CN107055115B - Automatic tray unloading and stacking device for seedling trays of square seedling raising machine - Google Patents

Abstract

The invention relates to an automatic tray unloading and stacking device for seedling trays of a square seedling raising machine, which comprises a three-way linear sliding table and a supporting frame fixed on the bottom surface of the three-way linear sliding table, wherein the three-way linear sliding table comprises two longitudinal horizontal linear guide rails (20 and 27) which are arranged in parallel and fixedly connected with the supporting frame and a transverse horizontal linear guide rail (2) of which two ends are respectively connected onto the two longitudinal horizontal linear guide rails (20 and 27) in a sliding mode through longitudinal sliding blocks (5 and 4), the transverse horizontal linear guide rail (2) is connected with a transverse sliding block (3) in a sliding mode, the transverse sliding block (3) is connected with a vertical linear guide rail (1) in a sliding mode, and the lower end of the vertical linear guide rail (1) is provided with a grabbing mechanical arm. The seedling tray positioning device can accurately position the seedling tray, and the seedling tray is conveyed to the seedling tray stacking trolley through movement in three directions, so that the seedling tray conveying and conveying steps are consistent, the working efficiency is improved, the labor cost is reduced, and agricultural facility equipment is enriched.

Description

An automatic unloading and stacking device for seedling trays of a square sports seedling machine

technical field

The invention relates to the technical field of agricultural facilities, in particular to a seedling tray handling device, in particular to a seedling tray automatic unloading and stacking device for a square seedling machine.

Background technique

The combined use of the seedling tray and the square sports seedling machine makes the working process of compaction, hole punching, covering soil, and cutting into pieces realize automatic operation, which provides convenience for seedling cultivation. However, the unloading and stacking of the seedling tray after sowing are completed It still has to be done manually, but manual work cannot meet the needs of high-efficiency seedling cultivation operations and large-scale and automated production due to problems such as unloading trays and untimely palletizing, which restricts the improvement of the automation degree of seedling raising machines. Simultaneously, because labor intensity is big, unloading worker usually consists of two people at least, has increased the production cost of nursery enterprise.

Contents of the invention

Aiming at the deficiencies of the prior art, the present invention provides a seedling tray automatic unloading and stacking device for a square seedling machine, which can replace the manual work of automatic handling, unloading, and stacking of the seedling trays, and can improve the degree of automation of the equipment at the same time. Reduce the workload of staff and reduce the cost of production enterprises.

The present invention is achieved through the following technical scheme, providing an automatic unloading and stacking device for seedling trays of a square sports seedling machine, comprising a three-way linear slide table and a support frame fixed on the bottom surface of the three-way linear slide table, the three The linear slide table includes two longitudinal horizontal linear guide rails arranged in parallel and fixed to the support frame, and horizontal horizontal linear guide rails whose two ends are respectively slid on the two longitudinal horizontal linear guide rails through longitudinal sliders. A horizontal slider is slidingly connected to the linear guide rail, and a vertical linear guide rail is slidingly connected to the horizontal slider. The lower end of the vertical linear guide rail is provided with a grasping manipulator. track, which realizes the movement of the grabbing manipulator in two directions, and simplifies the equipment structure; it also includes a longitudinal drive device that drives the longitudinal slider to move along the longitudinal horizontal linear guide rail, and drives the horizontal slider to move along the horizontal horizontal linear guide rail. The horizontal drive device, and the vertical drive device that drives the vertical linear guide rail to move in the horizontal slide block.

This solution fills the blank of mechanical handling of seedling trays. The position movement of the grasping manipulator in the space is realized through the vertical horizontal linear guide rail, horizontal horizontal linear guide rail and vertical linear guide rail, and the seedling tray can be accurately positioned. Through three directions The movement of the seedling trays is carried to the tray palletizing trolley, so that the handling of the seedling trays is in step with the delivery, which improves work efficiency, reduces labor costs, and enriches agricultural facilities and equipment.

