Greenhouse seedling raising seedbed transfer system

Abstract

The invention provides a greenhouse seedling raising seedbed transfer system which comprises a seedbed conveying frame, a seedbed stacking frame, a seedbed carrying frame and a seedbed grabbing and carrying device which are arranged in a greenhouse, the seedbed carrying frame is erected right above the seedbed stacking frame in parallel, the seedbed conveying frame is arranged right below one end of the seedbed carrying frame, and the seedbed grabbing and carrying device is arranged right below the other end of the seedbed carrying frame. The seedbed grabbing and carrying device is adjacent to the seedbed stacking frame, is erected on the seedbed carrying frame, can automatically move between the seedbed stacking frame and the seedbed conveying frame along the seedbed carrying frame, and can automatically lift up and down by directly facing the seedbed stacking frame and the seedbed conveying frame; the seedbed grabbing and carrying device grabs the seedbeds stacked on the seedbed stacking frame and sequentially transfers the grabbed seedbeds to the seedbed conveying frame, the seedbeds can be automatically grabbed and transferred through the seedbed grabbing and carrying device, the labor cost is saved, fatigue limitation of manual carrying is avoided, and the seedbed transferring efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of seedling bed transportation, and in particular to a greenhouse seedling bed transportation system. Background Art

[0002] In the field of modern agricultural facilities, greenhouses are the core places for achieving precision planting and off-season cultivation. The seedbed is the key infrastructure for the early cultivation of seedlings. The convenience of transportation plays a vital role in improving agricultural production efficiency. With the continuous advancement of agricultural technology, the equipment and planting layout in greenhouses are becoming increasingly refined and diversified, and the mobility requirements for the seedbed are increasing.

[0003] However, during the current seedling planting process in the greenhouse, the seedbeds need to be transferred from the stacking area to the seedling planting area for planting. The transportation of the seedbeds is still mainly done manually. Since the seedbeds mostly use metal frame structures, they are heavy and large in size. When they are transported manually, at least two people are often required to carry them at the same time, which results in high labor intensity, low work efficiency, inconvenient transportation, and requires a lot of manpower costs. Summary of the invention

[0004] In view of this, it is necessary to provide a greenhouse seedling bed transfer system to solve the technical problems of inconvenient seedling bed transportation and high labor cost in the prior art.

[0005] The technical solution adopted by the present invention to solve its technical problem is: A greenhouse seedling bed transfer system comprises a seedling bed conveying rack, a seedling bed stacking rack, a seedling bed transporting rack and a seedling bed grabbing and transporting device arranged in the greenhouse, the seedling bed transporting rack is arranged in parallel and just above the seedling bed stacking rack, the seedling bed transporting rack is arranged just below one end of the seedling bed transporting rack and is adjacent to the seedling bed stacking rack, the seedling bed grabbing and transporting device is arranged on the seedling bed transporting rack, can move automatically between the seedling bed stacking rack and the seedling bed transporting rack along the seedling bed transporting rack, can automatically lift up and down facing the seedling bed stacking rack and the seedling bed transporting rack, can grab the seedlings stacked on the seedling bed stacking rack, and transport the grabbed seedlings to the seedling bed transporting rack in sequence.

[0006] Preferably, the seedbed grabbing and transporting device includes a self-moving trolley, a lifting mechanism and a seedbed grabbing mechanism, the upper end of the seedbed transport frame is horizontally provided with two parallel guide rails, the guide rails are located directly above the seedbed stacking frame, and the seedbed conveying frame is arranged directly below one end of the guide rails, the self-moving trolley is arranged in parallel on the guide rails, and can move freely toward the seedbed conveying frame along the guide rails, the lifting mechanism is arranged at the lower end of the self-moving trolley, the seedbed grabbing mechanism is fixed at the lower end of the lifting mechanism, and the seedbed grabbing mechanism is suspended below the self-moving trolley through the lifting mechanism, and the lifting mechanism can lift the seedbed grabbing mechanism up and down to grab the seedbeds stacked on the seedbed stacking frame, and drive the seedbed grabbing mechanism to move parallel to the seedbed conveying frame through the self-moving trolley, so as to transport the grabbed seedlings to the seedbed conveying frame in sequence.

[0007] Preferably, the lifting mechanism includes a lifting drive, two winding wheels, four traction belts and four guide frames, the four guide frames are symmetrically arranged at the four corners of the self-moving trolley, the two winding wheels are rotatably arranged on both sides of the self-moving trolley, and are located between two adjacent guide frames and are aligned with each other, a first linkage shaft is coaxially arranged between the two winding wheels, the first linkage shaft connects the two winding wheels in parallel with each other, the lifting drive is connected to the first linkage shaft or one of the winding wheel shafts to drive the two winding wheels to rotate synchronously, one ends of the four traction belts respectively pass through the guide frames arranged at the four corners of the self-moving trolley, and are respectively fixedly connected to the four corners of the seedling bed grasping mechanism to suspend the seedling bed grasping mechanism under the self-moving trolley, the other ends of the four traction belts are respectively wound on the two adjacent winding wheels, and the winding directions of the four traction belts are the same, the lifting drive drives the two winding wheels to rotate forward or reverse synchronously, and the four traction belts are synchronously released or wound through the two winding wheels to drive the seedling bed grasping mechanism to lift and lower.

