Seedling tray grabbing flexible mechanism and grabbing method and grass production system

Abstract

A seedling tray grabbing flexible mechanism and a grabbing method and a forage grass production system, the mechanism comprising: a plurality of jaw modules arranged oppositely on two rows of rotating shafts, each jaw module comprising a jaw and a pointer module. The forage grass production system comprises: the mechanism, a supporting platform for conveying seedling trays, and edges extending from the bottom side to the top side on both sides of the platform main body supporting plate. The seedling tray grabbing method comprises: driving the jaw modules arranged oppositely on the two rows of rotating shafts adjacent to each other to perform a relative closing action until the pointers of the pointer modules contact the edges of the supporting platform below the corresponding seedling trays, further lifting the lifting platform to make the pointers of the pointer modules slide through the edges under the action of the spring and be clamped at the preset clamping position of the seedling trays, and further lifting the lifting platform to drive the grabbing platform clamping the seedling trays to move to the target transfer position. Thus, accurate grabbing can be performed under the condition that the supporting platform is deformed greatly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of facility agriculture, in particular to a seedling tray grabbing flexible mechanism, a grabbing method and a pasture production system. BACKGROUND

[0002] Pasture is an important forage for herbivorous animals, and is needed by cattle, sheep, horses, rabbits and geese. At present, the development of herbivorous animals to form a local industry is often affected by vegetation, which limits the scale development in many places. The main problem is that the natural forage is limited or the vegetation is damaged and soil erosion is caused by grazing. This leads to the difficulty of large-scale breeding for farmers in mountainous areas. Cultivating pasture in farmland has low yield and occupies good farmland. In particular, pasture needs water and fertilizer to grow well. In view of these problems, the development of an efficient pasture production system has become an urgent market demand. The so-called pasture production system is different from farmland production. It is produced in an intensive and three-dimensional greenhouse or a container plant factory by using mist or water culture. The climate regulation of the greenhouse ensures year-round production, or the precise climate control advantage of the plant factory is used for stable and efficient production. The intelligent control of the computer module achieves precise control of temperature, light, air, heat and water, realizes rapid production of pasture, and generally converts 8 kg of forage from 1 kg of seed in one week. The seeds are usually wheat, barley and oats, and can be supplemented with beans. The water culture mode of spraying or water circulation can be used, and the cultivation box with small space can also use ultrasonic atomization cultivation method. The most commonly used production equipment is W-type circulating seedling raising device and plant factory. However, in the process of using the W-type circulating seedling raising device and other devices, how to make it more automated and intelligent in actual production to reduce labor costs is still a problem to be solved. Moreover, under the conditions of large deformation of the seedling tray supporting platform and horizontal misalignment of the seedling tray, how to accurately and automatically grab is also a factor that needs to be further considered. SUMMARY

[0003] To solve the above problems, the purpose of the present application is to provide a seedling tray grabbing flexible mechanism, a grabbing method and a pasture production system, which can be adapted to glass greenhouses, industrial plants and other places, and can be used for automatic seedling tray operation of three-dimensional pasture planting devices.

[0004] According to an aspect of the present application, a seedling tray grabbing flexible mechanism is provided, comprising: a liftable grabbing platform, two rows of rotating shafts installed below the grabbing platform via bearing seats, a plurality of claw modules arranged oppositely on the two rows of rotating shafts, a driver for driving the rotating shafts, each claw module comprising a claw and a pointer module, the claw comprising: a pivot fixing part for fixing on the rotating shaft, a claw arm extending downward from the pivot fixing part, and a finger part for installing the pointer module, a space for accommodating the seedling tray is formed between the claw arms oppositely arranged on the two rows of rotating shafts, a second hole and a first hole for the pointer module are arranged on the finger part, the pointer module comprising: a first stud and a second stud connected together by a gasket, an end stopper fixed on the end of the first stud, the first stud and the second stud forming a pointer corresponding to the second hole and the first hole, a spring is sleeved on the pressure rod between the end stopper and the second hole.

[0005] Preferably, each row of rotating shafts is composed of a plurality of rotating shafts arranged coaxially, one end side of each rotating shaft is connected with the driver via a connecting flange, the other end side penetrates through a plurality of interval arranged bearing seats, a plurality of claw modules are fixedly arranged on the rotating shafts at intervals.

