A track-mounted logistics robot for seedling nurseries

Abstract

This utility model provides a track-type logistics robot for a seedling nursery, including a frame, a lifting device, a walking device, and an identification device. The identification device is used to identify seedling trays to be moved. The walking device is installed under the frame for moving back and forth along a track set in the seedling area. Lifting devices are installed on both sides of the frame for lifting or placing seedling trays. Each lifting device includes a drive motor, a ball screw, a crossbar, and a hook connected in sequence. The slider of the ball screw is fixedly connected to the crossbar, and the crossbar is equipped with a hook for hooking onto a protrusion on the side of the seedling tray. The ball screw is driven by the drive motor to move the crossbar up and down. The track-type logistics robot for the seedling nursery runs on a C-shaped steel track laid in the nursery. It can achieve automated logistics of planting units throughout the entire planting area, transporting seedling trays (which serve as planting units) to designated locations, completely replacing manual handling and greatly saving labor costs.

Description

Technical Field

[0001] This utility model relates to agricultural planting equipment, and more particularly to a track-type logistics robot for seedling nurseries. Background Technology

[0002] Seedling cultivation is the process of raising seedlings. It is a labor-intensive, time-consuming, and technically demanding task. Previously, seedling cultivation was done manually by experienced staff. This method of seedling cultivation is inefficient and cannot meet the needs of large-scale, high-volume seedling production.

[0003] Current seedling cultivation methods generally employ mechanized sowing in factories, followed by placing the sown seedling trays in greenhouses or outdoor cement fields / seedbeds for germination and seedling cultivation. The materials used to manufacture these seedling trays typically include polystyrene foam, polystyrene, polyvinyl chloride, and polypropylene, and manufacturing methods include blow molding and injection molding. Polystyrene is commonly used for seedling trays of vegetables and ornamental plants. In practice, multiple seedling trays can be placed within a single tray. For standardized management, a separate area can be set up as a seedbed, divided into a seedling area and a transport area. The transport area is equipped with tracks, and transport trolleys moving along these tracks place the seedling trays into the seedling area. Utility Model Content

[0004] This utility model provides a track-type logistics robot for seedling nurseries, which solves the problem of moving seedling trays during the seedling process. It can be applied to automated seedling cultivation and integrated organic vegetable planting. The technical solution is as follows:

[0005] A track-type logistics robot for a seedling nursery includes a frame, a lifting device, a walking device, and an identification device. The identification device is used to identify seedling trays to be moved. The walking device is installed under the frame for moving back and forth along a track set in the seedling area. Lifting devices are provided on both the left and right sides of the frame for lifting or placing seedling trays. The lifting device includes a drive motor, a ball screw, a crossbar, and a hook connected in sequence. The slider of the ball screw is fixedly connected to the crossbar. The crossbar is provided with a hook for hooking a protrusion on the side of the seedling tray. The ball screw is driven by the drive motor to realize the up and down movement of the crossbar.

[0006] The frame includes a frame, support rods, and connecting rods. The frame is rectangular and its four corners are fixedly connected to the support rods. The lower ends of two adjacent support rods are fixed to connecting rods, and the wheels of the walking device are installed below the connecting rods.

[0007] The frame includes an upper frame and a lower frame, both of which are rectangular, with the upper frame located directly above the lower frame.

[0008] The upper frame is equipped with horizontal reinforcing bars, and vertical reinforcing bars are installed between the upper and lower frames.

[0009] The lifting device has limit switches on the side of the lead screw, namely an upper switch, a lower switch, and a bottom switch. When the slider reaches the upper switch, the drive motor stops driving the crossbar to rise; when the slider reaches the bottom switch, the drive motor stops driving the crossbar to fall; when the slider reaches the lower switch, the hook has already hooked the protrusion on the side of the seedling tray.

[0010] The vehicle frame is equipped with a rechargeable lithium battery, and a charging rod with a charging port is installed at the front end of the vehicle frame.

[0011] The walking device includes multiple wheels, at least one of which is equipped with a walking motor. The walking motor drives the wheel to move, thereby causing the frame to move along the track.

[0012] The identification device uses a camera to identify the numbered QR code on the side of the seedling tray and the location QR code on the track.

[0013] The vehicle frame is equipped with a control device, which is electrically connected to the lifting device, the walking device, and the identification device via signal lines, and transmits data to the server via a wireless communication device.

[0014] The track-mounted logistics robot in the seedling nursery operates on C-shaped steel tracks laid across the site. It enables automated logistics of planting units throughout the entire planting area, transporting seedling trays (which serve as planting units) to designated locations, completely replacing manual handling and significantly reducing labor costs. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the track-type logistics robot in the seedling nursery.

[0016] Figure 2 This is a top-view schematic diagram of the track-mounted logistics robot at the seedling nursery.