Preferably, the grasping manipulator includes a load-bearing plate fixed to the lower end surface of the vertical linear guide rail and an electric telescopic rod fixed to one side of the vertical linear guide rail and arranged vertically, and the two ends of the load-bearing plate are respectively hinged with The gripper, the gripper can rotate within a certain angle range, the lower end of the electric telescopic rod is hinged with two connecting rods, the other ends of the two connecting rods are respectively hinged with the gripper, the hinge point of the connecting rod and the gripper Located below the hinge point of the load-bearing plate and the gripper. When the electric telescopic rod moves, the handle is pulled by the connecting rod to rotate inwards or outwards to realize the grasping and releasing of the seedling tray, the structure is simple, and the use is reliable.

Preferably, the longitudinal horizontal linear guide rail, the transverse horizontal linear guide rail and the vertical linear guide rail are all hollow shell structures. This preferred solution reduces the overall quality of the equipment, saves transportation costs, and at the same time facilitates the drive device to be arranged in the housing, reducing the space occupied by the equipment.

Preferably, the longitudinal driving device includes two longitudinal servo motors fixed in each of the longitudinal horizontal linear guide rails, the output shafts of the two longitudinal servo motors are connected by a longitudinal synchronous belt, and the longitudinal synchronous belt is connected to the longitudinal The slider is fixed. This optimal solution drives the synchronous belt to rotate through the servo motor, thereby driving the vertical slider to move, has good stability, can realize continuous adjustment of the position of the vertical slider, and avoids the situation that the seedling tray falls from the manipulator due to shaking.

As an optimization, the output shafts of the two vertical servo motors facing each other in the two vertical horizontal linear guide rails are connected through a synchronous rod. By setting the synchronous rod, the longitudinal sliders on the two longitudinal horizontal linear guide rails can move synchronously, so as to avoid interference between the longitudinal sliders and the longitudinal horizontal linear guide rails caused by non-synchronization.

Preferably, the transverse driving device includes two transverse servo motors fixed in the transverse horizontal linear guide rail, the output shafts of the two transverse servo motors are connected by a transverse synchronous belt, and the transverse synchronous belt is connected to the transverse slider Fixed. This preferred solution drives the synchronous belt to rotate through the servo motor, thereby driving the horizontal slider to move, has good stability, can realize continuous adjustment of the position of the horizontal slider, and avoids the situation that the seedling plate falls from the manipulator due to shaking.

Preferably, the vertical drive device includes two vertical servo motors fixed in the vertical linear guide rail, the output shafts of the two vertical servo motors are connected by a vertical synchronous belt, and the vertical synchronous belt is connected to The transverse slider is fixedly connected. In this preferred solution, the horizontal slider does not have vertical displacement, and when the vertical servo motor is working, the vertical linear guide rail moves up or down in the horizontal slider under the reaction of the synchronous belt to the servo motor.

As an optimization, the two ends of the longitudinal horizontal linear guide rail, the transverse horizontal linear guide rail and the vertical linear guide rail are respectively fixed with limit blocks. By setting the limit block, each slide block is prevented from sliding out from each linear guide rail, and the reliability of the equipment is improved.

Preferably, the support frame includes rail fixing rods whose two ends are respectively affixed to the two longitudinal horizontal linear guide rails, and four legs affixed to the bottom surfaces of the two longitudinal horizontal linear guide rails, and the four legs are respectively located at The ends of the two longitudinal and horizontal linear guide rails and the lower ends of the four supporting legs are all plugged with bases. The structure of this kind of supporting frame can not only play the role of supporting the sliding table, but also leave space for the movement of the seedling tray, which is convenient for the grabbed seedling tray to pass through, and at the same time, the stability is increased by setting the base.