[0006] Preferably, the finger part is integrally connected to the U-shaped groove of the claw arm at the lower end side of the claw arm, or is composed of a U-shaped groove formed by an L-shaped plate connected to the claw arm, the second hole and the first hole are respectively arranged on the two side walls of the U-shaped groove.

[0007] Preferably, the first stud is a single-end hexagonal stud, the second stud is a double-pass stud, the first stud and the second stud are connected together by threads, a shock-absorbing pad is attached to the end face of the end stopper, the first hole is an internal hexagonal hole, and the second hole is a round hole.

[0008] Preferably, each row of rotating shafts is provided with two rotating shafts, each rotating shaft is driven by a driver, n claw modules are fixedly arranged on each rotating shaft at intervals, 2n claw modules of each row are sequentially divided into n pairs of claw module groups in pairs, and four claw modules for grabbing the corresponding seedling tray are composed of the corresponding claw module groups of the two rows.

[0009] Preferably, the driver is a rotary air cylinder, a motor or a hydraulic cylinder.

[0010] Preferably, the pointer module instead of the first stud, the second stud and the end stopper comprises: a pressure rod provided with a shoulder, the pressure rod forms a pointer corresponding to the second hole and the first hole, and a spring is sleeved on the pressure rod between the shoulder and the second hole.

[0011] According to another aspect of the present application, a seedling tray grabbing flexible mechanism is provided, comprising: a liftable grabbing platform, a plurality of jaw modules oppositely arranged on the grabbing platform via a gear and rack mechanism, each jaw module comprising a jaw and a pointer module, the jaw comprising a jaw arm and a finger part for mounting the pointer module, a space for accommodating a seedling tray being formed between the oppositely arranged jaw arms, a second hole and a first hole for the pointer module being arranged on the finger part, the pointer module comprising a first stud and a second stud connected together by a washer, an end stopper being fixed to an end of the first stud, the first stud and the second stud constituting a pointer corresponding to the second hole and the first hole, a spring being sleeved on a pressure rod between the end stopper and the second hole; or instead of the first stud, the second stud and the end stopper, comprising a pressure rod provided with a shoulder, the pressure rod constituting a pointer corresponding to the second hole and the first hole, a spring being sleeved on the pressure rod between the shoulder and the second hole.

[0012] According to still another aspect of the present application, a pasture production system is provided, comprising the seedling tray grabbing flexible mechanism, a supporting platform for conveying seedling trays, a lifting platform for driving the grabbing platform to move via a lifting cylinder, a platform main body support plate of the supporting platform being arranged with a station for placing seedling trays, edges extending from a bottom side to a top side being formed on both sides of the platform main body support plate, wherein the lifting platform is provided with a lifting limiting part to ensure that the pointer of the pointer module pre-contacts the edge of the supporting platform in a clamping action compared with a preset clamping position of the seedling tray.

[0013] According to still another aspect of the present application, a seedling tray grabbing method is provided, using the pasture production system to implement the following steps: using the lifting platform to drive the grabbing platform to move from a standby position above the supporting platform carrying seedling trays, until the pointer of each pointer module pre-contacts the edge of the supporting platform in a clamping action compared with a preset clamping position of the seedling tray, driving the oppositely arranged jaw modules on the two rows of rotating shafts adjacent to each other to perform a relative closing action, so that the pointer of each pointer module contacts the edge of the supporting platform below the corresponding seedling tray, further lifting the lifting platform, so that the pointer of each pointer module slides through the edge under the action of the spring and is clamped at the preset clamping position of the seedling tray; further lifting the lifting platform, driving the grabbing platform clamping the seedling tray to move to a target transfer position.

[0014] The present application has the advantages of simple structure and strong adaptability. It can accurately grab under the condition that the supporting platform is deformed greatly, especially in the case of serious horizontal misalignment of seedling trays. Compared with the existing mechanical gripper on the market, the present application has better adaptability. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1A perspective view of a seedling tray grasping flexible mechanism according to an exemplary embodiment of the present application is shown schematically.

[0016] Figure 2 A perspective view of a gripper module is shown schematically.

[0017] Figure 3 A seedling tray grasping working state is shown schematically.

[0018] Figure 4 A seedling tray perspective view is shown schematically.

[0019] Figure 5 A working condition position view that can exist when a seedling tray is grasped is shown schematically.

[0020] Figure 6 A support platform compression deformation view is shown schematically.

[0021] Figure 7 A support platform perspective view is shown schematically.

[0022] Figure 8 A connection structure view of a gripper module is shown schematically.