[0017] Figure 3 This is a front view of the track-mounted logistics robot at the seedling nursery.

[0018] Figure 4 This is a side view of the track-mounted logistics robot at the seedling nursery.

[0019] Figure 5 It is the aforementioned Figure 1 Enlarged schematic diagram of part of the structure;

[0020] Figure 6 This is a three-dimensional schematic diagram of the track-type logistics robot at the seedling nursery site;

[0021] Figure 7 This is a schematic diagram of the structure of the seedling tray. Detailed Implementation

[0022] like Figures 1 to 6 As shown, the track-type logistics robot in the seedling nursery includes a frame, a lifting device 8, a walking device, and an identification device. The identification device is used to identify the seedling trays to be moved. The walking device is installed under the frame for moving back and forth along the track set in the seedling area. Lifting devices 8 are set on both the left and right sides of the frame for lifting or placing the seedling trays. The lifting device 8 includes a drive motor 17, a ball screw 18, a crossbar 9, and a hook 10 connected in sequence. The slider of the ball screw 18 is fixedly connected to the crossbar 9. The crossbar 9 is provided with a hook 10 for hooking the protrusion on the side of the seedling tray. The ball screw 18 is driven by the drive motor to realize the up and down movement of the crossbar.

[0023] The frame includes a frame, support rods 5, and connecting rods 6. The frame is rectangular, with its four corners fixedly connected to the support rods 5. The lower ends of two adjacent support rods 5 are fixed to the connecting rods 6, and the wheels 7 of the walking device are installed below the connecting rods 6. The frame includes an upper frame 1 and a lower frame 2, both of which are rectangular, with the upper frame 1 located directly above the lower frame 2. The double-layer frame formed by these two components makes the frame more robust.

[0024] Furthermore, the long sides of the upper frame 1 are the first long rod 11 and the second long rod 12, and the wide sides are the first wide rod 13 and the second wide rod 14, which are connected end-to-end in sequence. Similarly, corresponding to the upper frame 1, the long sides of the lower frame 2 are the third long rod 21 and the fourth long rod 22, and the wide sides are the third wide rod 23 and the fourth wide rod 24, which are connected end-to-end in sequence. Connecting rods 6 are provided below the first wide rod 13 and the third wide rod 23, as well as below the second wide rod 14 and the fourth wide rod 24.

[0025] To further increase the frame strength, horizontal reinforcing bars 4 and vertical reinforcing bars 5 are installed on the frame. In this embodiment, the upper frame 1 is equipped with two horizontal reinforcing bars 4, and four vertical reinforcing bars 5 are installed between the upper frame 1 and the lower frame 2. A support plate 16 can be provided between the two horizontal reinforcing bars 4, and a rechargeable lithium battery, a control device, and a wireless communication device are installed on the support plate 16.

[0026] The lifting device 8 is bolted to the lower frame 2 and the connecting rod 6. Two devices are installed, one between the first long rod 11 and the second long rod 12, and the other is mounted on the third wide rod 23 and the other on the fourth wide rod 24. Lifting is achieved via a ball screw 18. A drive motor 17 drives the ball screw 18 to rotate, causing the slider of the ball screw 18 to move up and down. The crossbar 9, fixedly connected to the slider, also moves up and down, causing the hook 10 to engage with the protruding post on the side of the seedling tray, thus moving the seedling tray up and down.

[0027] The lifting device 8 has limit switches (not shown in the figure) on the side of the lead screw, namely an upper switch, a lower switch, and a bottom switch. When the slider rises and encounters the upper switch, the drive motor 17 stops driving the crossbar 9 to rise; when the slider descends and encounters the bottom switch, the drive motor 17 stops driving the crossbar 9 to descend; when the slider encounters the lower switch, it indicates that the hook 10 has hooked the crossbar 9. Figure 7 The convex post 25 is shown.

[0028] Hooks 10 are provided on both the front and rear sides of the crossbar 9. The two lifting devices 8 have a total of four hooks 10. The seedling tray can be raised and lowered smoothly through the four hooks.

[0029] The walking device includes multiple wheels 7. In this embodiment, four wheels are installed at the four corners of the frame, and at least one of the wheels is equipped with a walking motor (not shown in the figure). The walking motor drives the wheel to move, thereby driving the frame to move along the track. The wheels 7 are fixedly installed on the support rod 5 and the connecting rod 6 by connecting angle steel 19. The wheels 7 can only move back and forth along the C-shaped steel track of the seedling site.

[0030] One of the wheels is equipped with a charging rod 15, which has a charging port. When the track-type logistics robot runs out of power, it can charge the lithium battery at the charging station using the charging port. The charging rod 15 is fixedly connected to the support rod 5 by a fixing angle steel 20.

