Seedbed taking and placing device of seedbed conveying AGV

Abstract

The utility model relates to the field of agricultural equipment, and particularly discloses a seedbed picking and placing device of a seedbed conveying AGV, the seedbed picking and placing device comprises a push-pull mechanism, the push-pull mechanism comprises a sliding seat and a driving assembly, the sliding seat is arranged on an AGV body in a sliding mode, the driving assembly is fixedly connected to the AGV body, and the driving assembly can drive the sliding seat to move transversely; the taking and placing mechanism comprises a telescopic taking and placing rod; the telescopic taking and placing rod comprises a connecting rod, a hooking rod and a pushing and placing rod, the hooking rod is provided with a hooking part, and the pushing and placing rod is provided with a pushing and placing part; the connecting rod is rotationally connected with the sliding base, the end of the hooking rod and the end of the pushing rod are each provided with a sleeving part, and the hooking rod and the pushing rod are both connected with the connecting rod through the sleeving parts. The length of the telescopic taking and placing rod can be adjusted according to the size of a specific seedbed so as to adapt to seedbeds of different sizes, it is guaranteed that hooking or pushing and placing of the seedbed are smoothly completed, and therefore the effect of the seedbed production efficiency is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of agricultural equipment, and in particular to a seedling bed picking and placing device of a seedling bed conveying AGV. Background Art

[0002] At present, with the rising labor costs and labor shortages, the traditional seedbed access method can no longer meet the needs of large-scale planting. Agricultural enterprises are increasingly inclined to adopt automation technology to improve production efficiency and reduce costs. Therefore, the combination of AGV (automatic guided vehicle) and seedbed access device can realize the automatic grabbing, transportation and placement of seedbeds, thereby improving production efficiency, reducing labor costs, and ensuring the growth quality of plant seedlings in the seedbed.

[0003] Common seedbed picking and placing devices usually consist of an AGV body, a picking and placing mechanism, sensors, and a control system. The AGV body is responsible for transporting the seedbed, the picking and placing mechanism is responsible for grabbing and placing the seedbed, the sensor is used to sense the surrounding environment and the position of the plant seedlings, and the control system is responsible for managing the movement and operation of the picking and placing mechanism. When working, the sensor first senses the position of the seedbed, and then the control system guides the picking and placing mechanism to accurately hook or push the seedbed according to the pre-set path planning algorithm to complete the picking and placing task, and finally the AGV body realizes the transportation of the seedbed.

[0004] However, the plant seedlings in the seedbed will change in shape and size during the growth process, and the size of the seedbed required for different growth periods is inconsistent. For example, the seedbed used for the plant seedlings in the seedbed in the late growth period is different in size from the seedbed used for the plant seedlings in the seedbed in the germination period. As the plant seedlings grow, their roots and leaves will expand and require more space, so they need to be moved to a larger seedbed. The seedbed picking and placing device of the seedbed conveying AGV can only be used for seedbeds of a certain size, and there are limitations on applicability, which will affect production efficiency and increase production costs. Summary of the invention

[0005] In order to improve the problem that the seedling bed picking and placing device of the seedling bed conveying AGV can only be applied to seedling beds of a certain size and has applicability limitations, the present application provides a seedling bed picking and placing device of the seedling bed conveying AGV.

[0006] The present application provides a seedling bed pick-up and placement device for a seedling bed conveying AGV, which adopts the following technical solution:

[0007] A seedling bed picking and placing device for a seedling bed conveying AGV, comprising:

[0008] The push-pull mechanism includes a slide and a drive assembly, wherein the slide is slidably arranged on the AGV body, and the drive assembly is fixedly connected to the AGV body, and the drive assembly can drive the slide to move laterally;

[0009] The pick-and-place mechanism comprises a telescopic pick-and-place rod; the telescopic pick-and-place rod comprises a connecting rod, a hooking rod and a pushing rod, the hooking rod is provided with a hooking portion, and the pushing rod is provided with a pushing portion; the connecting rod is rotatably connected to the sliding seat, the ends of the hooking rod and the pushing rod are both provided with sleeve portions, and the hooking rod and the pushing rod are both connected to the connecting rod through the sleeve portion.

