A method for stacking vegetable plug trays by means of a stacking robot arm

Abstract

The application discloses a kind of by stacking mechanical arm to vegetable hole tray is stacked method, and its specific operation includes: clamp is fixed through the flange structure on connecting plate with the free end of stacking mechanical hand, flange two sides power air pump drive clamping arm opening and closing, ensure that each component movement is not hindered;Vegetable hole tray is stably placed into adaptive sleeve tray, edge and sleeve inner wall closely fit, form combined unit without relative displacement;Combined unit is placed in seedling line D conveyor, and planting operations such as soil loading, seeding, soil covering, watering and fertilization are completed in turn;Combined unit is conveyed to stacking machine E after completing planting by conveyor, and is vertically stacked to form material pile after being guided by alignment and being embedded in stacking block and slot;Stacking manipulator drives clamp to grab material pile and moves to the tray F in preset stacking area to place, integrated counter monitors material pile quantity in real time, repeat the above operation, through sleeve tray and hole tray combination fixation, stacking accurate alignment and stacking posture control, realize seedling tray stable and accurate stacking.

Description

Technical Field

[0001] This invention belongs to the technical field of automated equipment for vegetable tray seedling cultivation, and more specifically, it is a stacking method for placing vegetable trays using a stacking robotic arm. Background Technology

[0002] In the automated production process of vegetable tray seedling cultivation, the palletizing step is a crucial step before the trays are transported after seedling cultivation. Currently, vegetable trays are mostly made of soft materials such as PS or PET, which are soft and easily deformed, making them unsuitable for direct handling by palletizing robots. Therefore, they are typically manually transported and stacked on seedling racks. However, manual handling is not only time-consuming and labor-intensive but may also damage the seedlings inside the trays. Furthermore, seedling racks occupy a large amount of space and are costly. If seedling racks are not used, the final stack height and uniformity are low, and the stacks are loose, leading to tilting and increasing the risk of tipping over in subsequent processes. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a stacking method for vegetable seedling trays by using a stacking robotic arm. By combining and fixing the seedling trays with the stacking trays, accurately aligning the stacked trays, finely adjusting the stacking posture in real time, and recycling and reusing the stacking trays, the method achieves stable stacking and precise stacking of seedling trays, improves automation efficiency and reduces seedling costs.

[0004] Technical solution: To achieve the above objectives, the present invention provides a stacking method for placing vegetable trays using a stacking robotic arm, comprising:

[0005] Install and debug the fixture, and fix the fixture to the end of the free end of the palletizing robot through the flange structure set on the connecting plate. Drive the two clamping arms connected to the two power pumps on the opposite sides of the flange structure to move closer or further apart, and drive the joints of the palletizing robot to move, ensuring that the power pumps and the joints of the palletizing robot move without obstruction.

[0006] Prepare the matching components, and place the vegetable seed trays steadily into the inner tray, ensuring that the edges of the vegetable seed trays fit tightly against the inner wall of the inner tray, forming a tray assembly unit without relative displacement.

[0007] After completing the sowing process, the nested tray unit containing vegetable seedling trays is placed on the conveyor belt of seedling line D. The planting and cultivation operations such as filling with soil, sowing, covering with soil, watering and fertilizing are completed sequentially through seedling line D.

[0008] The trays are stacked to form a stack of planting materials. The tray combination units that have completed planting and cultivation are transported to the stacking machine E via the conveyor belt of the seedling line D. The stacking machine E guides the received tray combination units to be aligned, so that several tray combination units are stacked vertically. In two adjacent tray combination units, the stacking block of the upper tray combination unit is engaged in the stacking slot of the upper tray combination unit.

[0009] The stacked material trays are stacked by controlling a stacking robot to move the stacked material trays to a pre-set stacking area above the stacking area near the stacking robot. Then, the stacking robot, with the gripper, places the stacked material trays on the tray F in the stacking area. The stacking operation is repeated until the counter integrated into the stacking robot detects that the stacked material trays on the tray F in the stacking area have reached the preset number.

[0010] Furthermore, the palletizing operation includes:

[0011] The palletizing robot is positioned and moved. Whenever a stack of pallets is formed on the pallet stacking machine E, the position sensor integrated on the palletizing robot calculates the precise position coordinates of the stack of pallets based on the preset three-dimensional positioning coordinates, and plans the movement route. The palletizing robot is controlled to move along the planned movement route with the gripper connected to the free end of the palletizing robot to directly above the stack of pallets. Then, the palletizing robot is controlled to slowly lower itself to the preset gripping height at which the gripper can grasp the stack of pallets.

[0012] When the clamp is at a preset gripping height, the two clamping arms on both sides of the clamp are driven by the two power air pumps on the clamp to move synchronously in a direction that approaches each other until the side of the two clamping arms that approaches each other is tightly attached to the outside of the stack of material. The clamp hooks set on the side of the two clamping arms that approaches each other are embedded in the hook groove set on the outer wall of the stack of material in the stack of material at the bottom of the stack of material.

