Bidirectional automatic seedbed and potted flower transfer device and transfer method

Abstract

The invention relates to a bidirectional automatic seedbed and potted flower transfer device and method. The bidirectional automatic seedbed and potted flower transfer device comprises a conveying mechanism, a lifting mechanism, a push-pull mechanism, a grabbing mechanism, a conveying mechanism and a control system. The conveying mechanism comprises a seedbed frame, a motor, a chain, a transverse conveying supporting wheel and a chain wheel, the lifting mechanism comprises an air cylinder, a telescopic rod and a supporting rod supported on an air cylinder shaft and the telescopic rod, the push-pull mechanism comprises a push plate, a small air cylinder, a moving frame, a rail and a motor, and the grabbing mechanism comprises a portal frame and a mechanical arm. The conveying mechanism comprises a guide frame, an angle iron rail and a belt conveyor; the control system comprises a controller, a limit switch, a proximity switch, a magnetic reed switch and a photoelectric counter and is used for monitoring the position of the seedbed, accurately starting and stopping the seedbed and counting flowers. Bidirectional orderly automatic transfer of potted flowers entering and moving out of a cultivation greenhouse can be achieved, the working efficiency is improved, and the labor intensity is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of facility flower intelligent equipment, and in particular to the bidirectional transportation of seedling beds and potted flowers, and specifically refers to a bidirectional automatic seedling bed and potted flower transportation device and transportation method. Background Art

[0002] Potted seedling beds are a widely used agricultural production method in my country. During the transportation process, they often need to be transported manually. The automated transportation and control system of seedling beds can help reduce labor costs and improve efficiency. The mechanization level of seedling bed transportation has affected the production level of facility agriculture to a certain extent.

[0003] For the transportation of seedling beds, the common domestic transportation methods are manual transportation or semi-automatic transportation by carts, but these methods require a lot of labor, and the efficiency of seedling bed transportation is low and the cost is high. Although some seedling bed transfer equipment has appeared, most of them are simple one-way transportation, which cannot form a two-way transfer of seedlings and mature potted plants at different stages, and there is no overall transfer solution that can be applied in both the seedling stage and the mature sales stage. Therefore, there is an urgent need for a two-way automatic transfer device for seedling beds and potted flowers. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a two-way automated seedling bed and potted flower transfer device and transfer method, which solves the problems of requiring a large amount of manpower and low efficiency during the seedling bed transportation process, improves the efficiency of seedling bed transportation, reduces labor costs, and realizes two-way transfer of seedlings and mature potted plants.

[0005] The present invention is realized through the following technical scheme, which provides a bidirectional automatic seedling bed and potted flower transfer device, including a grasping mechanism, a transport mechanism for transporting the seedling bed in the horizontal direction, a transmission mechanism located at one side of the transport mechanism and transporting the potted flowers in the horizontal direction, and a longitudinal transmission mechanism located at the other side of the transport mechanism, a lifting mechanism opposite to the longitudinal transmission mechanism is provided below the transport mechanism, and a push-pull mechanism for pushing the seedling bed to move in the longitudinal direction is provided on one side of the lifting mechanism; by respectively arranging a transmission mechanism and a longitudinal transmission mechanism on both sides of the transmission mechanism, the seedlings on the transmission mechanism are transferred to the longitudinal transmission mechanism by using the transport mechanism for transporting the seedling bed in the horizontal direction, thereby realizing the transfer of the seedlings to the cultivation area, and also realizing the transfer of mature potted plants on the longitudinal transmission mechanism to the transmission mechanism, thereby realizing the transfer of cultivated potted flowers to the sales area.

[0006] The grabbing mechanism includes a gantry spanning over the transport mechanism and the transmission mechanism, a manipulator mounted on the gantry, and a driving mechanism for driving the manipulator to move back and forth over the transport mechanism and the transmission mechanism; the manipulator is driven to move by the driving mechanism, thereby realizing the movement of potted plants on the transmission mechanism and the transport mechanism, and reducing the labor intensity of workers.

[0007] The conveying mechanism includes a conveying frame and a belt conveyor installed on the conveying frame, the belt conveyor extends into the gantry, and a guide frame located above the belt conveyor is suspended on the gantry through a suspension rod, and the guide frame is provided with a guide channel adapted to the pots of potted flowers; seedlings or mature potted plants are conveyed by the arranged belt conveyor, and the guide frame and the guide channel are provided to provide guidance for the pots, so that the potted plants entering the guide channel are arranged in a row, which is convenient for being grabbed by the robot.

[0008] The transport mechanism includes two seedling bed frames extending in the transverse direction, transverse transport support wheels rotatably installed on the seedling bed frames, and a first driving device that drives the transverse transport support wheels to rotate, wherein the transverse transport support wheels support and transport the seedling bed; the transverse transport support wheels are driven to rotate by the first driving device to realize transverse transport of the seedling bed, thereby further reducing labor intensity.

[0009] The longitudinal conveying mechanism includes two support frames extending longitudinally, longitudinal transport support wheels rotatably mounted on the support frames, and a second driving device for driving the longitudinal transport support wheels to rotate. The longitudinal transport support wheels support and convey the seedbed, and the supporting height of the longitudinal transport support wheels is higher than the supporting height of the transverse transport support wheels. By setting up the longitudinal conveying mechanism, the transfer of the seedbed between the cultivation area and the conveying mechanism is realized.

