A self-propelled seedling tray conveying device for a greenhouse

Abstract

The application discloses a seedling tray self-walking conveying device for a greenhouse, and belongs to the technical field of intelligent suspension conveying systems, which comprises a track, a plurality of advancing grooves are formed on the two sides of the track, a slide is formed on the top and the bottom of the track respectively, a conveying basket is arranged at the bottom of the track, two seedling trays are arranged in the conveying basket, an advancing mechanism comprises two chassis arranged on the two sides of the track respectively, a plurality of advancing teeth are equidistantly arranged on the outer wall of the track, a stabilizing mechanism comprises a buffer column arranged above the conveying basket, a third spring is arranged outside the buffer column, a supporting mechanism comprises a plurality of protective plates arranged around the axis of the seedling tray, in the application, the mechanical rigidity locking of the advancing mechanism solves the high-humidity braking slip, the two-stage energy dissipation of the stabilizing mechanism reduces the inertial swing, the load sensing protection of the supporting mechanism is linked to realize the automatic limiting of the seedling tray, and the positioning accuracy and the conveying stability of the device in the high-humidity environment are improved.

Description

Technical Field

[0001] This invention belongs to the technical field of intelligent suspended conveying systems, and particularly relates to a self-propelled conveying device for seedling trays in greenhouses. Background Technology

[0002] With the rapid development of modern facility agriculture, soilless cultivation technology has become the core mode of greenhouse seedling production due to its advantages such as strong controllability of the growth environment, short crop growth cycle and high resource utilization rate. In soilless cultivation systems, seedling trays usually carry liquid or semi-liquid culture solutions containing specific nutrients, which places extremely high demands on the stability of the transportation process. Intelligent suspended conveying systems have been widely used in large-scale seedling factories because they can make full use of the greenhouse top space, reduce ground interference and achieve fully automated operation.

[0003] The greenhouse environment is kept in a high-humidity environment all year round, and condensation film easily forms on the surface of the metal track. When traditional friction wheel conveyor devices brake, the coefficient of friction at the track interface will decrease significantly, resulting in uncontrolled sliding. This makes it impossible for the device to stop accurately at the automated work position of the seeder or transplanter. At the same time, the suspended structure has a low center of gravity. During emergency braking or position locking, the conveyor will swing violently due to inertia. This swing will cause a large amount of nutrient solution in the hydroponics tray to leak due to vibration, which will not only cause nutrient loss, but also easily contaminate the planting area below. It may even cause the seedling tray to tip over in the support seat. Moreover, the existing tray fixation mostly relies on simple fixed fences, which cannot provide adaptive flexible protection for trays of different weights or sizes. Summary of the Invention

[0004] The purpose of this invention is to address the problems of existing conveying devices, such as the susceptibility of positioning accuracy to interference, the tendency of existing conveying devices to cause liquid spillage due to braking inertia, and the low degree of automation of existing conveying device pallet limiting mechanisms. Therefore, this invention proposes a self-propelled conveying device for seedling trays in greenhouses.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A self-propelled conveying device for seedling trays in a greenhouse includes a track with multiple travel grooves on both sides, slides at the top and bottom of the track, a conveying basket at the bottom of the track, and two seedling trays inside the conveying basket.

[0007] The traveling mechanism includes two chassis respectively located on both sides of the track. The outer wall of the track of the chassis is provided with a plurality of traveling teeth at equal intervals. The device is driven to travel along the track direction by the alternating engagement of the traveling teeth and the traveling grooves.

[0008] The stabilizing mechanism includes a buffer column located above the conveyor basket, and a third spring is provided on the outside of the buffer column. When the device stops moving, the third spring absorbs the inertial force to keep the conveyor basket stable.

[0009] The supporting mechanism includes multiple protective plates arranged around the axis of the seedling tray, forming a protective area to limit the inertial displacement of the seedling tray.