[0023] Figure 9 A gripper structure view is shown schematically.

[0024] Figure 10 A square bearing seat structure view is shown schematically.

[0025] Figure 11 A partial structure view of one modification example is shown schematically.

[0026] Figure 12 A working principle view of another modification example is shown schematically.

[0027] Figure 13 A flow chart of a seedling tray grasping method is shown schematically. DETAILED DESCRIPTION

[0028] Exemplary embodiments of the present application are described in detail below with reference to the accompanying drawings. The exemplary embodiments described below and illustrated in the drawings are intended to teach the principles of the present application, with the understanding that the present application can be practiced in a number of different environments and with several different applications. As such, the examples described herein are not intended to limit the scope of the present application but rather are meant to provide examples for the practice of the present application. Thus, the scope of the present application is to be determined solely by the appended claims and the present application is not intended to be limited by the examples described herein. Further, the size and relative dimensions of the various parts illustrated in the drawings are not necessarily drawn to scale, and the dimensions of the parts shown in the drawings are intended to provide a general understanding of the structure of the application and are not intended to be limiting. The orientation of the various parts and assemblies depicted in the drawings is intended to represent only the general orientation, with the understanding that the application can be practiced in any orientation. Unless otherwise specified, the order of assembly of the parts and the sequence of steps described in the examples are not limiting. Further, any numerical ranges set forth herein are intended to include all sub-ranges encompassed therein, with the understanding that the endpoints of the ranges are included in the ranges. The terms "first", "second", "third", etc. as used herein are used as identifiers to distinguish one element from another, and are not intended to signify specific relative or chronological order. For example, a second step can be performed before a first step, or a second step can be performed at the same time as a first step.

[0029] As shown in FIG. 1, the present application provides a seedling tray grabbing flexible mechanism and a grabbing method. The mechanism uses air as a power source, and controls the rotating direction of a rotary cylinder 6 through a three-position five-way electromagnetic valve to realize the opening and closing of a gripper 7 and thereby realize the grabbing function of the seedling tray. Figures 1 to 10

[0030] Specifically, the mechanism includes a power source (not shown), a grabbing platform 1, two rows of rotating shafts 2 extending along the longitudinal direction of the grabbing platform 1, a square bearing seat 3 installed on the grabbing platform 1 for supporting the rotating shafts 2, a plurality of gripper modules 4 including the gripper 7 and a pointer module 44 arranged along the rotating shafts 2, a connecting flange 5 for connecting and driving the rotating shafts 2, and a rotary cylinder 6.

[0031] ​The whole of the grabbing platform 1 is formed as an elongated frame structure, which can be driven by a lifting cylinder (not shown, for example, a lifting air cylinder) via a lifting platform (not shown) to move (translate) laterally between adjacent workstations, and to lift. For example, it moves from an initial position (standby position) above a conveyor (roller or conveyor belt) towards a support platform 15 conveyed from upstream, and after completing the grabbing of a seedling tray 16 on the support platform 15, it returns to a target handover position, for example, the initial position, to hand over the seedling tray 16 to the conveyor. The seedling tray 16 is sent to the next process by the conveyor.

[0032] Corresponding to the seedling tray 16 to be grabbed (see Figure 4 、 5 ), two rows of rotating shafts 2 are installed side by side below the grabbing platform 1, as shown in Figure 1 , each row can be coaxially provided with a plurality of rotating shafts 2, one end side of each rotating shaft 2 is connected with a rotating cylinder 6 via a connecting flange 5, the other end side penetrates through a plurality of interval arranged square bearing seats 3, a plurality of jaw modules 4 are fixedly arranged along the rotating shaft 2, thereby, the two rows of rotating shafts 2 adjacent to each other can drive the jaw modules 4 arranged opposite to each other to open and close, to complete the grabbing and lowering of the seedling tray 16. Here, the pair of jaw modules 4 arranged opposite to each other are shown to be arranged opposite to each other, of course, they can also be staggered.