[0010] By adopting the above technical solution, the ends of the hooking rod and the pushing rod are provided with sleeve parts, and the hooking rod and the pushing rod are connected to the connecting rod through the sleeve parts. When it is necessary to perform a hooking action or a pushing action on seedling beds of different sizes, the length of the telescopic picking and releasing rod can be adjusted according to the size of the specific seedling beds to adapt to seedling beds of different sizes, thereby ensuring smooth completion of the hooking or pushing of the seedling beds, thereby ensuring the production efficiency of the seedling beds.

[0011] Optionally, the picking and placing mechanism also includes a first motor, which is fixedly connected to the slide seat, and the output shaft of the first motor is transmission-connected to the connecting rod; the hooking part and the pushing and releasing part are both vertically arranged with respect to the telescopic picking and placing rod, and the hooking part and the pushing and releasing part are vertically arranged with respect to each other.

[0012] By adopting the above technical scheme, the hooking and pushing parts can be correspondingly arranged on the hooking rod and the pushing rod respectively, so as to realize the hooking and pushing of the seedling bed. At the same time, the hooking part and the pushing part are arranged perpendicular to each other. When the hooking part is in a vertical state, the pushing part is in a horizontal state. Therefore, the hooking part and the pushing part will not interfere with each other when working respectively, so as to facilitate the transportation of the seedling bed.

[0013] Optionally, the first motor is configured as a reduction motor and its output shaft is arranged parallel to the connecting rod, a driving gear is connected to the output shaft of the first motor, and a driven gear meshing with the driving gear is connected to the connecting rod.

[0014] By adopting the above technical solution, the first motor is set as a reduction motor, so that the reduction motor drives the driving gear to mesh with the driven gear, and the rotation angle of the connecting rod can be accurately controlled, thereby realizing the mutual switching between the hooking rod and the pushing rod.

[0015] Optionally, a locking sleeve is sleeved on the sleeve portion, and the locking sleeve is threadedly connected to the sleeve portion, the locking sleeve is arranged in a conical cylinder shape, and the end of the sleeve portion abuts against the inner wall of the locking sleeve and is provided with a deformation gap.

[0016] By adopting the above technical solution, the locking sleeve and the sleeve portion cooperate with each other, the locking sleeve will cause the sleeve portion to deform and then tighten the connecting rod, thereby locking the hook rod and the push rod on the connecting rod, ensuring that the hook rod and the push rod can be used stably during the entire picking and placing process, and also allowing the telescopic picking and placing rod to be quickly adjusted when picking and placing seedling beds of different sizes.

[0017] Optionally, the push-pull mechanism also includes a mounting plate and a slide rail, the mounting plate is fixedly connected to the AGV body, the slide rail is fixedly connected to the mounting plate, and the slide seat is slidably arranged on the slide rail; the driving assembly includes a second motor, a sprocket and a chain, the second motor is fixedly connected to the mounting plate and the second motor output shaft is fixedly connected to the sprocket, the chain is wound on the sprocket, and the chain is linked to the slide seat.

[0018] By adopting the above technical solution, the second motor drives the sprocket to rotate, thereby driving the chain to rotate, and then driving the slide to slide on the slide rail, thereby driving the pick-up and place mechanism to move, thereby realizing the pick-up action or push-up action of the pick-up and place mechanism on the seedbed.

[0019] Optionally, it also includes a blocking mechanism, which includes a sliding assembly and a blocking assembly, the sliding assembly includes a first driving member, a guide rail and a mounting seat, the guide rail is fixedly connected to the AGV body, the mounting seat is slidably set on the guide rail, the blocking assembly is installed on the mounting plate, the first driving member is connected to the mounting seat, and the first driving member can drive the mounting seat to slide.

[0020] By adopting the above technical solution, the mounting seat is slidably set on the guide rail and the first driving member can drive the mounting seat to slide, so that the position of the blocking assembly can be adjusted to adapt to seedling beds of different sizes, thereby ensuring the production efficiency of the seedling beds.

