Multi-layer tomato intelligent transfer trolley

Abstract

The invention discloses a multi-layer intelligent tomato transfer trolley which comprises a chassis, a conveying belt assembly and a vertical conveying assembly. The conveying belt assembly and the frame are both installed on the chassis, a conveying belt in a horizontal state is arranged in the conveying belt assembly, an empty frame area and a full frame area which are parallel are arranged above the conveying belt, and the empty frame area and the full frame area are both provided with vertical conveying assemblies; supporting plates capable of moving up and down are arranged in the vertical conveying assemblies, and the pair of supporting plates in each vertical conveying assembly supports the storage and transportation frame from the two ends so that the storage and transportation frame can ascend from the conveying belt or perpendicularly descend to the conveying belt. According to the multi-layer type tomato intelligent transfer trolley, layered arrangement of empty frames and full frames is formed above the conveying belt through the vertical conveying assembly, the space utilization rate is high, the loading capacity of storage and transportation frames is large, and exchange of four or more storage and transportation frames can be achieved through one-time reciprocating of the transfer trolley.

Description

Technical Field

[0001] The present invention relates to the field of agricultural machinery, and in particular to a multi-layer intelligent tomato transport vehicle. Background Art

[0002] Modern agriculture is gradually transitioning towards intelligent and automated harvesting, and tomatoes and other fruits and vegetables are increasingly being harvested using mechanized equipment. Existing tomato harvesting equipment typically operates in a single-vehicle mode, using a robotic arm or other harvesting terminal to pluck tomatoes from the seedlings and place them in a storage and transport frame attached to the harvester. Each tomato harvester is typically equipped with one or more storage and transport frames. Once a frame is full of tomatoes, it is manually removed and replaced with an empty one. This mechanized tomato harvesting method still requires significant manual labor, resulting in high labor costs. Summary of the Invention

[0003] The technical problem to be solved by the present invention is that in the prior art, mechanized picking of fruits and vegetables such as tomatoes is all performed in a bicycle mode, which requires a certain amount of manual labor to handle the storage and transportation boxes filled with tomatoes, resulting in high labor costs.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows: a multi-layer tomato intelligent transport vehicle, comprising a chassis, a conveyor belt assembly and a vertical conveying assembly; A walking system is configured in the chassis for moving the tomato intelligent transport vehicle. The walking system can be configured with a navigation system to implement path planning for the tomato intelligent transport vehicle, or can be configured with a remote control system for manual remote control operation. The conveyor belt assembly and the frame are both mounted on the chassis. The conveyor belt assembly is provided with a horizontal conveyor belt. Above the conveyor belt are parallel empty frame areas and full frame areas. Both the empty frame areas and the full frame areas are provided with vertical conveying assemblies. The vertical conveying components are arranged in groups of two. The vertical conveying components are provided with pallets that can move up and down. A pair of pallets in each group of vertical conveying components support the storage and transportation frame from both ends so that the storage and transportation frame can be lifted from the conveyor belt or dropped vertically to the conveyor belt. The vertical conveying components located in the empty frame area carry multiple empty frames arranged in layers above the conveyor belt. Empty frames refer to storage and transportation frames without tomatoes. The vertical conveying components located in the full frame area carry multiple full frames arranged in layers above the conveyor belt. Full frames refer to storage and transportation frames filled with tomatoes.

[0005] The multi-layer intelligent tomato transporter of the present invention and the tomato picking equipment in the prior art form a tomato picking system. One tomato intelligent transporter serves multiple tomato picking equipment. The tomato intelligent transporter automatically takes away the storage and transportation boxes filled with tomatoes on the tomato picking equipment, and at the same time sends empty storage and transportation boxes for the tomato picking equipment to use. In the case of a configured navigation system, the picking and storage and transportation of tomatoes can be completely independent of manual labor, and it has higher picking efficiency and lower labor costs compared to the single-vehicle working mode of traditional tomato picking equipment. On the other hand, the multi-layer intelligent tomato transporter of the present invention uses a vertical conveying component to form a layered arrangement of empty boxes and full boxes above the conveyor belt, with high space utilization rate, large loading capacity of the storage and transportation boxes, and the transporter can achieve the exchange of four or more storage and transportation boxes in one round trip.

[0006] Specifically, the vertical conveying component includes a chain, a sprocket group, an angle code, and a pallet. The chain is wound around the sprocket group, the chain is arranged in a vertical state, the angle code is fixed on the chain, the pallet is fixed on the angle code, and the distance between the pallets on the chain should be reasonably set according to the height of the storage and transportation box.

[0007] Currently, in most tomato planting environments, there is no hardened road surface for the transporter to travel on. When the transporter travels on the planting land, there may be bumpy and uphill and downhill road surfaces. The full storage and transportation boxes placed directly on the pallet lack fixation and are easily displaced and collided due to bumps, which may cause the vertical conveying component to get stuck. On the other hand, the instability of the storage and transportation boxes is also likely to damage the tomatoes stored inside. To overcome this defect, the vertical conveying component in the present invention further includes a box-fixing component and an unlocker.