[0008] Preferably, the seedling bed grabbing mechanism includes a grabbing frame, a grabbing drive and two groups of grabbing units, the four corners of the grabbing frame are respectively fixedly connected to four traction belts passing through the guide frame, and the grabbing frame is suspended in parallel under the self-moving trolley through the four traction belts, and a rotatable second linkage shaft is horizontally arranged on the grabbing frame, and the two ends of the second linkage shaft extend to the left and right sides of the grabbing frame respectively, and the two groups of grabbing units are symmetrically arranged on the left and right sides of the grabbing frame, and are respectively fixedly connected to the two ends of the second linkage shaft, the grabbing drive is arranged on the grabbing frame, and the output shaft of the grabbing drive is axially connected to the second linkage shaft, and the two groups of grabbing units are driven by the second linkage shaft to synchronously grab the seedling bed.

[0009] Preferably, each group of the grabbing units comprises a swing arm, two traction rods, and two telescopic clamping arms, the swing arm is vertically arranged at the end of the second linkage shaft, the middle part of the swing arm is fixedly connected to the second linkage shaft, the opposite ends of the swing arm are symmetrically extended above and below the second linkage shaft, the ends on the left and right sides of the grabbing frame are respectively parallelly provided with slots, the slots are parallelly arranged toward the front and rear ends of the grabbing frame, one end of the two telescopic clamping arms of each group of grabbing units is respectively and correspondingly inserted into the two slots on the same side of the grabbing frame, and the other ends of the two telescopic clamping arms are respectively and uniformly inserted into the two slots on the same side of the grabbing frame. The two telescopic clamp arms are respectively extended in parallel along the slot toward the front end and the rear end of the grabbing frame, and the extended ends of the two telescopic clamp arms are respectively provided with clamping claws extending toward the bottom of the slot, the clamping claws on the two telescopic clamp arms are opposite to each other, one end of the two traction rods are respectively pinned to the extended ends of the two telescopic clamp arms, and the other ends of the two traction rods are respectively pinned to the two ends of the swing arm, and the grabbing drive drives the swing arm to rotate and swing forward or reversely through the second linkage shaft, and the two traction rods are pulled by the swing arm to synchronously push and pull the two telescopic clamp arms to telescopically slide along the slot, so that the clamping claws of the two telescopic clamp arms are close to or away from each other.

[0010] Preferably, a plurality of freely rotatable rollers supporting the telescopic clamping arm are evenly arranged on the upper and lower end surfaces in the slot along the length direction thereof, and the rotation direction of the rollers is consistent with the telescopic direction of the telescopic clamping arm.

[0011] Preferably, the self-moving trolley is also provided with an anti-falling mechanism, which includes an anti-falling drive, four anti-falling frames, four connecting rods and four rotating shafts. The four anti-falling frames are vertically arranged at the front end and the rear end of the self-moving trolley and are distributed in a rectangular shape. The width between the anti-falling frames at the front end and the rear end of the self-moving trolley is greater than the width of the seedbed. The four rotating shafts are respectively and vertically inserted into the four anti-falling frames and can rotate freely. The lower ends of the four rotating shafts are respectively provided with supporting feet extending in parallel toward the inner side of the self-moving trolley. The height of the supporting feet is lower than the height of the seedbed, and the width between the ends of the supporting feet on the rotating shafts at the front end and the rear end of the self-moving trolley is less than the width of the seedbed. One side of the upper ends of the four rotating shafts is respectively fixed A connecting seat is provided, and each connecting seat is vertically provided with two column pins, and the two column pins are distributed at both ends of the connecting seat at 90° around the rotating shaft, and the two ends of the four connecting rods are respectively pinned with one of the column pins on the connecting seats of the two adjacent rotating shafts. The anti-falling drive is provided on the self-moving trolley and connected to one of the rotating shafts, and can drive the rotating shaft to rotate in forward and reverse directions, and make the other three rotating shafts rotate synchronously under the traction of the four connecting rods, so that the supporting feet provided at the lower ends of the four rotating shafts are turned parallel to the inner direction of the self-moving trolley or parallel to the outer direction of the self-moving trolley. When the supporting feet at the lower ends of the four rotating shafts are turned to the inner direction of the self-moving trolley, they can extend to the lower end of the seedling bed grasped by the clamp to protect the seedling bed.

[0012] Preferably, the seedbed stacking rack includes a base frame and a plurality of limit frames, the base frame is laid parallel to the length direction of the guide rail on the seedbed transport rack and directly below the guide rail, and is parallel to the guide rail, the limit frames are vertically arranged at the upper end of the base frame, and are arranged at intervals along the length direction of the guide rail, and a limit groove for stacking the seedbeds is formed between two adjacent limit frames, and the upper end of the limit groove opens outward to form a trumpet shape to guide the seedbed grasping mechanism so that when the seedbed grasping mechanism descends, it can smoothly enter the limit groove to grasp the seedbed.

[0013] Preferably, the seedbed conveying frame is provided with two guide frames erected opposite to each other on both sides directly below the guide rail, and the upper ends of the two guide frames are opened outward to form a trumpet shape to guide the seedbed grasping mechanism, so that the seedbed grasping mechanism and the grasped seedbed are lowered from between the two guide frames directly facing the seedbed conveying frame.

[0014] Preferably, the greenhouse seedling bed transfer system also includes a controller, and the self-moving trolley, lifting drive, grabbing drive, and anti-falling drive are electrically connected to the controller respectively, and the controller controls the self-moving trolley, lifting drive, grabbing drive, and anti-falling drive to start the operation.