[0010] As a further description of the above technical solution:

[0011] The traveling mechanism also includes:

[0012] The outer casing is fitted over the outside of the track;

[0013] Support plates, the two support plates are respectively disposed on the inner walls of the two sides of the outer shell;

[0014] The first motor is connected to the chassis via a gearbox;

[0015] The rotating frame has one end of each of the two rotating frame bodies rotatably connected to the corresponding position on the outer wall of the support plate, and the other end of each of the two rotating frame bodies rotatably connected to the corresponding position on the outer wall of the chassis.

[0016] As a further description of the above technical solution:

[0017] The traveling mechanism also includes:

[0018] The first stroke groove is formed at a corresponding position on the outer wall of the support plate;

[0019] An extrusion block, one side of which is slidably connected to the first stroke groove via a column;

[0020] Linkage rods, two of which are respectively located on both sides of the extrusion block, one end of the linkage rod is rotatably connected to the corresponding position of the outer wall of the extrusion block, and the other end of the linkage rod is rotatably connected to the corresponding position of the outer wall of the chassis;

[0021] The second stroke groove is located at a corresponding position on the outer wall of the linkage rod.

[0022] As a further description of the above technical solution:

[0023] The traveling mechanism also includes:

[0024] A push-pull tube, the top end of which is connected to the bottom of the extrusion block at a corresponding position;

[0025] The lead screw, the top end of which passes through the bottom end of the push-pull tube;

[0026] The second motor is mounted on one side of the support plate via the plate body, and the output end of the second motor is connected to the bottom end of the lead screw.

[0027] The movable block has one outer wall connected to the outer wall of the support plate via a column, and a first spring is provided on the outside of the column. The two ends of the first spring are respectively connected to the corresponding positions of the outer wall of the support plate and the outer wall of the movable block.

[0028] Locking teeth, a plurality of the locking teeth are provided on one side of the outer wall of the moving block.

[0029] As a further description of the above technical solution:

[0030] The stabilizing mechanism also includes:

[0031] A rotating base, the top of which is connected to the bottom of the outer casing;

[0032] First connecting seat, and multiple first connecting seats are arranged around the axis of rotating seat at the bottom of the outer casing;

[0033] Second connecting seats, multiple second connecting seats are arranged around the axis of the rotating seat at the bottom of the housing.

[0034] As a further description of the above technical solution:

[0035] The stabilizing mechanism also includes:

[0036] The second support rod, one end of which is rotatably connected to the second connecting seat at the corresponding position;

[0037] A first support rod, one end of which is rotatably connected to a first connecting seat at a corresponding position, and the other end of which is rotatably connected to a second support rod body at a corresponding position.

[0038] The second spring, and multiple second springs are arranged around the axis of the rotating seat at the bottom of the outer shell, and the two ends of the second spring are respectively rotatably connected to the first connecting seat and the first support rod at the corresponding position through the block.

[0039] As a further description of the above technical solution:

[0040] The stabilizing mechanism also includes:

[0041] A connecting rod, the top end of which is connected to the bottom end of the second support rod;

[0042] A connecting plate, the top of which is connected to the bottom of the connecting rod, and the top of the buffer column passing through the bottom of the connecting plate;

[0043] A stabilizing base is located below the connecting plate.

[0044] As a further description of the above technical solution:

[0045] The stabilizing mechanism also includes:

[0046] A deflection shaft, the bottom end of which is connected to the bottom of a connecting plate, and the bottom end of which passes through the inside of a stabilizing base;

[0047] A plurality of limiting rods are arranged around the axis of the deflection shaft at the bottom of the connecting plate;

[0048] The limiting grooves are formed around the axis of the stabilizing seat on the top of the stabilizing seat.