[0010] The lifting mechanism includes two lifting devices distributed in the transverse direction, and the lifting device includes a support rod located below the seedbed transported by the transportation mechanism, and a telescopic device driving the support rod to move vertically, and the axis of the support rod extends longitudinally; utilizing the height difference between the longitudinal transportation support wheel and the transverse transportation support wheel, combined with the lifting mechanism, it is convenient to realize the position conversion of the seedbed between the longitudinal transportation support wheel and the transverse transportation support wheel, without the need for manual moving, further reducing the labor intensity.

[0011] The push-pull mechanism includes a guide rail located between the two lifting devices and extending longitudinally to the longitudinal conveying mechanism, a mobile frame supported on the guide rail, and a push-pull driving device driving the mobile frame to move along the guide rail. A telescopic mechanism is installed on the mobile frame, the movable end of the telescopic mechanism extends upward, and a push plate is fixed at the movable end of the telescopic mechanism. The push-pull mechanism of this solution uses the mobile frame to drive the push plate to move, and uses the push plate to push the seedbed to move, thereby realizing the position conversion of the seedbed between the longitudinal transport support wheel and the transverse transport support wheel.

[0012] As an optimization, the conveying mechanism further includes a track supporting the conveying frame and a third driving device driving the conveying frame to move along the track. The configuration of this optimization scheme enables the conveying mechanism to move as a whole under the action of the third driving device, so that the conveying mechanism can transport potted flowers by a transport vehicle.

[0013] As an optimization, the lifting mechanism further includes guide mechanisms respectively located on both sides of the lifting device, the guide mechanisms include a guide cylinder and a guide rod arranged vertically, the guide rod extends downward into the guide cylinder and is slidably connected to the guide cylinder, and the upper end of the guide rod is fixedly connected to the support rod. This optimization scheme improves the stability of the support rod by setting the guide mechanism, thereby improving the stability of the supporting seedbed.

[0014] As an optimization, the telescopic mechanism is two pieces, and the two telescopic mechanisms are distributed in the longitudinal direction, and the longitudinal spacing of the push plates of the two telescopic mechanisms is greater than the longitudinal length of the seedbed. The setting of this optimization scheme uses the front and rear push plates to push the seedbed respectively, which reduces the moving distance of the mobile frame, shortens the waiting time for the mobile frame to move, and improves work efficiency.

[0015] As an optimization, the guide frame is provided with a photoelectric counter located at the entrance of the guide channel, and the photoelectric counter is used to count the flower pots entering the guide channel. This optimization scheme counts the flower pots entering the guide channel by the photoelectric counter, thereby facilitating the control of the number of flower pots, so that the number of flower pots is consistent with the number that the manipulator can grab at one time, further improving the transfer efficiency.

[0016] As an optimization, it also includes a controller electrically connected to the driving mechanism, the first driving device, the second driving device, the telescopic device, the push-pull driving device, and the telescopic mechanism, as well as a first limit switch, a second limit switch, a third limit switch, a first proximity switch, a second proximity switch, a first reed switch, and a second reed switch electrically connected to the controller. The installation position of the first limit switch is adapted to the position of the seedling bed when it moves longitudinally to the rear end of the support rod, the installation position of the second limit switch is adapted to the position of the conveyor frame when the output end of the belt conveyor of the conveyor frame is located below the gantry frame, and the The installation position of the three limit switches is adapted to the position of the conveyor frame away from one end of the gantry frame, the installation position of the first proximity switch is adapted to the position of the seedbed when it moves longitudinally to the rear end of the support frame, the installation position of the second proximity switch is adapted to the position of the seedbed when it moves transversely to the position opposite to the longitudinal conveying mechanism, the installation position of the first reed switch is adapted to the position of the seedbed when it moves longitudinally to the front end of the support frame, the installation position of the second reed switch is adapted to the working position of the seedbed when it moves transversely to the bottom of the gantry frame, and magnets adapted to the first reed switch and the second reed switch are installed on the seedbed. The setting of this optimization scheme improves the automation level at each node in the seedbed transportation process and further improves the transportation efficiency.

