Greenhouse seedbed transfer device

Abstract

This utility model provides a seedbed transfer device for greenhouses, including a seedbed transfer frame mounted above the seedbed, a self-propelled trolley, a lifting mechanism, and a seedbed gripping mechanism. Two parallel guide rails are horizontally mounted on the upper end of the seedbed transfer frame. The self-propelled trolley is mounted parallel to the guide rails and can move freely along them. The lifting mechanism is located at the lower end of the self-propelled trolley, and the seedbed gripping mechanism is fixed to the lower end of the lifting mechanism. The seedbed gripping mechanism is suspended below the self-propelled trolley via the lifting mechanism. The lifting mechanism can move the seedbed gripping mechanism up and down. When lowered, the seedbed gripping mechanism can grip the seedbed below the seedbed transfer frame, and when raised, it can follow the self-propelled trolley along the guide rails to transfer the seedbed. Through the cooperation of the seedbed gripping mechanism and the self-propelled trolley, the seedbed can be gripped and transferred, saving labor costs, avoiding fatigue limitations of manual handling, and improving the efficiency of seedbed transfer.

Description

Technical Field

[0001] This utility model relates to the field of seedbed transportation technology, specifically to a seedbed transportation device for greenhouses. Background Technology

[0002] In the field of modern agricultural facilities, greenhouses are the core places for achieving precision planting and off-season cultivation. As a key infrastructure for the early cultivation of seedlings, the ease of transportation of seedbeds plays a crucial role in improving agricultural production efficiency. With the continuous advancement of agricultural technology, the equipment and planting layout in greenhouses are becoming increasingly refined and diversified, which places higher demands on the mobility of seedbeds.

[0003] However, in the current process of planting seedlings in greenhouses, it is necessary to transfer the seedbeds from the storage area to the planting area. The transportation of seedbeds mainly relies on manual labor. Since most seedbeds use metal frame structures, they are heavy and large in size. When moving them manually, at least two people are often needed to do so at the same time. This results in high labor intensity, low work efficiency, inconvenient transportation, and a large amount of labor costs. Utility Model Content

[0004] In view of this, it is necessary to provide a seedbed transfer device for greenhouses to solve the technical problems of inconvenient seedbed transportation and high labor costs in the existing technology.

[0005] The technical solution adopted by this utility model to solve its technical problem is:

[0006] A seedbed transport device for greenhouses includes a seedbed transport frame mounted above the seedbed, a self-propelled trolley, a lifting mechanism, and a seedbed gripping mechanism. Two parallel guide rails are horizontally mounted on the upper end of the seedbed transport frame. The self-propelled trolley is mounted parallel to the guide rails and can move freely along them. The lifting mechanism is located at the lower end of the self-propelled trolley, and the seedbed gripping mechanism is fixed to the lower end of the lifting mechanism. The seedbed gripping mechanism is suspended below the self-propelled trolley via the lifting mechanism. The lifting mechanism can move the seedbed gripping mechanism up and down. When lowered, the seedbed gripping mechanism can grip the seedbed below the seedbed transport frame; when raised, it can follow the self-propelled trolley along the guide rails to transport the seedbed.

[0007] Preferably, the lifting mechanism includes a lifting drive, two winding wheels, four traction belts, and four guide frames. The four guide frames are symmetrically arranged at the four corners of the self-moving trolley. The two winding wheels are rotatably and symmetrically arranged on both sides of the self-moving trolley, located between two adjacent guide frames and aligned with each other. A first linkage shaft is coaxially arranged between the two winding wheels, connecting them in parallel. The lifting drive is connected to the first linkage shaft or one of the winding wheel shafts to drive the two winding wheels to rotate synchronously. One end of each of the four traction belts passes through the guide frames at the four corners of the self-moving trolley and is fixedly connected to the four corners of the seedbed grasping mechanism to suspend the seedbed grasping mechanism below the self-moving trolley. The other ends of the four traction belts are wound around the two adjacent winding wheels, and the winding directions of the four traction belts are the same. The lifting drive drives the two winding wheels to rotate synchronously in the forward or reverse direction, and releases or winds the four traction belts synchronously through the two winding wheels to drive the seedbed grasping mechanism to lift and lower.