[0049] As a further description of the above technical solution:

[0050] The supporting institution also includes:

[0051] A support seat, wherein the support seat is disposed inside the conveyor basket;

[0052] A limiting tube, the top end of which is connected to the bottom of the support seat;

[0053] A trigger plate, wherein the trigger plate is disposed above the support base;

[0054] A rack, the top end of which is connected to the bottom end of a trigger plate;

[0055] The gear is rotatably connected to the outer wall of one side of the limiting tube via the plate, and a driver is installed on the other side of the plate.

[0056] As a further description of the above technical solution:

[0057] The supporting institution also includes:

[0058] A first rotating rod, and a plurality of first rotating rods are arranged around the axis of the support seat, and the outer wall of the protective plate is connected to the side wall of the first rotating rod;

[0059] The third rotating rod, and a plurality of the third rotating rods are arranged around the axis of the trigger plate, with one end of the third rotating rod being rotatably connected to the corresponding position of the trigger plate;

[0060] The second rotating rod, and multiple second rotating rods are arranged around the axis of the trigger plate. One end of the second rotating rod is rotatably connected to the corresponding position of the first rotating rod body, and the other end of the second rotating rod is rotatably connected to the other end of the third rotating rod.

[0061] Anti-slip strip, the anti-slip strip is provided at the corresponding position on the outer wall of the first rotating rod.

[0062] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0063] 1. In this invention, by setting up a traveling mechanism and using mechanical rigid locking to replace friction braking, the problem of reduced friction coefficient caused by track condensation film in the high humidity environment of greenhouse is effectively avoided, the hidden danger of braking overshoot is eliminated, and the static positioning accuracy of the device at the target position is improved.

[0064] 2. In this invention, by setting up a stabilizing mechanism, the instantaneous inertial load is absorbed in the first stage by the third spring, and the residual inertial force is absorbed in the second stage by the first and second support rods and the second spring. This greatly reduces the swing amplitude of the conveying basket at the moment of braking, and ensures the stability of the device and the safe conveying of seedlings.

[0065] 3. In this invention, by setting up a support mechanism, the weight sensor is used to trigger the placement of the tray, which drives the protective plate to converge inward synchronously, thus achieving stable positioning of different trays and more effectively preventing culture medium leakage and tray displacement caused by inertia during braking. Attached Figure Description

[0066] Figure 1 This is a schematic diagram of the assembly structure of a self-propelled seedling tray conveying device for greenhouses proposed in this invention.

[0067] Figure 2 This is a schematic diagram showing the disassembled structure of a self-propelled seedling tray conveying device for greenhouses proposed in this invention.

[0068] Figure 3 This is a schematic diagram of the main structure of a self-propelled seedling tray conveying device for greenhouses proposed in this invention;

[0069] Figure 4 This is a half-sectional schematic diagram of the traveling mechanism of a self-propelled seedling tray conveying device for greenhouses proposed in this invention.

[0070] Figure 5 For the present invention Figure 4 Enlarged structural diagram of part A in the middle;

[0071] Figure 6 This is a schematic diagram of the structure of some parts of the traveling mechanism of a self-propelled seedling tray conveying device for greenhouses proposed in this invention.

[0072] Figure 7 This is a schematic diagram of the stabilization mechanism of a self-propelled seedling tray conveying device for greenhouses, as proposed in this invention.

[0073] Figure 8 This is a half-sectional schematic diagram of the stabilization mechanism of a self-propelled seedling tray conveying device for greenhouses proposed in this invention.

[0074] Figure 9 This is a schematic diagram of the supporting mechanism of a self-propelled seedling tray conveying device for greenhouses proposed in this invention.

[0075] Figure 10 This is a half-sectional structural diagram of the supporting mechanism of a self-propelled seedling tray conveying device for greenhouses proposed in this invention.