Compared with the prior art, the invention has the advantages of reasonable design, simple and compact structure, and easy processing and use; and it ensures the accuracy of seedling tray unloading and stacking, and improves the efficiency of the square seedling machine; practical Strong, easy to popularize and use.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a front view of the present invention;

Fig. 3 is the top view of Fig. 2;

Fig. 4 is the left view of Fig. 2;

5 to 9 are schematic diagrams of the workflow of the present invention.

Detailed ways

In order to clearly illustrate the technical features of the solution, the solution will be described below through specific implementation modes.

As shown in Figure 1, an automatic unloading and stacking device for seedling trays of a square sports seedling machine includes a three-way linear slide table and a support frame fixed on the bottom surface of the three-way linear slide table, and the three-way linear slide table includes mutually parallel arrangements And the longitudinal horizontal linear guide rail 20 and the longitudinal horizontal linear guide rail 27 fixedly connected with the support frame, and the two ends are slid on the vertical horizontal linear guide rail 20 and the longitudinal horizontal linear guide rail 27 through the longitudinal slider 5 and the longitudinal slider 4 respectively. The horizontal linear guide rail 2 and the horizontal linear guide rail 2 are slidingly connected with the horizontal slider 3, and the horizontal slider 3 is also provided with a vertical chute, and the vertical linear guide rail 1 is slid in the vertical chute, and the vertical linear guide rail 1 The lower end is provided with a grabbing manipulator.

The grasping manipulator in this embodiment includes a load-bearing plate 12 fixed on the lower end surface of the vertical linear guide rail 1 and an electric telescopic rod 11 fixed on one side of the vertical linear guide rail 1 and arranged vertically. The two ends of the load-bearing plate 12 are respectively Hinged with gripper 13 and gripper 14, the lower end of gripper 13 and gripper 14 is respectively provided with the grab hook that bends inwardly, and the lower end of electric telescoping rod 11 is hinged with connecting rod 15 and connecting rod 32, and connecting rod 15 and connecting rod The other end of the bar 32 is respectively hinged with the handle 13 and the handle 14, and the hinge point between the connecting rod and the handle is located below the hinge point between the bearing plate and the handle. When the electric telescopic rod moves, the handle is pulled by the connecting rod to rotate inwards or outwards to realize the grasping and releasing of the seedling tray, the structure is simple, and the use is reliable.

In order to reduce the weight of the equipment itself and reduce transportation costs, the longitudinal horizontal linear guide 20, the longitudinal horizontal linear guide 27, the transverse horizontal linear guide 2 and the vertical linear guide 1 in this embodiment are all hollow shell structures.

This embodiment also includes a longitudinal driving device that drives the longitudinal slider 5 and the longitudinal slider 4 to move along the longitudinal horizontal linear guide rail, a horizontal driving device that drives the horizontal slider 3 to move along the horizontal horizontal linear guide rail 2, and drives the vertical linear guide rail 1 Vertical drive moving within the transverse slide 3.

As a preferred solution, the longitudinal driving device includes a longitudinal servo motor 30 and a longitudinal servo motor 31 fixed at both ends of the longitudinal horizontal linear guide rail 27, and a longitudinal servo motor 24 and a longitudinal servo motor 25 fixed at both ends of the longitudinal horizontal linear guide rail 20. Between the output shafts of the longitudinal servomotor 30 and the longitudinal servomotor 31, and between the output shafts of the longitudinal servomotor 24 and the longitudinal servomotor 25 are respectively connected by a longitudinal synchronous belt, and the longitudinal slider 5 and the longitudinal slider 4 are respectively connected to their respective positions. The longitudinal synchronous belt on the guide rail is fixed, and when the longitudinal synchronous belt rotates with the servo motor, it drives the longitudinal slider to move along the longitudinal horizontal linear guide rail. The output shafts of the longitudinal servomotor 24 and the longitudinal servomotor 30 are connected by a synchronous rod 23 to ensure the synchronization of the movement of the longitudinal slider 5 and the longitudinal slider 4, and avoid jamming caused by asynchrony.

