A two-way automated seedbed and potted flower transfer device and transfer method

Abstract

The present invention relates to a bidirectional automated seedbed and potted flower transfer device and method, comprising a transport mechanism, a lifting mechanism, a push-pull mechanism, a gripping mechanism, a conveying mechanism, and a control system. The transport mechanism comprises a seedbed frame, a motor, a chain, a transverse transport support wheel, and a sprocket; the lifting mechanism comprises a cylinder, a telescopic rod, and a support rod supported on the cylinder shaft and the telescopic rod; the push-pull mechanism comprises a push plate, a small cylinder, a mobile frame, a track, and a motor; the gripping mechanism comprises a gantry frame and a manipulator; and the conveying mechanism comprises a guide frame, an angle iron track, and a belt conveyor. The control system comprises a controller, a limit switch, a proximity switch, a reed switch, and a photoelectric counter for position monitoring of the seedbed, precise start and stop of the seedbed, and counting of the flowers. The present invention can realize bidirectional, orderly, and automated transfer of potted flowers into and out of a cultivation greenhouse, thereby improving work efficiency and reducing labor intensity.

Description

Technical Field

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

[0002] Potted seedbeds are a widely used agricultural production method in my country. During transportation, manual labor is often required. The automated transportation and control system of seedbeds can help reduce labor costs and improve efficiency. The mechanization level of seedbed transportation has affected the production level of facility agriculture to a certain extent.

[0003] Currently, the most common methods of transporting seedling beds in China are manual transport or semi-automated transport using carts. However, these methods require a lot of labor, resulting in low efficiency and high costs. Although some seedling bed transfer equipment has been developed, most of them are simple single-directional transport and cannot achieve two-way transport of seedlings and mature potted plants at different stages. There is also no solution that can achieve integrated transport for both the seedling stage and the mature and marketable stage. Therefore, there is an urgent need for a two-way automated transport device for seedling beds and potted flowers. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, 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 achieved through the following technical solutions, providing a bidirectional automatic seedling bed and potted flower transfer device, including a gripping mechanism, a transport mechanism for transporting the seedling bed laterally, a conveying mechanism located on one side of the transport mechanism and transporting the potted flowers laterally, and a longitudinal conveying mechanism located on the other side of the transport mechanism. A lifting mechanism opposite to the longitudinal conveying mechanism is provided below the transport mechanism, and a push-pull mechanism for pushing the seedling bed to move longitudinally is provided on one side of the lifting mechanism. By respectively arranging a conveying mechanism and a longitudinal conveying mechanism on both sides of the transport mechanism, the transport mechanism for transporting the seedling bed laterally is used to transfer the seedlings on the conveying mechanism to the longitudinal conveying mechanism, thereby realizing the transfer of the seedlings to the cultivation area, and also realizing the transfer of mature potted plants on the longitudinal conveying mechanism to the conveying mechanism, thereby realizing the transfer of the 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 driving mechanism drives the manipulator to move, thereby realizing the movement of potted plants on the transmission mechanism and the transport mechanism, 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 hanger, and the guide frame is provided with a guide channel adapted to the pots of potted flowers; the seedlings or mature potted plants are transported by the provided belt conveyor, and the guide frame and 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 laterally, transverse transport support wheels rotatably mounted on the seedling bed frames, and a first drive 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 drive 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 drive device that drives the longitudinal transport support wheels to rotate. The longitudinal transport support wheels support and convey the seedbed, and the support height of the longitudinal transport support wheels is higher than the support height of the transverse transport support wheels. By setting up the longitudinal conveying mechanism, the seedbed can be transferred between the cultivation area and the transport mechanism.

[0010] The lifting mechanism includes two lifting devices distributed along the transverse direction, and the lifting device includes a support rod located below the seedbed transported by the transport 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 transport support wheel and the transverse transport support wheel, combined with the lifting mechanism, it is easy to realize the position conversion of the seedbed between the longitudinal transport support wheel and the transverse transport support wheel, without the need for manual moving, further reducing labor intensity.

[0011] The push-pull mechanism includes a guide rail positioned 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 drive device that drives the mobile frame along the guide rail. The mobile frame is mounted with a telescopic mechanism, the movable end of which extends upward, and a push plate is fixed to the movable end of the telescopic mechanism. The push-pull mechanism of this solution utilizes the mobile frame to drive the push plate to move, which in turn drives the seedbed to move, thereby achieving position conversion of the seedbed between the longitudinal transport support wheels and the transverse transport support wheels.