[0008] The box-fixing component includes a flipping buckle plate, a reciprocating outer rod, a tail frame, and a spring. The flipping buckle plate is hinged to the bottom of the pallet, and the tail frame is fixed to the bottom of the pallet; a long groove is provided on the surface of the flipping buckle plate, the reciprocating outer rod passes through the long groove and continues to pass through the tail frame, and the reciprocating outer rod is in a horizontal posture; a first limit ring, a second limit ring, a third limit ring, and a fourth limit ring are provided on the reciprocating outer rod. The first limit ring and the second limit ring are respectively located on both sides of the flipping buckle plate, the third limit ring is located inside the tail frame, the spring is sleeved on the reciprocating outer rod, the spring is located between the third limit ring and the inner wall of the tail frame, and the fourth limit ring is located at the end of the reciprocating outer rod, and the fourth limit ring is outside the tail frame; a guide rod parallel to the reciprocating outer rod is provided on the third limit ring, and the guide rod passes through the tail frame, and the guide rod is used to limit the reciprocating outer rod from rotating. The spring drives the reciprocating outer rod to translate, and the reciprocating outer rod uses the first limit ring and the second limit ring to drive the flipping buckle plate to flip and buckle the storage and transportation box below the pallet. The unlocker is fixed on the frame, and a guiding surface in the shape of an inclined surface or an arc surface is arranged on the unlocker; the position of the unlocker satisfies that when the storage and transportation frame descends onto the conveyor belt, the head end of the reciprocating outer rod in the frame fixing assembly above the storage and transportation frame contacts the guiding surface, and the guiding surface drives the reciprocating outer rod to translate and compress the spring, and the reciprocating outer rod drives the flipping buckle plate to flip so that the flipping buckle plate releases the storage and transportation frame.

[0009] In the above solution, the spring and the reciprocating outer rod drive the flipping buckle plate to buckle the upper edge of the storage and transportation frame, realizing the fixation of the storage and transportation frame; among them, the flipping buckle plate mainly relies on the force of the spring to maintain the current position. Since the storage and transportation frame full of goods has a relatively large mass itself, sometimes the force of the spring alone is not enough to stably drive the flipping buckle plate to fix the storage and transportation frame full of goods. To overcome this defect, the frame fixing assembly of the present invention further includes a reciprocating inner rod. An axial blind hole is arranged in the reciprocating outer rod, the reciprocating inner rod is inserted into the blind hole of the reciprocating outer rod, and an elastic column is arranged at the bottom of the blind hole. The elastic column is cylindrical and is made of rubber material; a radial dial rod is arranged at the tail end of the reciprocating inner rod, and an axial groove for the dial rod to pass through is arranged on the surface of the reciprocating outer rod, and the dial rod passes through from the axial groove. An elastic buckle plate is arranged on the inner wall of the tail frame. A locking stop block and an unlocking stop block are arranged on the surface of the elastic buckle plate. One side of the locking stop block has an inclined surface, and both sides of the unlocking stop block are inclined surfaces; when the reciprocating outer rod is in the locking position, the locking stop block buckles the third limiting ring, and the unlocking stop block is located between the dial rod and the third limiting ring. Since the third limiting ring is fixed on the reciprocating outer rod, the locking stop block can lock the reciprocating outer rod, and further lock the flipping buckle plate between the first limiting ring and the second limiting ring, so that the flipping buckle plate can be kept in the position of buckling the storage and transportation frame without relying on the force of the spring.

[0010] In the above solution, the locking stop block can only lock the reciprocating outer rod and will not lock the reciprocating inner rod; when the storage and transportation frame descends onto the conveyor belt, the head end of the reciprocating inner rod in the frame fixing assembly above the storage and transportation frame contacts the guiding surface, and the guiding surface drives the reciprocating inner rod to translate and compress the elastic column. The dial rod on the reciprocating inner rod contacts the unlocking stop block, causing the elastic buckle plate to bend, and further causing the locking of the locking stop block to the third limiting ring to be released. Then the reciprocating inner rod and the reciprocating outer rod translate synchronously, the reciprocating outer rod compresses the spring, and the reciprocating outer rod drives the flipping buckle plate to flip so that the flipping buckle plate releases the storage and transportation frame. This design solution can not only use the locking stop block to realize the locking of the reciprocating outer rod and the flipping buckle plate, but also has a simple unlocking method and does not require an additional power source for unlocking.

[0011] The multi-layer tomato intelligent transfer vehicle of the present invention uses a flipping buckle plate installed on the pallet above the storage and transportation frame to fix the storage and transportation frame; however, there is no pallet above the topmost storage and transportation frame, which may cause the topmost storage and transportation frame to be unable to be fixed; the solution is: install a fixed top buckle plate on the frame to fix the top storage and transportation frame; another solution is: abandon the use of the topmost position, that is, do not place full storage and transportation frames at the topmost position.