[0013] The pallet stack is transferred by controlling the palletizing robot to lift the clamp and the pallet stack held by the clamp at a uniform speed until the bottom of the pallet stack is higher than the highest point of the pallet stacking machine E and the surrounding equipment. Then the palletizing robot moves smoothly along the preset moving route and monitors the posture of the pallet stack in real time during the movement. If the pallet stack deviates, it is finely adjusted by the palletizing robot to keep the pallet stack moving stably to the top of the designated palletizing area.

[0014] The pallet stack is placed and the pallet stack is moved to the top of the pallet stack area by the pallet stack robot. The pallet stack robot is then slowly lowered so that the bottom of the pallet stack unit at the bottom of the pallet stack clamped by the clamp is on the pallet F placed in the pallet stack area, or on the surface of the pallet stack already placed below. After the pallet stack is placed stably, the two clamping arms on both sides of the clamp are driven by the two power air pumps on the clamp to move synchronously in a direction away from each other until the clamp hooks on the side of the two clamping arms that are close to each other are removed from the hook grooves on the outer wall of the pallet stack unit at the bottom of the pallet stack as the two clamping arms move.

[0015] The palletizing process is completed cyclically, repeating the steps of positioning and moving the palletizing robot, gripping and fixing the stacked pallets, lifting and transferring the stacked pallets, and placing the stacked pallets. The counter integrated on the palletizing robot counts the number of stacked pallets on a single pallet F in real time. When the number reaches the preset total number, a palletizing completion signal is issued, the palletizing robot issues a handling alarm, and resets to the initial standby position, waiting for the next set of palletizing instructions.

[0016] Furthermore, the preparation of the supporting components includes: selecting vegetable seedling trays of appropriate specifications according to the types of vegetable seedlings to be planted, selecting suitable matching trays according to the specifications of the vegetable seedling trays, and placing the vegetable seedling trays stably into the matching trays to form a matching tray unit without relative displacement. Each vegetable seedling tray and each matching tray can be nested together to form a matching tray unit.

[0017] Furthermore, the alignment and guidance operation of the stacking machine E includes: after receiving a tray assembly unit transported by the conveyor belt of the seedling line D, the stacking machine E transports the upper tray assembly unit to the stacking station of the stacking machine E through the conveyor rollers that are coplanar with the conveyor belt of the seedling line D; the stacking machine E moves the above tray assembly unit vertically to a preset height position through its own lifting mechanism set at the stacking station; when a subsequent tray assembly unit is transported to the stacking station, the stacking machine E moves the subsequent tray assembly unit upward to below the tray assembly unit already stacked above it through its own lifting mechanism, and makes the stacking plate block in the stacked tray assembly unit above embed into the stacking plate slot in the subsequent tray assembly unit below.

[0018] Furthermore, the method for establishing the three-dimensional positioning coordinates includes: establishing a virtual spatial three-dimensional positioning coordinate system with the fixed end of the palletizing robot as the origin, the conveying direction of the seedling line D as the X-axis, the direction perpendicular to the seedling line D as the Y-axis, and the direction perpendicular to the ground as the Z-axis; and calibrating the coordinate system using a calibration tool after the coordinate system is established.

[0019] Furthermore, the calibration method for the three-dimensional positioning coordinate system includes: placing an unplanted tray assembly unit on the stacking station, setting the coordinate points of the stacking station in the three-dimensional positioning coordinate system, and delineating all coordinate ranges of the palletizing area in the three-dimensional positioning coordinate system, wherein the coordinate range contains several coordinate points, each representing a placement point; after setting the movement path for the palletizing robot, controlling the palletizing robot to move along the set movement path; after the palletizing robot, carrying the clamp, moves above the stacking station, measuring the deviation value between the clamp and the tray assembly unit using a calibration tool, and inputting the measured deviation value. The parameters are fed into the control system of the palletizing robot as gripping compensation parameters during its movement. After the palletizing robot, with its gripper, picks up the aforementioned tray assembly unit, it moves along a preset path to the top of the palletizing area, aligning the palletizing robot with each coordinate point in the palletizing area. During this process, a calibration tool measures the deviation between the gripper and each preset placement point in the palletizing area. After the deviation is measured, the corresponding deviation values ​​for each placement point are output to the control system of the palletizing robot as placement compensation parameters during its movement.