[0008] Preferably, the seedbed grasping mechanism includes a grasping frame, a grasping drive, and two sets of grasping units. The four corners of the grasping frame are fixedly connected to four traction belts passing through the guide frame, and the frame is suspended parallel to the self-moving trolley by the four traction belts. A rotatable second linkage shaft is arranged laterally on the grasping frame, with both ends of the second linkage shaft extending to the left and right sides of the grasping frame, respectively. The two sets of grasping units are symmetrically arranged on the left and right sides of the grasping frame and fixedly connected to both ends of the second linkage shaft, respectively. The grasping drive is arranged on the grasping frame, and the output shaft of the grasping drive is connected to the second linkage shaft, thereby driving the two sets of grasping units to grasp the seedbed synchronously.

[0009] Preferably, each gripping unit includes a swing arm, two traction rods, and two telescopic clamping arms. The swing arm is vertically mounted at the end of the second linkage shaft, with its middle section fixedly connected to the second linkage shaft. The two opposite ends of the swing arm extend symmetrically upwards and downwards from the second linkage shaft, respectively. Slots are arranged parallel to each other on the left and right ends of the gripping frame, facing the front and rear ends of the gripping frame. One end of each of the two telescopic clamping arms of each gripping unit is inserted into one of the two slots on the same side of the gripping frame, and the other end of the two telescopic clamping arms... The two telescopic grippers extend parallel to the front and rear ends of the gripping frame along the slot, and each end of the extended telescopic gripper is provided with a gripper extending downward into the slot. The grippers on the two telescopic grippers face each other. One end of each of the two traction rods is pinned to the extended ends of the two telescopic grippers, and the other end of each traction rod is pinned to both ends of the swing arm. The gripping drive drives the swing arm to rotate and swing forward or backward through the second linkage shaft. The swing arm pulls the two traction rods to push and pull the two telescopic grippers synchronously along the slot, so that the grippers of the two telescopic grippers move closer or further away from each other.

[0010] Preferably, the self-propelled trolley is further equipped with an anti-drop mechanism, which includes an anti-drop drive, four anti-drop frames, four connecting rods, and four rotating shafts. The four anti-drop frames are vertically arranged at the front and rear ends of the self-propelled trolley in a rectangular distribution, and the width between the anti-drop frames at the front and rear ends of the self-propelled trolley is greater than the width of the seedbed. The four rotating shafts are vertically inserted into the four anti-drop frames and can rotate freely. The lower ends of the four rotating shafts are respectively provided with parallel extending support feet facing the inside of the self-propelled trolley. The height of the support feet is lower than the height of the seedbed, and the width between the ends of the support feet on the rotating shafts at the front and rear ends of the self-propelled trolley is less than the width of the seedbed. One side of the upper end of the four rotating shafts is fixed. The system is equipped with connecting seats, each with two vertically arranged pins. These pins are distributed at 90° angles around the pivot at both ends of the connecting seat. The two ends of the four connecting rods are respectively connected to one of the pins on the connecting seats of two adjacent pivots. The anti-detachment drive is mounted on the self-moving trolley and connected to one of the pivots. It can drive the pivot to rotate in both directions, and cause the other three pivots to rotate synchronously under the traction of the four connecting rods. This allows the support feet at the lower ends of the four pivots to rotate parallel to the inside or outside of the self-moving trolley. When the support feet at the lower ends of the four pivots rotate to the inside of the self-moving trolley, they can extend to the lower end of the seedbed gripped by the grippers to protect the seedbed.

[0011] Preferably, a base frame and several limiting frames are provided directly below the seedbed transfer frame. The base frame is laid parallel to the length of the guide rail directly below the guide rail and is parallel to the guide rail. The limiting frames are vertically arranged on the upper end of the base frame and are spaced apart along the length of the guide rail. A limiting groove for stacking seedbeds is formed between two adjacent limiting frames, and the upper end of the limiting groove opens outward to form a funnel shape to guide the seedbed gripping mechanism so that when the seedbed gripping mechanism descends, it can smoothly enter the limiting groove to perform the gripping operation on the seedbed.

