CN113291735A - Vegetable unmanned sowing, conveying and seedling raising equipment and using method - Google Patents

Vegetable unmanned sowing, conveying and seedling raising equipment and using method Download PDF

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Publication number
CN113291735A
CN113291735A CN202110638767.7A CN202110638767A CN113291735A CN 113291735 A CN113291735 A CN 113291735A CN 202110638767 A CN202110638767 A CN 202110638767A CN 113291735 A CN113291735 A CN 113291735A
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CN
China
Prior art keywords
controller
control signal
seedling tray
conveying line
seedling
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Granted
Application number
CN202110638767.7A
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Chinese (zh)
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CN113291735B (en
Inventor
郑吉澍
李脉
刘阳
李佩原
高立洪
李萍
王月巍
冉杰
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CHONGQING KAIRUI AGRICULTURAL DEVELOPMENT CO LTD
Chongqing Academy of Agricultural Sciences
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CHONGQING KAIRUI AGRICULTURAL DEVELOPMENT CO LTD
Chongqing Academy of Agricultural Sciences
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Publication of CN113291735A publication Critical patent/CN113291735A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/02—Receptacles, e.g. flower-pots or boxes; Glasses for cultivating flowers
    • A01G9/029—Receptacles for seedlings
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/28—Raised beds; Planting beds; Edging elements for beds, lawn or the like, e.g. tiles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/10—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface
    • B65G15/12—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts
    • B65G15/20—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts arranged side by side, e.g. for conveyance of flat articles in vertical position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/88—Separating or stopping elements, e.g. fingers
    • B65G47/8807—Separating or stopping elements, e.g. fingers with one stop
    • B65G47/8815—Reciprocating stop, moving up or down in the path of the article
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/88—Separating or stopping elements, e.g. fingers
    • B65G47/8876—Separating or stopping elements, e.g. fingers with at least two stops acting as gates
    • B65G47/8892—Stops acting independently of each other
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements

Abstract

The invention provides a vegetable unmanned sowing, conveying and seedling raising device and a using method thereof, wherein the vegetable unmanned sowing, conveying and seedling raising device comprises a seedling raising disc conveying line, a tide type seedbed conveying line, M seedling raising disc positioning mechanisms, M seedling raising disc jacking mechanisms, M photoelectric switch groups, a sliding table module and a seedling raising disc clamp, the seedling raising disc conveying line adopts double rows of conveying belts, the seedling raising disc jacking mechanisms are arranged between the two rows of conveying belts, and each seedling raising disc jacking mechanism is used for jacking a seedling raising disc on the seedling raising disc conveying line upwards and leaving the seedling raising disc conveying line; the seedling tray positioning mechanism is arranged in front of the seedling tray jacking mechanism, and a photoelectric switch is arranged on the rack beside the seedling tray jacking mechanism; the sliding table module comprises a door-shaped frame, an X-axis sliding table and a Z-axis sliding table. Can realize that seedling tray anchor clamps snatch seedling tray and go into the bed and go out the bed automatically, put in the solution morning and evening tides formula seedbed production process, take out that cave dish labour demand is big, problem that intensity of labour is high, improve mechanization, the automation level in the morning and evening tides formula seedbed production process, lay the basis for the whole unmanned production of vegetables.

Description

Vegetable unmanned sowing, conveying and seedling raising equipment and using method
Technical Field
The invention relates to the technical field of automated agriculture, in particular to an unmanned vegetable sowing, conveying and seedling raising device and a using method thereof.
Background
At present, the tidal seedbed is carried, taken and placed with seedling trays (entering and exiting) in the production process through manual work, and the process is high in labor demand and labor intensity. Therefore, how to realize the automatic in-bed and out-bed of the tide type seedbed becomes the technical problem which needs to be solved firstly when the whole-course unmanned production of vegetables is realized.
Disclosure of Invention
The invention aims to at least solve the technical problems in the prior art, and particularly creatively provides an unmanned vegetable sowing, conveying and seedling raising device and a using method.
