Citrus seedling pot transfer frame swinging and collecting robot

Abstract

The invention relates to a citrus seedling pot transfer frame swinging and collecting robot which adopts heavy-load type double-row universal wheels and parallel tracks as walking mechanisms and can realize certain load bearing and keep stability. A clamping and lifting mechanism and a hydraulic push rod are adopted to control rotation of a first shaft, so that a pressing plate rotates downwards, a turning plate is made to be close to the position of a transfer frame handle and clamp the transfer frame handle, then lifting is conducted through a chain, and the transfer frame can be placed and collected from the bottom layer. The swinging and collecting conveying belt device is adopted, the included angle between a narrow-edge belt type conveying mechanism and the ground can be adjusted through movement of a second hydraulic cylinder, and when operation is not conducted, the whole swinging and collecting conveying belt can be folded, so that the size of a vehicle body is reduced, the trafficability of the vehicle body is improved, and storage is convenient. The adjustable transition mechanism is adopted, the height of the turning plate can be adjusted by adjusting the position of the limiting sliding block, and good transition between the edge type belt conveying mechanism and the adjustable transition mechanism is achieved.

Description

Technical Field

[0001] The present invention relates to the field of seedling pot filling and transportation, and specifically to a citrus seedling pot transportation frame placing and collecting robot. Background Art

[0002] After the seedling pots are filled with substrate outside the seedling shed, they need to be transported to the shed and neatly arranged on the nursery floor to facilitate subsequent planting. When the seedlings are ready to be transplanted, the seedling pots on the ground need to be transported to a truck and sent to the orchard for planting. Currently, the placement and transplanting of seedling pots are performed manually, which is time-consuming and labor-intensive, making them inconvenient for mass production. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a citrus seedling pot transfer frame placement and collection robot in response to the above shortcomings.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] The robot is provided with a walking mechanism, a frame body, a clamping and lifting mechanism and a swinging and collecting conveyor belt. The frame body is arranged on the walking mechanism, and the walking mechanism is used to drive the robot to move as a whole. The outlet end of the frame body is connected with the swinging and collecting conveyor belt. The inlet end of the frame body is used to place the stacked seedling pot transfer frame stack. The clamping and lifting mechanism is provided on the outlet end. The clamping and lifting mechanism can move horizontally along the frame body, and after dragging the seedling pot transfer frame stack at the inlet end to the outlet end, the second seedling pot transfer frame from the bottom to the top of the seedling pot transfer frame stack at the inlet end is clamped and lifted upward, so that the lowest seedling pot transfer frame is separated from the upper seedling pot transfer frame, and only the lowest seedling pot is The transfer frame is left at the exit end of the frame body, and the frame body is used to transport the seedling pot transfer frame left at the exit end to a swing conveyor belt. When the swing conveyor belt is in the working state, the lower end is connected close to the ground. The swing conveyor belt is used to transport the seedling pot transfer frame to the ground for placement, and each time it is placed, the walking mechanism drives the swing collecting robot to move forward a preset distance. The clamping and lifting mechanism is also used to put the clamped seedling pot transfer frame back to the exit end of the frame body after the seedling pot transfer frame at the exit end is transported to the swing conveyor belt, and again clamp the second seedling pot transfer frame from the bottom to the top of the seedling pot transfer frame stack at the exit end and lift it upward until all the seedling pot transfer frames are transported to the ground by the swing conveyor belt. Furthermore, the inlet end of the frame body is provided with an unpowered roller, and the exit end is provided with an electric roller, and the electric roller is used to transport the seedling pot transfer frame at the exit end to the swing conveyor belt.

[0006] Furthermore, the inlet end of the frame body can place multiple stacks of seedling pot transfer frames side by side, and the clamping and lifting mechanism can simultaneously clamp the second seedling pot transfer frame from the bottom to the top of the multiple stacks of seedling pot transfer frames and lift them up at the same time, leaving only the bottom row of seedling pot transfer frames at the outlet end of the frame body, and the frame body can transport the row of seedling pot transfer frames placed side by side at the outlet end to the swing conveyor belt, and transport them to the ground via the swing conveyor belt for placement; the clamping and lifting mechanism includes a lifting device and a clamping device, the lifting device is vertically arranged on the frame body, the lifting device is used to drive the clamping device to rise or fall, and the clamping device is used to clamp the side handles of the seedling pot transfer frame.