[0020] Furthermore, the attitude monitoring and fine-tuning operation during the pallet stacking process includes: installing a position sensor and an tilt sensor at the end of the fixture or palletizing robot; the position sensor collects the three-dimensional position data of the pallet stack in the three-dimensional positioning coordinate system in real time, and the tilt sensor collects the horizontal tilt angle data of the pallet stack in real time; the data detected by the position sensor and the tilt sensor are synchronously transmitted to the control system of the palletizing robot; the control system compares the real-time detection data with preset standard data; if a deviation is detected between the real-time data of the pallet stack and the preset standard data, the system calculates the offset direction and amount of the pallet stack along the X-axis or Y-axis of the coordinate system, and drives the palletizing robot to perform corresponding compensation movements; if the pallet stack is detected to be tilted, the system calculates the tilt angle and tilt direction along the X-axis or Y-axis of the coordinate system based on the data from the tilt sensor, and controls the rotary joint of the palletizing robot to adjust the tilt state of the fixture, so that the pallet stack is restored to a horizontal state.

[0021] Furthermore, the operation of the palletizing robot slowly lowering the pallet stack includes: before the palletizing robot lowers the pallet stack, the height and flatness of the already stacked pallet stacks on the pallet F are detected by a position sensor and a preset three-dimensional positioning coordinate system, and the height and position that the current pallet stack should be placed at are calculated; during the lowering process, the palletizing robot lowers the pallet stack at a gradient speed from fast to slow, and then from slow to gentle. When it approaches the upper surface of the already stacked pallet stack below, it switches to slow lowering. At the same time, the alignment of the pallet stack with the already stacked pallet stack below is monitored in real time by a vision sensor. If an alignment deviation occurs, the horizontal position of the pallet stack is finely adjusted by the palletizing robot based on the coordinate system data.

[0022] Beneficial effects: The stacking method of vegetable trays by using a stacking robotic arm of the present invention has the following beneficial effects compared with the prior art;

[0023] 1. The seedling tray and the seedling container fit together tightly to form a stable seedling tray unit, which avoids relative displacement during stacking and transportation, prevents seedlings from being damaged by displacement and collision, and effectively protects the seedlings.

[0024] 2. The stacking machine E uses the precise alignment and engagement of the card blocks and slots to ensure that the stacked pallets are neatly and stably stacked, reducing the risk of tipping over during transportation and laying a good foundation for subsequent palletizing and warehousing transportation.

[0025] 3. Real-time monitoring and fine-tuning of the posture during palletizing effectively prevents the stack of materials from shifting or tipping over, improves the accuracy of palletizing operations, and ensures that the stack of materials on pallet F is neatly arranged;

[0026] 4. The entire process of planting, stacking, and palletizing is fully automated, reducing manual intervention, improving the overall efficiency of seedling cultivation and palletizing, reducing labor costs, and minimizing errors caused by manual operation, thereby improving production stability. Attached Figure Description

[0027] Figure 1 This is a flowchart of a method for stacking vegetable trays using a palletizing robotic arm, according to the present invention.

[0028] Figure 2 This is a schematic diagram of the flow of the trays on the seedling production line in this invention;

[0029] Figure 3 This is a schematic diagram of the structure of the palletizing robot after it has grasped the stack of palletized materials in this invention.

[0030] Figure 4 This is a schematic diagram of the fixture. Detailed Implementation

[0031] The invention will now be further described with reference to the accompanying drawings.

[0032] like Figures 1-4 As shown, a stacking method for placing vegetable trays using a stacking robotic arm includes:

[0033] Install and debug the fixture 2, fix the fixture 2 to the end of the free end of the palletizing robot 1 through the flange structure 6 set on the connecting plate 7, and drive the two clamping arms 4 connected to the two sides of the flange structure 6 to move closer or further apart, and drive the joints of the palletizing robot 1 to move, so as to ensure that the movement of the power pump 5 and the joints of the palletizing robot 1 is unimpeded, thereby completing the testing and debugging of the fixture 2 and the palletizing robot 1.

[0034] Prepare the necessary components. Select appropriate vegetable seedling trays of suitable size according to the type of vegetable seedlings to be planted. Choose matching inner trays based on the size of the vegetable seedling trays. Place the vegetable seedling trays smoothly into the inner trays, ensuring that the edges of the vegetable seedling trays fit tightly against the inner wall of the inner tray, forming a nested tray unit without relative displacement. Each vegetable seedling tray and one inner tray can be nested together to form a nested tray unit. Then, transport the assembled nested tray units to the tray supply area B.

[0035] To complete the planting process, the nested tray unit containing vegetable seedling trays is placed on the conveyor belt of the seedling line D. The seedling line D then sequentially completes the planting and cultivation operations such as filling with soil, sowing, covering with soil, watering, and fertilizing. Before passing through the seedling line D, the nested tray unit is an un-seedling tray A; after passing through the seedling line D, the nested tray unit is assembled into a seedling tray C.