[0012] Further, an arc-shaped guiding rod is provided at the head end of the reciprocating inner rod to facilitate the unlocking device to drive the reciprocating inner rod to translate.

[0013] Further, a set of vertical conveying components are arranged in the empty frame area, and two sets of vertical conveying components are arranged in the full frame area. The full frame has a greater weight, and arranging two sets of vertical conveying components is beneficial to maintaining the stability of the full frame.

[0014] Further, storage and transportation frame locators are arranged in the empty frame area, the full frame area, and the working area of the conveyor belt assembly. The storage and transportation frame locator is used to determine whether there is a storage and transportation frame at the location. The storage and transportation frame locator can use an RGB-D camera for visual recognition or an RFID reader to identify the RFID tag on the storage and transportation frame.

[0015] Specifically, the conveyor belt assembly includes a conveyor belt, a driving shaft, a driven shaft, and a frame. The two frames are arranged in parallel. The two ends of the driving shaft are respectively inserted into the first ends of the two frames, and the two ends of the driven shaft are respectively inserted into the second ends of the two frames. The conveyor belt is wound around the driving shaft and the driven shaft, and the working length of the conveyor belt is not less than the length of two storage and transportation frames. The conveyor belt assembly is used to realize the exchange of storage and transportation frames between the tomato intelligent transfer vehicle and the tomato picking equipment.

[0016] When the multi-layer tomato intelligent transfer vehicle of the present invention is working, it mainly includes a full-frame loading mode, an empty-frame unloading mode, a full-frame unloading mode, and an empty-frame loading mode; the full-frame loading mode and the empty-frame unloading mode are used to realize the exchange of storage and transportation frames between the tomato intelligent transfer vehicle and the tomato picking equipment. The full-frame unloading mode is used for unloading full frames, and the empty-frame loading mode is used to add new empty frames to the tomato intelligent transfer vehicle.

[0017] The full-frame loading mode is as follows: the tomato intelligent transfer vehicle docks with the tomato picking equipment by moving the chassis, and the conveyor belt assembly of the tomato intelligent transfer vehicle is aligned with the material conveyor belt of the tomato picking equipment; After that, the material conveyor belt of the tomato picking equipment and the conveyor belt of the tomato intelligent transfer vehicle rotate synchronously to transfer all the full frames on the material conveyor belt to the conveyor belt; finally, the vertical conveying component in the full-frame area lifts a full frame on the conveyor belt to the full-frame area, and the vertical conveying component and the conveyor belt work alternately until all the full frames on the conveyor belt are lifted to the full-frame area.

[0018] The empty - box discharging mode is carried out after the full - box filling mode is completed. The empty - box discharging mode is as follows: the vertical conveying component in the empty - box area drops an empty box onto the conveyor belt, and then the conveyor belt and the vertical conveying component work alternately until the conveyor belt is filled with empty boxes. Finally, the conveyor belt and the material conveyor belt rotate synchronously to transfer all the empty boxes on the conveyor belt to the material conveyor belt.

[0019] The full - box discharging mode is as follows: the tomato intelligent transfer vehicle passes through the chassis mobile unloading station, and the vertical conveying component in the full - box area drops a full box onto the conveyor belt. Then the conveyor belt and the vertical conveying component work alternately until the conveyor belt is filled with full boxes. Finally, the conveyor belt rotates to unload all the full boxes on the conveyor belt to the unloading station; the vertical conveying component and the conveyor belt in the full - box area continue to work until all the full boxes in the full - box area are unloaded. According to the length of the conveyor belt, the tomato intelligent transfer vehicle of the present invention can place two or more full boxes on the conveyor belt in advance during the transfer process, improving the transfer efficiency.

[0020] The empty - box feeding mode is as follows: place the empty box on the conveyor belt, and the vertical conveying component in the empty - box area lifts the empty box on the conveyor belt to the empty - box area; repeat continuously until the empty - box area is filled with empty boxes.

[0021] Beneficial effects: (1) The multi - layer tomato intelligent transfer vehicle of the present invention uses the vertical conveying component to form a layered arrangement of empty boxes and full boxes above the conveyor belt, with high space utilization rate, large loading capacity of storage and transportation boxes, and the transfer vehicle can achieve the exchange of four or more storage and transportation boxes in one reciprocation. (2) The multi - layer tomato intelligent transfer vehicle of the present invention serves multiple tomato picking devices, automatically takes away the storage and transportation boxes filled with tomatoes on the tomato picking devices, and at the same time sends empty storage and transportation boxes for the tomato picking devices to use, having higher picking efficiency and lower labor cost compared with the single - vehicle working mode of traditional tomato picking devices. (3) The multi - layer tomato intelligent transfer vehicle of the present invention installs a flipping buckle plate at the bottom of the pallet, and uses the flipping buckle plate to fix the lower storage and transportation box to ensure the stability of the fully - loaded storage and transportation box during the driving of the transfer vehicle. (4) The multi - layer tomato intelligent transfer vehicle of the present invention is configured with a reciprocating inner rod and an elastic buckle plate in the box - fixing component, so that the flipping buckle plate can remain in the position of buckling the storage and transportation box without relying on the external force of the spring. Description of the Drawings

[0022] Figure 1 is the three - dimensional view of the multi - layer tomato intelligent transfer vehicle in Embodiment 1.