[0007] Furthermore, the lifting device includes a shelf, a door frame, a hydraulic cylinder and a chain. The hydraulic cylinder is used to drive the shelf up and down by driving the chain. The shelf is divided into multiple side-by-side lifting areas by the middle iron plate, and each lifting area corresponds to the position of a stack of seedling frames.

[0008] The clamping device includes a hydraulic push rod, a rotating shaft and a right-angle iron plate. Rectangular holes corresponding to the handle positions of the bottom seedling frames of a stack corresponding to the inner side are opened on both sides of the lifting area. A first axis is arranged in the rectangular hole, and a right-angle iron plate is arranged on the first axis. The first axis is connected to the hydraulic push rod. The hydraulic push rod can drive the right-angle iron plate to rotate by driving the first axis to rotate, so that the right-angle iron plate can clamp or release the seedling frame of the bottom layer of the stack corresponding to the inner side of the lifting area.

[0009] Furthermore, the swing conveyor belt is a two-stage foldable swing conveyor belt, which includes a hydraulic folding mechanism, a narrow-side belt conveyor and an adjustable transition mechanism that are hinged in sequence. One end of the hydraulic folding mechanism is connected to the outlet end of the frame body and is used to drive the narrow-side belt conveyor and the adjustable transition mechanism to rotate in a vertical plane, fold upward or open downward. The narrow-side belt conveyor is used to transport the seedling pot transfer frame to the adjustable transition mechanism. The adjustable transition mechanism includes a flap, a support plate, an angle steel body and an angle adjustment mechanism. One end of the angle steel body is hinged to the narrow-side belt conveyor and an angle adjustment mechanism is provided on the upper surface. A support plate is provided on the upper surface of the other end of the angle steel body. A flap is provided on the angle adjustment mechanism and is used to adjust the angle between the flap and the support plate. The flap is located between the support plate and the upper surface of the narrow-side belt conveyor.

[0010] Furthermore, the angle adjustment mechanism includes a support arm, a support hook, a limit slider and a serrated arm, one end of the support arm is hinged to the flap, the other end is hinged to the upper end of the serrated arm, the lower end of the serrated arm is hinged to the angle steel body, the middle part of the support arm is hinged with a support hook, the lower end of the support hook is connected to the limit slider, the limit slider is stuck in the middle part of the serrated arm, and the rotation angle of the flap can be changed by adjusting the installation position of the limit slider on the serrated arm.

[0011] After adopting the above technical solution, the present invention has the following advantages compared with the prior art:

[0012] The present invention adopts the form of full process automation, and can automatically arrange the citrus seedling pot transfer frame and automatically transport one-year-old or two-year-old seedlings out of the field according to actual agronomic requirements.

[0013] The present invention adopts heavy-load double-row universal wheels and parallel crawlers as a walking mechanism, which can achieve a certain load-bearing capacity and maintain stability.

[0014] The present invention adopts a clamping and lifting mechanism, and the hydraulic push rod controls the rotation of the first axis, so that the pressure plate rotates downward, thereby making the flap close to the position of the transfer frame handle and clamping it, and then lifting it through the chain, so that the transfer frame can be swung from the bottom layer.

[0015] The present invention adopts a swinging conveyor belt device, and the angle between the narrow-edge belt conveyor mechanism and the ground can be adjusted through the movement of the second hydraulic cylinder. When not in operation, the entire swinging conveyor belt can be folded to reduce the volume of the vehicle body, improve the vehicle body's passability and facilitate storage.

[0016] The present invention adopts an adjustable transition mechanism, and the height of the flap can be adjusted by adjusting the position of the limit slider, thereby achieving a good transition between the side belt conveyor mechanism and the adjustable transition mechanism.