In order to achieve the purpose, the invention provides a tide type seedbed entering and exiting machine, which comprises a seedling tray conveying line, a tide type seedbed conveying line, M seedling tray positioning mechanisms, M seedling tray jacking mechanisms, M photoelectric switch groups, a sliding table module and a seedling tray clamp, wherein M is a positive integer greater than or equal to 1, the seedling tray conveying line adopts double rows of conveying belts, and a gap is reserved between the two rows of conveying belts; each seedling tray jacking mechanism is arranged between the two rows of conveying belts and is used for jacking the seedling trays on the seedling tray conveying line upwards and leaving the seedling tray conveying line; the seedling tray positioning mechanism is arranged in front of the seedling tray jacking mechanism and comprises a blocking rod and a rotary cylinder for controlling the blocking rod to be put down and put away, when the blocking rod is put down, the blocking rod extends along the width direction of a seedling tray conveying line and is used for blocking the seedling tray, when the blocking rod is put down, the seedling tray can pass through the seedling tray conveying line, and the photoelectric switch group is arranged on a seedling tray conveying line rack beside the seedling tray jacking mechanism; the tidal seedbed conveying line is used for conveying a tidal seedbed; slip table module includes door-shaped frame, X axle slip table and Z axle slip table, educate seedling tray transfer chain and morning and evening tides formula seedbed transfer chain and set up side by side under the door-shaped frame and pass the door-shaped frame, X axle slip table sets up along door-shaped frame back timber, the lower extreme installation seedling tray anchor clamps of Z axle slip table, through Z axle slip table realizes that reciprocating of seedling tray anchor clamps removes to educate seedling tray transfer chain go to press from both sides and get and educate seedling tray and will educate seedling tray and place morning and evening tides formula seedbed on the morning and evening tides formula seedbed transfer chain on, realizes letting seedling tray anchor clamps move between educating seedling tray transfer chain and morning and evening tides formula seedbed transfer chain through X axle.
In a preferred embodiment of the invention, a plurality of seedling raising disc jacking mechanisms are arranged between two rows of conveying belts at intervals, a seedling raising disc positioning mechanism is arranged in front of each seedling raising disc jacking mechanism, a photoelectric switch is correspondingly arranged on each seedling raising disc jacking mechanism, the seedling raising disc clamp comprises a main body framework, an installation disc used for being connected with a sliding table module is arranged on the upper side of the main body framework, M independent seedling raising disc grabbing grippers are correspondingly arranged on the lower side of the main body framework, and a row of seedling raising discs which can be grabbed by the seedling raising disc clamp at one time are exactly placed on a tidal seedbed. Can realize once snatching a plurality of seedling tray of educating like this, once place one row of seedling tray of educating on morning and evening tides formula seedbed. Improve work efficiency, reduce the action number of times and the frequency of slip table module.
In a preferred embodiment of the invention, the hand grips comprise side hand grips positioned at the left side and the right side of the main body framework, two ends of a guide rod extending leftwards and rightwards are respectively fixed at the left end and the right end of the lower side of the main body framework, guide holes for the guide rod to pass through are symmetrically arranged on the side hand grips at the left side and the right side, the guide rod passes through the guide holes on the side hand grips at the two sides, a control cylinder is arranged at the lower side of the main body framework corresponding to each side hand grip, and the side hand grips at the two sides are controlled to be drawn together and separated by the control cylinders so as to realize the taking and placing of the seedling raising tray. Install the main part skeleton on the slip table module, the removal of X, Z axles through the slip table module realizes moving anchor clamps to the top of educating seedling tray, then draws close the side tongs of both sides through control cylinder control, will educate seedling tray and grab up, then moves main part skeleton to seedbed upside again, opens through control cylinder control side tongs, will educate seedling tray and place on the seedbed.
In a preferred embodiment of the invention, the side gripper comprises a gripper body and gripper rods for connecting the gripper body, the gripper body is in a vertical hook shape, each gripper rod is provided with at least two gripper bodies, the gripper bodies of the side grippers on two sides are oppositely arranged, and the guide holes are positioned on the gripper rods. Improve the clamping reliability when snatching seedling tray.
In a preferred embodiment of the invention, two guide rods are arranged in each gripper, and the two guide rods are arranged at intervals in the front-back direction. This improves the reliability of the movement of the side grip.
In a preferred embodiment of the present invention, the main body framework includes left and right vertical beams connected to each other by a plurality of transverse beams, the control cylinders of the grippers are mounted on the lower sides of the transverse beams, and the control cylinders of the side grippers on both sides are located between the side grippers on both sides.