[0023] Figure 2 is the three - dimensional view (from another perspective) of the multi - layer tomato intelligent transfer vehicle in Embodiment 1.

[0024] Figure 3 is the front view of the multi - layer tomato intelligent transfer vehicle in Embodiment 1.

[0025] Figure 4 It is a perspective view (hiding part of the frame) of the multi-layer tomato intelligent transporter in Embodiment 1.

[0026] Figure 5 It is a perspective view of the conveyor belt assembly in Embodiment 1.

[0027] Figure 6 It is a front view of the conveyor belt assembly in Embodiment 1.

[0028] Figure 7 It is a perspective view of the vertical conveyor assembly in Embodiment 1.

[0029] Figure 8 It is a working schematic diagram (one) of the multi-layer tomato intelligent transporter in Embodiment 1.

[0030] Figure 9 It is a working schematic diagram (two) of the multi-layer tomato intelligent transporter in Embodiment 1.

[0031] Figure 10 It is a working schematic diagram (three) of the multi-layer tomato intelligent transporter in Embodiment 1.

[0032] Figure 11 It is a working schematic diagram (four) of the multi-layer tomato intelligent transporter in Embodiment 1.

[0033] Figure 12 It is a front view of the vertical conveyor assembly and the storage and transportation frame of the multi-layer tomato intelligent transporter in Embodiment 2.

[0034] Figure 13 It is Figure 12 Enlarged view A (sectioning the pallet and the fixed frame assembly) of

[0035] Figure 14 It is Figure 12 Enlarged view B (sectioning the pallet and the fixed frame assembly) of

[0036] Figure 15 It is a perspective view of the pallet and the fixed frame assembly in Embodiment 2.

[0037] Figure 16 It is a perspective view of the pallet in Embodiment 2.

[0038] Figure 17 It is a perspective view of the fixed frame assembly in Embodiment 2.

[0039] Figure 18 It is a front view of the fixed frame assembly in Embodiment 2.

[0040] Figure 19 It is a sectional view of the fixed frame assembly in Embodiment 2.

[0041] Figure 20 It isFigure 19 Enlarged view of C.

[0042] Figure 21 It is the working principle diagram (one) of the fixed frame assembly in Embodiment 2.

[0043] Figure 22 It is Figure 21 Enlarged view of D.

[0044] Figure 23 It is the working principle diagram (two) of the fixed frame assembly in Embodiment 2.

[0045] Figure 24 It is Figure 23 Enlarged view of E.

[0046] Wherein: 100, chassis; 200, frame; 300, conveyor belt assembly; 310, conveyor belt; 320, driving shaft; 330, driven shaft; 340, frame; 341, first end; 342, second end; 343, hinge shaft; 350, L-shaped fixing member; 400, vertical conveying assembly; 410, chain; 420, sprocket set; 430, angle code; 440, pallet; 450, fixed frame assembly; 451, flipping buckle plate; 451-1, long slot; 452, reciprocating outer rod; 452-1, first limit ring; 452-2, second limit ring; 452-3, third limit ring; 452-4, fourth limit ring; 452-5, guide rod; 453, tail frame; 454, spring; 455, reciprocating inner rod; 455-1, guiding rod; 455-2, lever; 456, elastic column; 457, elastic buckle plate; 457-1, locking stop; 457-2, unlocking stop; 460, unlocker; 500, material conveyor belt; 600, storage and transportation frame. Detailed implementation manners

[0047] The present invention will be further described in detail below in conjunction with the detailed implementation manners.

[0048] Embodiment 1, as Figures 1 to 4 shown, the tomato intelligent transfer vehicle of this embodiment includes a chassis 100, a frame 200, a conveyor belt assembly 300 and a vertical conveying assembly 400.

[0049] A traveling system is configured inside the chassis 100 for the movement of the tomato intelligent transfer vehicle. The traveling system can be configured with a navigation system to achieve path planning of the tomato intelligent transfer vehicle, or can be configured with a remote control system for manual remote control operation.

[0050] The conveyor belt assembly 300 and the frame 200 are both installed on the chassis 100. The conveyor belt assembly 300 is arranged horizontally. Parallel empty frame areas and full frame areas are arranged directly above the conveyor belt assembly 300. Both the empty frame area and the full frame area are arranged with vertical conveying assemblies 400. The vertical conveying assembly 400 is used to realize the transfer of empty frames between the conveyor belt 310 and the empty frame area, and also to realize the transfer of full frames between the conveyor belt 310 and the full frame area.