[0015] It can be seen from the above technical scheme that the greenhouse seedling bed transfer system provided by the present application includes a seedling bed conveying rack, a seedling bed stacking rack, a seedling bed transporting rack and a seedling bed grabbing and transporting device arranged in the greenhouse, the seedling bed transporting rack being arranged in parallel and just above the seedling bed stacking rack, the seedling bed transporting rack being arranged just below one end of the seedling bed transporting rack and adjacent to the seedling bed stacking rack, the seedling bed grabbing and transporting device being arranged on the seedling bed transporting rack and being able to move automatically between the seedling bed stacking rack and the seedling bed transporting rack along the seedling bed transporting rack, and being able to lift up and down automatically facing the seedling bed stacking rack and the seedling bed transporting rack, the seedling beds stacked on the seedling bed stacking rack are grabbed by the seedling bed grabbing and transporting device, and the grabbed seedling beds are transported to the seedling bed transporting rack in turn, and the seedling beds can be automatically grabbed and transported by the seedling bed grabbing and transporting device, thereby saving manpower labor costs, avoiding fatigue limitations of manual transport, and improving the transport efficiency of the seedling beds. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the invention.

[0017] Figure 2 This is a schematic diagram of the state in which the seedbed grabbing and handling device moves to above the seedbed stacking rack.

[0018] Figure 3 It is a schematic diagram of the side view of the seedbed grabbing and handling device moving to above the seedbed stacking rack.

[0019] Figure 4 This is a schematic diagram of the state in which the seedbed grabbing and handling device moves to above the seedbed conveying rack.

[0020] Figure 5 It is a structural schematic diagram of the seedbed grabbing and handling device.

[0021] Figure 6 It is a structural schematic diagram of the seedbed grabbing mechanism.

[0022] Figure 7 It is a structural schematic diagram of the self-moving trolley and the anti-falling mechanism.

[0023] Figure 8 This is a schematic diagram of the state of the seedbed grabbing and transporting device grabbing the seedbed.

[0024] Fig. 9 This is a schematic diagram of the state of the seedbed after the seedbed is lifted up by the seedbed grabbing and handling device.

[0025] In the figure: a seedling bed transport frame 10, a guide rail 11, a seedling bed grabbing and transporting device 20, a self-moving trolley 21, a frame 211, a walking wheel 212, a walking drive 213, a lifting mechanism 22, a lifting drive 221, a winding wheel 222, a traction belt 223, a guide frame 224, a first linkage shaft 225, a seedling bed grabbing mechanism 23, a grabbing frame 231, a grabbing drive 232, a grabbing unit 233, a second linkage shaft 234, a slot 235, a roller 236, a limit Switch 237, swing arm 2331, traction rod 2332, telescopic clamp arm 2333, clamp claw 2334, anti-falling mechanism 24, anti-falling drive 241, anti-falling frame 242, connecting rod 243, rotating shaft 244, supporting foot 245, connecting seat 246, pin 247, seedling bed stacking frame 30, base frame 31, limiting frame 32, limiting groove 33, seedling bed conveying frame 40, conveying wheel group 41, conveying motor 42, guide frame 43, supporting frame 44, spring 45. DETAILED DESCRIPTION

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Please see Figures 1 to 4The embodiment of the present invention provides a greenhouse seedling bed transport system, comprising a seedling bed conveying rack 40, a seedling bed stacking rack 30, a seedling bed transport rack 10 and a seedling bed grabbing and transporting device 20 arranged in the greenhouse, the seedling bed stacking rack 30 is used to collect and stack idle seedlings, the seedling bed transport rack 10 is parallelly arranged just above the seedling bed stacking rack 30, the seedling bed conveying rack 40 is arranged just below one end of the seedling bed transport rack 10, adjacent to the seedling bed stacking rack 30, the seedling bed conveying rack 40 is used to transport the seedling bed to the seedling planting area in the greenhouse, the seedling bed grabbing and transporting device 20 is arranged on the seedling bed transport rack 10, and the seedling bed stacking rack 30 and the seedling bed conveying rack 40 can be moved along the seedling bed transport rack 10. 0, and can automatically move up and down in front of the seedling bed stacking rack 30 and the seedling bed conveying rack 40. When the seedling bed grabbing and handling device 20 moves to the top of the seedling bed stacking rack 30, it can be vertically descended to grab the seedling bed stacked on the seedling bed stacking rack 30. After grabbing the seedling bed, the seedling bed grabbing and handling device 20 rises and moves along the seedling bed conveying rack 10 to the top of the seedling bed conveying rack 40, and then vertically descends. After placing the grabbed seedling bed parallel to the seedling bed conveying rack 40, it returns to the seedling bed stacking area. The seedling bed grabbing and handling device 20 can repeat the above-mentioned handling action to sequentially transport the seedlings stacked on the seedling bed stacking rack 30 to the seedling bed conveying rack 40.

[0028] Please see Figure 2 and Figure 5Specifically, the seedbed grabbing and transporting device 20 includes a self-moving trolley 21, a lifting mechanism 22 and a seedbed grabbing mechanism 23. Two mutually parallel guide rails 11 are horizontally arranged on the upper end of the seedbed transport frame 10. The guide rails 11 are located directly above the seedbed stacking frame 30. The seedbed conveying frame 40 is arranged directly below one end of the guide rails 11. The self-moving trolley 21 is arranged parallel to the guide rails 11. The self-moving trolley 21 is composed of a frame 211, walking wheels 212 and a walking drive 213. The frame 211 is a rectangular frame body arranged in parallel. The walking wheels 212 are rotatably arranged on both sides of the frame 211 and are correspondingly clamped on the two guide rails 11. The walking drive 213 is a servo motor, which is installed on the frame 211 and is axially connected to one or two walking wheels 212. The walking drive 213 drives the walking wheels 212 to rotate along the length direction of the guide rail 11 to move the frame 211. The lifting mechanism 22 is arranged at the lower end of the frame 211 of the self-moving trolley 21. The seedling bed grabbing mechanism 23 is fixed at the lower end of the lifting mechanism 22. The seedling bed grabbing mechanism 23 is suspended under the self-moving trolley 21 through the lifting mechanism 22. The self-moving trolley 21 drives the seedling bed grabbing mechanism 23 to move along the guide rail 11. The seedling bed grabbing mechanism 23 is lifted up and down by the lifting mechanism 22. When the self-moving trolley 21 moves along the guide rail 11 to the top of the corresponding seedling bed stacking rack 30, the lifting mechanism 22 lowers the seedling bed grabbing mechanism 23 to make it descend. At the upper end of the seedling beds stacked on the seedling bed stacking rack 30, the seedling bed grabbing mechanism 23 grabs the seedling beds, and then lifts them through the lifting mechanism 22, and drives the seedling bed grabbing mechanism 23 and the grabbed seedling beds to move toward the seedling bed conveying rack 40 through the self-moving trolley 21. When the self-moving trolley 21 moves along the guide rail 11 to just above the seedling bed conveying rack 40, the lifting mechanism 22 lowers the seedling bed grabbing mechanism 23, so that it lowers the grabbed seedling beds onto the seedling bed conveying rack 40.