[0017] The present invention also provides a method for transferring a two-way automated seedling bed and potted flower transfer device, comprising the following steps: a. When the seedlings need to be transported from the nursery area to the cultivation area, the conveyor frame moves toward the gantry frame, and when the conveyor frame triggers the second limit switch, the conveyor frame stops moving; b. Workers place flower pots with seedlings on the belt conveyor on the conveyor rack. The flower pots enter the guide channel along the belt conveyor and are counted by a photoelectric counter installed at the entrance of the guide channel. Every time a flower pot moves into the guide channel, the controller counts a number. When the count is consistent with the number of workstations of the manipulator, the manipulator grabs the row of flower pots with seedlings at the same time and places them in the seedbed on the seedbed rack; c. When the seedbed on the seedbed rack is full of flower pots, the first driving device drives the lateral transport support wheel to reverse and transport the seedbed to the left. When the second proximity switch is triggered, the first driving device stops working, so that the seedbed stops above the support rod of the lifting mechanism. The lifting device is activated to extend the support rod upward and lift the seedbed upward until the bottom surface of the seedbed is flush with the top of the longitudinal transport support wheel of the longitudinal transport mechanism. d. The mobile frame moves backward, and the telescopic mechanism is activated to make the push plate located at the rear side of the seedbed. Then, the mobile frame moves forward, and the push plate pushes the seedbed forward to the longitudinal transport support wheel. The second drive device drives the longitudinal transport support wheel to reverse and transport the seedbed forward. When the first reed switch is triggered, the second drive device stops working, and the seedbed stops at the designated position of the cultivation area. e. When the flower pots are mature and need to be moved from the cultivation area to the sales area, the conveyor frame is moved to the right, so that the input end of the belt conveyor on the conveyor frame is moved below the gantry frame, and the output end of the belt conveyor extends to the sales area; the second drive device drives the longitudinal transport support wheel to rotate forward to transport the seedbed backward. When the first proximity switch is triggered, the second drive device stops working, so that the seedbed stops at the rear end of the support frame; f. After the first proximity switch is triggered, the lifting device is activated to extend the support rod upward, and the top of the support rod is flush with the top of the longitudinal transport support wheel of the longitudinal conveying mechanism, the mobile frame moves forward, and the telescopic mechanism is activated to make the push plate located at the front side of the seedbed. Then, the mobile frame moves backward, and the push plate pushes the seedbed backward to the support rod; g. When the seedbed moves to the rear end of the support rod, the second proximity switch is triggered, the moving frame stops moving, the lifting device is actuated to retract the support rod, the seedbed is supported on the transverse transport support wheel, the first drive device drives the transverse transport support wheel to rotate forward, and the seedbed is transported to the right. When the second reed switch is triggered, the first drive device stops working, the seedbed stops in the grabbing area of ​​the manipulator, and the manipulator is used to move the potted flowers in the seedbed to the belt conveyor on the conveyor frame; h. Use the overall movement of the conveyor rack to deliver potted flowers to the sales area; Alternatively, the conveyor rack is kept stationary as a whole, a conveying rack is arranged on one side of the conveyor rack, the potted flowers on the conveyor rack are moved to the conveying rack, and the potted flowers are delivered to the sales area by utilizing the overall movement of the conveyor rack.

[0018] The beneficial effects of the present invention are: 1. The present invention adopts a two-way automatic transfer device, which realizes the two-way orderly automatic transfer of the seedbed through the cooperation of the transportation mechanism, the lifting mechanism, the push-pull mechanism and the control system, thereby improving the efficiency and flexibility of the seedbed transportation and reducing the labor cost. 2. The present invention adopts two push plates to push the seedbed in two directions respectively, thereby increasing the contact area between the seedbed and the push plates, ensuring stable operation and firm contact, and reducing the moving distance of the mobile frame, thereby improving the transportation efficiency.

[0019] 3. The present invention adopts proximity switches, limit switches and reed switches to be electrically connected with the controller to realize functions such as detecting the position of the seedbed, limiting the movement of the seedbed to the front end of the lifting rod, accurately controlling the stop of the seedbed, and transmitting signals to the controller, thereby ensuring the automation and orderly transportation of the seedbed.

[0020] 4. The present invention counts the potted plants by a photoelectric counter to ensure the number of potted plants moved under the gantry, which is beneficial for the robot to grab the entire row of potted plants.

[0021] 5. The present invention provides a guide frame to guide the potted plants, thereby ensuring that the potted plants are arranged in sequence and preventing the potted plants from tilting to the side or sliding out. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the transfer device of the present invention; Figure 2 It is a schematic diagram of the lifting mechanism structure of the present invention; Figure 3 It is a schematic diagram of the structure of the transport mechanism of the present invention; Figure 4 It is a schematic diagram of the push-pull mechanism structure of the present invention; Figure 5 It is a schematic diagram of the positions of the proximity switches of the present invention; Figure 6 This is a schematic diagram of the position of the second limit switch of the present invention; Figure 7 This is a schematic diagram of the guide frame structure of the present invention; As shown in the figure: 1. First proximity switch, 2. Second proximity switch, 3. First limit switch, 4. Transmission chain, 5. Telescopic mechanism, 6. Seedbed, 7. Seedbed frame, 8. Manipulator, 9. Truss, 10. Controller, 11. First reed switch, 12. Transverse transport support wheel, 13. First drive device, 14. Moving wheel, 15. Moving frame, 16. Push-pull drive device, 17. Rear side plate, 18. Telescopic device, 19. Guide rail, 20. Front side plate, 21. Guide mechanism, 22. Belt conveyor, 23. Guide frame, 24. Photoelectric counter, 25. Second reed switch, 26. Third drive device, 27. Second limit switch, 30. Support rod, 31. Track, 32. Travel wheel. DETAILED DESCRIPTION

[0023] In order to clearly illustrate the technical features of this solution, this solution is described below through a specific implementation method.