[0012] As an optimization, the conveyor mechanism further includes a track supporting the conveyor frame and a third drive device for driving the conveyor frame along the track. This optimization solution allows the conveyor mechanism to move as a whole under the action of the third drive device, thereby enabling the conveyor mechanism to transport potted flowers by a transfer vehicle.

[0013] As an optimization, the lifting mechanism further includes guide mechanisms located on either side of the lifting device. The guide mechanisms include a vertically arranged guide cylinder and a guide rod. The guide rod extends downward into the guide cylinder and is slidably connected to the guide cylinder. The upper end of the guide rod is fixedly connected to the support rod. This optimization solution improves the stability of the support rod by providing the guide mechanism, thereby improving the stability of the supported seedbed.

[0014] As an optimization, the telescopic mechanism is comprised of two parts, distributed longitudinally, with the push plates of the two parts spaced longitudinally apart greater than the longitudinal length of the seedbed. This optimized solution utilizes the front and rear push plates to propel the seedbed independently, reducing the travel distance of the mobile frame, shortening the waiting time for the mobile frame to move, and improving work efficiency.

[0015] As an optimization, the guide frame is equipped with a photoelectric counter located at the entrance of the guide channel. This photoelectric counter counts the number of potted flowers entering the guide channel. This optimization solution uses the photoelectric counter to count the number of potted flowers entering the guide channel, thereby facilitating the control of the number of potted flowers, ensuring that the number of potted flowers is consistent with the number that the robot can grasp at one time, further improving 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 rack when the output end of the belt conveyor of the conveyor rack is located below the gantry rack, and the third limit switch is adapted to the position of the first limit switch when the output end of the belt conveyor of the conveyor rack is located below the gantry rack. The three limit switches are installed at the end of the conveyor frame away from the gantry. The first proximity switch is installed at the position of the seedbed when it moves longitudinally to the rear end of the support frame. The second proximity switch is installed at the position of the seedbed when it moves transversely to the position opposite the longitudinal conveyor mechanism. The first reed switch is installed at the position of the seedbed when it moves longitudinally to the front end of the support frame. The second reed switch is installed at the working position of the seedbed when it moves transversely to the working position below the gantry. Magnets are installed on the seedbed, respectively, that match the first and second reed switches. This optimized solution improves the level of automation at each node in the seedbed transfer process, further enhancing transfer efficiency.

[0017] This solution also provides a transfer method for a two-way automated seedbed and potted flower transfer device, comprising the following steps:

[0018] a. When the seedlings need to be transported from the nursery area to the cultivation area, the conveyor frame moves toward the gantry frame. When the conveyor frame triggers the second limit switch, the conveyor frame stops moving;

[0019] b. Workers place flower pots containing seedlings onto the belt conveyor on the conveyor rack. The flower pots follow the belt conveyor into the guide channel 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 matches the number of workstations of the robot, the robot grabs the row of flower pots containing seedlings at the same time and places them in the seedbed on the seedbed rack;

[0020] c. When the seedbed on the seedbed rack is filled with flower pots, the first drive device drives the transverse 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, causing the seedbed to stop above the support rod of the lifting mechanism. The lifting device then operates 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.

[0021] d. The mobile frame moves backward, and the telescopic mechanism is activated, so that the 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, and the seedbed stops at the designated position in the cultivation area.

[0022] 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 moves 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, transporting the seedbed backward. When the first proximity switch is triggered, the second drive device stops working, causing the seedbed to stop at the rear end of the support frame;

[0023] f. After the first proximity switch is triggered, the lifting device is activated, causing the support rod to extend upward and the top of the support rod to be flush with the top of the longitudinal transport support wheel of the longitudinal conveying mechanism. The movable frame moves forward, and the telescopic mechanism is activated, causing the push plate to be located in front of the seedbed. Then, the movable frame moves backward, and the push plate pushes the seedbed backward to move onto the support rod;

[0024] g. When the seedbed moves to the rear end of the support rod, the second proximity switch is triggered, the movable frame stops moving, the lifting device is activated, the support rod is retracted, the seedbed is supported on the transverse transport support wheel, and the first drive device drives the transverse transport support wheel to rotate forward, transporting the seedbed to the right. When the second reed switch is triggered, the first drive device stops working, the seedbed stops in the gripping 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;

[0025] h. Use the overall movement of the conveyor rack to deliver potted flowers to the sales area;

[0026] Alternatively, the entire conveying rack is kept stationary, a conveying rack is provided on one side of the conveying rack, the potted flowers on the conveying rack are moved onto the conveying rack, and the potted flowers are delivered to the sales area by utilizing the overall movement of the conveying rack.