[0076] Legend: 1. Track; 2. Traveling groove; 3. Slide; 4. Conveying basket; 5. Seedling tray; 6. Traveling mechanism; 601. Outer shell; 602. Support plate; 603. Chassis; 604. Traveling gear; 605. First motor; 606. Rotating frame; 607. Linkage rod; 608. First stroke groove; 609. Second stroke groove; 610. Extrusion block; 611. Lead screw; 612. Second motor; 613. Push-pull tube; 614. Moving block; 615. Locking gear; 616. First spring; 7. Stabilizing mechanism; 701. Rotating seat; 702. First connecting seat; 70 3. Second spring; 704. Second connecting seat; 705. First support rod; 706. Second support rod; 707. Connecting rod; 708. Connecting plate; 709. Buffer column; 710. Third spring; 711. Stabilizing seat; 712. Deflection shaft; 713. Limiting rod; 714. Limiting groove; 8. Supporting mechanism; 801. Supporting seat; 802. Limiting tube; 803. Trigger plate; 804. Rack; 805. Gear; 806. Driver; 807. First rotating rod; 808. Second rotating rod; 809. Third rotating rod; 810. Protective plate; 811. Anti-slip strip. Detailed Implementation

[0077] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0078] Please see Figures 1-10 The present invention provides a technical solution: a self-propelled conveying device for seedling trays in greenhouses, including a track 1, multiple travel grooves 2 on both sides of the track 1, slides 3 on the top and bottom of the track 1, a conveying basket 4 at the bottom of the track 1, and two seedling trays 5 inside the conveying basket 4.

[0079] The traveling mechanism 6 includes two chassis 603 respectively located on both sides of the track 1. The outer wall of the track of the chassis 603 is provided with a plurality of traveling teeth 604 at equal intervals. The device is driven to travel along the track 1 by the alternating engagement of the traveling teeth 604 and the traveling groove 2.

[0080] The stabilizing mechanism 7 includes a buffer column 709 located above the conveying basket 4. A third spring 710 is provided on the outside of the buffer column 709. When the device stops moving, the third spring 710 absorbs the inertial force to keep the conveying basket 4 stable.

[0081] The supporting mechanism 8 includes multiple protective plates 810 arranged around the axis of the seedling tray 5. The multiple protective plates 810 form a protective area to limit the inertial displacement of the seedling tray 5.

[0082] The traveling mechanism 6 also includes:

[0083] The outer casing 601 is fitted onto the outside of the track 1;

[0084] Support plate 602, two support plates 602 are respectively provided on the inner walls of both sides of the outer shell 601;

[0085] The first motor 605 is connected to the chassis 603 via a gearbox 805;

[0086] The rotating frame 606 has one end rotatably connected to the corresponding position on the outer wall of the support plate 602, and the other end rotatably connected to the corresponding position on the outer wall of the chassis 603.

[0087] The traveling mechanism 6 also includes:

[0088] The first stroke groove 608 is formed at a corresponding position on the outer wall of the support plate 602;

[0089] The extrusion block 610 has one side slidably connected to the first stroke groove 608 via a column.

[0090] Linkage rod 607, two linkage rods 607 are respectively located on both sides of the extrusion block 610, one end of linkage rod 607 is rotatably connected to the corresponding position of the outer wall of the extrusion block 610, and the other end of linkage rod 607 is rotatably connected to the corresponding position of the outer wall of the chassis 603.

[0091] The second stroke groove 609 is located on the outer wall of the linkage rod 607 at the corresponding position.

[0092] The traveling mechanism 6 also includes:

[0093] Push-pull tube 613, the top end of push-pull tube 613 is connected to the corresponding position at the bottom of extrusion block 610;

[0094] A lead screw 611, the top end of which is inserted into the bottom end of the push-pull tube 613;

[0095] The second motor 612 is mounted on one side of the support plate 602 via the plate body, and the output end of the second motor 612 is connected to the bottom end of the lead screw 611.

[0096] The movable block 614 has one outer wall connected to the outer wall of the support plate 602 via a column, and a second spring 703 is provided on the outside of the column. The two ends of the second spring 703 are respectively connected to the corresponding positions of the outer wall of the support plate 602 and the outer wall of the movable block 614.