[0029] Please see Figure 5 and Figure 8The lifting mechanism 22 includes a lifting drive 221, two winding wheels 222, four traction belts 223 and four guide frames 224. The four guide frames 224 are symmetrically arranged at the four corners of the frame 211 of the self-moving trolley 21. The two winding wheels 222 are rotatably and symmetrically arranged on both sides of the frame 211 of the self-moving trolley 21, and are located between two adjacent guide frames 224 and aligned with each other. A first linkage shaft 225 is coaxially arranged between the two winding wheels 222. The first linkage shaft 225 connects the two winding wheels 222 in parallel with each other. The lifting drive 221 is a servo motor. The lifting drive 221 is axially connected to the first linkage shaft 225 or one of the winding wheels 222 to drive the two winding wheels 222 to rotate synchronously. One end of the four traction belts 223 passes through the first linkage shaft 225 arranged on the self-moving trolley 2 1, and are respectively fixedly connected to the four corners of the seedling bed grabbing mechanism 23, the four traction belts 223 are of equal length, so that the seedling bed grabbing mechanism 23 is suspended in parallel below the self-moving trolley 21, the other ends of the four traction belts 223 are respectively and correspondingly wound on two winding wheels 222 adjacent thereto, and the winding directions of the four traction belts 223 are the same, the lifting drive 221 drives the two winding wheels 222 to rotate forward or reverse synchronously, and the lengths of the four traction belts 223 can be synchronously released or wound and retracted through the two winding wheels 222, when the two winding wheels 222 release the four traction belts 223, the seedling bed grabbing mechanism 23 can be lowered, and when the two winding wheels 222 wind and retract the four traction belts 223, the seedling bed grabbing mechanism 23 can be raised.

[0030] Please see Figure 5 , Figure 6 and Figure 8 The seedling bed grabbing mechanism 23 includes a grabbing frame 231, a grabbing drive 232 and two groups of grabbing units 233. The four corners of the grabbing frame 231 are fixedly connected to four traction belts 223 passing through the guide frame 224, and the grabbing frame 231 is suspended in parallel directly below the self-moving trolley 21 through the four traction belts 223. A rotatable second linkage shaft 234 is horizontally arranged on the grabbing frame 231, and the two ends of the second linkage shaft 234 extend to the left and right sides of the grabbing frame 231 respectively. The two groups of grabbing units 233 are symmetrically arranged on the left and right sides of the grabbing frame 231, and are fixedly connected to the two ends of the second linkage shaft 234 respectively. The grabbing drive 232 is arranged on the grabbing frame 231, and the output shaft of the grabbing drive 232 is axially connected to the second linkage shaft 234, which can drive the second linkage shaft 234 to rotate forward or reverse, and drive the two groups of grabbing units 233 to synchronously grab the seedling bed through the second linkage shaft 234.

[0031] Each group of the grabbing units 233 includes a swing arm 2331, two traction rods 2332, and two telescopic clamping arms 2333. The swing arm 2331 is vertically arranged at the end of the second linkage shaft 234. The swing arm 2331 is a long strip plate. The middle part of the swing arm 2331 is fixedly connected to the second linkage shaft 234. The two ends of the swing arm 2331 that are far away from each other extend symmetrically above and below the second linkage shaft 234. The ends of the left and right sides of the grabbing frame 231 are respectively parallelly provided with slots 235. The slots 235 The two telescopic clamping arms 2333 of each group of grabbing units 233 are arranged in parallel in the front and rear directions of the grabbing frame 231, and one end of each group of grabbing units 233 is respectively inserted into the two slots 235 on the same side of the grabbing frame 231, and the other ends of the two telescopic clamping arms 2333 are respectively extended or retracted in parallel along the slots 235 toward the front and rear directions of the grabbing frame 231, and the extended ends of the two telescopic clamping arms 2333 are respectively provided with clamping claws 2334 extending below the slots 235, and the clamping claws 2334 on the two telescopic clamping arms 2333 are opposite to each other, and the two One end of each traction rod 2332 is pinned to the end portions of the two telescopic clamping arms 2333, and the other ends of the two traction rods 2332 are pinned to the ends of the swing arm 2331 extending toward the upper and lower ends of the second linkage shaft 234. The swing arm 2331 is driven to rotate by the second linkage shaft 234, and the two traction rods 2332 can be pulled synchronously to push and pull the two telescopic clamping arms 2333 to extend or retract along the slot 235. When the two telescopic clamping arms 2333 are extended along the slot 235, the ends of the two telescopic clamping arms 2333 can be pushed or retracted. The clamping claws 2334 move away from each other. After the clamping claws 2334 at the ends of the two telescopic clamping arms 2333 move away from each other, the distance between them is greater than the width of the seedling bed. When the two telescopic clamping arms 2333 are contracted along the slots 235, the clamping claws 2334 at the ends of the two telescopic clamping arms 2333 can be brought close to each other and respectively clamped on the edges on both sides of the seedling bed to clamp the seedling bed. The two groups of grabbing units 233 are symmetrically arranged on the left and right sides of the grabbing frame 231. The two groups of grabbing units 233 can be driven by the second linkage shaft 234 to realize synchronous grabbing action.