[0017] The present invention is described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic structural diagram of the present invention when the swing conveyor belt is opened;

[0019] Figure 2 It is a schematic structural diagram of the swing conveyor belt of the present invention when folded;

[0020] Figure 3 Schematic diagram of the frame structure;

[0021] Figure 4 This is a schematic diagram of the structure of the swing conveyor belt;

[0022] Figure 5 Schematic diagram of the adjustable transition mechanism structure. Figure 6 Schematic diagram of the frame structure.

[0023] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0024] 1. Heavy-duty double-row universal wheels; 2. Vehicle frame; 3. Parallel tracks; 4. Clamping and lifting mechanism; 5. Swinging conveyor belt; 101. Roller; 102. Steel plate; 103. Synchronous belt module; 1101. Door frame; 1102. Shelf backstop; 1103. First gear; 1104. Chain; 1105. Second gear; 1106. First hydraulic cylinder; 1107. Right-angle iron plate; 1108. First connecting plate; 1109. First shaft; 1110. Hydraulic push rod; 1001. Second shaft; 1002. Second connecting plate Plate; 1003, narrow-edge belt conveyor mechanism; 1004, channel steel transverse support plate; 1005, third axis; 1006, adjustable transition mechanism; 1007, fourth rod; 1008, third rod; 1009, second rod; 1010, first rod; 1011, second hydraulic cylinder; 201, hinge connection seat; 202, angle steel fuselage; 203, base; 204, flap; 205, support plate; 206, flap base; 207, support arm; 208, support hook; 209, limit slider; 210, sawtooth arm DETAILED DESCRIPTION

[0025] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0026] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", "clockwise" and "counterclockwise" and the like to indicate directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0027] like Figure 1-2 As shown, the citrus seedling pot transfer frame swinging and collecting robot of the present invention comprises a walking mechanism, a frame body, a clamping and lifting mechanism and a swinging and collecting conveyor belt;

[0028] The traveling mechanism consists primarily of casters and tracks mounted on the underbody, enabling a certain degree of load-bearing and stability. At the underbody entrance are heavy-duty double-row casters (1), and in front are parallel tracks (3). These tracks are hydraulically driven, enabling the vehicle to move and steer.

[0029] like Figure 3As shown, the vehicle frame is constructed from C-shaped steel, with rollers 101, steel plates 102, and a synchronous belt module 103. Synchronous belt modules 103 are installed on both sides. The steel plates serve as the primary surface, embedded within two rows of parallel roller conveyors 101. The entire frame is positioned above the traveling mechanism. Two types of roller conveyors are available: motorized rollers at the exit to facilitate unloading of seedling frames; unpowered rollers at the entry, which serve only to reduce frictional resistance. The frame stores seedling frames from the production line, with two stacks stored in each of the front and rear sections. Each stack consists of four vertically stacked frames, each consisting of 6x6 seedling pots. Stacked frames are transported one by one to the frame using a forklift. The forklift is specially designed to remove the forklift pallet upon transfer. Once a frame is placed on the rollers at the rear, a clamping and lifting device, driven by the synchronous belt module, moves forward, transferring the frames from the entry to the exit. The forklift repeats the previous movement and transfers the new seedling frame to the rollers at the entrance end.

[0030] like Figure 4 As shown, the clamping and lifting device is installed above the roller at the exit end of the frame body, and is mainly composed of a lifting device and a clamping device, including a door frame 1101, a shelf 1102, a first gear 1103, a chain 1104, a second gear 1105, a first hydraulic cylinder 1106, a right-angle iron plate 1107, a first connecting plate 1108, a first shaft 1109 and a hydraulic push rod 1110;