[0097] Locking teeth 615, multiple locking teeth 615 are provided on one side of the outer wall of the movable block 614.

[0098] Specifically: Both the first motor 605 and the second motor 612 are controlled by the intelligent control system. The second motor 612 drives the lead screw 611 to rotate through its output end. The external thread on the outer wall of the lead screw 611 meshes with the internal thread on the inner wall of the push-pull tube 613. The forward rotation of the lead screw 611 causes the push-pull tube 613 to move away from the lead screw 611 along the direction of the lead screw 611. The top of the push-pull tube 613 pushes the pressing block 610, separating the pressing block 610 from the moving block 614. The first spring 616 releases its preload, pulling the moving block 614 back to its original position, causing the locking tooth 615 to exit the travel groove 2. One side of the column of the pressing block 610 slides from one end of the first travel groove 608 to the other end. The movement of the pressing block 610 drives... The linkage rod 607 rotates around the end that is rotatably connected to the outer wall of the extrusion block 610. The column of the outer wall of the rotating frame 606 moves from the end of the second stroke groove 609 near the chassis 603 to the end away from the chassis 603. The linkage rod 607 pushes the column of the outer wall of the rotating frame 606 through the second stroke groove 609, causing the rotating frame 606 to rotate around its fulcrum. The two rotating frames 606 rotate synchronously, driving the chassis 603 to move closer to the track 1, so that the traveling teeth 604 set on the outer wall of the chassis 603 are accurately embedded in the traveling groove 2. The first motor 605 drives the track outside the chassis 603 to rotate, so that the traveling teeth 604 and the traveling groove 2 mesh sequentially, thereby driving the device to translate axially along the guide rail.

[0099] Furthermore, when the device reaches the target position, the second motor 612 reverses and drives the lead screw 611 to rotate in the opposite direction, causing the push-pull tube 613 to retract along the direction of the lead screw 611. The top of the push-pull tube 613 pulls the extrusion block 610. The extrusion block 610 drives the rotating frame 606 to rotate in the opposite direction through the linkage rod 607, causing the chassis 603 to move away from the track 1 and the traveling tooth 604 to disengage from the traveling groove 2. During this process, the extrusion block 610 extrudes the moving block 614 away from the outer wall of the track 1 through the protrusion, forcing the moving block 614 to overcome the elastic force of the first spring 616 and move closer to the track 1. The moving block 614 drives the locking tooth 615 to move synchronously, so that the locking tooth 615 is embedded in the traveling groove 2 to implement mechanical rigid locking. In the high humidity environment inside the greenhouse, the surface of the track 1 is prone to condensation film. The deep engagement between the locking tooth 615 and the traveling groove 2 avoids the increase in braking distance due to the decrease in the interface friction coefficient, ensuring the static positioning accuracy of the conveying device at the target preset position.

[0100] It should be noted that the selection of the first motor 605 and the second motor 612 in the above description is based on the needs. This part is well-known technology in the field and will not be described in detail here.

[0101] It should be noted that the lead screw 611 and the push-pull tube 613 constitute a lead screw structure in the above description. The lead screw is a precision transmission element that converts rotary motion into linear motion or vice versa. Its core function is to convert rotary motion into linear motion. It achieves high-precision and high-efficiency linear transmission through thread structure and rolling friction. This part is well-known technology in the field and will not be described in detail here.

[0102] Please see Figures 7-8 The stabilizing agency 7 also includes:

[0103] Rotary seat 701, the top of which is connected to the bottom of housing 601;

[0104] First connecting seat 702, and multiple first connecting seats 702 are arranged around the axis of rotating seat 701 at the bottom of housing 601;

[0105] Second connecting seat 704, multiple second connecting seats 704 are arranged around the axis of rotating seat 701 at the bottom of housing 601.