[0027] The beneficial effects of the present invention are:

[0028] 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, lifting mechanism, push-pull mechanism and control system, thereby improving the efficiency and flexibility of seedbed transportation and reducing labor costs.

[0029] 2. The present invention adopts two push plates to push the seedbed in two directions respectively, which increases the contact area between the seedbed and the push plates, ensures stable operation and firm contact, reduces the moving distance of the mobile frame, and improves the transportation efficiency.

[0030] 3. The present invention adopts proximity switches, limit switches and reed switches to be electrically connected with the controller to realize the functions of 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.

[0031] 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.

[0032] 5. The present invention provides a guide frame to guide the potted plants, 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

[0033] Figure 1 Schematic diagram of the overall structure of the transfer device of the present invention;

[0034] Figure 2 This is a schematic diagram of the lifting mechanism structure of the present invention;

[0035] Figure 3 It is a schematic diagram of the structure of the transport mechanism of the present invention;

[0036] Figure 4 This is a schematic diagram of the push-pull mechanism structure of the present invention;

[0037] Figure 5 Schematic diagram of the positions of the proximity switches of the present invention;

[0038] Figure 6 This is a schematic diagram of the position of the second limit switch of the present invention;

[0039] Figure 7 This is a schematic diagram of the guide frame structure of the present invention;

[0040] As shown in the figure:

[0041] 1. First proximity switch, 2. Second proximity switch, 3. First limit switch, 4. Drive 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 unit, 14. Moving wheel, 15. Moving frame, 16. Push-pull drive unit, 17. Rear side panel, 18. Telescopic mechanism, 19. Guide rail, 20. Front side panel, 21. Guide mechanism, 22. Belt conveyor, 23. Guide frame, 24. Photoelectric counter, 25. Second reed switch, 26. Third drive unit, 27. Second limit switch, 30. Support rod, 31. Track, 32. Travel wheel. DETAILED DESCRIPTION

[0042] In order to clearly illustrate the technical features of this solution, this solution is described below through specific implementation methods.

[0043] like Figure 1 A bidirectional automated seedling bed and potted flower transfer device is shown, comprising a gripping mechanism, a transport mechanism for transporting the seedling bed 6 laterally, a conveying mechanism located on one side of the transport mechanism and for transporting potted flowers laterally, and a longitudinal conveying mechanism located on the other side of the transport mechanism. In this embodiment, the longitudinal conveying mechanism is located on the front side of the transport mechanism, and the conveying mechanism is located on the rear side of the transport mechanism, wherein the longitudinal conveying mechanism extends to the cultivation area away from one end of the transport mechanism. 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. The moving device can drive the conveying frame to move as a whole. The structure of the moving device can adopt existing technology, for example, a motor is installed on the walking wheel of the conveying frame.

[0044] The transport mechanism includes two laterally extending seedling beds 7, transverse transport support wheels 12 rotatably mounted on the seedling beds 7, and a first drive device 13 that drives the transverse transport support wheels. The transverse transport support wheels 12 support and transport the seedling beds 6. Each of the two seedling beds is provided with a plurality of transverse transport support wheels 12 spaced laterally apart. Double sprockets are fixedly mounted on the axles of the transverse transport support wheels. Each double sprocket is sequentially connected to the axle by a transmission chain 4. One of the sprockets is connected to one of the sprockets of the preceding double sprocket via a chain, and the other sprocket of the double sprocket is connected to one of the sprockets of the following double sprocket via a chain. The axle of one of the transverse transport support wheels is connected to the first drive device. To simplify the structure, the first drive device in this embodiment is a transverse drive motor, the motor shaft of which is coaxially fixedly connected to the axle of one of the transverse transport support wheels. The horizontal transport support wheels on the same seedling bed are driven by a common motor, which increases the motor's drive range and reduces the number of motors used. The chains are arranged in alternating lengths, preventing the chains from interfering with the push-pull mechanism and facilitating device maintenance. The horizontal transport support wheels on both seedling beds are located on opposite sides of the beds, while the sprockets are located on the sides facing away from each other.