[0012] Preferably, a limit switch is installed at the lower end of the gripping frame. The limit switch corresponds to the position of the seedbed to be gripped. The limit switch is electrically connected to the lifting drive. When the gripping frame descends onto the seedbed to be gripped, the limit switch contacts the seedbed and is triggered by the seedbed, and the lifting drive stops the descent of the gripping frame.

[0013] As can be seen from the above technical solution, the greenhouse seedbed transfer device provided in this application includes a seedbed transfer frame, a self-propelled trolley, a lifting mechanism, and a seedbed gripping mechanism mounted above the seedbed. Two parallel guide rails are horizontally mounted on the upper end of the seedbed transfer frame. The self-propelled trolley is mounted parallel to the guide rails and can move freely along them. The lifting mechanism is located at the lower end of the self-propelled trolley, and the seedbed gripping mechanism is fixed to the lower end of the lifting mechanism. The seedbed gripping mechanism is suspended below the self-propelled trolley via the lifting mechanism. The lifting mechanism can move the seedbed gripping mechanism up and down. After descending, the seedbed gripping mechanism can grip the seedbed below the seedbed transfer frame, and after rising, it can follow the self-propelled trolley along the guide rails to transfer the seedbed. Through the cooperation of the seedbed gripping mechanism and the self-propelled trolley, the seedbed can be gripped and transferred, saving labor costs, avoiding fatigue limitations from manual handling, and improving the efficiency of seedbed transfer. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the utility model.

[0015] Figure 2 This is a front view structural diagram of the utility model.

[0016] Figure 3 This is a side view of the structure of the utility model.

[0017] Figure 4 This is a schematic diagram of the descending state of the transfer seedbed of this utility model.

[0018] Figure 5 This is a schematic diagram of the structure of the self-moving trolley connected to the seedbed grasping mechanism.

[0019] Figure 6 This is a schematic diagram of the structure of the seedbed grasping mechanism.

[0020] Figure 7 This is a schematic diagram of the self-moving trolley and the anti-fall-off mechanism.

[0021] Figure 8 This is a schematic diagram showing the state of the seedbed grasping mechanism grasping the seedbed.

[0022] Figure 9 This is a schematic diagram showing the state of the seedbed after it has been lifted by the seedbed grasping mechanism.

[0023] The diagram shows: seedbed transfer frame 10, guide rail 11, self-moving trolley 21, frame 211, walking wheel 212, walking drive 213, lifting mechanism 22, lifting drive 221, winding wheel 222, traction belt 223, guide frame 224, first linkage shaft 225, seedbed gripping mechanism 23, gripping frame 231, gripping drive 232, gripping unit 233, second linkage shaft 234, slot 235, proximity switch 237, swing arm 2331, traction rod 2332, telescopic clamping arm 2333, gripper 2334, anti-fall mechanism 24, anti-fall drive 241, anti-fall frame 242, connecting rod 243, rotating shaft 244, support foot 245, connecting seat 246, column pin 247, base frame 31, limit frame 32, limit groove 33. Detailed Implementation

[0024] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Please refer to Figures 1 to 4 This utility model embodiment provides a seedbed transfer device for greenhouses.

[0026] The system includes a seedbed transfer frame 10, a self-moving trolley 21, a lifting mechanism 22, and a seedbed gripping mechanism 23, all installed inside the greenhouse. The seedbed transfer frame 10 is a horizontally extending support frame. Seedbeds are stacked in parallel layers at one end of the lower part of the seedbed transfer frame 10. Two parallel guide rails 11 are horizontally mounted on the upper part of the seedbed transfer frame 10 along its length, directly above the stacked seedbeds. The self-moving trolley 21 is mounted parallel to the guide rails 11 and can move freely along their length. The lifting mechanism 22 is located at the lower end of the self-moving trolley 21, and the seedbed gripping mechanism 23 is fixed to the lower end of the lifting mechanism 22. The seedbed gripping mechanism 23 is suspended from the self-moving trolley 21 by the lifting mechanism 22. Below the trolley 21, and driven by the self-moving trolley 21, it can move freely along the guide rail 11. The lifting mechanism 22 can lift the seedbed grabbing mechanism 23 up and down. When transferring the seedbed, the self-moving trolley 21 drives the seedbed grabbing mechanism 23 to move along the guide rail 11 to directly above the seedbed placed at one end of the seedbed transfer frame 10. Then, the lifting mechanism 22 lowers the seedbed grabbing mechanism 23. After the seedbed grabbing mechanism 23 is lowered to the top of the placed seedbed, it grabs the seedbed. The lifting mechanism 22 then raises the seedbed grabbing mechanism 23 and the grabbed seedbed. Then, the self-moving trolley 21 drives the seedbed grabbing mechanism 23 and the grabbed seedbed to transfer along the guide rail 11 to the other end of the seedbed transfer frame 10.