[0051] like Figure 5 and Figure 6 As shown, the conveyor belt assembly 300 includes a conveyor belt 310, a driving shaft 320, a driven shaft 330, and a frame 340. The two frames 340 are arranged in parallel. The two ends of the driving shaft 320 are respectively inserted into the first ends 341 of the two frames 340, and the two ends of the driven shaft 330 are respectively inserted into the second ends 342 of the two frames 340. The conveyor belt 310 is wrapped around the driving shaft 320 and the driven shaft 330. The driving shaft 320 is driven by a motor through a reducer. The working length of the conveyor belt 310 is no less than the length of the two storage and transportation frames. The conveyor belt assembly 300 is used to facilitate the exchange of storage and transportation frames between the tomato intelligent transport vehicle and the tomato picking equipment. The conveyor belt assembly 300 is fixed to the chassis 100 via L-shaped fixings 350 on the frame 340.

[0052] like Figure 7 As shown, the vertical conveying assembly 400 includes a chain 410, a sprocket set 420, an angle code 430 and a pallet 440. The chain 410 is wound around the sprocket set 420, the chain 410 is arranged in a vertical state, the angle code 430 is fixed on the chain 410, and the pallet 440 is fixed on the angle code 430.

[0053] The vertical conveying components 400 are arranged in groups of two. The pallets 440 in the two vertical conveying components 400 realize the up and down movement of the storage and transportation frame from both sides of the storage and transportation frame. The spacing between the pallets 440 on the chain 410 should be reasonably set according to the height of the storage and transportation frame. One group of vertical conveying components 400 is arranged in the empty frame area, and two groups of vertical conveying components 400 are arranged in the full frame area. The full frame is heavier, and setting up two groups of vertical conveying components 400 is conducive to maintaining the stability of the full frame. The empty frame area, the full frame area and the working area of the conveyor belt component 300 are all arranged with a storage and transportation frame locator 700. The storage and transportation frame locator 700 is used to determine whether there is a storage and transportation frame at the location. The storage and transportation frame locator 700 can use an RGB-D camera for visual recognition, or use an RFID reader to identify the RFID tag on the storage and transportation frame.

[0054] The tomato intelligent transporter in this embodiment and the tomato picking equipment in the prior art form a tomato picking system. One tomato intelligent transporter serves multiple tomato picking equipment. The tomato intelligent transporter automatically takes away the storage and transportation boxes filled with tomatoes on the tomato picking equipment and at the same time delivers empty storage and transportation boxes for the tomato picking equipment to use. The working method of the tomato intelligent transporter in this embodiment includes an empty box loading mode, a full box loading mode, an empty box unloading mode, and a full box unloading mode. The full box loading mode and the empty box unloading mode are used to realize the exchange of storage and transportation boxes between the tomato intelligent transporter and the tomato picking equipment; the full box unloading mode is used for unloading full boxes, and the empty box loading mode is used to add new empty boxes to the tomato intelligent transporter. The specific working method of the tomato intelligent transporter in this embodiment is as follows: Empty box loading mode: As Figure 8 shown, at the unloading station, the worker places the empty box on the conveyor belt 310, and the vertical conveying component 400 in the empty box area lifts the empty box on the conveyor belt 310 to the empty box area; repeat continuously until the empty box area is full of empty boxes; Full box loading mode: As Figure 9 shown, the tomato intelligent transporter moves through the chassis 100 to dock with the tomato picking equipment, and the conveyor belt component 300 of the tomato intelligent transporter is aligned with the material conveyor belt 500 of the tomato picking equipment; then, the material conveyor belt 500 of the tomato picking equipment and the conveyor belt 310 of the tomato intelligent transporter rotate synchronously to transfer all the full boxes on the material conveyor belt 500 to the conveyor belt 310; finally, the vertical conveying component 400 in the full box area lifts one full box on the conveyor belt 310 to the full box area, and the vertical conveying component 400 and the conveyor belt 310 work alternately until all the full boxes on the conveyor belt 310 are lifted to the full box area; Empty box unloading mode: The empty box unloading mode is carried out immediately after the full box loading mode is completed. As Figure 10 shown, the vertical conveying component 400 in the empty box area drops an empty box onto the conveyor belt 310, and then the conveyor belt 310 and the vertical conveying component 400 work alternately until the conveyor belt 310 is covered with empty boxes. Finally, the conveyor belt 310 and the material conveyor belt 500 rotate synchronously to transfer all the empty boxes on the conveyor belt 310 to the material conveyor belt 500; The tomato intelligent transporter in this embodiment continuously executes the full box loading mode and the empty box unloading mode to ensure the execution of the logical cycle of "loading N full boxes and transferring N empty boxes"; After that, if the full box area of the tomato intelligent transporter is not filled with fully loaded storage and transportation boxes, the intelligent transporter continues to move to the next tomato picking equipment and executes the full box loading mode and the empty box unloading mode again; Full box unloading mode: This full box unloading mode is executed after the full box area in the tomato intelligent transporter is filled with fully loaded storage and transportation boxes; As Figure 11As shown in the figure, the tomato intelligent transporter moves to the unloading station through the chassis 100. The vertical conveying component 400 in the full-frame area drops a full frame onto the conveyor belt 310. After that, the conveyor belt 310 and the vertical conveying component 400 work alternately until the conveyor belt 310 is filled with full frames. Finally, the conveyor belt 310 rotates to push out all the full frames on the conveyor belt 310, and all the full frames are removed manually. The vertical conveying component 400 and the conveyor belt 310 in the full-frame area continue to work until all the full frames in the full-frame area are unloaded. According to the length of the conveyor belt 310, the tomato intelligent transporter of the present invention can place two or more full frames on the conveyor belt 310 in advance during the transfer process to improve the transfer efficiency.