In a preferred embodiment of the invention, a pair of seedling raising tray positioning mechanisms is symmetrically arranged at two sides of the seedling raising tray conveying line corresponding to each seedling raising tray jacking mechanism, and photoelectric switches are arranged at two sides of each seedling raising tray jacking mechanism.
In a preferred embodiment of the present invention, the seedling raising tray jacking mechanism includes a seedling raising tray support plate and a jacking cylinder for jacking the seedling raising tray support plate.
The invention also discloses a use method of the vegetable unmanned conveying equipment, which comprises the following steps:
s1, initializing the system;
s2, jacking mechanisms of the M seedling raising trays lift the M seedling raising trays away from the seedling raising tray conveying line;
s3, the M seedling raising trays ejected from the seedling raising tray conveying line are grabbed and placed on the tide type seedbed conveying line by the sliding table module;
s4, repeating the steps S1-S3; until the task is completed.
In a preferred embodiment of the present invention, step S1 includes the following steps:
s11, the controller sends a control signal for stopping the movement of the conveyor belt on the seedling tray conveyor line to the seedling tray conveyor line, and the conveyor belt on the seedling tray conveyor line stops moving;
s12, including the M combination step of steps S121-S12M,
s121, the controller sends a 1 st gear lever lowering control signal to a 1 st rotary cylinder of the controller, sends a 1 st gear lever lowering control signal to a 1' st rotary cylinder of the controller, and lowers the 1 st gear lever and the 1 st gear lever;
s122, the controller sends a 2 nd gear lever retraction control signal to a 2 nd rotary cylinder of the controller, and sends a 2 ' gear lever retraction control signal to a 2 ' nd rotary cylinder of the controller, and the 2 nd gear lever and the 2 ' nd gear lever are retracted;
s123, the controller sends a 3 rd gear lever retraction control signal to a 3 rd rotary cylinder of the controller, sends a 3 rd gear lever retraction control signal to a 3 rd 'rotary cylinder of the controller, and retracts a 3 rd gear lever and a 3 rd' gear lever;
……；
S12M, the controller sends an M gear lever retraction control signal to the M-th rotary cylinder and sends an M ' gear lever retraction control signal to the M ' -th rotary cylinder, and the M gear lever and the M ' -th gear lever are retracted;
s13, including the M combination step of steps S131-S13M,
s131, the controller sends an infrared signal to a No. 1 infrared correlation emission device of the controller, and the No. 1 infrared correlation emission device sends infrared rays;
s132, the controller sends an infrared signal to a No. 2 infrared correlation emission device of the controller, and the No. 2 infrared correlation emission device sends infrared rays;
s133, the controller sends an infrared signal to a No. 3 infrared correlation emission device of the controller, and the No. 3 infrared correlation emission device sends infrared rays;
……；
S13M, the controller sends an infrared signal to the Mth infrared correlation emission device, and the Mth infrared correlation emission device sends infrared rays;
s14, including steps S141 to S143,
s141, including the M combination steps of S1411 to S141M,
s1411, the controller sends a separation control signal to a 1 st control cylinder of the controller, and the 1 st side grippers on the two sides are separated;
s1412, the controller sends a separation control signal to the 2 nd control cylinder of the controller, and the 2 nd side grippers on the two sides are separated;
s1413, the controller sends a separation control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides are separated;
……；
S141M, the controller sends a separation control signal to the Mth control cylinder, and the Mth side grippers on the two sides are separated;
s142, the controller sends a seedling tray clamp moving control signal far away from the seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
and S143, the controller sends a moving control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives an approaching signal sent by the 1 st X-axis approaching sensor, the X-axis sliding table stops working.