[0027] Please refer to Figure 2 and Figure 5 Specifically, the self-moving trolley 21 consists of a frame 211, wheels 212, and a drive mechanism 213. The frame 211 is a rectangular frame arranged in parallel. The wheels 212 are rotatably mounted on both sides of the frame 211 and correspondingly mounted on two guide rails 11. The drive mechanism 213 is a servo motor mounted on the frame 211 and connected to one or two wheels 212 by a shaft. The drive mechanism 213 moves the frame 211 by driving the wheels 212 to rotate along the length of the guide rails 11. A lifting mechanism 22 is provided. On the frame 211 of the self-moving trolley 21, the lifting mechanism 22 includes a lifting drive 221, two winding wheels 222, four traction belts 223, and four guide frames 224. The four guide frames 224 are symmetrically arranged at the four corners of the frame 211 of the self-moving trolley 21. The two winding wheels 222 are rotatably and symmetrically arranged on both sides of the frame 211 of the self-moving trolley 21, located between two adjacent guide frames 224 and aligned with each other. A first linkage shaft 225 is coaxially arranged between the two winding wheels 222. The first linkage shaft 225 connects the two winding wheels 222. The four traction belts 223 are connected in parallel. The lifting drive 221 is a servo motor. The lifting drive 221 is shaft-connected to the first linkage shaft 225 or one of the winding wheels 222 to drive the two winding wheels 222 to rotate synchronously. One end of each of the four traction belts 223 passes through the guide frames 224 set at the four corners of the frame 211 of the self-moving trolley 21 and is fixedly connected to the four corners of the seedbed gripping mechanism 23. The four traction belts 223 are of equal length to suspend the seedbed gripping mechanism 23 in parallel below the self-moving trolley 21. The other end is wound onto the two adjacent winding wheels 222 respectively, and the winding direction of the four traction belts 223 is the same. The lifting drive 221 drives the two winding wheels 222 to rotate synchronously in the forward or reverse direction. The length of the four traction belts 223 can be released or wound and contracted synchronously through the two winding wheels 222. When the two winding wheels 222 release the four traction belts 223, the seedbed gripping mechanism 23 can be lowered. When the two winding wheels 222 wind and contract the four traction belts 223, the seedbed gripping mechanism 23 can be raised.

[0028] Please refer to Figure 5 , Figure 6 and Figure 8The seedbed gripping mechanism 23 includes a gripping frame 231, a gripping drive 232, and two sets of gripping units 233. The four corners of the gripping frame 231 are fixedly connected to four traction belts 223 passing through the guide frame 224, and the frame is suspended parallel to the self-moving trolley 21 directly below by the four traction belts 223. A rotatable second linkage shaft 234 is arranged laterally on the gripping frame 231, with both ends of the second linkage shaft 234 extending to the left and right sides of the gripping frame 231, respectively. The two sets of gripping units 233 are symmetrically arranged on the left and right sides of the gripping frame 231 and are fixedly connected to both ends of the second linkage shaft 234, respectively. The gripping drive 232 is arranged on the gripping frame 231, and the output shaft of the gripping drive 232 is axially connected to the second linkage shaft 234, which can drive the second linkage shaft 234 to rotate in the forward or reverse direction. The second linkage shaft 234 drives the two sets of gripping units 233 to grip the seedbed synchronously.