[0055] Embodiment 2. This embodiment is basically the same as Embodiment 1, except for the vertical conveying component 400. The vertical conveying component 400 in this embodiment is provided with a frame-fixing function and can fix the storage and transportation frame 600 placed on the pallet 440.

[0056] As Figures 12 to 20 shown in the figure, the vertical conveying component 400 in this embodiment not only includes a chain 410, a sprocket set 420, an angle code 430, and a pallet 440 as in Embodiment 1, but also is provided with a frame-fixing component 450 and an unlocker 460. As Figure 15 shown in the figure, two frame-fixing components 450 are provided on the lower bottom surface of each pallet 440. As Figures 17 to 20 shown in the figure, the frame-fixing component 450 includes a flipping buckle plate 451, a reciprocating outer rod 452, a tail frame 453, a spring 454, a reciprocating inner rod 455, and an elastic column 456. The flipping buckle plate 451 is hinged to the bottom of the pallet 440, and the tail frame 453 is fixed to the bottom of the pallet 440. A long groove 451-1 is provided on the surface of the flipping buckle plate 451. The reciprocating outer rod 452 passes through the long groove 451-1 and then continues to pass through the tail frame 453. The reciprocating outer rod 452 is in a horizontal posture. The reciprocating outer rod 452 is provided with a first limit ring 452-1, a second limit ring 452-2, a third limit ring 452-3, and a fourth limit ring 452-4. The first limit ring 452-1 and the second limit ring 452-2 are respectively located on both sides of the flipping buckle plate 451. The third limit ring 452-3 is located inside the tail frame 453. The spring 454 is sleeved on the reciprocating outer rod 452. The spring 454 is located between the third limit ring 452-3 and the inner wall of the tail frame 453. The fourth limit ring 452-4 is located at the end of the reciprocating outer rod 452, and the fourth limit ring 452-4 is outside the tail frame 453. A guide rod 452-5 parallel to the reciprocating outer rod 452 is provided on the third limit ring 452-3. The guide rod 452-5 passes through the tail frame 453, and the guide rod 452-5 is used to limit the reciprocating outer rod 452 from rotating.

[0057] As Figure 19 and 20As shown, an axial blind hole is provided in the reciprocating outer rod 452. An arc-shaped guide rod 455-1 is provided at the head end of the reciprocating inner rod 455. The tail end of the reciprocating inner rod 455 is inserted into the blind hole of the reciprocating outer rod 452, and an elastic column 456 is provided at the bottom of the blind hole. The elastic column 456 is cylindrical and is made of rubber material; a radial dial rod 455-2 is provided at the tail end of the reciprocating inner rod 455, and an axial groove for the dial rod 455-2 to pass through is provided on the surface of the reciprocating outer rod 452, and the dial rod 455-2 passes through the axial groove; an elastic clamping plate 457 is provided on the inner wall of the tail frame 453, and a locking stop 457-1 and an unlocking stop 457-2 are provided on the surface of the elastic clamping plate 457. One side of the locking stop 457-1 has an inclined surface, and both sides of the unlocking stop 457-2 are inclined surfaces.

[0058] As Figure 12 and Figure 14 shown, the unlocker 460 is fixed on the frame, and a guide surface in the shape of an inclined surface or an arc-shaped surface is provided on the unlocker 460; the unlocker 460 is on the movement path of the fixed frame assembly 450, and the installation position of the unlocker 460 should satisfy: when the storage and transportation frame 600 is as Figure 12 shown and lands on the conveyor belt, the unlocker 460 contacts the fixed frame assembly 450 that latches the storage and transportation frame 600.

[0059] As Figure 12 and Figure 13 shown, when the storage and transportation frame 600 is in the storage position, that is, when the storage and transportation frame 600 is in the Figure 12 shown non-bottommost position, the upper edge of the storage and transportation frame 600 is as Figure 13 shown and is latched by the flipping clamping plate 451 in the fixed frame assembly 450. At this time, the state of the fixed frame assembly 450 is as Figure 19 and 20 shown. The locking stop 457-1 on the elastic clamping plate 457 latches the third limit ring 452-3, and the unlocking stop 457-2 is located between the dial rod 455-2 and the third limit ring 452-3. Since the third limit ring 452-3 is fixed on the reciprocating outer rod 452, the locking stop 457-1 can lock the reciprocating outer rod 452, and further lock the flipping clamping plate 451 between the first limit ring 452-1 and the second limit ring 452-2, so that the flipping clamping plate 451 can maintain the position of latching the storage and transportation frame 600 without relying on the force of the spring 454. It can be seen that the locking stop 457-1 can only lock the reciprocating outer rod 452 and will not lock the reciprocating inner rod 455.