[0024] like Figure 1 A bidirectional automated seedling bed and potted flower transfer device is shown, comprising a gripping mechanism, a transport mechanism for laterally transporting a seedling bed 6, a transmission mechanism located on one side of the transport mechanism and for laterally transporting potted flowers, and a longitudinal transport mechanism located on the other side of the transport mechanism. In this embodiment, the longitudinal transport mechanism is located on the front side of the transport mechanism, and the transmission mechanism is located on the rear side of the transport mechanism, wherein one end of the longitudinal transport mechanism away from the transport mechanism extends to the cultivation area, and a conveying frame is provided on the left side of the longitudinal conveying mechanism, on which a moving device and a conveyor belt are installed, and the moving device can drive the conveying frame to move as a whole, and the structure of the moving device can adopt existing technology, for example, a motor is installed on the walking wheel of the conveying frame.

[0025] The transport mechanism includes two seedling bed frames 7 extending in the transverse direction, transverse transport support wheels 12 rotatably mounted on the seedling bed frames 7, and a first drive device 13 driving the transverse transport support wheels to rotate, wherein the transverse transport support wheels 12 support and transport the seedling bed 6. The two seedling bed frames are respectively provided with a plurality of transverse transport support wheels 12 arranged in sequence in the transverse direction, and a double sprocket is fixedly mounted on the wheel axle of the transverse transport support wheel, and each double sprocket is sequentially connected in transmission through a transmission chain 4, one of the sprockets of the double sprocket is connected in transmission with one of the sprockets of the previous double sprocket through a chain, and the other sprocket of the double sprocket is connected in transmission with one of the sprockets of the next double sprocket through a chain, and the wheel axle of one of the transverse transport support wheels is connected in transmission with the first drive device. In order to simplify the structure, the first drive device of the present embodiment is a transverse drive motor, and the motor shaft of the transverse drive motor is coaxially fixedly connected with the wheel axle of one of the transverse transport support wheels. The horizontal transport support wheels on the same seedling bed frame share a motor drive, which increases the driving range of the motor and reduces the number of motors used. The chains are of different lengths, and the long and short chains are installed alternately, which can prevent the chain from affecting the push-pull mechanism and facilitate the maintenance of the device. The horizontal transport support wheels on the two seedling bed frames are located on the opposite side of the two seedling bed frames, and the sprocket is located on the side away from the two seedling bed frames.

[0026] The longitudinal transport mechanism includes two support frames extending in the longitudinal direction, longitudinal transport support wheels rotatably mounted on the support frames, and a second driving device driving the longitudinal transport support wheels to rotate, wherein the longitudinal transport support wheels support and transport the seedbed, and the supporting height of the longitudinal transport support wheels is higher than the supporting height of the transverse transport support wheels. The transmission between the longitudinal transport support wheels of this embodiment is the same as the transmission structure between the transverse transport support wheels, both of which adopt a double sprocket and chain transmission structure, and the longitudinal transport support wheels are driven to rotate by a longitudinal drive motor.

[0027] A lifting mechanism is provided below the transport mechanism and is longitudinally opposite to the longitudinal conveying mechanism. A push-pull mechanism for pushing the seedbed to move longitudinally is provided on one side of the lifting mechanism.

[0028] like Figure 3As shown, the lifting mechanism of this embodiment includes two lifting devices distributed in the transverse direction, the lifting device includes a support rod 30 located below the seedbed transported by the transport mechanism, and a telescopic device 18 driving the support rod 30 to move vertically, the axis of the support rod extends longitudinally, the two support rods are arranged horizontally and parallel to each other, the telescopic device 18 adopts a vertical telescopic cylinder, the upper end of the piston rod of the cylinder is fixedly connected to the support rod, and the cylinder is located in the middle of the two seedbed frames. In order to improve the stability of the seedbed support, the lifting mechanism of this embodiment also includes a guide mechanism 21 located at the front and rear sides of the lifting device respectively, the guide mechanism 21 includes a guide cylinder and a guide rod arranged vertically, the guide rod extends downward into the guide cylinder and is slidably connected to the guide cylinder, and the upper end of the guide rod is fixedly connected to the support rod. Each lifting device and the two guide mechanisms form a three-point support for the support rod, thereby greatly improving the stability of the supported seedbed. When the seedbed is transported to the specified position and the proximity switch is triggered, the controller sends a command to the cylinder, and the guide rod and the support rod rise and fall synchronously with the cylinder, thereby adjusting the height of the seedbed to make the seedbed flush with the horizontal transport support wheel or the longitudinal transport support wheel.