[0036] Stacked to form a stack of tray materials 3, the tray combination units that have completed planting and cultivation are transported to the stacking machine E via the conveyor belt of the seedling line D. The stacking machine E guides the received tray combination units to be aligned, so that several tray combination units are stacked vertically. In two adjacent tray combination units, the stacking plate of the upper tray combination unit is inserted into the stacking plate slot of the upper tray combination unit, thereby forming a stack of tray materials 3 of the same specifications.

[0037] The stack of 3 is stacked by controlling the stacking robot 1 to perform the stacking operation. The stacking robot 1 and the clamp 2 move the stacked 3 to the top of the stacking area that is preset near the stacking robot 1. Then, the stacking robot 1, with the clamp 2, places the stack of 3 on the pallet F in the stacking area. The stacking operation is repeated until the counter integrated on the stacking robot 1 detects that the stacked 3 on the pallet F in the stacking area has reached the preset number.

[0038] The palletizing operation includes:

[0039] The palletizing robot 1 is positioned and moved. The palletizing robot 1 is set on the side of the stacking machine E away from the seedling line D. Whenever a stack of trays 3 is formed on the stacking machine E, the position sensor integrated on the palletizing robot 1 calculates the precise position coordinates of the stack of trays 3 based on the preset three-dimensional positioning coordinates and plans the movement route. First, the palletizing robot 1 is controlled to move along the planned movement route with the clamp 2 connected to the free end of the palletizing robot 1 to directly above the stack of trays 3. Then, the palletizing robot 1 is controlled to slowly lower to the preset gripping height at which the clamp 2 can grasp the stack of trays 3. When the clamp 2 is at the preset gripping height, the two gripping arms 4 of the clamp 2 are on both sides of the stack of trays 3.

[0040] When the clamp 2 is at a preset gripping height, the two power air pumps 5 on the clamp 2 drive the two clamping arms 4 on both sides of the clamp 2 to move synchronously in a direction that approaches each other, thereby tightening inward until the side of the two clamping arms 4 that approaches each other is tightly attached to the outer side of the stack of pallets 3. At the same time, the hook 8 of the clamp 2 set on the side of the two clamping arms 4 that approaches each other is embedded in the hook groove set on the outer wall of the pallet assembly unit at the bottom of the stack of pallets 3 as the two clamping arms 4 tighten. This forms a double fixing mechanism of clamping by the clamping arms 4 and hooking by the hook 8, ensuring that the palletizing robot 1 can firmly grip the stack of pallets 3.

[0041] The pallet stack 3 is transferred, and the palletizing robot 1 drives the clamp 2 and the pallet stack 3 clamped by the clamp 2 to lift vertically at a uniform speed until the bottom of the pallet stack 3 is higher than the highest point of the pallet stacking machine E and the surrounding equipment. Then the palletizing robot 1 moves smoothly along the preset moving route and monitors the posture of the pallet stack 3 in real time during the movement. If the pallet stack 3 deviates, it is finely adjusted by the palletizing robot 1 to keep the pallet stack 3 moving stably to the top of the designated palletizing area.

[0042] The pallet stack 3 is placed in a stack. After the pallet stack 3 is moved by the pallet stack 1 to the top of the stacking area, the pallet stack 3 is slowly lowered by the pallet stack 1. The bottom of the pallet assembly unit of the pallet stack 3, which is clamped by the clamp 2, is placed on the pallet F in the stacking area or on the upper surface of the pallet stack 3 that has been placed below. After the pallet stack 3 is placed stably, the two power air pumps 5 on the clamp 2 drive the two clamping arms 4 on both sides of the clamp 2 to move synchronously in a direction away from each other until the hook 8 of the clamp 2, which is located on the side of the two clamping arms 4 that is close to each other, moves out of the hook groove on the outer wall of the pallet assembly unit of the bottom pallet stack 3 with the movement of the two clamping arms 4, thus ending the single pallet stacking operation.

[0043] The palletizing process is completed cyclically, repeating the steps of positioning and moving the palletizing robot 1, gripping and fixing the stack of pallets 3, lifting and transferring the stack of pallets 3, and palletizing and placing the stack of pallets 3. The counter integrated on the palletizing robot 1 counts the number of stacks of pallets 3 on a single pallet F in real time. When the number reaches the preset total number, a palletizing completion signal is issued, the palletizing robot 1 issues a handling alarm, and resets to the initial standby position, waiting for the next set of palletizing instructions.

[0044] Furthermore, the trays described in this invention can be recycled and reused. Specifically, after the stacking and handling, that is, after the plants in the vegetable seedling trays of each tray combination unit on the stack have completed cultivation, each tray combination unit is disassembled manually or by automated equipment to separate the seedling trays and collect the trays to a cleaning device to remove residual soil and other impurities from the surface of the trays. After inspection confirms that the trays are undamaged, they are transported to the tray supply stage B to be used again with new empty seedling trays, thereby realizing the recycling and reuse of the trays.