[0031] The lifting device includes a shelf 1102, a door frame 1102, a first hydraulic cylinder 1106 and a chain 1104. The first hydraulic cylinder 1106 is used to drive the chain movement, thereby realizing the up and down movement of the shelf. The shelf corresponds to the position of the roller and is divided into two parts by an iron plate in the middle, each part corresponding to the position of a stack of seedling frames. The clamping device is installed on both sides of the shelf and is mainly composed of a hydraulic push rod 1110, a first shaft 1109 and a right-angle iron plate. A rectangular hole is opened on both sides of the shelf, and its position and size correspond to the position of the handle of the bottom seedling frame of each stack. The first shaft is installed on the outside of the rectangular hole. Two designed right-angle iron plates are installed on the first shaft, one is connected to the hydraulic push rod 1110, and the right-angle side of the other extends to the inside of the hole. The hydraulic push rod is installed above the first shaft. When the hydraulic drive push rod moves downward, the first axis rotates under the action of the thrust, and then the right-angled edge extending to the inner side of the hole moves forward and downward, thereby clamping the seedling frame and then lifting and lowering it through the lifting device. When rising, the hydraulic push rod moves upward, and when it rises to the handle position of the second-to-last seedling frame, the hydraulic push rod moves downward, clamping the seedling frame of this layer and then continues to rise, so that the seedling frame of the last layer is separated from the seedling frame on the upper layer. Finally, the seedling frame moves forward under the action of the roller.

[0032] like Figure 5-6As shown, the swing conveyor belt is mainly composed of a two-stage conveying mechanism and a hydraulic folding mechanism, including a second shaft 1001, a second connecting plate 1002, a narrow-edge belt conveyor mechanism 1003, a channel steel transverse support plate 1004, a third shaft 1005, an adjustable transition mechanism 1006, a fourth rod 1007, a third rod 1008, a second rod 1009, a first rod 1010 and a second hydraulic cylinder 1011;

[0033] The two-stage conveying mechanism uses a narrow-edge belt conveyor as the first stage and an adjustable transition mechanism as the second stage; the hydraulic folding mechanism is mainly composed of a hydraulic cylinder, a push rod and a four-bar mechanism. When performing the swinging operation, the swinging device is in an unfolded state as a whole, and the two-stage conveying mechanism is controlled by the hydraulic folding mechanism to form a fixed angle with the ground. After the seedling frame passes through the roller transmission device, it is placed stably on the ground through the narrow-edge belt conveyor and the adjustable transition mechanism; when performing the seedling frame recovery operation, first adjust the height of the transition mechanism according to the actual working environment conditions to achieve a good transition between the first and second stage conveying devices. Since the seedling frame is specially designed with a low middle and high ends, the second stage conveying device is lower than the middle of the seedling frame. Then, under the forward power of the vehicle body itself, the second stage conveying device can enter the lower part of the seedling frame, and then reach the first stage conveying device after passing through the transition device. The first stage conveying device has its own power and reaches the frame body under its own power. Finally, the storage position of the seedling frame can be adjusted through the clamping and lifting device. Figure 2 As shown, when not in use, the entire swing weight assembly can be folded using a hydraulic folding mechanism to reduce the vehicle's bulk, improve its passability, and facilitate storage. During folding, the hydraulic arm extends, rotating the crank. The crank is fixed to the long rod of the four-bar linkage, causing the long rod to rotate by the same angle. Since the four-bar linkage is a parallelogram, the entire swing weight assembly rotates with the long rod, folding upward. The same principle applies to adjusting the angle of the swing weight assembly to the ground during operation.

[0034] The workflow of the present invention is as follows:

[0035] When the transfer frames need to be stacked, the forklift will transport the stacked shipping frames one by one to the entrance end of the vehicle body frame 2, corresponding to the positions of the rollers 101 and the steel plates 102. The forklift is specially designed to remove the forklift pallet when the transfer is completed. After being arranged, the clamping and lifting mechanism 4 moves backward under the action of the synchronous belt module 103, so that the transfer frame is wrapped by the door frame 1101. Then the hydraulic push rod 1110 controls the rotation of the first shaft 1109, so that the right-angle iron plate 1107 rotates downward, thereby approaching the position of the bottom transfer frame handle and clamping it. Afterwards, under the action of the synchronous belt module 103, it moves forward to transfer the transfer frame at the entrance end to the exit end. The forklift repeats the previous movement to transfer the new transfer frame to the entrance end of the vehicle body frame 2.