[0029] The push-pull mechanism of this embodiment is arranged between the two lifting devices. Specifically, Figure 5 As shown, the push-pull mechanism includes a guide rail 19 located between two lifting devices and extending longitudinally to the longitudinal conveying mechanism, a mobile frame 15 supported on the guide rail, and a push-pull driving device 16 driving the mobile frame to move along the guide rail, and a telescopic mechanism 5 is installed on the mobile frame 15, the movable end of the telescopic mechanism extends upward, and a push plate is fixed at the movable end of the telescopic mechanism. The bottom of the mobile frame of this embodiment is installed with a roller moving along the guide rail, and the push-pull driving device includes two push-pull sprocket wheels rotatably arranged on the guide rail, the two push-pull sprocket wheels are connected by a push-pull chain transmission, and the upper side or lower side of the push-pull chain is fixedly connected to the mobile frame, one of the push-pull sprocket wheels is connected to the push-pull motor by a push-pull motor, and the push-pull motor drives the push-pull sprocket wheel to rotate forward and reversely, thereby driving the push-pull chain to move, and realizing the movement of the mobile frame, and the movement speed and movement direction of the mobile frame are controlled by the push-pull motor. The mobile frame and the push-pull motor are driven by a chain, and the push-pull motor is used to pull the mobile frame to move in the fixed guide rail, which has the characteristics of stable transmission, high precision and low use cost.

[0030] The telescopic mechanism of this embodiment adopts a small cylinder, which is flexible in control, stable in operation, and has firm contact. The telescopic mechanism 5 is composed of two parts, which are distributed in the longitudinal direction. The distance between the push plates of the two telescopic mechanisms in the longitudinal direction is greater than the longitudinal length of the seedbed. The side plates of the two telescopic mechanisms are the front side plate 20 and the rear side plate 17. When in use, the front side plate 20 is used to push the seedbed backward, that is, the seedbed is pushed from the longitudinal conveying mechanism to the support rod, and the rear side plate 17 is used to push the seedbed forward, that is, the seedbed is pushed from the support rod to the longitudinal conveying mechanism.

[0031] The conveying mechanism includes a conveying frame that moves in the transverse direction and a belt conveyor 22 installed on the conveying frame. The belt conveyor 22 extends into the gantry frame, and a guide frame 23 located above the belt conveyor is suspended on the gantry frame through a suspension rod. The guide frame 23 is provided with a guide channel adapted to the flower pots of potted flowers. A gap is left between the guide frame and the conveyor belt of the belt conveyor. The guide channel is used to guide the potted plants on the conveyor belt to move along the middle position of the conveyor belt to ensure that the potted plants are arranged in an orderly manner and prevent the potted plants from slipping out.

[0032] The guide frame is provided with a photoelectric counter 24 located at the entrance of the guide channel, and the photoelectric counter is used to count the flower pots entering the guide channel.

[0033] The conveying mechanism also includes a track 31 supporting the conveying frame and a third driving device 26 driving the conveying frame to move along the track. The track is made of angle iron. The conveying frame is provided with at least four legs, and the lower ends of the legs are equipped with walking wheels 32 supported on the track. The walking wheels are V-shaped wheels, which are used in conjunction with the angle iron track to effectively ensure the state conversion of the conveying frame. It is simple and effective. The third driving device is a walking motor, and the wheel axle of one walking wheel is coaxially fixed with the motor shaft of the walking motor. The walking motor drives the walking wheel to rotate to realize the overall movement of the conveying frame.

[0034] The grabbing mechanism includes a gantry spanning over the transport mechanism and the transmission mechanism, a manipulator 8 mounted on the gantry, and a driving mechanism for driving the manipulator 8 to move back and forth over the transport mechanism and the transmission mechanism. Both the manipulator and the driving mechanism adopt existing technologies. For example, the manipulator adopts a four-station manipulator in the existing technology and can grab four flower pots at the same time. The driving mechanism adopts a transverse and longitudinal screw-nut mechanism, and a truss 9 and a longitudinal screw-nut mechanism are slidingly arranged on the gantry. The truss 9 is driven to move in the front-rear direction by the longitudinal screw-nut mechanism. A slide and a transverse screw-nut mechanism are arranged on the truss, and the slide is driven to move in the left-right direction by the transverse screw-nut mechanism. The multi-directional movement of the manipulator is realized, the working range of the manipulator is ensured, and the flexibility of the work is increased.

[0035] In order to improve the level of automation, the transfer device of this embodiment also includes a controller 10 electrically connected to the drive mechanism, the first drive device, the second drive device, the telescopic device, the push-pull drive device, and the telescopic mechanism, as well as a first limit switch, a second limit switch, a third limit switch, a first proximity switch, a second proximity switch, a first reed switch, and a second reed switch electrically connected to the controller 10. The controller, the limit switch, the proximity switch, the reed switch, and the photoelectric counter form a control system. The first proximity switch and the second proximity switch are used to detect the position of the seedling bed and send signals to the controller, thereby realizing the control of the motor, the cylinder, and the small cylinder to prevent the seedling bed from sliding into the horizontal seedling bed frame when the support rod is not raised, causing the seedling bed to overturn; the first limit switch is used to limit the seedling bed when it moves to the rear end of the support rod to prevent the seedling bed from continuing to move and leaving the seedling bed frame. The second limit switch and the third limit switch are installed on the angle iron track to limit the conveyor frame to prevent it from sliding out of the angle iron track, so that the system switches between two states; the reed switch includes a first reed switch 11 fixed at the front end of the longitudinal support frame and a second reed switch 25 fixed at the right end of the horizontal seedling bed frame, and a magnet is embedded in the seedling bed to cooperate with the reed switch to ensure that the seedling bed 6 stops accurately on the horizontal and vertical seedling bed frames; the photoelectric counter is used to count potted plants, and each time a potted plant moves to the guide frame, the photoelectric counter records a number. The counting of potted plants is realized, and the number of potted plants moving to the guide frame is ensured, which is conducive to the robot to grab the whole row of potted plants.