[0045] The alignment and guidance operation of the stacking machine E includes: after receiving a tray assembly unit transported by the conveyor belt of the seedling line D, the stacking machine E transports the upper tray assembly unit to the stacking station of the stacking machine E via a conveyor roller that is coplanar with the conveyor belt of the seedling line D; at least two sets of photoelectric sensors are arranged on both sides of the stacking machine E along the transport direction, and the two sets of photoelectric sensors are signal connected to the drive device of the stacking machine's conveyor roller, and the two sets of photoelectric sensors are located at both ends of the stacking station along the transport direction; when the tray assembly enters the stacking machine E, it will sequentially block the two sets of photoelectric sensors. When the tray assembly unit simultaneously blocks the two sets of photoelectric sensors under the drive of the stacking machine's conveyor roller, it indicates that the tray assembly unit is exactly located at the stacking station of the stacking machine E, and the two photoelectric sensors control the drive device of the stacking machine's conveyor roller to stop driving the conveyor roller; subsequently, the stacking machine E moves the tray assembly unit vertically to a preset position via its own lifting mechanism located at the stacking station. Height Position; When subsequent pallet assembly units are transported to the stacking station, it should be understood that the stacking station is an area set on the transport roller conveyor. Therefore, in this state, the subsequently transported pallet assembly units are on the transport roller conveyor of the stacking machine E, while the previously transported pallet assembly units are above the transport roller conveyor under the action of the lifting mechanism. Therefore, in this state, the pallet assembly units on the stacking station on the transport roller conveyor are defined as lower pallet assemblies, and the pallet assembly units on the lifting mechanism and above the transport roller conveyor are defined as upper pallet assemblies. The stacking machine E moves the lower pallet assembly upwards to below the already stacked upper pallet assembly through its own lifting mechanism, and makes the stacking plate block on the pallet in the upper pallet assembly and the stacking plate slot on the pallet in the lower pallet assembly in the same vertical direction. When the lower pallet assembly is vertically attached to the upper pallet assembly under the action of the lifting mechanism, the stacking plate block in the upper pallet assembly is embedded in the stacking plate slot in the lower pallet assembly, thereby forming a nested stacked pallet stack 3. The specific mechanism of the stacking machine lifting mechanism has mature existing examples, so it will not be described in detail here.

[0046] The method for establishing the three-dimensional positioning coordinates includes: taking the fixed end of the palletizing robot 1 as the origin, the conveying direction of the seedling line D as the X-axis, the direction perpendicular to the seedling line D as the Y-axis, and the direction perpendicular to the ground as the Z-axis to establish a virtual spatial three-dimensional positioning coordinate system. After the coordinate system is established, it is calibrated by a calibration tool to ensure that the actual movement trajectory of the palletizing robot 1 is consistent with the calculated trajectory of the three-dimensional positioning coordinates.

[0047] The calibration method for the three-dimensional positioning coordinate system includes: placing an unplanted tray assembly unit on the stacking station, setting the coordinate points of the stacking station in the three-dimensional positioning coordinate system, and delineating all coordinate ranges of the palletizing area in the three-dimensional positioning coordinate system, wherein the coordinate range contains several coordinate points, each representing a placement point; after setting the movement route for the palletizing robot 1, controlling the palletizing robot 1 to move along the set movement path; after the palletizing robot 1, carrying the clamp 2, moves above the stacking station, measuring the deviation value between the clamp 2 and the tray assembly unit using a calibration tool, and outputting the deviation value to the palletizing machine after measurement. The control system of the palletizing robot 1 uses the gripping compensation parameters when the palletizing robot 1 moves. After the palletizing robot 1, with the gripper 2, picks up the aforementioned tray assembly unit, the control system moves the palletizing robot 1, along with the gripper 2 and the aforementioned tray assembly unit, along a preset moving route to the top of the palletizing area. The control system then makes the palletizing robot 1, with the aforementioned tray assembly unit, coincide with each coordinate point in the palletizing area in sequence. During this process, the deviation value between the gripper 2 and each preset placement point on the palletizing area is measured using a calibration tool. After the deviation value is measured, the deviation value corresponding to each placement point is output to the control system of the palletizing robot 1 as the placement compensation parameter when the palletizing robot 1 moves.