[0032] In the specific implementation, after the self-moving trolley 21 is started to drive the seedling bed grabbing and handling device 20 to move along the guide rail 11 to the top of the seedling bed stacked on the seedling bed stacking rack 30, the lifting drive 221 is started to drive the two winding wheels 222 to release the four traction belts 223, and the seedling bed grabbing mechanism 23 is lowered. At the same time, the grabbing drive 232 is started to drive the second linkage shaft 234 to rotate forward, so that the ends of the telescopic clamping arms 2333 of the two groups of grabbing units 233 are The clamping claws 2334 move away from each other. When the grabbing frame 231 completely lands on the seedling bed to be grabbed, the grabbing drive 232 drives the second linkage shaft 234 to rotate in the opposite direction, so that the clamping claws 2334 at the ends of the telescopic clamping arms 2333 of the two groups of grabbing units 233 approach each other and are respectively clamped on the edges of both sides of the seedling bed to clamp the seedling bed. When the two groups of grabbing units 233 complete the clamping of the seedling bed, the lifting drive 221 drives the two winding wheels 222 to clamp the four traction belts again. 223 is wound and contracted, and the seedbed grabbing mechanism 23 and the seedbed it is clamped and grabbed are raised. After the seedbed grabbing mechanism 23 grabs the seedbed and rises, the self-moving trolley 21 drives it to move along the guide rail 11 to just above the seedbed conveying rack 40. The lifting drive 221 drives the two winding wheels 222 again to release the four traction belts 223, so that the seedbed grabbing mechanism 23 and the grabbed seedbed fall on the seedbed conveying rack 40. At this time, the grabbing drive 232 drives the first The second linkage shaft 234 rotates forward, so that the claws 2334 on the ends of the telescopic clamping arms 2333 of the two groups of grabbing units 233 move away from each other. After the clamping of the seedling bed is released, the lifting drive 221 drives the two winding wheels 222 again to wind and shrink the four traction belts 223, so as to raise the seedling bed grabbing mechanism 23, and the self-moving trolley 21 drives the seedling bed grabbing mechanism 23 to move along the guide rail 11 to the seedling bed stacking rack 30 again, and repeats the above-mentioned transporting action.

[0033] In this embodiment, the grabbing drive 232 is a servo motor, which is axially connected to the second linkage shaft 234 through a reducer, and the rotation angle of the second linkage shaft 234 is controlled by the servo motor, and the rotation angle of the second linkage shaft 234 is less than 180°. The grabbing drive 232 can also be a telescopic cylinder, the telescopic end of the telescopic cylinder is pinned to one end of the swing arm 2331 of one group of grabbing units 233, and the swing arm 2331 is pushed to swing back and forth by controlling the telescopic cylinder through the solenoid valve to achieve a synchronous grabbing action.

[0034] Please see Figure 6Furthermore, during the use of the greenhouse seedling bed transfer system, the telescopic clamp arm 2333 of the grabbing unit 233 needs to frequently telescope in the slot 235. In order to reduce the wear between the telescopic clamp arm 2333 and the slot 235, a number of rollers 236 that support the telescopic clamp arm 2333 and can rotate freely are evenly distributed along the length direction of the upper and lower end surfaces in the slot 235, and the rotation direction of the rollers 236 is consistent with the telescopic direction of the telescopic clamp arm 2333. After the telescopic clamp arm 2333 is inserted into the slot 235, the upper and lower end surfaces of the telescopic clamp arm 2333 respectively contact the rolling surfaces of the rollers 236 on the upper and lower end surfaces in the slot 235. When the telescopic clamp arm 2333 telescopes, each roller 236 rotates adaptively.