[0036] like Figure 6As shown, the first limit switch 3 is installed on the seedling bed frame on the side of the transport mechanism away from the longitudinal conveying mechanism, and the installation position of the first limit switch 3 is adapted to the position of the seedling bed when it moves to the rear end of the support rod in the longitudinal direction. The second limit switch 27 is installed on the track, and the installation position of the second limit switch 27 is adapted to the position of the conveying frame when the output end of the belt conveyor of the conveying frame is located below the gantry, which is used to limit the conveying frame when it moves to the seedling raising area. The third limit switch is also installed on the track, and the installation position of the third limit switch is adapted to the position of the conveying frame at one end away from the gantry. The third limit switch of this embodiment is installed at the rightmost end of the angle iron track, which is used to limit the conveying frame when it moves to the sales area, ensuring that the conveying frame stops in time on the angle iron track. The first proximity switch 1 is installed on the support frame, and the installation position of the first proximity switch 1 is adapted to the position of the seedling bed when it moves to the rear end of the support frame in the longitudinal direction. The second proximity switch 2 is installed on the seedling bed frame on the side of the transport mechanism away from the longitudinal conveying mechanism, and the installation position of the second proximity switch 2 is adapted to the position of the seedling bed when it moves horizontally to the position opposite to the longitudinal conveying mechanism. The first reed switch 11 is installed on the support frame, and the installation position of the first reed switch 11 is adapted to the position of the seedbed when it moves longitudinally to the front end of the support frame. The second reed switch 25 is installed on the seedbed frame, and the installation position of the second reed switch 25 is adapted to the working position of the seedbed when it moves horizontally to the bottom of the gantry frame. Magnets adapted to the first reed switch and the second reed switch are installed on the seedbed. This embodiment uses a proximity switch, a limit switch and a reed switch to be electrically connected to the controller to realize the functions of detecting the position of the seedbed, limiting the seedbed when it moves to the end of the support rod, accurately controlling the stop of the seedbed, and transmitting signals to the controller, thereby ensuring the automation and orderly transportation of the seedbed.

[0037] When the flowers in the facility potted flower production do not meet the sales or transplanting standards, the seedlings or flowers need to be placed in the cultivation area for cultivation. When the seedlings or flowers meet the sales or transplanting standards, the seedbed needs to be transferred from the cultivation area to the sales area or transplanting preparation area. The solution of this embodiment is a seedbed transportation device that can achieve bidirectional orderly automation to better meet production needs. Specifically, the transfer method of the bidirectional automated seedbed and potted flower transfer device of this embodiment includes the following steps: a. When the seedlings need to be transported from the nursery area to the cultivation area, the conveyor rack is placed in the seedling entry state, and the controller sends instructions to control the travel motor to rotate forward, so that the conveyor rack moves toward the gantry. When the right end of the conveyor rack triggers the second limit switch, the conveyor rack stops moving; b. Workers place flower pots with seedlings on the belt conveyor on the conveyor rack. The flower pots enter the guide channel with the belt conveyor and are counted by a photoelectric counter installed at the entrance of the guide channel. Every time a flower pot moves into the guide channel, the controller counts a number. When the count is consistent with the number of stations of the manipulator, the manipulator grabs the row of flower pots with seedlings at the same time. In this embodiment, when the count is four, the controller receives a signal and controls the four-station manipulator to grab the four flower pots with seedlings in the row at the same time and place them in the seedbed on the seedbed rack; c. When the seedbed on the seedbed rack is full of flower pots, the controller sends a command to the first drive device, and the first drive device drives the lateral transport support wheel to reverse and transport the seedbed to the left. When the second proximity switch is triggered, the first drive device stops working, so that the seedbed stops accurately above the support rod of the lifting mechanism, and the lifting device is actuated to extend the support rod upward and lift the seedbed upward until the bottom surface of the seedbed is flush with the top of the longitudinal transport support wheel of the longitudinal transport mechanism; d. The mobile frame moves backward, and the telescopic mechanism is activated, so that the rear push plate is located at the rear side of the seedbed. Then, the mobile frame moves forward, and the push plate pushes the seedbed forward to the longitudinal transport support wheel. The second drive device drives the longitudinal transport support wheel to reverse and transport the seedbed forward. When the first reed switch is triggered, the second drive device stops working, so that the seedbed stops at the designated position of the cultivation area. e. When the flower pots are mature and need to be moved from the cultivation area to the sales area, the conveyor rack is placed in the pot removal state, and the controller sends a command to the travel motor to control the travel motor to reverse and move the conveyor rack to the right, so that the input end of the belt conveyor on the conveyor rack is moved below the gantry, and the output end of the belt conveyor extends to the sales area until the third limit switch is triggered and the travel motor stops moving, at which time it contacts the sales area; the controller sends a command, and the second drive device drives the longitudinal transport support wheel to rotate forward to transport the seedbed backward. When the first proximity switch is triggered, the second drive device stops working, so that the seedbed stops at the rear end of the support rack; f. After the first proximity switch is triggered, the controller receives the signal and the seedbed stops moving, the lifting device is activated, the support rod is extended upward, and the top of the support rod is flush with the top of the longitudinal transport support wheel of the longitudinal conveying mechanism, the mobile frame moves forward, the telescopic mechanism is activated, and the front push plate is located at the front side of the seedbed, then the mobile frame moves backward, and the front push plate pushes the seedbed backward to the support rod; g. When the seedbed moves to the rear end of the support rod, the second proximity switch is triggered, the mobile frame stops moving, the lifting device is actuated to retract the support rod, the seedbed is supported on the transverse transport support wheel, the first drive device drives the transverse transport support wheel to rotate forward, and the seedbed is transported to the right. When the second reed switch is triggered, the controller receives the signal and controls the first drive device to stop working, the seedbed stops in the grabbing area of ​​the manipulator, and the manipulator is used to move the potted flowers in the seedbed to the belt conveyor on the conveyor frame; h. Use the overall movement of the conveyor rack to deliver potted flowers to the sales area; Alternatively, the conveying rack is kept stationary as a whole, a conveying rack is set on a track on one side of the conveying rack, and a moving wheel 14 is set at the bottom of the conveying rack to move the potted flowers on the conveying rack to the conveying rack, and the potted flowers are sent to the sales area by utilizing the overall movement of the conveying rack.