[0048] Both the gripping compensation parameters and the placement compensation parameters are set to maximum values, and the gripping compensation parameters and placement compensation parameters measured during each calibration process can be superimposed. Simply put, assuming two deviation measurements are performed using a calibration tool within a certain time period, if the gripping compensation parameters and placement compensation parameters do not exceed their set maximum values ​​after the first measurement, then it is only necessary to set the gripping compensation parameters and placement compensation parameters in the control system of the palletizing robot 1. When performing the second measurement, this measurement is based on the initial parameters plus the compensation parameters from the first measurement. Therefore, if there is still a deviation between the actual movement trajectory of the palletizing robot 1 and the calculated trajectory of the three-dimensional positioning coordinates after the second measurement, it is necessary to add the compensation parameters from the second measurement to the compensation parameters from the first measurement. If the sum of the compensation parameters from two measurements exceeds the set maximum value, then the three-dimensional positioning coordinate system needs to be re-established or the palletizing robot 1 needs to be repaired and adjusted. If the sum of the compensation parameters from two measurements does not exceed the set maximum value, then the sum of the compensation parameters from the two measurements is used as the actual supplementary parameter of the control system of the palletizing robot 1. The above measurement timing can be set according to the number of palletizing operations or the palletizing duration of the palletizing robot 1. Just like a car needs to be maintained regularly or after reaching a certain mileage, after a period of use, the palletizing robot 1 will inevitably deviate from the preset trajectory due to some unavoidable factors. Therefore, in order to prevent the pallet stack 3 from being knocked over by the palletizing robot 1 during the palletizing process, the deviation of the palletizing robot 1 needs to be measured regularly.

[0049] The attitude monitoring and fine-tuning operation during the pallet stacking process includes: installing a position sensor and an tilt sensor at the end of the clamp 2 or the palletizing robot 1. The position sensor collects the three-dimensional position data of the pallet stack 3 in the three-dimensional positioning coordinate system in real time, and the tilt sensor collects the horizontal tilt angle data of the pallet stack 3 in real time. The data detected by the position sensor and the tilt sensor are synchronously transmitted to the control system of the palletizing robot 1. The control system compares the real-time detection data with preset standard data. If a deviation is detected between the real-time data of the pallet stack 3 and the preset standard data, the system calculates the offset direction and amount of the pallet stack 3 along the X-axis or Y-axis of the coordinate system, and drives the palletizing robot 1 to perform corresponding compensation movements. The system corrects the offset of the pallet stack 3 during the transfer process by adjusting the attitude of the palletizing robot 1. If the pallet stack 3 is detected to be tilted, the system calculates the horizontal tilt angle data along the X-axis or Y-axis of the coordinate system based on the data from the tilt sensor. The tilt angle and tilt direction in the axial direction control the rotation joint of the palletizing robot 1 to adjust the tilt state of the clamp 2, so that the pallet stack 3 is restored to a horizontal state, ensuring that there is no risk of the pallet stack 3 tipping over during the entire transfer process.

[0050] The operation of the palletizing robot 1 slowly lowering the pallet stack 3 includes: before the palletizing robot 1 lowers the pallet stack 3, the height and flatness of the already stacked pallet stack 3 on the pallet F are detected by the position sensor and the preset three-dimensional positioning coordinate system, and the height and position that the pallet stack 3 should be placed at are calculated; during the lowering process, the palletizing robot 1 lowers the pallet stack 3 at a gradient speed from fast to slow, and then from slow to gentle. When it approaches the upper surface of the already stacked pallet stack 3 below, it switches to slow lowering. At the same time, the alignment of the pallet stack 3 with the already stacked pallet stack 3 below is monitored in real time by the vision sensor. If there is an alignment deviation, the horizontal position of the pallet stack 3 is finely adjusted by the palletizing robot 1 based on the coordinate system data to ensure that the pallet stack 3 is placed in an accurate position and to avoid the already stacked pallet stack 3 below tilting and collapsing due to placement deviation during the placement process.

[0051] The recycling and reuse of seedling trays includes: disassembled seedling trays are put into a cleaning device, where residual impurities on the surface and inside of the trays are removed by a combination of high-pressure spraying and brush wiping; after cleaning, the trays are air-dried and then inspected for structural integrity using testing equipment to ensure that key parts such as the clamping parts, stacking blocks, and stacking slots are undamaged or deformed before being transported to the tray supply stage B for reuse; if any trays are found to be damaged or deformed, they are sorted into the scrap channel to avoid affecting subsequent stacking and planting processes.

[0052] The above are the preferred embodiments described in this invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention.

