop lever 20201, each front stop lever 2020202, and each hopper stop lever 20108. The clamping levers are positioned at the designated locations on the pallet 20101, ensuring that each clamping lever 30415 can be accurately inserted into a gap on the bowl. Then, the two hand cranks 20207 are manually reversed, causing the two pairs of side stops 20201 to move back to their initial positions, and the two front stops 2020202 to move away from the hopper stop 20108 to their initial positions, closing the two front doors and two side doors, thus completing the loading of the bowl onto the pallet 20101.

Claims

1. An intelligent unmanned tray-stacking machine, comprising a chassis, an upper frame, and a lower frame, characterized in that: It also includes a bowl and tray buffer feeding device and a bowl and tray picking and placing device; the upper frame is fixed to the top of the lower frame, the chassis is fixed to the bottom of the lower frame and drives the lower frame to move, the bowl and tray buffer feeding device is located on the lower frame, and the bowl and tray picking and placing device is located on the upper frame. The tray buffer feeding device includes a hopper lifting assembly and a hopper range adjustment assembly. The hopper lifting assembly includes a tray, a hopper base plate, a hopper vertical plate, a hopper stop bar, and a lifting screw. The horizontally arranged hopper base plate is fixed to the bottom plate of the lower frame. The hopper vertical plate is vertically fixed to the hopper base plate. The vertically arranged lifting screw and the hopper vertical plate form a rotating pair and are driven by a drive motor. The horizontally arranged tray and the lifting screw form a threaded pair and a sliding pair in the vertical direction with the hopper vertical plate, and are located directly above the hopper base plate. Vertically arranged hopper stop bars are fixed on both sides of the hopper vertical plate. Two longitudinal slots are spaced apart on the end of the tray away from the hopper vertical plate, and a pair of transverse slots are spaced apart on the outer side of the two longitudinal slots, with the transverse slots perpendicular to the longitudinal slots. A sensor is provided at the top of the hopper vertical plate, and a sensor is provided on the tray. The hopper range adjustment assembly includes side stops, a front stop assembly, an adjustment base plate, a bidirectional lead screw, a unidirectional lead screw, a movable seat one, and a movable seat two. The adjustment base plate is located between the hopper base plate and the pallet and is horizontally fixed to the hopper base plate. The horizontally arranged bidirectional and unidirectional lead screws both form a rotating pair with the adjustment base plate, with the bidirectional lead screw parallel to the transverse groove and the unidirectional lead screw parallel to the longitudinal groove. A hand-operated handle is fixed to the end of each of the bidirectional and unidirectional lead screws. The two symmetrically arranged movable seats one form a threaded pair with the two threaded sections of the bidirectional lead screw, and both form a sliding pair with the adjustment base plate. Vertically arranged side stops are fixed to both ends of each movable seat one. The two side stops on each movable seat one... The rod is aligned with a pair of transverse slots respectively; the second movable seat and the one-way lead screw form a threaded pair and the adjusting base plate form a sliding pair, and both ends of the second movable seat are provided with front stop rod assemblies; the front stop rod assembly includes a fixed bracket, a front stop rod and a quick clamp, the fixed bracket is fixed on the second movable seat and the fixed bracket has a vertical slot, the front stop rod is hinged to the vertical slot, and the quick clamp is fixed on the fixed bracket; the two front stop rods are aligned with two longitudinal slots respectively; in the initial state, the tray is at the lowest position, the two quick clamps fix the two front stop rods to the two vertical slots, and the two front stop rods are both vertical and located in front of the corresponding longitudinal slots, and each side stop rod is located outside the corresponding transverse slot; The tray handling device includes a three-axis moving device and a material handling device. The three-axis moving device includes an X-axis linear module, a Y-axis linear module, and a Z-axis linear module. The X-axis linear module is horizontally fixed to the top plate of the upper frame and drives the Y-axis linear module to translate. The Y-axis linear module drives the Z-axis linear module to translate, and the X-axis linear module is perpendicular to the Y-axis linear module. The material handling device includes a rotating frame, a connecting column, a support plate, a cylinder, support side plates, and clamping rods. The Z-axis linear module drives the rotating frame to lift. The upper end of the vertically arranged connecting column forms a rotating pair with the rotating frame and is driven by a servo motor. The lower end is fixed to the horizontally arranged support plate. The upper ends of the two vertically and symmetrically arranged support side plates form sliding pairs with the two ends of the support plate and are driven to move in opposite directions or away by two horizontally and parallelly arranged cylinders. The lower ends of the two support side plates are each fixed with multiple clamping rods that are parallel to the cylinders and equidistantly arranged.