[0036] The transfer frames are then swung, and the movement of the first hydraulic cylinder 1106 drives the movement of the chain 1104, causing the gantry 1101 to move upward. When the gantry 1101 rises to the handle position of the penultimate transfer frame, the hydraulic push rod 1110 moves downward, locking the seedling raising frame of this layer, and then the gantry 1101 continues to rise, separating the transfer frames of the last layer from the transfer frames of the upper layer. Then, under the action of the roller 101, the transfer frames of the last layer move forward. The swing conveyor belt device 5 is in the deployed state, and under the control of the second hydraulic cylinder 1011, the narrow-edge belt conveyor mechanism 1003 forms a fixed angle with the ground. After being transferred by the roller 101, the transfer frame is stably placed on the ground through the narrow-edge belt conveyor mechanism 1003 and the adjustable transition mechanism 1006.

[0037] When not in operation, the entire swing-and-retract conveyor belt device 5 can be folded by the second hydraulic cylinder 1011 to reduce the vehicle body volume. During folding, the piston rod of the second hydraulic cylinder 1011 extends, causing the first rod 1010 to rotate, driving the second rod 1009 to rotate. One end of the second rod 1009 and one end of the third rod 1008 are fixed to the second connecting plate 1002, so that the third rod 1008 also rotates by the same angle, thereby driving the narrow-edge belt conveyor mechanism 1003 to rotate and present an upward folded state. The same principle is used to adjust the angle between the swing-and-retract conveyor mechanism and the ground during operation.

[0038] When the cultivated citrus seedlings need to be transported out of the nursery, the transfer frames are not suitable for stacking because the seedling pots in the transfer frames have been planted with citrus seedlings. The shelf of the clamping and lifting mechanism is adjusted to move upward so that the door frame is normally open. The swinging and collecting robot pushes the swinging and collecting conveyor belt device to move toward the transfer frames placed on the ground, and the adjustable transition mechanism is inserted into the bottom of a row of transfer frames. The narrow-edge belt conveyor moves upward, driving a row of transfer frames to the exit end of the frame body, and the electric roller drives the transfer frames to move in the opposite direction to the entrance end of the frame body. The swinging and collecting robot continues to move forward to collect and code. After coding two rows, the swinging and collecting robot transfers the transfer frames to the truck for unloading. After unloading, the code is collected again until all the citrus seedlings in the transfer frames are shipped out of the nursery.

[0039] The foregoing is an example of the best mode of carrying out the present invention. Any portion not described in detail herein is common knowledge within the skill of one of ordinary skill in the art. The scope of protection of the present invention is determined by the claims. Any equivalent transformation based on the technical teachings of the present invention is also within the scope of protection of the present invention.

Claims

1. A citrus seedling pot transfer frame placement and collection robot, characterized in that: The robot comprises a walking mechanism, a frame body, a clamping and lifting mechanism and a swinging and collecting conveyor belt, the frame body is arranged on the walking mechanism, the walking mechanism is used to drive the robot to move as a whole, the outlet end of the frame body is connected with the swinging and collecting conveyor belt, the inlet end of the frame body is used to place the stacked seedling pot transfer frame stack, and a clamping and lifting mechanism is arranged on the outlet end, which can be translated along the frame body, and after dragging the seedling pot transfer frame stack at the inlet end to the outlet end, the second seedling pot transfer frame from the bottom to the top of the seedling pot transfer frame stack at the inlet end is clamped and lifted upward, so that the lowest seedling pot transfer frame is separated from the upper seedling pot transfer frame, and only the lowest seedling pot transfer frame is left on the frame At the exit end of the main body, the frame body is used to transport the seedling pot transfer frame remaining at the exit end to the swinging and collecting conveyor belt. The lower end of the swinging and collecting conveyor belt is close to the ground when it is in working state. The swinging and collecting conveyor belt is used to transport the seedling pot transfer frame to the ground for placement, and each time it is placed, the walking mechanism drives the swinging and collecting robot to move forward a preset distance. The clamping and lifting mechanism is also used to put the clamped seedling pot transfer frame back to the exit end of the frame body after the seedling pot transfer frame at the exit end is transported to the swinging and collecting conveyor belt, and again clamp the second seedling pot transfer frame from the bottom to the top of the seedling pot transfer frame stack at the exit end and lift it up until all the seedling pot transfer frames are transported and placed on the ground by the swinging and collecting conveyor belt.