[0029] Each gripping unit 233 includes a swing arm 2331, two traction rods 2332, and two telescopic clamping arms 2333. The swing arm 2331 is vertically mounted at the end of the second linkage shaft 234. The swing arm 2331 is a long strip plate. The middle part of the swing arm 2331 is fixedly connected to the second linkage shaft 234. The two ends of the swing arm 2331 that are far apart from each other extend symmetrically above and below the second linkage shaft 234, respectively. The left and right ends of the gripping frame 231 are respectively provided with slots 235 in parallel. The gripping units 233 are arranged parallel to each other towards the front and rear ends of the gripping frame 231. One end of each of the two telescopic gripping arms 2333 is inserted into two slots 235 on the same side of the gripping frame 231. The other ends of the two telescopic gripping arms 2333 extend or retract parallel to each other along the slots 235 towards the front and rear ends of the gripping frame 231. The extended ends of the two telescopic gripping arms 2333 are each provided with grippers 2334 extending downwards from the slots 235. The grippers 2334 on the two telescopic gripping arms 2333 face each other. One end of each traction rod 2332 is pinned to the extended ends of two telescopic clamping arms 2333, and the other ends of each traction rod 2332 are pinned to the upper and lower ends of the swing arm 2331 extending towards the second linkage shaft 234, respectively. The second linkage shaft 234 drives the swing arm 2331 to rotate, simultaneously pulling the two traction rods 2332 to push and pull the two telescopic clamping arms 2333 along the slot 235 to extend or retract. When the two telescopic clamping arms 2333 extend along the slot 235, the ends of the two telescopic clamping arms 2333... The grippers 2334 are far apart from each other. After the grippers 2334 at the ends of the two telescopic grippers 2333 are far apart from each other, the distance between them is greater than the width of the seedbed. When the two telescopic grippers 2333 retract along the slot 235, the grippers 2334 at the ends of the two telescopic grippers 2333 can approach each other and respectively clamp on the edges of the seedbed on both sides to clamp the seedbed. The two sets of gripping units 233 are symmetrically arranged on the left and right sides of the gripping frame 231. The two sets of gripping units 233 can be driven by the second linkage shaft 234 to achieve synchronous gripping action.

[0030] In practical implementation, after the self-moving trolley 21 moves the seedbed gripping mechanism 23 along the guide rail 11 to directly above the stacked seedbed, the lifting drive 221 is activated to drive the two winding wheels 222 to release the four traction belts 223, lowering the seedbed gripping mechanism 23. Simultaneously, the gripping drive 232 is activated to drive the second linkage shaft 234 to rotate forward, causing the grippers 2334 at the ends of the telescopic gripping arms 2333 of the two gripping units 233 to move away from each other. Once the gripping frame 231 has completely landed on the seedbed to be gripped, the gripping drive 232 drives the second linkage shaft 234 to rotate in the opposite direction, causing the grippers 2334 at the ends of the telescopic gripping arms 2333 of the two gripping units 233 to move closer together and respectively clamp onto the edges of both sides of the seedbed, forming a clamp. After the two gripping units 233 have completed clamping the seedbed, the lifting drive 221 again drives the two winding wheels 222 to release the four traction belts 223. 23 performs a winding and retraction motion, raising the seedbed gripping mechanism 23 and the seedbed it grips. After the seedbed gripping mechanism 23 is raised, it is driven by the self-moving trolley 21 to move along the guide rail 11 to the other end of the seedbed transfer frame 10. The lifting drive 221 then drives the two winding wheels 222 to release the four traction belts 223, causing the seedbed gripping mechanism 23 and the gripped seedbed to fall. At this time, the gripping drive 232 drives the second linkage shaft 234 to rotate forward, causing the grippers 2334 on the ends of the telescopic clamping arms 2333 of the two sets of gripping units 233 to move away from each other, releasing the grip on the seedbed. The lifting drive 221 then drives the two winding wheels 222 to wind and retract the four traction belts 223, raising the seedbed gripping mechanism 23. The self-moving trolley 21 then drives the seedbed gripping mechanism 23 to move along the guide rail 11 to the seedbed stacking area, repeating the above transfer operation.

[0031] In this embodiment, the gripping drive 232 is a servo motor, which is connected to the second linkage shaft 234 via a reducer. The servo motor controls the rotation angle of the second linkage shaft 234, which is less than 180°. Alternatively, the gripping drive 232 can be a telescopic cylinder. The telescopic end of the cylinder is pinned to one end of the swing arm 2331 of one of the gripping units 233. A solenoid valve controls the telescopic cylinder to push the swing arm 2331 to reciprocate, achieving synchronous gripping action.