In a preferred embodiment of the present invention, step S2 includes the following steps:
s21, including steps S211 to S214;
s211, the controller sends a conveying belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line moves;
s212, when the controller receives an infrared blocking signal sent by the No. 1 infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as the No. 1 seedling raising plate;
s213, the controller sends a 1 st gear lever retraction control signal to the 1 st rotary cylinder of the controller, and sends a 1 ' st gear lever retraction control signal to the 1 ' st rotary cylinder of the controller, and the 1 st gear lever and the 1 ' st gear lever are retracted;
s214, the controller sends a 1 st seedling tray supporting plate lifting control signal to a 1 st jacking cylinder of the controller until the 1 st seedling tray supporting plate holds the 1 st seedling tray and leaves the seedling tray conveying line, the height from the seedling tray conveying line is Xcm, X is a positive number, and cm is a length unit centimeter;
s22, including steps S221-S225;
s221, the controller sends a 2 nd gear lever lowering control signal to a 2 nd rotary cylinder of the controller, and sends a 2 nd gear lever lowering control signal to a 2' nd rotary cylinder of the controller, and the 2 nd gear lever are lowered;
s222, the controller sends a conveying belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line moves;
s223, when the controller receives the infrared blocking signal sent by the No. 2 infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as the No. 2 seedling raising plate;
s224, the controller sends a 2 nd gear lever retraction control signal to the 2 nd rotary cylinder of the controller, and sends a 2 ' gear lever retraction control signal to the 2 ' nd rotary cylinder of the controller, and the 2 nd gear lever and the 2 ' gear lever are retracted;
s225, the controller sends a lifting control signal of a supporting plate of a 2 nd seedling raising plate to a 2 nd jacking cylinder of the controller until the supporting plate of the 2 nd seedling raising plate supports the 2 nd seedling raising plate and leaves the seedling raising plate conveying line, the height from the conveying line of the seedling raising plate is Xcm, X is a positive number, and cm is a length unit centimeter;
s23, including steps S231-S235;
s231, the controller sends a 3 rd gear lever lowering control signal to a 3 rd rotary cylinder of the controller, and the 3 rd gear lever are lowered;
s232, the controller sends a conveying belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line moves;
s233, when the controller receives the infrared blocking signal sent by the No. 3 infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as a No. 3 seedling raising plate;
s234, the controller sends a 3 rd gear lever retraction control signal to a 3 rd rotary cylinder of the controller, and sends a 3 ' gear lever retraction control signal to a 3 ' rd rotary cylinder of the controller, and the 3 rd gear lever and the 3 ' gear lever are retracted;
s235, the controller sends a 3 rd seedling tray supporting plate lifting control signal to the 3 rd jacking cylinder of the controller until the 3 rd seedling tray supporting plate supports the 3 rd seedling tray and leaves the seedling tray conveying line, the height from the seedling tray conveying line is Xcm, X is a positive number, and cm is a length unit centimeter;
s24, including steps S241-S245;
s241, the controller sends a 4 th gear lever lowering control signal to a 4 th rotary cylinder of the controller, sends a 4 ' th gear lever lowering control signal to a 4 ' th rotary cylinder of the controller, and lowers a 4 th gear lever and a 4 ' th gear lever;
s242, the controller sends a conveying belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line moves;
s243, when the controller receives the infrared blocking signal sent by the 4 th infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as a 4 th seedling raising plate;
s244, the controller sends a 4 th gear lever retraction control signal to a 4 th rotary cylinder of the controller, and sends a 4 ' gear lever retraction control signal to a 4 ' th rotary cylinder of the controller, and the 4 th gear lever and the 4 ' th gear lever are retracted;
s245, the controller sends a 4 th seedling tray supporting plate lifting control signal to a 4 th jacking cylinder of the controller until the 4 th seedling tray supporting plate holds the 4 th seedling tray and leaves the seedling tray conveying line, the height from the seedling tray conveying line is Xcm, X is a positive number, and cm is a length unit centimeter;
……；
S2M, comprising steps S2M 1-S2M 5;
S2M1, the controller sends an Mth gear lever lowering control signal to an Mth rotary cylinder and sends an Mth gear lever lowering control signal to an Mth' rotary cylinder, and the Mth gear lever are lowered;
S2M2, sending a conveying belt movement control signal on a seedling tray conveying line to the seedling tray conveying line by a controller, and moving a conveying belt on the seedling tray conveying line;
S2M3, when the controller receives an infrared blocking signal sent by the Mth infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as the Mth seedling raising plate;
S2M4, the controller sends an M gear lever retraction control signal to the M-th rotary cylinder of the controller, and sends an M ' gear lever retraction control signal to the M ' -th rotary cylinder of the controller, and the M gear lever and the M ' gear lever are retracted;
and S2M5, sending a lifting control signal of the support plate of the Mth seedling raising plate to the Mth jacking cylinder of the controller until the support plate of the Mth seedling raising plate supports the Mth seedling raising plate to leave the seedling raising plate conveying line, wherein the height from the seedling raising plate conveying line is Xcm, X is a positive number, and cm is a length unit centimeter.