[0045] The longitudinal transport mechanism includes two longitudinally extending support frames, longitudinal transport support wheels rotatably mounted on the support frames, and a second drive device that drives the longitudinal transport support wheels. The longitudinal transport support wheels support and transport the seedbed, and the support height of the longitudinal transport support wheels is higher than that of the transverse transport support wheels. The transmission between the longitudinal transport support wheels in this embodiment is similar to the transmission structure between the transverse transport support wheels, both utilizing a dual sprocket and chain transmission structure, with the longitudinal transport support wheels driven by a longitudinal drive motor.

[0046] 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.

[0047] like Figure 3 As shown, the lifting mechanism of this embodiment includes two lifting devices distributed along the transverse direction. The lifting device includes a support rod 30 located below the seedling bed transported by the transport mechanism, and a telescopic device 18 that drives 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 uses a vertical telescopic cylinder. The upper end of the cylinder piston rod is fixedly connected to the support rod. The cylinder is located in the middle of the two seedling bed frames. In order to improve the stability of the seedling bed support, the lifting mechanism of this embodiment also includes a guide mechanism 21 located on 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. 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 seedling bed. When the seedbed is transported to the designated position and the proximity switch is triggered, the controller sends a command to the cylinder, and the guide rod and support rod rise and fall synchronously with the cylinder, thereby adjusting the height of the seedbed so that the seedbed is flush with the horizontal transport support wheel or the longitudinal transport support wheel.

[0048] 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 drive device 16 that drives the mobile frame to move along the guide rail. The mobile frame 15 is equipped with a telescopic mechanism 5, the movable end of the telescopic mechanism extending upward, and a push plate fixed to the movable end of the telescopic mechanism. The mobile frame of this embodiment is equipped with a roller that moves along the guide rail at the bottom, and the push-pull drive device includes two push-pull sprockets rotatably arranged on the guide rail, the two push-pull sprockets are connected by a push-pull chain, the upper side or lower side of the push-pull chain is fixed to the mobile frame, one of the push-pull sprockets is connected to a push-pull motor, and the push-pull motor drives the push-pull sprocket to rotate forward and reverse, thereby driving the push-pull chain to move, 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 within the fixed guide rail, which has the characteristics of smooth transmission, high precision, and low cost.

[0049] The telescopic mechanism of this embodiment utilizes a small pneumatic cylinder, offering flexible control, stable operation, and secure contact. The telescopic mechanism 5 consists of two components, arranged longitudinally, with the push plates of the two mechanisms spaced longitudinally apart by a distance greater than the longitudinal length of the seedbed. The side panels of the two telescopic mechanisms are a front panel 20 and a rear panel 17. During use, the front panel 20 pushes the seedbed backward, i.e., from the longitudinal conveyor mechanism to the support rods. The rear panel 17 pushes the seedbed forward, i.e., from the support rods to the longitudinal conveyor mechanism.

[0050] The conveyor mechanism comprises a laterally movable conveyor frame and a belt conveyor 22 mounted on it. The belt conveyor 22 extends into the gantry, and a guide frame 23, suspended above the belt conveyor by a boom, is mounted on the gantry. The guide frame 23 is equipped with a guide channel adapted for the pots of potted flowers. A gap is left between the guide frame and the conveyor belt. The guide channel guides the potted plants on the conveyor belt, moving them along the middle of the belt, ensuring that the potted plants are neatly arranged and preventing them from slipping out.

[0051] 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.

[0052] The conveyor mechanism also includes a track 31 supporting the conveyor frame and a third drive device 26 that drives the conveyor frame along the track. The track is made of angle iron. The conveyor frame is equipped with at least four legs, with V-shaped wheels 32 mounted at the lower ends of the legs, supported on the track. These wheels work in conjunction with the angle iron track to effectively ensure the conveyor frame's state transitions. This is simple and effective. The third drive device is a travel motor, one of the travel wheels' axles coaxially connected to the motor shaft of the travel motor. The travel motor drives the travel wheels to rotate, achieving overall movement of the conveyor frame.