[0060] As the chain 410 runs, Figure 12 the storage and transportation frame 600 in Figure 14As shown, it contacts the unlocker 460, and the guiding surface of the unlocker 460 drives the reciprocating inner rod 455 to move rightward; as Figure 21 and 22 shown, during the process of the reciprocating inner rod 455 and the shift lever 455-2 moving rightward, the elastic column 456 will be compressed, and the shift lever 455-2 contacts the unlocking stopper 457-2, causing the elastic buckle plate 457 to bend, and further releasing the locking of the locking stopper 457-1 on the third limiting ring 452-3; afterwards, as Figure 23 and Figure 24 shown, the reciprocating inner rod 455 and the reciprocating outer rod 452 translate synchronously, the reciprocating outer rod 452 compresses the spring 454, and the reciprocating outer rod 452 drives the flipping buckle plate 451 to flip, and finally the flipping buckle plate 451 Figure 14 shown releases the storage and transportation frame 600.

[0061] The fixed frame assembly 450 in this embodiment can not only fasten the lower storage and transportation frame 600, but also the unlocking process does not depend on an additional power source, with a simple structure and no need to configure a complex control system. An elastic buckle plate 457 is also configured inside the fixed frame assembly 450 to lock the reciprocating outer rod 452, ensuring that the storage and transportation frame 600 can be stably fixed, avoiding the displacement and collision of the storage and transportation frame 600, and reducing the collision damage of the tomatoes in the storage and transportation frame 600.

[0062] Although the embodiments of the present invention are described in the specification, these embodiments are only for reference and should not limit the protection scope of the present invention. All omissions, substitutions and changes made within the scope of the gist of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-layer intelligent tomato transporter, characterized in that: It includes a chassis, a conveyor belt assembly, and a vertical conveyor assembly; The conveyor belt assembly and the frame are both installed on the chassis. A horizontally arranged conveyor belt is provided in the conveyor belt assembly. An empty frame area and a full frame area are arranged in parallel above the conveyor belt. The vertical conveyor assembly is provided in both the empty frame area and the full frame area; Every two of the vertical conveyor assemblies are grouped and arranged in groups. A pallet that can move up and down is provided in the vertical conveyor assembly. A pair of pallets in each group of vertical conveyor assemblies hold the storage and transportation frame from both ends, so that the storage and transportation frame can be lifted from the conveyor belt or vertically lowered to the conveyor belt; The vertical conveyor assemblies in the empty frame area carry multiple empty frames and are arranged in layers above the conveyor belt, and the vertical conveyor assemblies in the full frame area carry multiple full frames and are arranged in layers above the conveyor belt.

2. The multi-layer intelligent tomato transporter according to claim 1, wherein: The vertical conveyor assembly includes a chain, a sprocket set, an angle code, and a pallet. The chain is wound around the sprocket set. The chain is arranged in a vertical state. The angle code is fixed on the chain, and the pallet is fixed on the angle code.

3. The multi-layer intelligent tomato transporter according to claim 2, wherein: The vertical conveyor assembly further includes a frame fixing assembly and an unlocker; The frame fixing assembly includes a flipping buckle plate, a reciprocating outer rod, a tail frame, and a spring. The flipping buckle plate is hinged to the bottom of the pallet, and the tail frame is fixed to the bottom of the pallet; A long groove is provided on the surface of the flipping buckle plate. The reciprocating outer rod passes through the long groove and continues to pass through the tail frame. The reciprocating outer rod is in a horizontal posture; First limit ring, second limit ring, third limit ring, and fourth limit ring are provided on the reciprocating outer rod. The first limit ring and the second limit ring are respectively located on both sides of the flipping buckle plate. The third limit ring is located inside the tail frame. The spring is sleeved on the reciprocating outer rod. The spring is located between the third limit ring and the inner wall of the tail frame. The fourth limit ring is located at the end of the reciprocating outer rod; A guiding rod parallel to the reciprocating outer rod is provided on the third limit ring, and the guiding rod passes through the tail frame; The spring drives the reciprocating outer rod to translate, and the reciprocating outer rod uses the first limit ring and the second limit ring to drive the flipping buckle plate to flip and buckle the storage and transportation frame below the pallet; The unlocker is fixed on the frame, and a guiding surface in the shape of an inclined surface or an arc surface is provided on the unlocker; The position of the unlocker satisfies: when the storage and transportation frame descends to the conveyor belt, the head end of the reciprocating outer rod in the frame fixing assembly above the storage and transportation frame contacts the guiding surface. The guiding surface drives the reciprocating outer rod to translate and compress the spring, and the reciprocating outer rod drives the flipping buckle plate to flip so that the flipping buckle plate releases the storage and transportation frame.