In a preferred embodiment of the present invention, step S3 includes steps S31 to S3Q:
s31, including steps S311 to S318;
s311, the controller sends a movement control signal that the seedling tray clamp is close to the seedling tray conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 2Y-axis proximity sensor, the Z-axis sliding table stops working;
s312, including the step of combining M of steps S3121-S312M,
s3121, the controller sends a closing control signal to a 1 st control cylinder of the controller, and 1 st side grippers on two sides close to each other to grab a 1 st seedling tray;
s3122, the controller sends a closing control signal to a No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides close to grab the No. 2 seedling tray;
s3123, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides close to grab a 3 rd seedling raising tray;
……；
S312M, the controller sends a closing control signal to the Mth control cylinder of the controller, and the Mth side grippers on the two sides close to grab the Mth seedling tray;
s313, the controller sends a seedling tray clamp moving control signal far away from the seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s314, the controller sends a movement control signal to the tidal seedbed conveying line to the X-axis sliding table, and when the controller receives an approach signal sent by the 2X-axis approach sensor, the X-axis sliding table stops working;
s315, the controller sends a movement control signal that the seedling raising tray clamp is close to the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 2Y-axis proximity sensor, the Z-axis sliding table stops working;
s316, including the M combination steps of S3161-S36M,
s3161, the controller sends a separation control signal to the 1 st control cylinder of the controller, and the 1 st side grippers on the two sides are separated;
s3162, the controller sends a separation control signal to the No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides are separated;
s3163, the controller sends a separation control signal to the 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides are separated;
……；
S316M, the controller sends a separation control signal to the Mth control cylinder, and the Mth side grippers on the two sides are separated;
s317, the controller sends a movement control signal of the seedling raising tray clamp far away from the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s318, the controller sends a moving control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives an approaching signal sent by the 1 st X-axis approaching sensor, the X-axis sliding table stops working;
s32, including steps S321-S328;
s321, the controller sends a movement control signal of the seedling tray clamp approaching the seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 2Y-axis approach sensor, the Z-axis sliding table stops working;
s322, including the M combination steps of S3221 to S322M,
s3221, the controller sends a closing control signal to a 1 st control cylinder of the controller, and 1 st side grippers on two sides close to each other to grab a 1 st seedling raising disc;
s3222, the controller sends a closing control signal to a No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides close to each other to grip a No. 2 seedling raising plate;
s3223, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides close to each other to grip a 3 rd seedling raising disc;
……；
S322M, the controller sends a closing control signal to the Mth control cylinder, and the M-th side grippers on the two sides close to grab the Mth seedling tray;
s323, the controller sends a seedling tray clamp moving control signal far away from a seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s324, the controller sends a movement control signal to the tidal seedbed conveying line to the X-axis sliding table, and when the controller receives an approach signal sent by the 3X-axis approach sensor, the X-axis sliding table stops working;
s325, the controller sends a movement control signal that the seedling raising tray clamp is close to the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 2Y-axis proximity sensor, the Z-axis sliding table stops working;
s326, comprising the step of M combination of steps S3161 to S36M,
s3261, the controller sends a separation control signal to a 1 st control cylinder of the controller, and the 1 st side grippers on the two sides are separated;
s3262, the controller sends a separation control signal to a No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides are separated;
s3263, the controller sends a separation control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides are separated;
……；
S326M, the controller sends a separation control signal to the Mth control cylinder, and the Mth side grippers on the two sides are separated;
s327, the controller sends a movement control signal that the seedling raising tray clamp is far away from the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s328, the controller sends a moving control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives an approaching signal sent by the 1 st X-axis approaching sensor, the X-axis sliding table stops working;
s33, including steps S331-S338;
s331, the controller sends a movement control signal of the seedling tray clamp approaching the seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approaching signal sent by the 2Y-axis approaching sensor, the Z-axis sliding table stops working;
s332, comprising the M combination steps of S3321 to S332M,
s3321, the controller sends a closing control signal to a 1 st control cylinder of the controller, and 1 st side grippers on two sides close to each other to grab a 1 st seedling raising plate;