[0033] Each jaw module 4 is fixed to the rotating shaft 2 via a jaw 7. As shown in Figure 9 , the jaw 7 includes a pivot fixing part 71, a jaw arm 72, for example, an L-shaped, a jaw finger part, for example, a U-shaped slot 73, at the lower end side of the jaw arm 72, for installing a pointer module 44, wherein the pivot fixing part 71 is formed with a through hole part for the rotating shaft 2 to penetrate through, and can be fixed to a predetermined axial position of the rotating shaft 2 by a screw, so as to be able to pivot around the rotating shaft 2 with the rotating shaft 2 as the pivot. The jaw arm 72 extends downward from the pivot fixing part 71, and forms a receiving space for the seedling tray 16 between the jaw arm 72 and the jaw arm 72 on the opposite side (on the other rotating shaft 2). The U-shaped slot 73 at the lower end side of the jaw arm 72 can be integrally welded to the U-shaped slot of the jaw arm 72, or can be formed by an L-shaped plate welded to the jaw arm 72. On the two side walls of the U-shaped slot 73, a second hole 74 and a first hole 75 for arranging the pointer module 44 are respectively formed.

[0034] As shown in Figure 2 、 Figure 8As shown, the pointer module 44 includes, for example, a first stud 8 in the form of a single-end hexagon, an end baffle 9, a shock pad 10, a gasket 11, a spring 12, a second stud 13 in the form of a double-pass stud, etc. Among them, the first stud 8 and the second stud 13 are connected together by threads, and before connection, the spring 12 is worn on the second stud 13, and the gasket 11 is placed at the connection of the two. The end baffle 9 is fixed on the other end of the first stud 8 by a screw. The shock pad 10 is adhered to the end face of the end baffle 9. In this way, the first stud 8 is provided in the first hole 75 in the form of an inner hexagon, and in the case of being pushed by external force acting on the end baffle 9 (when colliding with the support platform 15, or when clamping the seedling tray 16), it can move axially in the first hole 75, and when the first hole 75 is a non-circular hole, it will not rotate. Correspondingly, when the spring 12 is compressed and rebounded, one end of the second stud 13 is provided in the second hole 74 in the form of a round hole and moves axially in the second hole 74. Thus, a predetermined clamping force can be applied to the seedling tray 16 by the end baffle 9 and the shock pad 10 based on the elastic force of the spring 12. Thus, a clamping finger part for flexible grasping of the seedling tray is formed.

[0035] As Figure 1 , Figure 3 , Figure 5 As shown in the example, each column of rotating shafts 2 is provided with two rotating shafts 2, each of which is driven by a rotating cylinder 6, and five clamping jaw modules 4 are fixedly arranged on each rotating shaft 2 at intervals, thereby forming ten clamping jaw modules 4 per column, which can be sequentially divided into five groups of clamping jaw module pairs in pairs, so that each group of clamping jaw module pairs of the two columns corresponds to four clamping jaw modules 4 for grasping one seedling tray 16. The total of five groups of clamping jaw module pairs in this example can clamp five seedling trays at the same time. Figure 1 The rightmost group of clamping jaw module pairs includes four clamping jaw modules 4, the right front rotating cylinder 6 rotates counterclockwise by 90°, driving the corresponding rotating shaft 2 and clamping jaw module 4 (from the state that the clamping jaw arm 72 is in a substantially horizontal state) to rotate counterclockwise by 90° at the same time; at the same time, the right rear rotating cylinder 6 rotates clockwise by 90°, driving the corresponding rotating shaft 2 and clamping jaw module 4 (from the state that the corresponding clamping jaw arm 72 is in a substantially horizontal state) to rotate clockwise by 90° at the same time, which will realize the clamping action state of each clamping jaw arm 72 from the state that it is in a substantially horizontal state to the state that it is in a substantially vertical state. Conversely, the open state can be realized. Thus, the opening and closing process of the seedling tray grasping flexible mechanism of the present application relative to each corresponding seedling tray 16 can be realized, and thus it can be applied to the grass production system. Figure 1

[0036] Figure 3 The working state of the seedling tray grasping flexible mechanism of the present application during the process of grasping the seedling tray from the upstream is shown, as Figure 5 , 6 ​As illustrated, five seedling trays 16 are arranged in a group on the support platform 15. The support platform 15 has a long, narrow structure. Multiple mounting positions 51 for placing the seedling trays 16 are arranged longitudinally on the main platform plate. On both sides of the main platform plate, side surfaces, i.e., edges 52, are formed at a predetermined height, transitioning smoothly from the bottom to the top surface. Preferably, these edges are sloped towards the center as they move towards the top surface. End plates 53 for suspended transport are provided at both longitudinal ends of the support platform 15. Therefore, when the support platform 15 is under load for transport, it can be simplified into a simply supported beam.