2. The citrus seedling pot transfer frame placement and collection robot according to claim 1, characterized in that: The inlet end of the frame body is provided with an unpowered roller, and the outlet end is provided with an electric roller, and the electric roller is used for conveying the seedling pot transfer frame at the outlet end to the swing conveyor belt.

3. The citrus seedling pot transfer frame placement and collection robot according to claim 1, characterized in that: The inlet end of the frame body can place multiple stacks of seedling pot transfer frames side by side, and the clamping and lifting mechanism can simultaneously clamp the second seedling pot transfer frame from the bottom to the top of the multiple stacks of seedling pot transfer frames and lift them upward at the same time, leaving only the bottom row of seedling pot transfer frames at the outlet end of the frame body, and the frame body can transport the row of seedling pot transfer frames placed side by side at the outlet end to the swing conveyor belt together, and transport them to the ground via the swing conveyor belt for placement; the clamping and lifting mechanism includes a lifting device and a clamping device, the lifting device is vertically arranged on the frame body, the lifting device is used to drive the clamping device to rise or fall, and the clamping device is used to clamp the side handles of the seedling pot transfer frame.

4. The citrus seedling pot transfer frame placement and collection robot according to claim 3, characterized in that: The lifting device includes a shelf, a door frame, a hydraulic cylinder and a chain. The hydraulic cylinder is used to drive the shelf up and down by driving the chain. The shelf is divided into two side-by-side lifting areas by the middle iron plate, and each lifting area corresponds to the position of a stack of seedling frames. The clamping device includes a hydraulic push rod, a rotating shaft and a right-angle iron plate. Rectangular holes corresponding to the handle positions of the bottom seedling frames of a stack corresponding to the inner side are opened on both sides of the lifting area. A first axis is arranged in the rectangular hole, and a right-angle iron plate is arranged on the first axis. The first axis is connected to the hydraulic push rod. The hydraulic push rod can drive the right-angle iron plate to rotate by driving the first axis to rotate, so that the right-angle iron plate can clamp or release the seedling frame of the bottom layer of the stack corresponding to the inner side of the lifting area.

5. The citrus seedling pot transfer frame placement and collection robot according to claim 3, characterized in that: The swing conveyor belt is a two-stage foldable swing conveyor belt, which includes a hydraulic folding mechanism, a narrow-side belt conveyor and an adjustable transition mechanism that are hinged in sequence. One end of the hydraulic folding mechanism is connected to the outlet end of the frame body and is used to drive the narrow-side belt conveyor and the adjustable transition mechanism to rotate in a vertical plane, fold upward or open downward. The narrow-side belt conveyor is used to transport the seedling pot transfer frame to the adjustable transition mechanism. The adjustable transition mechanism includes a flap, a support plate, an angle steel body and an angle adjustment mechanism. One end of the angle steel body is hinged to the narrow-side belt conveyor and an angle adjustment mechanism is provided on the upper surface. The other end of the angle steel body is provided on the upper surface of the support plate. The angle adjustment mechanism is provided with a flap and is used to adjust the angle between the flap and the support plate. The flap is located between the support plate and the upper surface of the narrow-side belt conveyor.

6. The citrus seedling pot transfer frame placement and collection robot according to claim 5, characterized in that: The angle adjustment mechanism includes a support arm, a support hook, a limit slider and a serrated arm. One end of the support arm is hinged to the flap, and the other end is hinged to the upper end of the serrated arm. The lower end of the serrated arm is hinged to the angle steel body. The middle part of the support arm is hinged with a support hook, and the lower end of the support hook is connected to the limit slider. The limit slider is stuck in the middle part of the serrated arm. The rotation angle of the flap can be changed by adjusting the installation position of the limit slider on the serrated arm.

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