[0032] Please refer to Figure 5 , Figure 7 and Figure 9Furthermore, to prevent the seedbed from accidentally falling off, the self-moving trolley 21 is equipped with an anti-fall mechanism 24 during the movement of the seedbed gripping mechanism 23 and the gripped seedbed along the guide rail 11. The anti-fall mechanism 24 includes an anti-fall drive 241, four anti-fall frames 242, four connecting rods 243, and four rotating shafts 244. The four anti-fall frames 242 are vertically arranged at the front and rear ends of the frame 211 of the self-moving trolley 21 in a rectangular distribution, and the width between the anti-fall frames 242 at the front and rear ends of the frame 211 is greater than the width of the seedbed. The four rotating shafts 244 are respectively vertically inserted into the four anti-fall frames 242, extending vertically downwards from the frame 211. Each of the four rotating shafts 244 is capable of free parallel rotation. Support feet 245 extending towards the inner side of the frame 211 are parallel to the lower ends of each shaft. The height of the support feet 245 is lower than the height of the seedbed being grasped. Furthermore, the width between the ends of the support feet 245 on opposite rotating shafts 244 at the front and rear ends of the frame 211 is less than the width of the seedbed. Connecting seats 246 are fixedly installed on one side of the upper end of each of the four rotating shafts 244. Each connecting seat 246 has two vertically arranged pins 247, which are distributed at 90° angles around the rotating shaft 244 at both ends of the connecting seat 246. The two ends of the four connecting rods 243 correspond to one of the pins 247 on the connecting seats 246 of two adjacent rotating shafts 244. The anti-drop drive 241 is mounted on the frame 211 and connected to one of the rotating shafts 244. It can drive the rotating shaft 244 to rotate in both directions, and cause the other three rotating shafts 244 to rotate synchronously under the traction of the four connecting rods 243. This ensures that the support feet 245 at the lower ends of the four rotating shafts 244 are parallel to the inner or outer side of the frame 211. In use, when the lifting drive 221 raises the seedbed gripping mechanism 23 and the gripped seedbed to the lower end of the frame 211 of the moving trolley 21, the support feet 245 at the lower ends of the four rotating shafts 244 are located on both sides of the gripped seedbed, and their height is lower than the lower end of the seedbed. This activates the anti-drop drive 241. 1. Drive the four rotating shafts 244 to rotate synchronously towards the inside of the frame 211, so that the support feet 245 at the lower end of the four rotating shafts 244 turn towards the bottom of the seedbed being grabbed, so as to protect the seedbed. If the seedbed accidentally falls off the seedbed grabbing mechanism 23, the support feet 245 on the four rotating shafts 244 can catch the seedbed and prevent it from falling. When the self-moving trolley 21 drives the seedbed grabbing mechanism 23 and the seedbed it grabs to the other end of the seedbed transfer frame 10 and lowers it, the anti-fall drive 241 is activated again, driving the four rotating shafts 244 to rotate synchronously towards the outside of the frame 211, releasing the protection of the seedbed by the support feet 245. At this time, the seedbed grabbing mechanism 23 releases its grip on the seedbed.

[0033] In this embodiment, the anti-fall drive 241 is a servo motor, which is connected to one of the rotating shafts 244 through a reducer. The rotation angle of the rotating shaft 244 is controlled by the servo motor. The anti-fall drive 241 can also be a telescopic cylinder. The telescopic end of the telescopic cylinder is pin-connected to the connecting seat 246 at the upper end of one of the rotating shafts 244. The telescopic cylinder is controlled by a solenoid valve to push the rotating shaft 244 to rotate back and forth, thereby realizing the steering action of the support foot 245.