[0021] Optionally, the blocking assembly includes a second driving member, a blocking plate, a base and a pull rod, the second driving member is fixedly connected to the mounting seat, the base is rotatably connected to the mounting seat, the blocking plate is fixed to the base, the two ends of the pull rod are rotatably connected to the base and the second driving member respectively, and the second driving member can drive the pull rod to move, thereby realizing the reciprocating switching of the vertical state and the horizontal state of the blocking plate.

[0022] By adopting the above technical scheme, the blocking plate can play a blocking role on the seedling bed when hooking the seedling bed, and when the blocking plate is in a vertical state, the blocking plate will have a tendency to flip to one side due to the action of the second driving member. The blocking plate can cooperate with the hooking part to clamp the seedling bed, so that the seedling bed remains stable on the AGV body.

[0023] Optionally, it also includes a support base, which is detachably connected to the AGV body, and a stem group is arranged on the AGV body.

[0024] By adopting the above technical solution, the weight of the seedbed can be evenly distributed to the AGV body through the support seat, avoiding damage to the pick-up and place mechanism caused by the force being always on the pick-up and place mechanism. At the same time, the support seat can be detachably installed on the AGV body, and can also support seedbeds of different sizes.

[0025] In summary, the present application includes at least one of the following beneficial technical effects:

[0026] 1. The ends of the hooking rod and the pushing rod are both provided with sleeve parts, and the hooking rod and the pushing rod are both connected to the connecting rod through the sleeve parts. When it is necessary to perform a hooking action or a pushing action on seedling beds of different sizes, the length of the telescopic picking and placing rod can be adjusted according to the size of the specific seedling beds to adapt to seedling beds of different sizes, thereby ensuring smooth completion of the hooking or pushing of the seedling beds, thereby ensuring the production efficiency of the seedling beds;

[0027] 2. The locking sleeve and the sleeve joint cooperate with each other, and the locking sleeve causes the sleeve joint to deform and then tighten the connecting rod, thereby locking the hooking rod and the push-release rod on the connecting rod, ensuring that the hooking rod and the push-release rod can be used stably during the entire picking and placing process, and also enabling the telescopic picking and placing rod to be quickly adjusted when picking and placing seedling beds of different sizes;

[0028] 3. The blocking plate can block the seedling bed when it is hooked, and when the blocking plate is in a vertical state, the blocking plate has a tendency to flip to one side due to the action of the second driving member. The blocking plate can cooperate with the hooking part to clamp the seedling bed, so that the seedling bed remains stable on the AGV body. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the seedbed taking and placing device in the embodiment of the present application.

[0030] Figure 2 It is a half-section schematic diagram of the seedbed taking and placing device in the embodiment of the present application.

[0031] Figure 3 It is a schematic diagram of the overall structure of the pick-and-place mechanism and the push-pull mechanism in the embodiment of the present application.

[0032] Figure 4 It is an exploded schematic diagram of the pick-and-place mechanism in the embodiment of the present application.

[0033] Figure 5 It is a schematic diagram of the overall structure of the blocking mechanism in the embodiment of the present application.

[0034] Figure 6 It is a schematic diagram of the overall structure of the barrier assembly in the embodiment of the present application.

[0035] Reference numerals: 1, push-pull mechanism; 11, slide seat; 111, mounting frame; 112, protective shell; 13, mounting plate; 14, slide rail; 12, driving assembly; 121, second motor; 122, sprocket; 123, chain; 124, connecting plate;

[0036] 2. Pick-up and placement mechanism; 21. Telescopic pick-up and placement rod; 211. Connecting rod; 212. Hooking rod; 213. Push-up rod; 2121. Hooking part; 2131. Push-up part; 214. Sleeve connection part; 215. Locking sleeve;

[0037] 22, first motor; 221, driving gear; 222, driven gear;

[0038] 3. blocking mechanism; 31. sliding assembly; 311. first driving member; 312. guide rail; 313. mounting seat; 3131. hinged plate;

[0039] 32. blocking assembly; 321. second driving member; 322. blocking plate; 3221. elastic cushion layer; 323. base; 3231. hinged part; 3232. rotating part; 324. pull rod; 325. connecting seat;

[0040] 4. Support seat. DETAILED DESCRIPTION

[0041] The following is combined with Figure 1-6 This application is described in further detail.