The transverse driving device comprises a transverse servomotor 17 and a transverse servomotor 18 fixed at both ends of the transverse horizontal linear guide rail 2, the output shafts of the transverse servomotor 17 and the transverse servomotor 18 are connected by a transverse synchronous belt 28, and the transverse synchronous belt and the transverse slide block 3 is fixedly connected, and when the horizontal synchronous belt rotates with the horizontal servo motor, it drives the horizontal slider 3 to move along the horizontal horizontal linear guide rail 2.

The vertical driving device includes a vertical servomotor 16 and a vertical servomotor 19 fixed at the upper and lower ends of the vertical linear guide rail 1. The output shafts of the vertical servomotor 16 and the vertical servomotor 19 are connected by a vertical synchronous belt. The synchronous belt is fixedly connected with the horizontal slider 3, since the vertical displacement of the horizontal slider 3 does not occur, so when the vertical servo motor 16 and the vertical servo motor 19 are not working, under the pulling effect of the vertical synchronous belt , the vertical linear guide rail 1 will not move down by itself, when the vertical servo motor 16 and the vertical servo motor 19 work, under the reaction force of the vertical synchronous belt, the vertical linear guide rail 1 moves vertically.

In order to prevent the horizontal slider and each vertical slider from sliding out of the guide rails, in this embodiment, limit blocks are respectively fixed at the two ends of the longitudinal horizontal linear guide rails 20 and 27, the horizontal horizontal linear guide rail 2 and the vertical linear guide rail 1.

As a preferred solution, the support frame in this embodiment includes a guide rail fixing rod 6 affixed to two longitudinal horizontal linear guide rails at both ends, and four supporting legs 7, 8, 21, 29. The four legs are respectively located at the ends of the two longitudinal horizontal linear guide rails. The cross sections of the four legs are square and have sufficient bending resistance, and the lower ends of the four legs 7, 8, 21, 29 are plugged with bases 10, 9, 22, 26 respectively. The structure of this kind of supporting frame can not only play the role of supporting the sliding table, but also leave space for the movement of the seedling tray, which is convenient for the grabbed seedling tray to pass through, and at the same time, the stability is increased by setting the base.

The use process of this embodiment is divided into 5 steps, as shown in Figure 5 to Figure 9, which are respectively the first step of grabbing preparation, the second step of grabbing, the third step of handling, the fourth step of placing, and the fifth step of returning.

The first step is shown in Figure 5. When working, the conveyor belt on the seedling tray delivery platform I of the square sports seedling machine will transport the seedling trays that have completed the seedling cultivation operation to the corresponding position, and the conveyor belt will stop moving for a period of time. Inside, the seedling tray grabbing manipulator of the square sports seedling machine moves to the position directly above the seedling tray and stops, ready to grab the seedling tray. Step 2 As shown in Figure 6, the seedling tray grasping manipulator moves down to the handle of the seedling tray, and under the drive of the electric telescopic rod, the gripper grasps the seedling tray. Step 3 As shown in Figure 7, the seedling tray grabbing manipulator transports the seedling tray to the corresponding position of the seedling tray stacking trolley II and then stops. Step 4 As shown in Figure 8, the seedling tray grabbing manipulator moves downward and places the seedling tray on the seedling tray stacking trolley II. The fifth step is shown in Figure 9. After the gripper completes the placement action, it will be opened under the drive of the telescopic rod, the seedling tray will be released, and it will move to the initial position under the drive of the three-way linear slide. Thereby, the unloading and stacking work of one seedling tray is completed, and for the rest of the seedling trays that need to be unloaded and stacked, the working process can repeat the above operation steps.

Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be realized by or using existing technologies, and will not be repeated here; the above embodiments and drawings are only used to illustrate that the technical solutions of the present invention are not is a limitation of the present invention, and the present invention has been described in detail with reference to preferred embodiments, and those of ordinary skill in the art should understand that changes, modifications, Neither addition nor replacement deviates from the gist of the present invention, and should also belong to the protection scope of the claims of the present invention.