[0038] Of course, the above description is not limited to the above examples. Technical features not described in the present invention can be achieved by or by using existing technologies, which will not be described here. The above embodiments and drawings are only used to illustrate the technical scheme of the present invention and are not limitations of the present invention. The present invention is described in detail with reference to the preferred implementation methods. Ordinary technicians in this field should understand that changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention do not depart from the purpose of the present invention, and should also fall within the scope of protection of the claims of the present invention.

Claims

1. A two-way automatic seedling bed and potted flower transfer device, characterized in that: It comprises a grabbing mechanism, a transport mechanism for transporting a seedbed (6) in a transverse direction, a conveying mechanism located on one side of the transport mechanism and transporting potted flowers in a transverse direction, and a longitudinal transport mechanism located on the other side of the transport mechanism, a lifting mechanism opposite to the longitudinal transport mechanism is provided below the transport mechanism, and a push-pull mechanism for pushing the seedbed to move in a longitudinal direction is provided on one side of the lifting mechanism; The grabbing mechanism comprises a gantry spanning over the transport mechanism and the transmission mechanism, a manipulator (8) mounted on the gantry, and a driving mechanism for driving the manipulator (8) to move back and forth over the transport mechanism and the transmission mechanism; The conveying mechanism comprises a conveying frame and a belt conveyor (22) mounted on the conveying frame, the belt conveyor (22) extending into the gantry, and a guide frame (23) located above the belt conveyor is suspended on the gantry via a suspension rod, the guide frame (23) being provided with a guide channel adapted to a flower pot of a potted flower; The transport mechanism comprises two seedling bed frames (7) extending in the transverse direction, transverse transport support wheels (12) rotatably mounted on the seedling bed frames (7), and a first driving device (13) for driving the transverse transport support wheels to rotate, wherein the transverse transport support wheels (12) support and transport the seedling bed (6); The longitudinal transport mechanism includes two support frames extending in the longitudinal direction, longitudinal transport support wheels rotatably mounted on the support frames, and a second driving device driving the longitudinal transport support wheels to rotate, wherein the longitudinal transport support wheels support and transport the seedbed, and the support height of the longitudinal transport support wheels is higher than the support height of the transverse transport support wheels; The lifting mechanism comprises two lifting devices distributed in the transverse direction, the lifting device comprises a support rod (30) located below the seedbed transported by the transport mechanism, and a telescopic device driving the support rod (30) to move vertically, and the axis of the support rod extends in the longitudinal direction; The push-pull mechanism comprises a guide rail (19) located between the two lifting devices and extending longitudinally to the longitudinal conveying mechanism, a movable frame (15) supported on the guide rail, and a push-pull driving device (16) for driving the movable frame to move along the guide rail, wherein a telescopic mechanism (5) is mounted on the movable frame (15), a movable end of the telescopic mechanism protrudes upward, and a push plate is fixedly provided at the movable end of the telescopic mechanism.

2. A two-way automatic seedling bed and potted flower transfer device according to claim 1, characterized in that: The conveying mechanism further includes a track for supporting the conveying frame and a third driving device for driving the conveying frame to move along the track.

3. The two-way automatic seedling bed and potted flower transport device according to claim 1, characterized in that: The lifting mechanism further comprises guide mechanisms (21) respectively located on both sides of the lifting device, the guide mechanism (21) comprising a guide cylinder and a guide rod arranged vertically, the guide rod extending downward into the guide cylinder and being slidably connected to the guide cylinder, and the upper end of the guide rod being fixedly connected to the support rod.

4. The two-way automatic seedling bed and potted flower transport device according to claim 1, characterized in that: The telescopic mechanism (5) consists of two parts, and the two telescopic mechanisms are distributed in the longitudinal direction, and the distance between the push plates of the two telescopic mechanisms in the longitudinal direction is greater than the longitudinal length of the seedbed.