[0042] The embodiment of the present application discloses a seedling bed picking and placing device of a seedling bed conveying AGV.

[0043] Reference Figure 1 The seedling bed picking and placing device of the seedling bed conveying AGV includes a push-pull mechanism 1, a picking and placing mechanism 2, a blocking mechanism 3 and a support seat 4. The push-pull mechanism 1, the blocking mechanism 3 and the support seat 4 are all installed on the AGV body, and the picking and placing mechanism 2 is arranged on the push-pull mechanism 1. In the embodiment of the present application, the push-pull mechanism 1 can drive the picking and placing mechanism 2 to move horizontally to one side of the AGV body, and the picking and placing mechanism 2 can hook the seedling bed, and the push-pull mechanism 1 then pulls the picking and placing mechanism 2 and the seedling bed back to the AGV body, and the seedling bed is supported by the support seat 4, and the blocking mechanism 3 can position the seedling bed and ensure the stability of the seedling bed.

[0044] Reference Figure 2 , Figure 3 and Figure 4The push-pull mechanism 1 includes a slide 11, a drive assembly 12, a mounting plate 13 and a slide rail 14. The drive assembly 12 includes a second motor 121, a sprocket 122 and a chain 123, wherein the sprocket 122 and the chain 123 are combined to form a transmission chain. The mounting plate 13 is arranged on the AGV body and is fixedly connected to the AGV body. The second motor 121 and the transmission chain are both installed on the mounting plate 13. The transmission chain is connected to the second motor 121 so that the second motor 121 drives the transmission chain to operate. In the embodiment of the present application, the second motor 121 adopts a servo motor to improve the stability and accuracy of the operation of the conveyor chain.

[0045] The slide rail 14 is fixedly connected to the AGV body and arranged in parallel with the transmission chain. The slide seat 11 is installed on the slide rail 14 and fixedly connected to the transmission chain, so that the transmission chain drives the slide seat 11 to move laterally. A mounting frame 111 is fixedly arranged on the slide seat 11, and the pick-and-place mechanism 2 is installed on the mounting frame 111. A protective shell 112 is also arranged on the mounting frame 111.

[0046] The pick-and-place mechanism 2 includes a telescopic pick-and-place rod 21, and the telescopic pick-and-place rod 21 assembly includes a connecting rod 211, a hooking rod 212, a push-and-place rod 213, and a locking sleeve 215. The connecting rod 211 is arranged horizontally and is rotatably connected to the mounting frame 111. In the embodiment of the present application, the pick-and-place mechanism 2 also includes a first motor 22, a driving gear 221, and a driven gear 222. The first motor 22 is a reduction motor, which is fixedly connected to the mounting frame 111, and the driving gear 221 is fixedly connected to the output shaft of the reduction motor. The driven gear 222 is fixedly connected to the connecting rod 211, and the driving gear 221 is meshed with the driven gear 222, so that the reduction motor drives the connecting rod 211 to rotate. The driving gear 221, the driven gear 222, and the first motor 22 are all covered in a protective shell 112, and the protective shell 112 can protect the driving gear 221, the driven gear 222, and the first motor 22 from being damaged by external factors.

[0047] The hooking rod 212 and the pushing rod 213 are both hollow tubes with one end open. The hooking rod 212 and the pushing rod 213 are coaxially sleeved on both ends of the connecting rod 211 through the open ends. The end of the hooking rod 212 away from the open end is provided with a hooking portion 2121, and the hooking portion 2121 is perpendicular to the hooking rod 212; the end of the pushing rod 213 away from the open end is provided with a pushing portion 2131, and the pushing portion 2131 is perpendicular to the pushing rod 213, and the hooking portion 2121 and the pushing portion 2131 are perpendicular to each other.

[0048] The open ends of the hook rod 212 and the push rod 213 are both set as a sleeve part 214, and a deformation gap such as a stem group is opened on the end surface of the sleeve part 214. The locking sleeve 215 is conical and threadedly connected to the sleeve part 214. When the locking sleeve 215 and the sleeve part 214 are tightened with each other, the locking sleeve 215 will cause the sleeve part 214 to deform and then tighten the connecting rod 211, so as to lock the hook rod 212 and the push rod 213 on the connecting rod 211, so that the length of the telescopic pick-up and release rod 21 can be adjusted.