[0034] Please continue reading. Figure 2 and Figure 3 The base frame 31 and several limiting frames 32 are provided directly below the seedbed transfer frame 10. The base frame 31 is laid parallel to the length of the guide rail 11 directly below the guide rail 11 and is parallel to the guide rail 11. The limiting frames 32 are vertically arranged on the upper end of the base frame 31 and are arranged at intervals along the length of the guide rail 11. A limiting groove 33 for stacking seedbeds is formed between two adjacent limiting frames 32. The width of the limiting groove 33 matches the width of the seedbed and the gripping frame 231 of the seedbed gripping mechanism 23. The limiting frames 32 are used to limit the seedbeds so that the seedbeds are neatly stacked in the limiting groove 33. Since the seedbed gripping mechanism 23 is suspended parallel below the self-moving trolley 21 by four traction belts 223, there will be slight swaying during the process of the seedbed gripping mechanism 23 descending into the seedbed placed in the limiting groove 33. In order to make the seedbed gripping mechanism 23 smoothly enter the limiting groove 33, the upper ends of the two adjacent limiting frames 32, i.e. the upper ports of the limiting groove 33, are set to open outward to form a funnel shape. This can guide the seedbed gripping mechanism 23. When the seedbed gripping mechanism 23 descends, the two adjacent limiting frames 32 can guide the front and rear side walls of the gripping frame 231 of the seedbed gripping mechanism 23, so that it can smoothly enter the limiting groove 33 and land directly above the seedbed for easy gripping operation.

[0035] Furthermore, a proximity switch 237 is installed at the lower end of the gripping frame 231 of the seedbed gripping mechanism 23. The proximity switch 237 corresponds to the position of the seedbed to be gripped. The proximity switch 237 is electrically connected to the start control terminal of the lifting drive 221. When the gripping frame 231 descends onto the seedbed to be gripped, the proximity switch 237 comes into contact with the seedbed and is triggered by the seedbed. The lifting drive 221 then stops the descent of the gripping frame 231. The descent height of the seedbed gripping mechanism 23 can be controlled by the proximity switch 237 so that the seedbed gripping mechanism 23 can perform gripping operations on seedbeds of different stacked heights.

[0036] The above-disclosed embodiments are merely preferred embodiments of the present utility model and should not be construed as limiting the scope of the present utility model. Those skilled in the art can understand that implementing all or part of the above-described embodiments and making equivalent changes in accordance with the claims of the present utility model are still within the scope of the utility model.

Claims

1. A seedbed transfer device for a greenhouse, characterized by: The system includes a seedbed transfer frame, a self-propelled trolley, a lifting mechanism, and a seedbed gripping mechanism, all mounted above the seedbed. Two parallel guide rails are horizontally mounted on the upper end of the seedbed transfer frame. The self-propelled trolley is mounted parallel to the guide rails and can move freely along them. The lifting mechanism is located at the lower end of the self-propelled trolley, and the seedbed gripping mechanism is fixed to the lower end of the lifting mechanism. The seedbed gripping mechanism is suspended below the self-propelled trolley via the lifting mechanism. The lifting mechanism can move the seedbed gripping mechanism up and down. When lowered, the seedbed gripping mechanism can grip the seedbed below the seedbed transfer frame, and when raised, it can follow the self-propelled trolley along the guide rails to transfer the seedbed. The lifting mechanism includes a lifting drive, two winding wheels, four traction belts, and four guide frames. The four guide frames are symmetrically arranged at the four corners of the self-moving trolley. The two winding wheels are rotatably and symmetrically arranged on both sides of the self-moving trolley, located between two adjacent guide frames and aligned with each other. A first linkage shaft is coaxially arranged between the two winding wheels, connecting the two winding wheels in parallel. The lifting drive is connected to the first linkage shaft or one of the winding wheel shafts to drive the two winding wheels to rotate synchronously. One end of each of the four traction belts passes through the guide frames at the four corners of the self-moving trolley and is fixedly connected to the four corners of the seedbed grasping mechanism to suspend the seedbed grasping mechanism below the self-moving trolley. The other ends of the four traction belts are wound around the two adjacent winding wheels, and the winding direction of the four traction belts is the same. The lifting drive drives the two winding wheels to rotate synchronously in the forward or reverse direction, and releases or winds the four traction belts synchronously through the two winding wheels to drive the seedbed grasping mechanism to lift and lower. A base frame and several limiting frames are installed directly below the seedbed transfer frame. The base frame is laid parallel to the length of the guide rail and is parallel to the guide rail. The limiting frames are vertically installed on the upper end of the base frame and are arranged at intervals along the length of the guide rail. A limiting groove for stacking seedbeds is formed between two adjacent limiting frames, and the upper end of the limiting groove opens outward to form a funnel shape to guide the seedbed gripping mechanism so that when the seedbed gripping mechanism descends, it can smoothly enter the limiting groove to grip the seedbed.