Claims

1. A stacking method for placing vegetable trays using a stacking robotic arm, characterized in that: include: Install and debug the fixture (2), fix the fixture (2) to the end of the free end of the palletizing robot (1) through the flange structure (6) set on the connecting plate (7), and drive the two clamping arms (4) connected to the two power pumps (5) on the opposite side of the flange structure (6) to move closer or further away from each other, and drive the joints of the palletizing robot (1) to move, so as to ensure that the movement of the power pump (5) and the joints of the palletizing robot (1) is unimpeded; Prepare the matching components, and place the vegetable seed trays steadily into the inner tray, ensuring that the edges of the vegetable seed trays fit tightly against the inner wall of the inner tray, forming a tray assembly unit without relative displacement. After completing the sowing process, the nested tray unit containing vegetable seedling trays is placed on the conveyor belt of seedling line D. The planting and cultivation operations such as filling with soil, sowing, covering with soil, watering and fertilizing are completed sequentially through seedling line D. Stacked to form a stack of tray materials (3), the tray combination unit that has completed planting and cultivation is transported to the stacking machine E through the conveyor belt of the seedling line D. The stacking machine E guides the received tray combination unit to be aligned, so that several tray combination units are stacked vertically. In two adjacent tray combination units, the stacking plate of the upper tray combination unit is inserted into the stacking plate slot of the upper tray combination unit. Stack the stack of material (3) and control the stacking robot (1) to perform the stacking operation. The stacked stack of material (3) is moved to the top of the stacking area near the stacking robot (1) by the stacking robot (1) and the clamp (2). Then, the stacking robot (1) and the clamp (2) are controlled to place the stack of material (3) on the pallet F in the stacking area. The stacking operation is repeated until the counter integrated on the stacking robot (1) detects that the stacked stack of material (3) on the pallet F in the stacking area has reached the preset number.

2. The stacking method for vegetable trays using a stacking robotic arm according to claim 1, characterized in that: The palletizing operation includes: The palletizing robot (1) is positioned and moved. Whenever a stack of palletized material (3) is formed on the pallet stacking machine E, the position sensor integrated on the palletizing robot (1) calculates the precise position coordinates of the stack of palletized material (3) based on the preset three-dimensional positioning coordinates, and plans the movement route. The palletizing robot (1) is controlled to move along the planned movement route with the clamp (2) connected to the free end of the palletizing robot (1) to the top of the stack of palletized material (3). Then the palletizing robot (1) is controlled to slowly lower itself to the preset gripping height at which the clamp (2) can grip the stack of palletized material (3). When the clamp (2) is at a preset gripping height, the two clamping arms (4) on both sides of the clamp (2) are driven by the two power air pumps (5) on the clamp (2) to move synchronously in the direction of mutual approach until the side of the two clamping arms (4) that is close to each other is tightly attached to the outside of the stack of material (3). The hook (8) of the clamp (2) set on the side of the two clamping arms (4) that is close to each other is embedded in the hook groove set on the outer wall of the stack of material (3) at the bottom of the stack of material (3) as the two clamping arms (4) move. Transfer the stack of palletized material (3), control the palletizing robot (1) to drive the clamp (2) and the stack of palletized material (3) clamped by the clamp (2) to lift vertically at a uniform speed until the bottom of the stack of palletized material (3) is higher than the highest point of the stacking machine E and the surrounding equipment. Then the palletizing robot (1) moves smoothly along the preset moving route and monitors the posture of the stack of palletized material (3) in real time during the movement. If the stack of palletized material (3) deviates, it is finely adjusted by the palletizing robot (1) to keep the stack of palletized material (3) moving stably to the top of the designated palletizing area. The pallet stack (3) is placed in a stack. After the pallet stack (1) moves the pallet stack (3) to the top of the stacking area, the pallet stack (1) slowly lowers the pallet stack (3) so that the bottom of the pallet assembly unit in the pallet stack (3) clamped by the clamp (2) is on the pallet F placed in the stacking area, or on the upper surface of the lower pallet stack (3). After the pallet stack (3) is placed stably, the two clamping arms (4) on both sides of the clamp (2) are driven by the two power air pumps (5) on the clamp (2) to move synchronously in a direction away from each other until the hook (8) of the clamp (2) on the side of the two clamping arms (4) close to each other moves out of the hook groove on the outer wall of the pallet in the pallet assembly unit at the bottom of the pallet stack (3) with the movement of the two clamping arms (4). The palletizing process is completed in a loop. The palletizing robot (1) is positioned and moved, and the fixed pallet stack (3) is gripped, lifted and transferred, and the pallet stack (3) is placed. The counter integrated on the palletizing robot (1) counts the number of pallet stacks (3) on a single pallet F in real time. When the number reaches the preset total number, a palletizing completion signal is issued, the palletizing robot (1) issues a handling alarm, and resets to the initial standby position to wait for the next set of palletizing instructions.

3. The stacking method for vegetable trays using a stacking robotic arm according to claim 1, characterized in that: The preparation of the supporting components includes: selecting appropriate vegetable seedling trays of suitable specifications according to the types of vegetable seedlings to be planted, selecting suitable matching trays according to the specifications of the vegetable seedling trays, and placing the vegetable seedling trays stably into the matching trays to form a matching tray unit without relative displacement. Each vegetable seedling tray and each matching tray can be nested together to form a matching tray unit.