[0035] Please see Figure 5 , Figure 7 and Fig. 9Furthermore, when the self-moving trolley 21 drives the seedling bed grabbing mechanism 23 and the grabbed seedling bed to move along the guide rail 11 toward the seedling bed conveying rack 40, in order to prevent the seedling bed from accidentally falling, an anti-falling mechanism 24 is also provided on the self-moving trolley 21. The anti-falling mechanism 24 includes an anti-falling drive 241, four anti-falling frames 242, four connecting rods 243 and four rotating shafts 244. The four anti-falling frames 242 are vertically arranged at the front and rear ends of the frame 211 of the self-moving trolley 21 in a rectangular distribution, and the width between the anti-falling frames 242 at the front and rear ends of the frame 211 is greater than the width of the seedling bed. The four rotating shafts 244 are respectively and vertically inserted into the four anti-falling frames 242 and extend vertically below the frame 211. The four rotating shafts 244 are arranged in parallel and can rotate freely in parallel. The lower ends of the four rotating shafts 244 are parallelly provided with support feet 245 extending toward the inner side of the frame 211. The height of the support feet 245 is lower than the height of the seedbed to be grabbed, and the width between the ends of the support feet 245 on the two opposite rotating shafts 244 at the front and rear ends of the frame 211 is smaller than the width of the seedbed. A connecting seat 246 is fixedly provided on one side of the upper ends of the four rotating shafts 244, and two column pins 247 are vertically provided on each connecting seat 246. The two column pins 247 are distributed at 90 degrees around the rotating shaft 244 at both ends of the connecting seat 246, and the two ends of the four connecting rods 243 are respectively pin-connected with one of the column pins 247 on the connecting seats 246 of the two adjacent rotating shafts 244. The anti-falling drive 241 is arranged on the frame 211 and connected to one of the rotating shafts 244, and can drive the rotating shaft 244 to rotate in the forward and reverse directions, and make the other three rotating shafts 244 rotate synchronously under the traction of the four connecting rods 243, so that the supporting feet 245 arranged at the lower ends of the four rotating shafts 244 are parallel to the inner direction of the frame 211 or parallel to the outer direction of the frame 211. When in use, when the lifting drive 221 raises the seedbed grabbing mechanism 23 and the seedbed grabbed by it to the lower end of the frame 211 of the self-moving trolley 21, at this time, the supporting feet 245 at the lower ends of the four rotating shafts 244 are located on both sides of the grabbed seedbed, and the height is lower than the lower end of the seedbed, and the anti-falling drive 241 is started to drive the four rotating shafts 24 The four rotating shafts 244 rotate synchronously toward the inner side of the vehicle frame 211, so that the support feet 245 at the lower ends of the four rotating shafts 244 are respectively turned to the bottom of the captured seedling bed to protect the seedling bed. If the seedling bed accidentally falls off the seedling bed grabbing mechanism 23, the support feet 245 on the four rotating shafts 244 can receive the seedling bed to prevent it from falling. When the self-moving vehicle 21 drives the seedling bed grabbing mechanism 23 and the captured seedling bed to move to the top of the seedling bed conveying rack 40 and fall close to the seedling bed conveying rack 40, the anti-falling drive 241 is started again to drive the four rotating shafts 244 to rotate synchronously toward the outer side of the vehicle frame 211, release the protection of the seedling bed by the support feet 245, so that the seedling bed grabbing mechanism 23 can smoothly place the seedling bed on the seedling bed conveying rack 40.

[0036] In this embodiment, the anti-falling drive 241 is a servo motor, which is connected to one of the rotating shafts 244 through a reducer, and the rotation angle of the rotating shaft 244 is controlled by the servo motor. The anti-falling drive 241 can also be adopted as a telescopic cylinder, and the telescopic end of the telescopic cylinder is pin-connected to the connecting seat 246 at the upper end of one of the rotating shafts 244. The telescopic cylinder is controlled by an electromagnetic valve to push the rotating shaft 244 to rotate reciprocatingly, thereby realizing the steering action of the supporting foot 245.

[0037] Please continue to see Figure 2 and Figure 3 In a specific embodiment, the seedling bed stacking rack 30 includes a base frame 31 and a plurality of limiting frames 32. The base frame 31 is laid parallel to the length direction of the guide rail 11 on the seedling bed transport rack 10 and is directly below the guide rail 11, and is parallel to the guide rail 11. The limiting frames 32 are symmetrically arranged on both sides of the base frame 31. The limiting frames 32 are vertically arranged at the upper end of the base frame 31 and are arranged at intervals along the length direction of the guide rail 11. A limiting groove 33 for stacking the seedling beds is formed between two adjacent limiting frames 32. The width of the limiting groove 33 matches the width of the seedling bed and the grabbing frame 231 of the seedling bed grabbing mechanism 23. The limiting frame 32 is used to limit the seedling bed so that the seedling bed is neatly stacked in the limiting groove 33. Since the seedling bed grabbing mechanism 23 is suspended in parallel below the self-moving trolley 21 through four traction belts 223, the seedling bed grabbing mechanism 23 will swing slightly during the process of descending to the limiting groove 33 of the seedling bed stacking frame 30. In order to allow the seedling bed grabbing mechanism 23 to smoothly enter the limiting groove 33, the upper ends of the two adjacent limiting frames 32, i.e., the upper ends of the limiting groove 33, are set to open outward to form a trumpet shape, which can guide the seedling bed grabbing mechanism 23. When the seedling bed grabbing mechanism 23 descends, the two adjacent limiting frames 32 can guide the side walls of the front and rear ends of the grabbing frame 231 of the seedling bed grabbing mechanism 23, so that it can smoothly enter the limiting groove 33 and land just above the seedling bed, so as to facilitate the grabbing operation of the seedling bed.

[0038] Please continue to see Figure 1 and Figure 4Furthermore, the seedling bed conveying frame 40 is a conveying frame body arranged in parallel, and conveying wheel groups 41 for conveying the seedling beds are arranged at intervals along the extension direction of the upper ends of the seedling bed conveying frame 40 on both sides, and a conveying motor 42 is correspondingly arranged on the conveying wheel group 41. The seedling bed conveying frame 40 is arranged horizontally just below one end of the guide rail 11 of the seedling bed transport frame 10, and is arranged perpendicular to the guide rail 11. In order to facilitate the seedling bed grabbing mechanism 23 to smoothly land the grabbed seedling bed on the conveying wheel group 41 of the seedling bed conveying frame 40 At the top, two guide frames 43 are erected opposite to each other on both sides of the seedling bed conveying frame 40 directly below the guide rail 11. The two guide frames 43 are respectively flush with the outer sides of the conveying wheel groups 41 on both sides of the seedling bed conveying frame 40. The upper ends of the two guide frames 43 are opened outward to form a trumpet shape to guide the seedling bed grasping mechanism 23 to make the seedling bed grasping mechanism 23 and the grasped seedling bed fall directly above the conveying wheel group 41, so that the seedling bed conveying frame 40 can convey the seedling bed.