[0049] Reference Figure 5 and Figure 6 The blocking mechanism 3 includes a sliding assembly 31 and a blocking assembly 32. The sliding assembly 31 includes a first driving member 311, a guide rail 312 and a mounting seat 313. In the embodiment of the present application, the first driving member 311 can be an electric cylinder. The guide rail 312 and the cylinder body of the electric cylinder are fixedly connected to the AGV body. The mounting seat 313 is slidably arranged on the guide rail 312. The blocking assembly 32 is arranged on the mounting seat 313. The mounting seat 313 is fixedly connected to the piston rod of the electric cylinder. The electric cylinder can drive the mounting seat 313 to slide along the length direction of the guide rail 312, so that the position of the entire blocking assembly 32 can be adjusted to adapt to seedling beds of different sizes. The blocking assembly 32 can act on the seedling bed. When the seedling bed is hooked by the telescopic pick-up and release rod 21, the blocking assembly 32 will limit the seedling bed.

[0050] The blocking assembly 32 includes a second driving member 321, a blocking plate 322, a base 323 and a pull rod 324. In the embodiment of the present application, the second driving member 321 can be an electric cylinder, the cylinder body of the electric cylinder is fixedly connected to the mounting seat 313, the mounting seat 313 is fixedly provided with a hinge plate 3131, and the hinge plate 3131 and the electric cylinder are respectively located at two ends of the mounting seat 313. A hinge part 3231 is fixedly provided on the bottom side of the base 323, and the hinge plate 3131 is rotatably connected to the hinge part 3231. A rotating part 3232 is also fixedly provided on the bottom side of the base 323, and the rotating part 3232 is located on the side of the hinge part 3231 facing away from the electric cylinder.

[0051] The cam 324 is rotatably connected to the support 3102, and the cam 324 is rotatably connected to the support 3102. The cam 324 is rotatably connected to the support 3102, and the cam 324 is rotatably connected to the support 3102. The cam 324 is rotatably connected to the support 3102, and the cam 324 is rotatably connected to the support 3102. The cam 324 is rotatably connected to the support 3102, and the cam 324 is rotatably connected to the support 3102.

[0052] The implementation principle of the seedling bed picking and placing device of the seedling bed conveying AGV in the embodiment of the present application is as follows: the seedling bed in the present embodiment is placed on the seedling bed conveying line. When the seedling bed on the seedling bed conveying line needs to be hooked, the telescopic picking and placing rod 21 is adjusted according to the size of the seedling bed to be picked and placed, and then the AGV body is controlled to move until the telescopic picking and placing rod 21 is aligned with the seedling bed conveying line.

[0053] The first motor 22 controls the hooking part 2121 to rotate parallel to the horizontal plane, and the telescopic picking rod 21 moves to the bottom of the seedling bed, and then the hooking part 2121 is converted from a horizontal state to a vertical state. At the same time, the blocking plate 322 is switched from a horizontal state to a vertical state, and then the hooking rod 212 is driven by the push-pull assembly, and the seedling bed is hooked to the top of the AGV body, and the seedling bed will abut against the blocking plate 322 to limit the position of the seedling bed.

[0054] When it is necessary to push and release the seedling bed on the seedling bed frame, the AGV body is controlled to move to the front of the seedling bed conveyor line, the pushing and releasing part 2131 is controlled to change from a horizontal state to a vertical state, and at the same time, the blocking plate 322 is switched from a vertical state to a horizontal state, and the pushing and releasing rod 213 is driven by the push-pull assembly to push the seedling bed into the seedling bed conveyor line, and then the pushing and releasing part 2131 is controlled to change from a vertical state to a horizontal state, and the push-pull assembly retracts the telescopic pick-up and release rod 21.