4. The stacking method for vegetable trays using a stacking robotic arm according to claim 1, characterized in that: The alignment and guidance operation of the stacking machine E includes: after receiving a tray assembly unit transported by the conveyor belt of the seedling line D, the stacking machine E transports the upper tray assembly unit to the stacking station of the stacking machine E through the conveyor rollers that are coplanar with the conveyor belt of the seedling line D; the stacking machine E moves the above tray assembly unit vertically to a preset height position through its own lifting mechanism set at the stacking station; when a subsequent tray assembly unit is transported to the stacking station, the stacking machine E moves the subsequent tray assembly unit upward to below the tray assembly unit already stacked above it through its own lifting mechanism, and makes the stacking plate block in the stacked tray assembly unit above embed into the stacking plate slot in the subsequent tray assembly unit below.

5. A stacking method for placing vegetable trays using a stacking robotic arm according to claim 2, characterized in that: The method for establishing the three-dimensional positioning coordinates includes: taking the fixed end of the palletizing robot (1) as the origin, taking the conveying direction of the seedling line D as the X-axis, the direction perpendicular to the seedling line D as the Y-axis, and the direction perpendicular to the ground as the Z-axis to establish a virtual spatial three-dimensional positioning coordinate system. After the coordinate system is established, the coordinate system is calibrated by a calibration tool.

6. A stacking method for placing vegetable trays using a stacking robotic arm according to claim 5, characterized in that: The calibration method for the three-dimensional positioning coordinate system includes: placing an unplanted tray assembly unit on the stacking station, setting the coordinate points of the stacking station in the three-dimensional positioning coordinate system, and delineating all coordinate ranges of the palletizing area in the three-dimensional positioning coordinate system, wherein the coordinate range contains several coordinate points, each coordinate point representing a placement point; setting the movement route for the palletizing robot (1), controlling the palletizing robot (1) to move according to the set movement path, and after the palletizing robot (1) moves with the clamp (2) above the stacking station, measuring the deviation value between the clamp (2) and the tray assembly unit using a calibration tool, and outputting the deviation value to the palletizing robot (1) after measuring the deviation value. The control system is used as the gripping compensation parameter when the palletizing robot (1) moves; after the palletizing robot (1) with the clamp (2) grips the above-mentioned tray combination unit, the control system moves the palletizing robot (1) with the clamp (2) and the above-mentioned tray combination unit along the preset moving route to the top of the palletizing area, and makes the palletizing robot (1) with the above-mentioned tray combination unit coincide with each coordinate point in the palletizing area in sequence. During this process, the deviation value between the clamp (2) and each preset placement point on the palletizing area is measured by the calibration tool, and after the deviation value is measured, the deviation value corresponding to each placement point is output to the control system of the palletizing robot (1) as the placement compensation parameter when the palletizing robot (1) moves.

7. A stacking method for placing vegetable trays using a stacking robotic arm according to claim 2, characterized in that: The attitude monitoring and fine-tuning operation during the pallet stack (3) process includes: installing a position sensor and an tilt sensor at the end of the fixture (2) or the palletizing robot (1). The position sensor collects the three-dimensional position data of the pallet stack (3) in the three-dimensional positioning coordinate system in real time, and the tilt sensor collects the horizontal tilt data of the pallet stack (3) in real time. The data detected by the position sensor and the tilt sensor are synchronously transmitted to the control system of the palletizing robot (1). The control system compares the real-time detection data with the preset standard data. If a deviation is detected between the real-time data of the pallet stack (3) and the preset standard data, the offset direction and offset amount of the pallet stack (3) along the X-axis or Y-axis of the coordinate system are calculated, and the palletizing robot (1) is driven to perform corresponding compensation movements. If the pallet stack (3) is detected to be tilted, the offset direction and offset amount along the X-axis or Y-axis of the coordinate system are calculated based on the data of the tilt sensor. The tilt angle and tilt direction of the axis are controlled to adjust the tilt state of the clamp (2) of the rotating joint of the palletizing robot (1) so that the stack of palletized material (3) can be restored to a horizontal state.

8. A stacking method for placing vegetable trays using a stacking robotic arm according to claim 5, characterized in that: The operation of the palletizing robot (1) slowly lowering the pallet stack (3) includes: before the palletizing robot (1) lowers the pallet stack (3), the height and flatness of the already stacked pallet stack (3) on the pallet F are detected by the position sensor and the preset three-dimensional positioning coordinate system, and the height and position of the current pallet stack (3) should be calculated; during the lowering process, the palletizing robot (1) is lowered at a gradient speed from fast to slow and then from slow to gentle. When it approaches the upper surface of the already stacked pallet stack (3) below, it switches to slow lowering. At the same time, the alignment of the pallet stack (3) with the already stacked pallet stack (3) below is monitored in real time by the vision sensor. If there is an alignment deviation, the horizontal position of the pallet stack (3) is finely adjusted by the palletizing robot (1) based on the coordinate system data.

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