2. The intelligent unmanned tray-stacking machine according to claim 1, characterized in that: The chassis includes a frame, a driving mechanism, and a steering mechanism. The front end of the frame has two symmetrically arranged steering mechanisms, and the rear end has two symmetrically arranged driving mechanisms. The bottom plate is fixed to the frame.

3. The intelligent unmanned tray-stacking machine according to claim 2, characterized in that: The walking and steering mechanism includes a front wheel, a steering motor, a reducer, and a front wheel frame. The housing of the steering motor is fixed to the housing of the reducer, the housing of the reducer is fixed to the frame, the input shaft of the reducer is fixed to the output shaft of the steering motor, the output shaft of the reducer forms a rotating pair with the frame and is fixed to the front wheel frame, and the front wheel axle of the front wheel forms a rotating pair with the front wheel frame.

4. The intelligent unmanned tray-stacking machine according to claim 2, characterized in that: The walking drive mechanism includes a rear wheel, a second drive motor, a second reducer, a drive sprocket, a driven sprocket, a chain, a first mounting base, a drive base plate, and drive side plates. The drive base plate is fixed to the vehicle frame. Two vertically and symmetrically arranged drive side plates are fixed to both ends of the drive base plate. The rear wheel axle of the rear wheel and the two drive side plates form a rotating pair. The housing of the second drive motor is fixed to the first mounting base through the housing of the second reducer. The first mounting base is fixed to one of the drive side plates. The output shaft of the second drive motor is fixed to the input end of the second reducer. The drive sprocket and the driven sprocket are fixed to the output shaft of the second reducer and the rear wheel axle, respectively, and are connected by a chain.

5. The intelligent unmanned tray-stacking machine according to claim 1, characterized in that: A positioning camera is installed on the top plate. When the controller controls the servo motor to drive the connecting column to rotate, the positioning camera tracks the pots and trays grabbed by the feeding device and the brackets of the rice transplanter.

6. The intelligent unmanned tray-stacking machine according to claim 1, characterized in that: The top plate is equipped with a GPS navigation module, and the signal output terminal of the GPS navigation module is connected to the controller. The controller plans the chassis movement path and controls each steering motor and each drive motor II of the chassis to drive each front wheel and each rear wheel to move according to the chassis movement path. The GPS navigation module performs positioning. During the movement, the positioning camera II on the chassis tracks the rice crop rows, ridges and rice transplanter.

7. The intelligent unmanned tray plating machine according to claim 1, characterized in that: The lower frame includes a frame, a door lock, a front door assembly, a rear baffle, and a side door assembly. The front door assembly is located at the front end of the frame, and the rear end is fixed with a vertically arranged rear baffle. Side door assemblies are located on both sides, with an opening at the top and a horizontally arranged base plate fixed at the bottom. The front door assembly consists of two front doors that are symmetrically arranged and hinged to the frame. The side door assembly consists of two side doors that are symmetrically arranged and hinged to the frame. Door locks are provided on the front door assembly and the two side door assemblies. The lock body and lock cylinder of the door lock are fixed to the two front doors or the corresponding two side doors by two door lock fixing plates. The hopper vertical plate is located on the hopper base plate at the end away from the front door assembly.