[0106] Stabilizing agency 7 also includes:

[0107] The second support rod 706, one end of which is rotatably connected to the corresponding second connecting seat 704;

[0108] The first support rod 705 has one end rotatably connected to the first connecting seat 702 at the corresponding position, and the other end of the first support rod 705 is rotatably connected to the corresponding position of the second support rod 706.

[0109] The second spring 703, a plurality of second springs 703 are arranged around the axis of the rotating seat 701 at the bottom of the outer shell 601, and the two ends of the second spring 703 are respectively rotatably connected to the first connecting seat 702 and the first support rod 705 at the corresponding positions through the block.

[0110] Stabilizing agency 7 also includes:

[0111] Connecting rod 707, the top end of connecting rod 707 is connected to the bottom end of second support rod 706;

[0112] The top of the connecting plate 708 is connected to the bottom of the connecting rod 707, and the top of the buffer column 709 passes through the bottom of the connecting plate 708.

[0113] Stabilizer 711 is located below connecting plate 708.

[0114] Stabilizing agency 7 also includes:

[0115] The deflection shaft 712 is connected to the bottom of the connecting plate 708 at its bottom end, and the bottom end of the deflection shaft 712 passes through the inside of the stabilizer 711.

[0116] Limiting rods 713, multiple limiting rods 713 are arranged around the axis of deflection shaft 712 at the bottom of connecting plate 708;

[0117] Limiting grooves 714, multiple limiting grooves 714 are formed around the axis of the stabilizer 711 and are located on the top of the stabilizer 711.

[0118] Specifically: when the device reaches the predetermined point and the traveling mechanism 6 performs position locking, the conveying basket 4 experiences a swinging tendency due to the instantaneous inertial load pointing in its traveling direction. The bottom of the stabilizing seat 711 is embedded in the top of the conveying basket 4, and the stabilizing seat 711 shifts synchronously with the conveying basket 4. The bottom end of the deflection shaft 712 is set as a sphere, and the outer wall of the sphere slides relative to the inner wall of the stabilizing seat 711. The stabilizing seat 711 shifts relative to the deflection shaft 712, and the limiting rod 713 moves within the limiting groove 714 to limit the maximum deflection angle and prevent the moving seat from over-deflecting. The buffer column 709 located on the deflection side retracts, and the third spring 710 at the corresponding position is compressed. The third spring 710 absorbs inertial force through its own elasticity. The buffer column 709 on the opposite side extends, and the third spring 710 at the corresponding position is stretched. The third spring 710 also absorbs inertial force through its own elasticity. The elastic deformation of the third spring 710 performs primary absorption of inertial load. The residual inertial force is transmitted to the second support rod 706 through the connecting rod 707, driving the first support rod 705 to rotate around its hinge point with the connecting seat and compress the second spring 703. The elastic deformation of the second spring 703 performs secondary absorption of residual inertial load. Through two-stage elastic buffering, the inertial impact is dissipated and balanced step by step.

[0119] Please see Figures 9-10 The supporting institution 8 also includes:

[0120] Support seat 801 is located inside the conveyor basket 4;

[0121] The limiting tube 802 is connected at its top end to the bottom of the support 801.

[0122] Trigger plate 803, which is located above support base 801;

[0123] Rack 804, the top end of rack 804 is connected to the bottom end of trigger plate 803;

[0124] Gear 805 is rotatably connected to the outer wall of one side of the limiting tube 802 via the plate, and driver 806 is installed on the other side of the plate.

[0125] The supporting institution 8 also includes:

[0126] The first rotating rod 807, and multiple first rotating rods 807 are arranged around the axis of the support 801, and the outer wall of the protective plate 810 is connected to the side wall of the first rotating rod 807;

[0127] Third rotating rod 809, multiple third rotating rods 809 are arranged around the axis of trigger plate 803, and one end of the third rotating rod 809 is rotatably connected to the corresponding position of trigger plate 803;

[0128] The second rotating rod 808, and multiple second rotating rods 808 are arranged around the axis of the trigger plate 803. One end of the second rotating rod 808 is rotatably connected to the corresponding position of the first rotating rod 807, and the other end of the second rotating rod 808 is rotatably connected to the other end of the third rotating rod 809.