Claims (5)

1. The utility model provides an automatic pile up neatly device that unloads of square seedling raising machine seedling tray which characterized in that: the three-way linear sliding table comprises two longitudinal horizontal linear guide rails (20 and 27) which are arranged in parallel and fixedly connected with the supporting frame and a transverse horizontal linear guide rail (2) of which two ends are respectively connected onto the two longitudinal horizontal linear guide rails (20 and 27) in a sliding manner through longitudinal sliding blocks (5 and 4), a transverse sliding block (3) is connected onto the transverse horizontal linear guide rail (2) in a sliding manner, a vertical linear guide rail (1) is connected onto the transverse sliding block (3) in a sliding manner, and a grabbing manipulator is arranged at the lower end of the vertical linear guide rail (1);

the device also comprises a longitudinal driving device for driving the longitudinal sliding blocks (5 and 4) to move along longitudinal horizontal linear guide rails (20 and 27), a transverse driving device for driving the transverse sliding block (3) to move along a transverse horizontal linear guide rail (2), and a vertical driving device for driving the vertical linear guide rail (1) to move in the transverse sliding block (3);

the longitudinal driving device comprises two longitudinal servo motors fixed in each longitudinal horizontal linear guide rail, output shafts of the two longitudinal servo motors are connected through a longitudinal synchronous belt, and the longitudinal synchronous belt is fixedly connected with the longitudinal sliding block; output shafts of two opposite longitudinal servo motors in the two longitudinal horizontal linear guide rails (20, 27) are connected through a synchronous rod (23);

the vertical driving device comprises two vertical servo motors fixed in the vertical linear guide rail, output shafts of the two vertical servo motors are connected through a vertical synchronous belt, and the vertical synchronous belt is fixedly connected with the transverse sliding block (3);

the longitudinal horizontal linear guide rails (20, 27), the transverse horizontal linear guide rail (2) and the vertical linear guide rail (1) are all hollow shell structures.

2. The automatic tray unloading and stacking device of the square seedling raising machine as claimed in claim 1, which is characterized in that: the grabbing manipulator comprises a bearing plate (12) fixed on the lower end face of the vertical linear guide rail (1) and an electric telescopic rod (11) fixed on one side face of the vertical linear guide rail (1) and vertically arranged, wherein two ends of the bearing plate (12) are respectively hinged with a gripper (13, 14), the lower end of the electric telescopic rod (11) is hinged with two connecting rods (15, 32), the other ends of the two connecting rods (15, 32) are respectively hinged with the gripper (13, 14), and the connecting rod and the gripper are located below the hinge point of the bearing plate and the gripper.

3. The automatic tray unloading and stacking device of the square seedling raising machine as claimed in claim 1, which is characterized in that: the transverse driving device comprises two transverse servo motors fixed in the transverse horizontal linear guide rail, output shafts of the two transverse servo motors are connected through a transverse synchronous belt, and the transverse synchronous belt is fixedly connected with the transverse sliding block (3).

4. The automatic tray unloading and stacking device of the square seedling raising machine as claimed in claim 1, which is characterized in that: and limiting blocks are respectively fixed at two ends of the longitudinal horizontal linear guide rails (20, 27), the transverse horizontal linear guide rail (2) and the vertical linear guide rail (1).

5. The automatic tray unloading and stacking device of the square seedling raising machine as claimed in claim 1, which is characterized in that: the support frame comprises a guide rail fixing rod (6) with two ends fixedly connected with the two longitudinal horizontal linear guide rails respectively, and four support legs (7, 8, 21 and 29) fixedly connected with the bottom surfaces of the two longitudinal horizontal linear guide rails, wherein the four support legs are located at the end parts of the two longitudinal horizontal linear guide rails respectively, and bases are inserted into the lower ends of the four support legs.

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