[0037] Due to the weight of each seedling tray, as well as the weight of the soil, pasture, etc., contained within them, the support platform 15 supporting the seedling trays may experience [problems]. Figure 6 The bending deformation shown means that the five seedling trays 16 being clamped simultaneously are not necessarily on the same plane (e.g., a horizontal plane) during clamping. Figure 5 As shown, when the flexible seedling tray gripping mechanism of the present invention grips five seedling trays 16 in a group at the same time, the gripping slots 61 on both sides of each seedling tray 16 are not necessarily on the same straight line. Even if the pointer module 44 of the gripper module 4 on both sides of the longitudinal direction can be aligned with the corresponding gripping slot 61, the pointer module 44 of the gripper module 4 in the middle may have difficulty aligning with the corresponding gripping slot 61. In fact, because the gripping slot 61 has been bent and deformed and is lower than the position reached by the pointer module 44, it is impossible to accurately grip the low-position seedling tray in the middle, or even grip it at all.

[0038] Therefore, according to the present invention, the initial clamping position of the pointer module 44 during the clamping action of each of the above-mentioned gripper arms 72 is set as the edge 52 of the support platform 15. This allows the lifting platform to ensure that each pointer module 44 contacts the edge 52 below the corresponding gripping slot 61 beforehand via a lifting limit part (e.g., a lowering limit switch). At this time, the compression performance of the spring 12 allows for inconsistencies in the extension and retraction lengths of each pointer module 44 corresponding to the deflection of the support platform 15. Each gripper module 4, as a relatively independent unit, clamps onto the edge 52 of the support platform 15, which has a certain thickness (or height), without affecting each other within a tolerance range. Correspondingly, this allows the seedling tray to... Figure 5 The positional tolerance shown has increased.

[0039] Then, the lifting platform is raised. While the clamping action of each gripper arm 72 continues, the compression property of the spring 12 can be used to make the first stud 8 slide upward relative to the edge 52 and accurately reach the clamping position of the seedling tray 16. The end baffle 9 and the shock-absorbing pad 10 can enter the clamping groove 61.

[0040] In this way, the deformation tolerance of the support platform 15 can be increased, and as long as the deformation of the support platform 15 is within the tolerance range, it can be clamped.

[0041] The working process in some embodiments is: powered by the air compressor, the air flow drives the rotary cylinder 6, the connecting flange 5 rotates the rotating shaft 2, and the clamping jaw module 4 fixed on the rotating shaft 2 by bolts rotates coaxially with the rotating shaft 2. When grabbing, the clamping jaw module 4 first clamps the supporting platform 15, then uses the lifting platform to rise, and then under the action of the spring 12, the pointer module 44 of the clamping jaw module 4 will quickly rebound and hook the preset clamping position (such as clamping groove 61) of the seedling tray 16 to clamp the seedling tray 16.

[0042] In this way, the lifting platform is used to clamp the clamping jaw 7 to the edge 52 of the supporting platform 15, and then the lifting platform is lifted, and the compressibility of the spring 12 is used to make the sliding movement of the pointer module 44 reach the seedling tray 16 clamping position. In this way, the deflection tolerance of the supporting platform 15 can be increased, and the strength requirement of the material of the supporting platform 15 is reduced. As long as the deformation of the supporting platform 15 is within the tolerance range, it can be clamped.

[0043] As described above, the bearing seat 3 and the rotary cylinder 6 can be fixed at different positions on the grabbing platform 1 by bolts. The connecting flange 5 can be fixed on the rotary cylinder 6 by bolts, and the rotating shaft 2 can pass through the square bearing seat 3 and be connected with the connecting flange 5 by bolts. The clamping jaw module 4 can be fixed at different positions on the rotating shaft 2 by bolts.

[0044] The pointer module 44 shown above uses the interaction of the gasket 11 and the spring 12 to form a pointer composed of the first stud 8 and the end stop 9 on the other end side of the first stud 8 and the shock pad 10, but it is not limited to this. A pressure rod 26 provided with a shoulder 25 can also be used to form a pointer, and these pointers can all stretch and contract by using the elasticity of the spring 12.