4. The multi-layer intelligent tomato transporter according to claim 3, characterized in that: The frame fixing assembly further includes a reciprocating inner rod. An axial blind hole is provided in the reciprocating outer rod. The reciprocating inner rod is inserted into the blind hole of the reciprocating outer rod and an elastic column is provided at the bottom of the blind hole. A radial dial rod is provided at the tail end of the reciprocating inner rod, and an axial groove for the dial rod to pass through is provided on the surface of the reciprocating outer rod; An elastic buckle plate is provided on the inner wall of the tail frame. A locking stop block and an unlocking stop block are provided on the surface of the elastic buckle plate. One side of the locking stop block has an inclined surface, and both sides of the unlocking stop block are inclined surfaces; When the reciprocating outer rod is in the locked position, the locking stop block buckles the third limit ring, and the unlocking stop block is located between the dial rod and the third limit ring; When the storage and transportation frame descends to the conveyor belt, the head end of the reciprocating inner rod in the frame-fixing assembly above the storage and transportation frame contacts the guiding surface. The guiding surface drives the reciprocating inner rod to translate and compress the elastic column. The shifting rod on the reciprocating inner rod contacts the unlocking stopper, causing the elastic clamping plate to bend, thereby releasing the locking of the locking stopper on the third limiting ring. After that, the reciprocating inner rod and the reciprocating outer rod translate synchronously. The reciprocating outer rod compresses the spring, and the reciprocating outer rod drives the flipping clamping plate to flip, causing the flipping clamping plate to release the storage and transportation frame.

5. The multi-layer intelligent tomato transporter according to claim 4, wherein: An arc-shaped guiding rod is provided at the head end of the reciprocating inner rod.

6. The multi-layer intelligent tomato transporter according to claim 1, wherein: A set of vertical conveying components is arranged in the empty frame area, and two sets of vertical conveying components are arranged in the full frame area.

7. The multi-layer intelligent tomato transporter according to claim 1, characterized in that: Storage and transportation frame positioners are arranged in the empty frame area, the full frame area, and the working area of the conveyor belt assembly.

8. The multi-layer intelligent tomato transporter according to claim 1, wherein: The conveyor belt assembly includes a conveyor belt, a driving shaft, a driven shaft, and a frame. The two frames are arranged in parallel. The two ends of the driving shaft are respectively inserted into the first ends of the two frames, and the two ends of the driven shaft are respectively inserted into the second ends of the two frames. The conveyor belt is wound around the driving shaft and the driven shaft. The working length of the conveyor belt is not less than the length of two storage and transportation frames.

9. The multi-layer intelligent tomato transporter according to claim 1, wherein: When the multi-layer intelligent tomato transporter is working, it includes a full-frame loading mode and an empty-frame unloading mode; The full-frame loading mode is as follows: The intelligent tomato transporter docks with the tomato picking equipment by moving the chassis. The conveyor belt assembly of the intelligent tomato transporter is aligned with the material conveyor belt of the tomato picking equipment. After that, the material conveyor belt of the tomato picking equipment and the conveyor belt of the intelligent tomato transporter rotate synchronously to transfer all the full frames on the material conveyor belt to the conveyor belt. Finally, the vertical conveying component in the full frame area lifts a full frame on the conveyor belt to the full frame area. The vertical conveying component and the conveyor belt work alternately until all the full frames on the conveyor belt are lifted to the full frame area; The empty-frame unloading mode is carried out after the full-frame loading mode is completed. The empty-frame unloading mode is as follows: The vertical conveying component in the empty frame area drops an empty frame onto the conveyor belt. After that, the conveyor belt and the vertical conveying component work alternately until the conveyor belt is covered with empty frames. Finally, the conveyor belt and the material conveyor belt rotate synchronously to transfer all the empty frames on the conveyor belt to the material conveyor belt.

10. The multi-layer intelligent tomato transporter according to claim 9, characterized in that: When the multi-layer intelligent tomato transporter is working, it also includes a full-frame unloading mode and an empty-frame loading mode: The full-frame unloading mode is as follows: The intelligent tomato transporter unloads at the unloading station by moving the chassis. The vertical conveying component in the full frame area drops a full frame onto the conveyor belt. After that, the conveyor belt and the vertical conveying component work alternately until the conveyor belt is covered with full frames. Finally, the conveyor belt rotates to unload all the full frames on the conveyor belt to the unloading station. The vertical conveying component and the conveyor belt in the full frame area continue to work until all the full frames in the full frame area are unloaded; The empty-frame loading mode is as follows: Place the empty frames on the conveyor belt, and the vertical conveying component in the empty frame area lifts the empty frames on the conveyor belt to the empty frame area. Repeat continuously until the empty frame area is full of empty frames.

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