[0053] 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. A truss 9 and a longitudinal screw-nut mechanism are slidingly arranged on the gantry. The longitudinal screw-nut mechanism drives the truss 9 to move in the front-to-back direction. A slide and a transverse screw-nut mechanism are arranged on the truss. The transverse screw-nut mechanism drives the slide to move in the left-to-right direction. 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.

[0054] 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 and second proximity switches detect the position of the seedbed and send signals to the controller, thereby controlling the motor, cylinder, and small cylinder to prevent the seedbed from sliding into the horizontal seedbed frame when the support rods are not raised, causing the seedbed to tip over. The first limit switch sets the position when the seedbed reaches the rear end of the support rods, preventing the seedbed from continuing to move and separating from the seedbed frame. The second and third limit switches are mounted on the angle iron rails and set the conveyor frame to prevent it from sliding off the angle iron rails, allowing the system to switch between two states. The reed switches include a first reed switch 11 fixed to the front end of the longitudinal support frame and a second reed switch 25 fixed to the right end of the transverse seedbed frame. Magnets embedded in the seedbed cooperate with the reed switches to ensure that the seedbed 6 accurately stops on the transverse and longitudinal seedbed frames. A photoelectric counter counts the number of potted plants, recording each time a potted plant moves to the guide frame. This ensures that the number of potted plants that have moved to the guide frame is accurate, facilitating the robot's ability to grasp an entire row of potted plants.

[0055] like Figure 6As shown, the first limit switch 3 is mounted on the seedling bed frame on the side of the transport mechanism away from the longitudinal conveyor mechanism. Its mounting position matches the position of the seedling bed when it moves longitudinally to the rear end of the support rods. A second limit switch 27 is mounted on the track. Its mounting position matches the position of the transport frame when the output end of the belt conveyor is below the gantry. This limit switch is used to limit the position of the transport frame when it moves toward the seedling raising area. A third limit switch is also mounted on the track. Its mounting position matches the position of the transport frame away from the gantry. In this embodiment, the third limit switch is mounted at the rightmost end of the angle iron track. It limits the position of the transport frame when it moves toward the sales area, ensuring that the transport frame stops promptly on the angle iron track. A first proximity switch 1 is mounted on the support frame. Its mounting position matches the position of the seedling bed when it moves longitudinally to the rear end of the support frame. A second proximity switch 2 is mounted on the seedling bed frame on the side of the transport mechanism away from the longitudinal conveyor mechanism. Its mounting position matches the position of the seedling bed when it moves transversely to face the longitudinal conveyor mechanism. A first reed switch 11 is mounted on the support frame, aligned with the position of the seedbed when it moves longitudinally to the front end of the support frame. A second reed switch 25 is mounted on the seedbed frame, aligned with the position of the seedbed when it moves transversely to its working position below the gantry. Magnets are mounted on the seedbed, respectively compliant with the first and second reed switches. This embodiment utilizes a proximity switch, a limit switch, and a reed switch electrically connected to a controller to detect the position of the seedbed, limit the seedbed's movement to the end of the support rod, precisely control the seedbed's stopping, and transmit signals to the controller, ensuring automated and orderly seedbed transportation.

[0056] 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:

[0057] 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 a command 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;

[0058] b. Workers place flower pots containing seedlings onto the belt conveyor on the conveyor rack. The flower pots follow the belt conveyor into the guide channel 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 matches the number of stations of the manipulator, the manipulator simultaneously grabs the flower pots containing seedlings in this row. In this embodiment, when the count reaches four, the controller receives a signal and controls the four-station manipulator to simultaneously grab the four flower pots containing seedlings in this row and place them in the seedbed on the seedbed rack;

[0059] c. When the seedbed on the seedbed rack is filled with flower pots, the controller sends a command to the first drive device, which drives the transverse 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, causing the seedbed to stop precisely above the support rod of the lifting mechanism. The lifting mechanism then operates, causing the support rod to extend upward, and lifts the seedbed upward until the bottom surface of the seedbed is flush with the top of the longitudinal transport support wheel of the longitudinal conveying mechanism;

[0060] 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, and the seedbed stops at the designated position in the cultivation area.