[0045] The above shows that the pair of oppositely arranged clamping jaw modules is driven by two rows of rotating shafts 2, but it is not limited to this. As long as each group of clamping jaw module pairs can be appropriately driven to achieve the opening and closing type clamping and releasing process, for example, as shown above, a first rack 20 and a second rack 21 are used to form a gear and rack mechanism with a gear 22. Under the action of the gear and rack, the left pointer module 23 and the right pointer module 24 arranged correspondingly are driven to move synchronously, and cooperate with similar lifting platform rising and pointer module sliding movement to achieve the clamping and opening actions. Figure 12

[0046] The above shows 5 groups of clamping jaw module pairs, but it is not limited to this. According to the scene needs, n (n is a natural number) can be arbitrarily set.

[0047] The above shows that the rotary cylinder 6 provides driving force, but it is not limited to this. Motors and hydraulic cylinders can also be used as drivers to provide driving force. ​

[0048] The above shows the preset clamping position in the form of clamping groove 61, as long as the distance between the preset clamping positions on both sides of the clamping groove 61 is less than the distance between the edges 52 of the corresponding supporting platform 15, it is ensured that each pointer module 44 smoothly slides through the edge 52 under the action of the spring 12 to clamp the preset clamping position of the seedling tray 16.

[0049] The above shows the supporting platform 15 with a main body supporting plate, which is not limited to a whole flat plate, but can also be a frame type support, and as long as it can carry the seedling tray 16 and has an edge 52 suitable for the pointer, some other possible structural forms such as a hanging basket are also considered as the supporting platform 15.

[0050] The above shows the spring 12 in the form of a compression spring, but it is not limited to this, and a structure suitable for a tension spring can also be used, as long as it can properly play the role of biasing the pointer.

[0051] In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited. Unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances. Although the present application has been described with reference to various specific embodiments, it should be understood that modifications can be made within the spirit and scope of the described inventive concept. Therefore, it is intended that the present application is not limited to the described embodiments, but will have the full scope defined by the language of the appended claims.

Claims

1. A flexible seedling tray grasping mechanism, characterized in that, include: A lifting gripping platform (1), two rows of rotating shafts (2) mounted below the gripping platform (1) via bearing seats (3), multiple gripper modules (4) respectively arranged on the two rows of rotating shafts (2) that can open and close relative to each other, and a driver for driving the rotating shafts (2). Each gripper module (4) includes a gripper (7) and a pointer module (44). The gripper (7) includes a pivot fixing part (71) for fixing to the rotating shaft (2), a gripper arm (72) extending downward from the pivot fixing part (71), and a gripper finger part for mounting the pointer module (44). A space for accommodating the seedling tray (16) is formed between the gripper arms (72) arranged opposite to each other on the two rows of rotating shafts (2). A second hole (74) and a first hole (75) for the pointer of the pointer module (44) to pass through are provided on the gripper finger part. The pointer module (44) includes: a first stud (8) and a second stud (13) connected together with a washer (11), and an end plate (9) fixed to the end of the first stud (8). The first stud (8) and the second stud (13) form a pointer that passes through the second hole (74) and the first hole (75) respectively. A spring (12) is sleeved on the pressure rod (26) between the end plate (9) and the second hole (74). Multiple seedling trays (16) are arranged in a group on a support platform (15). The support platform (15) has a long strip structure. Multiple positions (51) for placing seedling trays (16) are arranged longitudinally on the main support plate of the support platform (15). On the transverse sides of the main support plate, there are edges (52) of a predetermined height that transition smoothly from the bottom side to the top side, forming a slope that slopes towards the center as it moves towards the top side.

2. The flexible seedling tray grasping mechanism according to claim 1, characterized in that, Each column of rotating shafts is configured to have multiple rotating shafts (2) arranged coaxially. One end of each rotating shaft (2) is connected to the driver via a connecting flange (5), and the other end passes through multiple spaced bearing seats (3). Multiple gripper modules (4) are fixedly arranged at intervals along the rotating shaft (2).

3. The flexible seedling tray grasping mechanism according to claim 1, characterized in that, The gripper is integrally connected to the gripper arm (72) on the lower end side of the gripper arm (72) in a U-shaped groove, or is formed by an L-shaped plate connected to the gripper arm (72). A second hole (74) and a first hole (75) are respectively opened on the two side walls of the U-shaped groove (73).

4. The flexible seedling tray grasping mechanism according to claim 1, characterized in that, The first stud (8) is a single-headed hexagonal stud, and the second stud (13) is a double-through stud. The first stud (8) and the second stud (13) are connected together by threads. A shock-absorbing pad (10) is attached to the end face of the end baffle (9). The first hole (75) is an internal hexagonal hole, and the second hole (74) is a round hole.