2. The seedbed transfer device for a greenhouse according to claim 1, wherein: The seedbed gripping mechanism includes a gripping frame, a gripping drive, and two sets of gripping units. The four corners of the gripping frame are fixedly connected to four traction belts passing through the guide frame, and the frame is suspended parallel to the self-moving trolley by the four traction belts. A rotatable second linkage shaft is horizontally arranged on the gripping frame, with its two ends extending to the left and right sides of the gripping frame, respectively. The two sets of gripping units are symmetrically arranged on the left and right sides of the gripping frame and fixedly connected to the two ends of the second linkage shaft, respectively. The gripping drive is located on the gripping frame, and its output shaft is connected to the second linkage shaft, driving the two sets of gripping units to grip the seedbed synchronously through the second linkage shaft.

3. The greenhouse seedbed transfer device as described in claim 2, characterized in that: Each gripping unit includes a swing arm, two traction rods, and two telescopic gripping arms. The swing arm is vertically mounted at the end of the second linkage shaft, and its middle part is fixedly connected to the second linkage shaft. The two opposite ends of the swing arm extend symmetrically upward and downward towards the second linkage shaft, respectively. The left and right ends of the gripping frame are respectively provided with slots parallel to each other, and the slots are parallel to each other facing the front and rear ends of the gripping frame. One end of each of the two telescopic gripping arms of each gripping unit is inserted into two slots on the same side of the gripping frame, and the other end of each telescopic gripping arm extends parallel to each other along the slots towards the front and rear ends of the gripping frame. The extended ends of each telescopic gripping arm are respectively provided with grippers extending downward towards the slots. The grippers on the two telescopic gripping arms face each other. One end of each of the two traction rods is pinned to the extended ends of the two telescopic gripping arms, and the other end of each traction rod is pinned to both ends of the swing arm. The gripping drive drives the swing arm to rotate and swing forward or backward through the second linkage shaft. The swing arm pulls the two traction rods to push and pull the two telescopic gripping arms synchronously along the slots to make the grippers of the two telescopic gripping arms move closer or further away from each other.

4. The greenhouse seedbed transfer device as described in claim 3, characterized in that: The self-propelled trolley is also equipped with an anti-drop mechanism, which includes an anti-drop drive, four anti-drop frames, four connecting rods, and four rotating shafts. The four anti-drop frames are vertically arranged at the front and rear ends of the self-propelled trolley in a rectangular pattern, and the width between the anti-drop frames at the front and rear ends is greater than the width of the seedbed. The four rotating shafts are vertically inserted into the four anti-drop frames and can rotate freely. The lower ends of the four rotating shafts, facing inwards towards the self-propelled trolley, are each provided with parallel extending support legs. The height of the support legs is lower than the height of the seedbed, and the width between the ends of the support legs on the rotating shafts at the front and rear ends of the self-propelled trolley is less than the width of the seedbed. One side of the upper end of each of the four rotating shafts is fixedly equipped with… There are connecting seats, each with two vertically arranged pins. The two pins are distributed at 90° around the pivot at both ends of the connecting seat. The two ends of the four connecting rods are respectively connected to one of the pins on the connecting seats of the two adjacent pivots. The anti-drop drive is set on the self-moving trolley and connected to one of the pivots. It can drive the pivot to rotate in both directions and make the other three pivots rotate synchronously under the traction of the four connecting rods. This makes the support feet at the lower end of the four pivots rotate parallel to the inside of the self-moving trolley or parallel to the outside of the self-moving trolley. When the support feet at the lower end of the four pivots rotate to the inside of the self-moving trolley, they can extend to the lower end of the seedbed gripped by the gripper to protect the seedbed.

5. The greenhouse seedbed transfer device as described in claim 4, characterized in that: A limit switch is installed at the lower end of the grabbing frame. The limit switch corresponds to the position of the seedbed to be grabbed. The limit switch is electrically connected to the lifting drive. When the grabbing frame descends onto the seedbed to be grabbed, the limit switch contacts the seedbed and is triggered by the seedbed, and the lifting drive stops the descent of the grabbing frame.

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