[0031] The identification device uses a camera, which is installed inside the connecting rod 6 and can scan below and to the sides. A numbered QR code is provided on the side of each seedling tray; scanning this QR code identifies the seedling tray that needs to be moved. A position QR code is provided on the upper surface of the track; scanning this QR code identifies the position to be moved to. The lifting device, walking device, and identification device are all connected to a control device, which receives commands from the server. Furthermore, the control device is mounted on the tray 16 and connected to the server via a wireless communication device. The control device uses an STM32 microcontroller, and the wireless communication device uses Wi-Fi.

[0032] In use, the control device receives a command from the server to move a seedling tray from the rear to a blank space in front. The walking device operates, with the walking motor driving the wheels to move backward along the track. When it reaches the seedling tray to be moved, the identification device sends an identification signal, and the walking device stops. The lifting device is activated. At this time, the slider is located at the bottom switch. The lifting motor drives the crossbar and hook to move upward. When the slider rises from the bottom switch to the lower switch, the hook 10 has already hooked the protrusion 25 on the side of the seedling tray. The lifting motor drives the crossbar and hook to continue moving upward. When the slider rises from the lower switch to the upper switch, the lower edge of the seedling tray is not lower than the plane of the lower frame 2, and the seedling tray is located between the upper frame 1 and the lower frame 2.

[0033] The walking device operates, with the walking motor driving the wheels forward along the track. When it reaches the empty space, the identification device sends an identification signal, and the walking device stops. The lifting device is activated; at this time, the slider is at the upper switch. The lifting motor drives the crossbar and hook downwards. When the slider descends from the bottom switch to the lower switch, the seedling tray is successfully placed. Then, the lifting motor drives the crossbar and hook to continue moving downwards, and hook 10 releases the protrusion 25 on the side of the seedling tray, allowing the slider to reach the bottom switch. This invention completes the movement.

[0034] The track-mounted logistics robot in the seedling nursery operates on C-shaped steel tracks laid across the site. It enables automated logistics of planting units throughout the entire planting area, transporting seedling trays (which serve as planting units) to designated locations, completely replacing manual handling and significantly reducing labor costs.

Claims

1. A track-based logistics robot for a nursery site, characterized by: The device includes a frame, a lifting device, a traveling device, and an identification device. The identification device is used to identify the seedling trays to be moved. The traveling device is installed under the frame for moving back and forth along the track set in the seedling area. Lifting devices are set on both the left and right sides of the frame for lifting or placing the seedling trays. The lifting device includes a drive motor, a ball screw, a crossbar, and a hook connected in sequence. The slider of the ball screw is fixedly connected to the crossbar. The crossbar is equipped with a hook for hooking the protrusion on the side of the seedling tray. The ball screw is driven by the drive motor to realize the up and down movement of the crossbar.

2. A track-bound logistic robot for a nursery site according to claim 1, characterized in that: The frame includes a frame, support rods, and connecting rods. The frame is rectangular and its four corners are fixedly connected to the support rods. The lower ends of two adjacent support rods are fixed to connecting rods, and the wheels of the walking device are installed below the connecting rods.

3. A track-bound logistic robot for a nursery site according to claim 2, characterized in that: The frame includes an upper frame and a lower frame, both of which are rectangular, with the upper frame located directly above the lower frame.

4. The track-based logistics robot for a nursery site of claim 2, wherein: The upper frame is equipped with horizontal reinforcing bars, and vertical reinforcing bars are installed between the upper and lower frames.

5. The track-based logistics robot for a nursery site of claim 1, wherein: The lifting device has limit switches on the side of the lead screw, namely an upper switch, a lower switch, and a bottom switch. When the slider reaches the upper switch, the drive motor stops driving the crossbar to rise; when the slider reaches the bottom switch, the drive motor stops driving the crossbar to fall; when the slider reaches the lower switch, the hook has already hooked the protrusion on the side of the seedling tray.

6. The track-based logistics robot for a nursery site of claim 1, wherein: The vehicle frame is equipped with a rechargeable lithium battery, and a charging rod with a charging port is installed at the front end of the vehicle frame.

7. The track-based logistics robot for a nursery site of claim 1, wherein: The walking device includes multiple wheels, at least one of which is equipped with a walking motor. The walking motor drives the wheel to move, thereby causing the frame to move along the track.

8. The track-based logistics robot for a nursery site of claim 1, wherein: The identification device uses a camera to identify the numbered QR code on the side of the seedling tray and the location QR code on the track.

9. The track-based logistics robot for a nursery site of claim 1, wherein: The vehicle frame is equipped with a control device, which is electrically connected to the lifting device, the walking device, and the identification device via signal lines, and transmits data to the server via a wireless communication device.

Images