[0061] 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 potted plant 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 moves below the gantry, and the output end of the belt conveyor extends to the sales area. When the third limit switch is triggered, the travel motor stops moving, and at this 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;

[0062] f. After the first proximity switch is triggered, the controller receives the signal and stops the movement of the seedbed. The lifting device is activated to extend the support rod upward and make the top of the support rod flush with the top of the longitudinal transport support wheel of the longitudinal conveying mechanism. The movable frame moves forward and the telescopic mechanism is activated to make the front push plate located in front of the seedbed. Then, the movable frame moves backward and the front push plate pushes the seedbed backward to move onto the support rod.

[0063] g. When the seedbed moves to the rear end of the support rod, the second proximity switch is triggered, the movable frame stops moving, the lifting device is activated, the support rod is retracted, the seedbed is supported on the transverse transport support wheel, and the first drive device drives the transverse transport support wheel to rotate forward, transporting the seedbed 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 grasping 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;

[0064] h. Use the overall movement of the conveyor rack to deliver potted flowers to the sales area;

[0065] Alternatively, the entire conveying rack is kept stationary, 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.

[0066] 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 adopting existing technologies, which will not be described here. The above embodiments and drawings are only used to illustrate the technical solutions 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 automated seedbed and potted flower transfer device, characterized by: It comprises a grabbing mechanism, a transport mechanism for transporting a seedbed (6) in the transverse direction, a conveying mechanism located on one side of the transport mechanism and transporting potted flowers in the 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 the longitudinal direction is provided on one side of the lifting mechanism; 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; 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 for 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 comprising a support rod (30) located below the seedbed transported by the transport mechanism, and a telescopic device for 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. A telescopic mechanism (5) is mounted on the movable frame (15), the movable end of the telescopic mechanism extends upward, and a push plate is fixed to the movable end of the telescopic mechanism.

2. The bidirectional automated seedbed and potted flower transfer device according to claim 1, characterized in that: The conveying mechanism further includes a track for supporting the conveying rack and a third driving device for driving the conveying rack to move along the track.

3. The bidirectional automated seedbed and potted flower transfer 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 mechanisms (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 bidirectional automated seedbed and potted flower transfer 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. The longitudinal spacing between the push plates of the two telescopic mechanisms is greater than the longitudinal length of the seedbed.

5. The bidirectional automated seedbed 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 bidirectional automated seedbed 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 it 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 (28) 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 automated seedbed 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. When the conveyor frame triggers the second limit switch, the conveyor frame stops moving; b. Workers place flower pots containing seedlings onto the belt conveyor on the conveyor rack. The flower pots follow the belt conveyor into the guide channel 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 matches the number of workstations of the robot, the robot grabs the row of flower pots containing seedlings at the same time and places them in the seedbed on the seedbed rack; c. When the seedbed on the seedbed rack is filled with flower pots, the first drive device drives the transverse 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, causing the seedbed to stop above the support rod of the lifting mechanism. The lifting device then operates 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 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, and the seedbed stops at the designated position in 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 moves 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, transporting the seedbed backward. When the first proximity switch is triggered, the second drive device stops working, causing the seedbed to stop at the rear end of the support frame; f. After the first proximity switch is triggered, the lifting device is activated, causing the support rod to extend upward and the top of the support rod to be flush with the top of the longitudinal transport support wheel of the longitudinal conveying mechanism. The movable frame moves forward, and the telescopic mechanism is activated, causing the push plate to be located in front of the seedbed. Then, the movable frame moves backward, and the push plate pushes the seedbed backward to move onto the support rod; g. When the seedbed moves to the rear end of the support rod, the second proximity switch is triggered, the movable frame stops moving, the lifting device is activated, the support rod is retracted, the seedbed is supported on the transverse transport support wheel, and the first drive device drives the transverse transport support wheel to rotate forward, transporting the seedbed to the right. When the second reed switch is triggered, the first drive device stops working, the seedbed stops in the gripping 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 entire conveying rack is kept stationary, a conveying rack is provided on one side of the conveying rack, the potted flowers on the conveying rack are moved onto the conveying rack, and the potted flowers are delivered to the sales area by utilizing the overall movement of the conveying rack.

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