[0129] Anti-slip strip 811 is located at the corresponding position on the outer wall of the first rotating rod 807.

[0130] Specifically, the trigger plate 803 integrates a weight sensor. When the seedling tray 5 is placed on top of the trigger plate 803 and presses down on it due to its own weight, the weight sensor is triggered. The weight sensor sends a signal to start the driver 806. The driver 806 drives the gear 805 to rotate. The gear 805 meshes with the rack 804, which drives the rack 804 to move downward. The rack 804 pulls the trigger plate 803 downward in sync. The trigger plate 803 pulls the third rotating rod 809, which in turn pulls the second rotating rod 808. The first rotating rod 807 rotates synchronously around its bottom end as an axis. The top of the first rotating rod 807 drives the two protective plates 810 to move synchronously. The four first rotating rods 807 converge inwards synchronously, causing the eight protective plates 810 to converge inwards synchronously, surrounding the seedling tray 5. The protective plates 801 are made of elastic material. The protective plates 801 absorb and dissipate the instantaneous inertial load generated by the seedling tray 5 through the elastic deformation of the material. The anti-slip strip 811 abuts against the edges of the seedling tray 5 to prevent the seedling tray 5 from sliding and to prevent the culture solution in the seedling tray 5 from leaking due to inertial force when the device stops.

[0131] Working principle: When in use, the operator places the seedling tray 5 containing the seedlings into the supporting mechanism 8. The seedling tray 5 presses down on the trigger plate 803, triggering the protective plate 810 to converge inward and fix the position of the seedling tray 5. After the seedling tray 5 is placed, the operator controls the first motor 605 and the second motor 612 through the intelligent control system, so that the traveling mechanism 6 drives the entire device and the seedling tray 5 to move along the track 1. When it reaches the predetermined point, the intelligent control system controls the traveling mechanism 6 to stop, and the operator takes out the seedling tray 5.

[0132] In this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0133] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A self-propelled conveying device for seedling trays in greenhouses, comprising a track, characterized in that, Multiple travel grooves are provided on both sides of the track, and slides are provided at the top and bottom of the track. A conveying basket is provided at the bottom of the track, and two seedling trays are provided inside the conveying basket. The traveling mechanism includes two chassis respectively located on both sides of the track. The outer wall of the track of the chassis is provided with a plurality of traveling teeth at equal intervals. The device is driven to travel along the track direction by the alternating engagement of the traveling teeth and the traveling grooves. The stabilizing mechanism includes a buffer column located above the conveyor basket, and a third spring is provided on the outside of the buffer column. When the device stops moving, the third spring absorbs the inertial force to keep the conveyor basket stable. The supporting mechanism includes multiple protective plates arranged around the axis of the seedling tray, forming a protective area through the multiple protective plates to limit the inertial displacement of the seedling tray; The traveling mechanism also includes: The outer casing is fitted over the outside of the track; Support plates, the two support plates are respectively disposed on the inner walls of the two sides of the outer shell; The first motor is connected to the chassis via a gearbox; The rotating frame has one end of each of the two rotating frame bodies rotatably connected to the corresponding position of the outer wall of the support plate, and the other end of each of the two rotating frame bodies rotatably connected to the corresponding position of the outer wall of the chassis. The traveling mechanism also includes: The first stroke groove is formed at a corresponding position on the outer wall of the support plate; An extrusion block, one side of which is slidably connected to the first stroke groove via a column; Linkage rods, two of which are respectively located on both sides of the extrusion block, one end of the linkage rod is rotatably connected to the corresponding position of the outer wall of the extrusion block, and the other end of the linkage rod is rotatably connected to the corresponding position of the outer wall of the chassis; The second stroke groove is formed at a corresponding position on the outer wall of the linkage rod; The traveling mechanism also includes: A push-pull tube, the top end of which is connected to the bottom of the extrusion block at a corresponding position; The lead screw, the top end of which passes through the bottom end of the push-pull tube; The second motor is mounted on one side of the support plate via the plate body, and the output end of the second motor is connected to the bottom end of the lead screw. The movable block has one outer wall connected to the outer wall of the support plate via a column, and a first spring is provided on the outside of the column. The two ends of the first spring are respectively connected to the corresponding positions of the outer wall of the support plate and the outer wall of the movable block. Locking teeth, a plurality of the locking teeth are provided on one side of the outer wall of the moving block.