5. The two-way automatic seedling bed and potted flower transfer device according to claim 1, characterized in that: The guide frame is provided with a photoelectric counter (24) located at the entrance of the guide channel, and the photoelectric counter is used to count the flower pots entering the guide channel.

6. The two-way automatic seedling bed and potted flower transfer device according to claim 1, characterized in that: The invention also includes a controller (10) electrically connected to the driving mechanism, the first driving device, the second driving device, the telescopic device, the push-pull driving device, and the telescopic mechanism, as well as a first limit switch, a second limit switch, a third limit switch, a first proximity switch, a second proximity switch, a first reed switch, and a second reed switch electrically connected to the controller (10), wherein the installation position of the first limit switch (3) is adapted to the position of the seedling bed when the seedling bed moves longitudinally to the rear end of the support rod, the installation position of the second limit switch (27) is adapted to the position of the conveyor frame when the output end of the belt conveyor of the conveyor frame is located below the gantry frame, and the installation position of the third limit switch (27) is adapted to the position of the conveyor frame when the output end of the belt conveyor of the conveyor frame is located below the gantry frame. The installation position of the position switch is adapted to the position of the conveying frame at one end away from the gantry frame, the installation position of the first proximity switch (1) is adapted to the position of the seedling bed when it moves longitudinally to the rear end of the support frame, the installation position of the second proximity switch (2) is adapted to the position of the seedling bed when it moves transversely to the position opposite to the longitudinal conveying mechanism, the installation position of the first reed switch (11) is adapted to the position of the seedling bed when it moves longitudinally to the front end of the support frame, the installation position of the second reed switch (25) is adapted to the working position of the seedling bed when it moves transversely to the bottom of the gantry frame, and magnets adapted to the first reed switch and the second reed switch are installed on the seedling bed.

7. A method for transferring a two-way automatic seedling bed and potted flower transfer device according to claim 6, characterized in that: The following steps are involved: a. When the seedlings need to be transported from the nursery area to the cultivation area, the conveyor frame moves toward the gantry frame, and when the conveyor frame triggers the second limit switch, the conveyor frame stops moving; b. Workers place flower pots with seedlings on the belt conveyor on the conveyor rack. The flower pots enter the guide channel along the belt conveyor and are counted by a photoelectric counter installed at the entrance of the guide channel. Every time a flower pot moves into the guide channel, the controller counts a number. When the count is consistent with the number of workstations of the manipulator, the manipulator grabs the row of flower pots with seedlings at the same time and places them in the seedbed on the seedbed rack; c. When the seedbed on the seedbed rack is full of flower pots, the first driving device drives the lateral transport support wheel to reverse and transport the seedbed to the left. When the second proximity switch is triggered, the first driving device stops working, so that the seedbed stops above the support rod of the lifting mechanism. The lifting device is activated to extend the support rod upward and lift the seedbed upward until the bottom surface of the seedbed is flush with the top of the longitudinal transport support wheel of the longitudinal transport mechanism. d. The mobile frame moves backward, and the telescopic mechanism is activated to make the push plate located at the rear side of the seedbed. Then, the mobile frame moves forward, and the push plate pushes the seedbed forward to the longitudinal transport support wheel. The second drive device drives the longitudinal transport support wheel to reverse and transport the seedbed forward. When the first reed switch is triggered, the second drive device stops working, and the seedbed stops at the designated position of the cultivation area. e. When the flower pots are mature and need to be moved from the cultivation area to the sales area, the conveyor frame is moved to the right, so that the input end of the belt conveyor on the conveyor frame is moved below the gantry frame, and the output end of the belt conveyor extends to the sales area; the second drive device drives the longitudinal transport support wheel to rotate forward to transport the seedbed backward. When the first proximity switch is triggered, the second drive device stops working, so that the seedbed stops at the rear end of the support frame; f. After the first proximity switch is triggered, the lifting device is activated to extend the support rod upward, and the top of the support rod is flush with the top of the longitudinal transport support wheel of the longitudinal conveying mechanism, the mobile frame moves forward, and the telescopic mechanism is activated to make the push plate located at the front side of the seedbed. Then, the mobile frame moves backward, and the push plate pushes the seedbed backward to the support rod; g. When the seedbed moves to the rear end of the support rod, the second proximity switch is triggered, the moving frame stops moving, the lifting device is actuated to retract the support rod, the seedbed is supported on the transverse transport support wheel, the first drive device drives the transverse transport support wheel to rotate forward, and the seedbed is transported to the right. When the second reed switch is triggered, the first drive device stops working, the seedbed stops in the grabbing area of ​​the manipulator, and the manipulator is used to move the potted flowers in the seedbed to the belt conveyor on the conveyor frame; h. Use the overall movement of the conveyor rack to deliver potted flowers to the sales area; Alternatively, the conveyor rack is kept stationary as a whole, a conveying rack is arranged on one side of the conveyor rack, the potted flowers on the conveyor rack are moved to the conveying rack, and the potted flowers are delivered to the sales area by utilizing the overall movement of the conveyor rack.

Images