[0039] Please continue to see Figure 4 Furthermore, the lower ends of the two guide frames 43 are pin-connected to the two sides of the seedling bed conveying frame 40, and the upper ends of the two guide frames 43 can be flipped to the outside of the seedling bed conveying frame 40, and support frames 44 are erected and fixed on the backs of the two guide frames 43 on both sides of the seedling bed conveying frame 40. The support frames 44 and the guide frames 43 are spaced apart, and a spring 45 is sandwiched between the support frames 44 and the guide frames 43. One end of the spring 45 is fixed on the support frame 44, and the other end is fixed to the middle position of the back of the guide frame 43. The guide frame 43 is supported by the spring 45 to keep the guide frame 43 upright. When the upper end of the guide frame 43 is squeezed by the seedling bed, it can rotate toward the support frame 44 to adjust the width of the guide frame 43 so that the seedling bed can land smoothly on the seedling bed conveying frame 40.

[0040] The greenhouse seedling bed transfer system also includes a controller, which is a micro automatic controller or an industrial computer. The travel drive 213, the lifting drive 221, the grabbing drive 232, the anti-falling drive 241 and the conveying motor 42 are electrically connected to the controller respectively, and the controller controls the self-moving trolley 21, the lifting drive 221, the grabbing drive 232, the anti-falling drive 241 and the conveying motor 42 to start the operation. A position sensor is installed on the self-moving trolley 21, and the position corresponding to the seedling bed conveying frame 40 and each limit slot 33 is marked. The position sensor is electrically connected to the controller, and is associated with the start control end of the travel drive 213 through the controller. The position of the seedling bed conveying frame 40 and each limit slot 33 is detected by the position sensor to ensure that the self-moving trolley 21 can accurately move to the specified position, and a limit switch 237 is installed at the lower end of the grabbing frame 231 of the seedling bed grabbing mechanism 23. The limit switch 237 Corresponding to the position of the seedling bed to be grasped, the limit switch 237 is electrically connected to the controller, and is associated with the start control end of the lifting drive 221 through the controller. When the grabbing frame 231 lands on the seedling bed to be grasped, the limit switch 237 comes into contact with the seedling bed and is triggered by the seedling bed, and the lifting drive 221 stops the descending operation of the grabbing frame 231. The limit switch 237 can control the descending height of the seedling bed grasping mechanism 23, so that the seedling bed grasping mechanism 23 can grasp the stacked seedling beds of different heights.

[0041] What is disclosed above is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. A person skilled in the art can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A greenhouse seedling bed transport system, characterized by: The invention comprises a seedling bed conveying rack, a seedling bed stacking rack, a seedling bed transporting rack and a seedling bed grabbing and transporting device arranged in a greenhouse. The seedling bed transporting rack is arranged in parallel and just above the seedling bed stacking rack. The seedling bed conveying rack is arranged just below one end of the seedling bed transporting rack and is adjacent to the seedling bed stacking rack. The seedling bed grabbing and transporting device is arranged on the seedling bed transporting rack and can move automatically between the seedling bed stacking rack and the seedling bed conveying rack along the seedling bed transporting rack, and can lift up and down automatically facing the seedling bed stacking rack and the seedling bed transporting rack, and can grab the seedlings stacked on the seedling bed stacking rack, and transfer the grabbed seedlings to the seedling bed transporting rack in sequence.

2. The greenhouse seedling bed transport system according to claim 1, characterized in that: The seedling bed grabbing and transporting device includes a self-moving trolley, a lifting mechanism and a seedling bed grabbing mechanism. Two parallel guide rails are horizontally mounted on the upper end of the seedling bed transport frame, the guide rails are located directly above the seedling bed stacking frame, and the seedling bed conveying frame is arranged directly below one end of the guide rails. The self-moving trolley is arranged in parallel on the guide rails and can move freely toward the seedling bed conveying frame along the guide rails. The lifting mechanism is arranged at the lower end of the self-moving trolley, the seedling bed grabbing mechanism is fixed at the lower end of the lifting mechanism, and the seedling bed grabbing mechanism is suspended below the self-moving trolley through the lifting mechanism. The lifting mechanism can lift the seedling bed grabbing mechanism up and down to grab the seedlings stacked on the seedling bed stacking frame, and drive the seedling bed grabbing mechanism to move parallel to the seedling bed conveying frame through the self-moving trolley, so as to transport the grabbed seedlings to the seedling bed conveying frame in sequence.

3. The greenhouse seedling bed transport system according to claim 2, characterized in that: The lifting mechanism comprises a lifting drive, two winding wheels, four traction belts and four guide frames, the four guide frames are symmetrically arranged at the four corners of the self-moving trolley, the two winding wheels are rotatably symmetrically arranged on both sides of the self-moving trolley, and are located between two adjacent guide frames and are aligned with each other, a first linkage shaft is coaxially arranged between the two winding wheels, the first linkage shaft connects the two winding wheels in parallel with each other, the lifting drive is connected to the first linkage shaft or one of the winding wheel shafts to drive the two winding wheels to rotate synchronously, one ends of the four traction belts respectively pass through the guide frames arranged at the four corners of the self-moving trolley, and are respectively fixedly connected to the four corners of the seedling bed grasping mechanism to suspend the seedling bed grasping mechanism under the self-moving trolley, the other ends of the four traction belts are respectively wound on the two adjacent winding wheels, and the winding directions of the four traction belts are the same, the lifting drive drives the two winding wheels to rotate forward or reverse synchronously, and the four traction belts are synchronously released or wound by the two winding wheels to drive the seedling bed grasping mechanism to lift and lower.