8. The intelligent unmanned tray-stacking machine according to claim 1, characterized in that: The upper frame includes a second frame, a second side door assembly, a top plate, and a second rear baffle. The bottom of the second frame is fixed to the top of the first frame. The front and bottom of the second frame are open, and the rear end is fixed with a vertically arranged second rear baffle. The two sides are equipped with second side door assemblies, and the top end is fixed with a horizontally arranged top plate. The second side door assembly consists of two side doors arranged symmetrically and hinged to the second frame. Each second side door assembly is equipped with a second door lock, and the lock body and lock cylinder of the second door lock are fixed to the corresponding two second side doors.

9. A method for arranging plates using an intelligent unmanned tray arranging machine according to any one of claims 1 to 8, characterized in that: Specifically as follows: The chassis-driven lower frame moves the tray buffer feeding device, tray picking and placing device, and upper frame to the side of the rice transplanter. The tray buffer feeding device and tray picking and placing device repeatedly pick up and place trays until the rice transplanter's bracket is full of trays, thus completing the tray placement work. The tray picking and placing process is as follows: The controller controls the drive motor to drive the lifting screw, which in turn moves the tray and the bowls on the tray upwards, raising the top bowl to a preset height 1. Simultaneously, the Z-axis linear module drives the rotating frame to descend, lowering the material handling device to a preset height 2. This positions the two support side plates on either side of the top bowl, with each clamping rod on each side of the bowl positioned outside a gap between two adjacent rows of holes on the bowl. Then, each controller controls the solenoid valve to drive the piston rods of two cylinders to retract synchronously. The two cylinders then move the two support side plates toward each other, causing each clamping rod on each side of the bowl to insert into a gap in the bowl. The Z-axis linear module drives the rotating frame to rise to the initial position. The X-axis and Y-axis linear modules then operate, causing the material handling device to move a tray to directly above the rice transplanter's support frame. Simultaneously, the controller controls the servo motor to drive the connecting column to rotate, aligning the tray with the support frame. Then, the Z-axis linear module drives the rotating frame to descend, bringing the bottom of the tray into contact with the top surface of the support frame or the top surface of a tray already placed on the support frame. The controller then controls the solenoid valve to drive the piston rods of two cylinders to extend synchronously to their original positions. The two cylinders push the two support side plates to move in opposite directions, causing the tray to fall onto the support frame. The Z-axis linear module then drives the rotating frame to rise to the initial height. Simultaneously, the controller controls the servo motor to drive the connecting column to rotate, returning the material handling device to its initial state. The X-axis and Y-axis linear modules then operate, returning the material handling device to its initial position, thus completing one tray handling cycle. If there are no trays on the tray, they are manually loaded onto it.

10. The tray-stacking method of an intelligent unmanned tray-stacking machine according to claim 9, characterized in that: The loading process of the bowls on the tray is as follows: The chassis-driven lower frame moves the bowl and tray buffer feeding device, bowl and tray picking and placing device, and upper frame to the bowl and tray loading position. The two front doors of the lower frame and the two side doors near the double-acting screw's manual handle are opened. The two quick-release clamps are opened, releasing the locks on the two front stop levers. The two front stop levers are then manually rotated downwards to their lowest position. Next, multiple bowls are placed on the tray. The two front stop levers are manually rotated upwards to a vertical position, and the two quick-release clamps are closed, locking the two front stop levers. The two manual handles are then manually rotated clockwise, driving the double-acting screw and the unidirectional screw to rotate respectively. The double-acting screw drives the two moving seats. The two pairs of side stops move in opposite directions, with each side stop entering its corresponding transverse slot. The one-way screw drives the moving seat two and the two front stop assemblies to move towards the material hopper stop. The two front stops enter their corresponding longitudinal slots. Each side stop and each front stop pushes each bowl to be aligned, so that each bowl is aligned at a designated position on the pallet by each side stop, each front stop, and each material hopper stop. Then, the two hand cranks are manually reversed, causing the two pairs of side stops to move back to their initial positions, and the two front stops to move away from the material hopper stop to their initial positions, closing the two front doors and the two side doors, thus completing the loading of the bowls on the pallet.

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