s3322, the controller sends a closing control signal to a No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides close to grab the No. 2 seedling tray;
s3323, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides close to grab a 3 rd seedling raising plate;
……；
S332M, the controller sends a closing control signal to the Mth control cylinder of the controller, and the M-th side grippers on the two sides close to each other to grab the Mth seedling tray;
s333, the controller sends a seedling tray clamp moving control signal far away from a seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s334, the controller sends a movement control signal to the tidal seedbed conveying line to the X-axis sliding table, and when the controller receives an approach signal sent by the 4X-axis approach sensor, the X-axis sliding table stops working;
s335, the controller sends a movement control signal that the seedling raising tray clamp is close to the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 2 nd Y-axis proximity sensor, the Z-axis sliding table stops working;
s336, including the M combination steps of S3161-S36M,
s3361, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on the two sides are separated;
s3362, the controller sends a separation control signal to the No. 2 control cylinder, and the No. 2 grippers on the two sides are separated;
s3363, the controller sends a separation control signal to the 3 rd control cylinder, and the 3 rd side grippers on the two sides are separated;
……；
S336M, the controller sends a separation control signal to the Mth control cylinder, and the Mth side grippers on the two sides are separated;
s337, the controller sends a movement control signal that the seedling raising tray clamp is far away from the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s338, the controller sends a moving control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives an approaching signal sent by the 1 st X-axis approaching sensor, the X-axis sliding table stops working;
……；
S3Q, including steps S3Q 1-S3Q 8;
S3Q1, the controller sends a control signal for controlling the movement of the seedling tray clamp close to the seedling tray conveying line to the Z-axis sliding table, and when the controller receives a close signal sent by the 2Y-axis close sensor, the Z-axis sliding table stops working;
S3Q2, comprising the step of M combination of steps S3Q 21-S3Q 2M,
S3Q21, the controller sends a closing control signal to a 1 st control cylinder of the controller, and 1 st side grippers on two sides close to grab a 1 st seedling raising tray;
S3Q22, the controller sends a closing control signal to a No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides close to grab the No. 2 seedling tray;
S3Q23, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides close to grab the 3 rd seedling raising tray;
……；
S3Q2M, the controller sends a closing control signal to the Mth control cylinder of the controller, and the Mth side grippers on the two sides close to grab the Mth seedling tray;
S3Q3, the controller sends a control signal for moving the seedling tray clamp away from the seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
S3Q4, the controller sends a movement control signal to the X-axis sliding table to move to the tidal seedbed conveying line, and when the controller receives an approach signal sent by the (Q +1) th X-axis approach sensor, the X-axis sliding table stops working;
S3Q5, the controller sends a control signal for controlling the seedling raising tray clamp to move close to the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives a close signal sent by the 2 nd Y-axis close sensor, the Z-axis sliding table stops working;
S3Q6, including the M combination step of steps S3161-S36M,
S3Q61, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st side grippers on the two sides are separated;
S3Q62, the controller sends a separation control signal to the No. 2 control cylinder, and the No. 2 side grippers on the two sides are separated;
S3Q63, the controller sends a separation control signal to the 3 rd control cylinder, and the 3 rd side grippers on the two sides are separated;
……；
S3Q6M, the controller sends a separation control signal to the Mth control cylinder, and the Mth side grippers on the two sides are separated;
S3Q7, the controller sends a control signal for controlling the movement of the seedling tray clamp away from the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 1 st Y-axis proximity sensor, the Z-axis sliding table stops working;
and S3Q8, the controller sends a moving control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives an approaching signal sent by the 1 st X-axis approaching sensor, the X-axis sliding table stops working.
In conclusion, due to the adoption of the technical scheme, the seedling tray clamp can realize automatic entering and exiting of the seedling tray when the seedling tray clamp grabs the seedling tray, the problems of high labor demand and high labor intensity in the process of carrying and picking and placing the hole tray in the tidal type seedbed production process are solved, the mechanization and automation level in the process of producing the tidal type seedbed is improved, and a foundation is laid for the whole-course unmanned production of vegetables.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a top view of the present invention.
Fig. 2 is a schematic view of a slide table module.
FIG. 3 is a schematic view of the structure of the conveying line of the seedling tray.
Fig. 4 is a top view of fig. 3.
Fig. 5 is a schematic view of a structure of a seedling tray clamp.
Fig. 6 is a schematic view of a structure of a seedling tray clamp.