[0055] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A seedling bed pick-up and place device for a seedling bed transport AGV, characterized in that ,include: The push-pull mechanism (1) comprises a slide seat (11) and a drive assembly (12), wherein the slide seat (11) is slidably disposed on the AGV body, and the drive assembly (12) is fixedly connected to the AGV body, and the drive assembly (12) is capable of driving the slide seat (11) to move laterally; A pick-and-place mechanism (2), the pick-and-place mechanism (2) comprising a telescopic pick-and-place rod (21); the telescopic pick-and-place rod (21) comprising a connecting rod (211), a hooking rod (212) and a pushing rod (213); the hooking rod (212) is provided with a hooking portion (2121), and the pushing rod (213) is provided with a pushing portion (2131); the connecting rod (211) is rotatably connected to the slide seat (11), the ends of the hooking rod (212) and the pushing rod (213) are both provided with a sleeve portion (214), and the hooking rod (212) and the pushing rod (213) are both connected to the connecting rod (211) via the sleeve portion (214).

2. A seedling bed picking and placing device for a seedling bed conveying AGV according to claim 1, characterized in that: The pick-and-place mechanism (2) further comprises a first motor (22), the first motor (22) being fixedly connected to the slide seat (11), and the output shaft of the first motor (22) being drivingly connected to the connecting rod (211); the hooking portion (2121) and the pushing portion (2131) are both arranged perpendicularly to the telescopic pick-and-place rod (21), and the hooking portion (2121) and the pushing portion (2131) are arranged perpendicularly to each other.

3. The seedling bed picking and placing device of the seedling bed conveying AGV according to claim 2 is characterized in that: The first motor (22) is configured as a reduction motor and its output shaft is arranged in parallel with the connecting rod (211); a driving gear (221) is connected to the output shaft of the first motor (22); and a driven gear (222) meshing with the driving gear (221) is connected to the connecting rod (211).

4. The seedling bed picking and placing device of the seedling bed conveying AGV according to claim 2 is characterized in that: A locking sleeve (215) is sleeved on the sleeve connection portion (214), and the locking sleeve (215) is threadedly connected to the sleeve connection portion (214); the locking sleeve (215) is arranged in a conical cylinder shape; an end of the sleeve connection portion (214) abuts against an inner wall of the locking sleeve (215) and is provided with a deformation gap.

5. The seedling bed picking and placing device of the seedling bed conveying AGV according to claim 1 is characterized in that: The push-pull mechanism (1) further comprises a mounting plate (13) and a slide rail (14); the mounting plate (13) is fixedly connected to the AGV body; the slide rail (14) is fixedly connected to the mounting plate (13); and the slide seat (11) is slidably arranged on the slide rail (14); the drive assembly (12) comprises a second motor (121), a sprocket (122) and a chain (123); the second motor (121) is fixedly connected to the mounting plate (13) and the output shaft of the second motor (121) is fixedly connected to the sprocket (122); the chain (123) is wound around the sprocket (122); and the chain (123) is linked to the slide seat (11).

6. The seedling bed picking and placing device of the seedling bed conveying AGV according to claim 1 is characterized in that: The invention also comprises a blocking mechanism (3), wherein the blocking mechanism (3) comprises a sliding assembly (31) and a blocking assembly (32), wherein the sliding assembly (31) comprises a first driving member (311), a guide rail (312) and a mounting seat (313), wherein the guide rail (312) is fixedly connected to the AGV body, and the mounting seat (313) is slidably arranged on the guide rail (312), and the blocking assembly (32) is mounted on a mounting plate (13), wherein the first driving member (311) is connected to the mounting seat (313), and the first driving member (311) can drive the mounting seat (313) to slide.

7. The seedling bed picking and placing device of the seedling bed conveying AGV according to claim 6 is characterized in that: The blocking assembly (32) includes a second driving member (321), a blocking plate (322), a base (323) and a pull rod (324), wherein the second driving member (321) is fixedly connected to the mounting seat (313), the base (323) is rotatably connected to the mounting seat (313), the blocking plate (322) is fixedly arranged on the base (323), and the two ends of the pull rod (324) are rotatably connected to the base (323) and the second driving member (321), respectively, and the second driving member (321) can drive the pull rod (324) to move, thereby realizing the reciprocating switching of the blocking plate (322) between the vertical state and the horizontal state.

8. The seedling bed picking and placing device of the seedling bed conveying AGV according to claim 1 is characterized in that: It also comprises a support seat (4), which is detachably connected to the AGV body, and a plurality of groups of support seats are arranged on the AGV body.

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