2. The self-propelled conveying device for seedling trays in a greenhouse according to claim 1, characterized in that, The stabilizing mechanism also includes: A rotating base, the top of which is connected to the bottom of the outer casing; First connecting seat, and multiple first connecting seats are arranged around the axis of rotating seat at the bottom of the outer casing; Second connecting seats, multiple second connecting seats are arranged around the axis of the rotating seat at the bottom of the housing.

3. The self-propelled conveying device for seedling trays in a greenhouse according to claim 2, characterized in that, The stabilizing mechanism also includes: The second support rod, one end of which is rotatably connected to the second connecting seat at the corresponding position; A first support rod, one end of which is rotatably connected to a first connecting seat at a corresponding position, and the other end of which is rotatably connected to a second support rod body at a corresponding position. The second spring, and multiple second springs are arranged around the axis of the rotating seat at the bottom of the outer shell, and the two ends of the second spring are respectively rotatably connected to the first connecting seat and the first support rod at the corresponding position through the block.

4. A self-propelled conveying device for seedling trays in a greenhouse according to claim 3, characterized in that, The stabilizing mechanism also includes: A connecting rod, the top end of which is connected to the bottom end of the second support rod; A connecting plate, the top of which is connected to the bottom of the connecting rod, and the top of the buffer column passing through the bottom of the connecting plate; A stabilizing base is located below the connecting plate.

5. A self-propelled conveying device for seedling trays in a greenhouse according to claim 4, characterized in that, The stabilizing mechanism also includes: A deflection shaft, the bottom end of which is connected to the bottom of a connecting plate, and the bottom end of which passes through the inside of a stabilizing base; A plurality of limiting rods are arranged around the axis of the deflection shaft at the bottom of the connecting plate; The limiting grooves are formed around the axis of the stabilizing seat on the top of the stabilizing seat.

6. A self-propelled conveying device for seedling trays in a greenhouse according to claim 1, characterized in that, The supporting institution also includes: A support seat, wherein the support seat is disposed inside the conveyor basket; A limiting tube, the top end of which is connected to the bottom of the support seat; A trigger plate, wherein the trigger plate is disposed above the support base; A rack, the top end of which is connected to the bottom end of a trigger plate; The gear is rotatably connected to the outer wall of one side of the limiting tube via the plate, and a driver is installed on the other side of the plate.

7. A self-propelled conveying device for seedling trays in a greenhouse according to claim 6, characterized in that, The supporting institution also includes: A first rotating rod, and a plurality of first rotating rods are arranged around the axis of the support seat, and the outer wall of the protective plate is connected to the side wall of the first rotating rod; The third rotating rod, and a plurality of the third rotating rods are arranged around the axis of the trigger plate, with one end of the third rotating rod being rotatably connected to the corresponding position of the trigger plate; The second rotating rod, and multiple second rotating rods are arranged around the axis of the trigger plate. One end of the second rotating rod is rotatably connected to the corresponding position of the first rotating rod body, and the other end of the second rotating rod is rotatably connected to the other end of the third rotating rod. Anti-slip strip, the anti-slip strip is provided at the corresponding position on the outer wall of the first rotating rod.

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