4. The greenhouse seedling bed transport system according to claim 3, characterized in that: The seedling bed grabbing mechanism includes a grabbing frame, a grabbing drive and two groups of grabbing units. The four corners of the grabbing frame are respectively fixedly connected to four traction belts passing through the guide frame, and the grabbing frame is suspended in parallel under the self-moving trolley through the four traction belts. A rotatable second linkage shaft is horizontally arranged on the grabbing frame, and the two ends of the second linkage shaft extend to the left and right sides of the grabbing frame respectively. The two groups of grabbing units are symmetrically arranged on the left and right sides of the grabbing frame, and are respectively fixedly connected to the two ends of the second linkage shaft. The grabbing drive is arranged on the grabbing frame, and the output shaft of the grabbing drive is axially connected to the second linkage shaft, and the two groups of grabbing units are driven by the second linkage shaft to synchronously grab the seedling bed.

5. The greenhouse seedling bed transport system according to claim 4, characterized in that: Each group of the grabbing units comprises a swing arm, two traction rods, and two telescopic clamping arms, the swing arm is vertically arranged at the end of the second linkage shaft, the middle part of the swing arm is fixedly connected to the second linkage shaft, and the opposite two ends of the swing arm are symmetrically extended to the top and bottom of the second linkage shaft, respectively. The ends on the left and right sides of the grabbing frame are respectively provided with slots in parallel, and the slots are arranged in parallel towards the front and rear ends of the grabbing frame. One end of the two telescopic clamping arms of each group of grabbing units is respectively and correspondingly inserted into the two slots on the same side of the grabbing frame, and the other ends of the two telescopic clamping arms are respectively extended in parallel along the slots toward the front and rear ends of the grabbing frame, and the extended ends of the two telescopic clamping arms are respectively provided with clamping claws extending below the slots, and the clamping claws on the two telescopic clamping arms are opposite, one end of the two traction rods is respectively pin-connected with the extended ends of the two telescopic clamping arms, and the other ends of the two traction rods are respectively pin-connected with the two ends of the swing arm, and the grabbing drive drives the swing arm to rotate and swing forward or reversely through the second linkage shaft, and the two traction rods are pulled by the swing arm to synchronously push and pull the two telescopic clamping arms to telescopically slide along the slots, so that the clamping claws of the two telescopic clamping arms are close to or away from each other.

6. The greenhouse seedling bed transport system according to claim 5, characterized in that: A plurality of freely rotatable rollers supporting the telescopic clamping arm are evenly arranged on the upper and lower end surfaces in the slot along the length direction thereof, and the rotation direction of the rollers is consistent with the telescopic direction of the telescopic clamping arm.

7. The greenhouse seedling bed transport system according to claim 6, characterized in that: The self-moving trolley is also provided with an anti-falling mechanism, which includes an anti-falling drive, four anti-falling frames, four connecting rods and four rotating shafts. The four anti-falling frames are vertically arranged at the front end and the rear end of the self-moving trolley and are distributed in a rectangular shape. The width between the anti-falling frames at the front end and the rear end of the self-moving trolley is greater than the width of the seedbed. The four rotating shafts are respectively and vertically inserted into the four anti-falling frames and can rotate freely. The lower ends of the four rotating shafts are respectively provided with supporting feet extending in parallel toward the inner side of the self-moving trolley. The height of the supporting feet is lower than the height of the seedbed, and the width between the ends of the supporting feet on the rotating shafts at the front end and the rear end of the self-moving trolley is less than the width of the seedbed. One side of the upper ends of the four rotating shafts is respectively fixedly provided There is a connecting seat, each connecting seat is vertically provided with two column pins, the two column pins are distributed at both ends of the connecting seat at 90 degrees around the rotating shaft, the two ends of the four connecting rods are respectively pinned with one of the column pins on the connecting seats of the two adjacent rotating shafts, the anti-falling drive is arranged on the self-moving trolley, and is connected to one of the rotating shafts, and can drive the rotating shaft to rotate in both directions, and make the other three rotating shafts rotate synchronously under the traction of the four connecting rods, so that the supporting feet arranged at the lower ends of the four rotating shafts are parallel to the inner direction of the self-moving trolley or parallel to the outer direction of the self-moving trolley. When the supporting feet at the lower ends of the four rotating shafts are turned to the inner direction of the self-moving trolley, they can extend to the lower end of the seedling bed grasped by the clamp to protect the seedling bed.

8. The greenhouse seedling bed transport system according to claim 4, characterized in that: The seedbed stacking rack includes a base frame and a plurality of limit frames, wherein the base frame is laid parallel to the length direction of the guide rail on the seedbed transport rack and directly below the guide rail, and is parallel to the guide rail, and the limit frames are vertically arranged at the upper end of the base frame and are arranged at intervals along the length direction of the guide rail, and a limit groove for stacking the seedbeds is formed between two adjacent limit frames, and the upper end of the limit groove opens outward to form a trumpet shape to guide the seedbed grabbing mechanism so that when the seedbed grabbing mechanism descends, it can smoothly enter the limit groove to grab the seedbed.

9. The greenhouse seedling bed transport system according to claim 4, characterized in that: The seedbed conveying frame is provided with two guide frames erected opposite to each other on both sides directly below the guide rail, and the upper ends of the two guide frames are opened outward to form a trumpet shape to guide the seedbed grasping mechanism, so that the seedbed grasping mechanism and the grasped seedbed are lowered from between the two guide frames directly toward the seedbed conveying frame.

10. The greenhouse seedling bed transport system according to claim 7, characterized in that: It also includes a controller, and the self-moving trolley, lifting drive, grabbing drive, and anti-falling drive are electrically connected to the controller respectively, and the self-moving trolley, lifting drive, grabbing drive, and anti-falling drive are controlled by the controller to start the operation.

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