5. The flexible seedling tray grasping mechanism according to claim 4, characterized in that, Each column of rotating shafts (2) is provided with two rotating shafts (2), each rotating shaft (2) is driven by two drivers respectively. Each rotating shaft (2) is fixedly provided with n gripper modules (4) at intervals. The 2n gripper modules (4) in each column are divided into n groups of gripper module pairs in sequence. The corresponding groups of gripper modules in the two columns constitute four gripper modules (4) for gripping the corresponding seedling tray (16).

6. The flexible seedling tray grasping mechanism according to claim 5, characterized in that, The actuator is a rotary cylinder (6), an electric motor, or a hydraulic cylinder.

7. The flexible seedling tray grasping mechanism according to claim 1, characterized in that, The pointer module (44) replacing the first stud (8) and the second stud (13) and the end plate (9) includes: a pressure rod (26) with a shoulder (25), the pressure rod (26) forming a pointer corresponding to passing through the second hole (74) and the first hole (75), and a spring (12) sleeved on the pressure rod (26) between the shoulder (25) and the second hole (74).

8. A flexible seedling tray grasping mechanism, characterized in that, include: A lifting gripping platform (1) is provided, and multiple gripper modules (4) are provided on the gripping platform (1) via a gear and rack mechanism. Each gripper module (4) includes a gripper (7) and a pointer module (44). The gripper (7) includes a gripper arm (72) and a gripper finger for mounting the pointer module (44). The gripper arms (72) are arranged opposite each other to form a space for accommodating the seedling tray (16). The gripper finger is provided with a second hole (74) and a first hole (75) for the pointer of the pointer module (44) to pass through. The pointer module (44) includes a first stud (8) and a second stud (13) connected together with a gasket (11), and an end baffle (9) fixed to the end of the first stud (8). The first stud (8) and the second stud (13) constitute a pointer that passes through the second hole (74) and the first hole (75) respectively. The end baffle (9) and the second hole are provided with a second hole (74) and a first hole (75) respectively. (74) A spring (12) is sleeved on the pressure rod (26); or instead of the first stud (8) and the second stud (13) and the end baffle (9), the pressure rod (26) with a shoulder (25) is provided, the pressure rod (26) forms a pointer corresponding to passing through the second hole (74) and the first hole (75), a spring (12) is sleeved on the pressure rod (26) between the shoulder (25) and the second hole (74), a group of seedling trays (16) are arranged on the support platform (15), the support platform (15) is a long strip structure, a group of positions (51) for placing seedling trays (16) are arranged longitudinally on the platform body plate of the support platform (15), and on the transverse sides of the platform body plate, an edge (52) of a predetermined height is formed from the bottom side to the top side with a smooth surface transition, forming a slope that slopes towards the center as it moves towards the top side.

9. A forage production system, characterized in that, include: The flexible seedling tray gripping mechanism, the support platform (15) for conveying the seedling tray, and the lifting platform for moving the gripping platform (1) via the lifting cylinder according to any one of claims 1 to 7, wherein the lifting platform is provided with a lifting limit part to ensure that the pointer of the pointer module (44) contacts the edge (52) of the support platform (15) before the preset gripping position of the seedling tray (16) during the clamping action. During the clamping action of each gripper arm (72), the initial clamping position of the pointer module (44) is set to the edge (52) of the support platform (15). The lifting platform is raised, and while the clamping action of each gripper arm (72) continues, the compression property of the spring (12) is used to make the first stud (8) slide upward relative to the edge (52) to accurately reach the gripping position of the seedling tray (16). The end baffle (9) can enter the gripping groove (61).

10. A method for grasping seedling trays, characterized in that, The forage production system according to claim 9 is used to perform the following steps: Using the lifting platform, the gripping platform (1) is moved from the standby position to the support platform (15) that carries the seedling tray (16) until the pointers of each pointer module (44) can contact the edge (52) of the support platform (15) before the preset gripping position of the seedling tray (16) during the clamping action. The gripper modules (4) on the two adjacent rotating shafts (2) are driven to close relative to each other, so that the pointers of each pointer module (44) contact the edge (52) of the support platform (15) below the corresponding seedling tray (16). Further enhance the lifting platform so that the pointers of each pointer module (44) slide down through the edge (52) under the action of the spring (12) and are clamped at the preset clamping position of the seedling tray (16); Further upgrade the lifting platform to move the grabbing platform (1) holding the seedling tray (16) to the target handover position.

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