Fig. 7 is a partial enlarged view of a portion a in fig. 6.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The tidal seedbeds are roughly three types, namely, the tidal seedbeds are fixed and cannot move; the movable seedbed can transversely move for a certain distance, generally not more than 60cm, the number of operation channels can be reduced through the transverse movement of the seedbed, and the space utilization rate is improved; thirdly, automatic commodity circulation seedbed, and this patent application is through conveying motor, cylinder, leading wheel and sensor etc. realizes the automatic transportation of morning and evening tides formula seedbed, circulation.
As shown in figures 1-7, a tide type seedbed goes into bed and goes out of bed machine comprises seedling tray conveying line 1, tide type seedbed conveying line 2, M seedling tray positioning mechanism 3, M seedling tray jacking mechanism 4, M photoelectric switch group, sliding table module 6, seedling tray clamp 7 and photoelectric switch 8. The M seedling raising plate positioning mechanisms are respectively a 1 st seedling raising plate positioning mechanism, a 2 nd seedling raising plate positioning mechanism, a 3 rd seedling raising plate positioning mechanism, … … and an M seedling raising plate positioning mechanism from front to back; the M seedling raising tray jacking mechanisms are respectively a 1 st seedling raising tray jacking mechanism, a 2 nd seedling raising tray jacking mechanism, a 3 rd seedling raising tray jacking mechanism, … … and an M seedling raising tray jacking mechanism from front to back in sequence; the M photoelectric switch groups are respectively a 1 st photoelectric switch group, a 2 nd photoelectric switch group, a 3 rd photoelectric switch group, … … and an Mth photoelectric switch group from front to back.
The seedling raising tray conveying line 1 adopts double rows of PVC conveying belts, and a gap is formed between the two rows of conveying belts.
Educate seedling tray and adopt the stereoplasm to educate seedling tray, specific seedling tray structure can adopt current structure.
In addition, seeder, automatic commodity circulation seedbed, lift platform all have ripe equipment, go into the bed with above-mentioned equipment and morning and evening tides formula seedbed through transfer chain, turn round machine etc. and go out the bed machine and couple together, and seeding line front end can also set up educates seedling tray balance machine and plant cup tray filler, realizes educating the automation of seedling tray and puts and plant cup's automatic loading, alleviates intensity of labour.
Every educates seedling tray climbing mechanism 4 and installs between two rows of conveyer belts, educates seedling tray climbing mechanism 4 and is used for educating the seedling tray jack-up that makes progress of educating on seedling tray transfer chain 1, leaves and educates seedling tray transfer chain 1. The seedling raising disc jacking mechanism 4 comprises a seedling raising disc supporting plate 401 and a jacking cylinder 402 for jacking the seedling raising disc supporting plate 401, and a control input signal end of the jacking cylinder 402 is connected with a control output signal end of a jacking cylinder of the controller; namely, the 1 st seedling raising disc jacking mechanism comprises a 1 st seedling raising disc supporting plate and a 1 st jacking cylinder for jacking the 1 st seedling raising disc supporting plate, and the control input signal end of the 1 st jacking cylinder is connected with the 1 st end of the jacking cylinder control output signal of the controller; the 2 nd seedling raising disc jacking mechanism comprises a 2 nd seedling raising disc supporting plate and a 2 nd jacking cylinder for jacking the 2 nd seedling raising disc supporting plate, and the control input signal end of the 2 nd jacking cylinder is connected with the 2 nd end of the jacking cylinder control output signal of the controller; the 3 rd seedling raising disc jacking mechanism comprises a 3 rd seedling raising disc supporting plate and a 3 rd jacking cylinder for jacking the 3 rd seedling raising disc supporting plate, and a control input signal end of the 3 rd jacking cylinder is connected with a 3 rd end of a jacking cylinder control output signal of the controller; … …, respectively; the M seedling raising plate jacking mechanism comprises an M seedling raising plate supporting plate and an M jacking cylinder used for jacking the M seedling raising plate supporting plate, and a control input signal end of the M jacking cylinder is connected with an M end of a jacking cylinder control output signal of the controller.
Educate seedling tray positioning mechanism 3 and set up in the place ahead of educating seedling tray climbing mechanism 4, and specific educate seedling tray positioning mechanism 3 is located educates seedling tray layer 401's place ahead for block educates seedling tray, avoid educating seedling tray continuation forward conveying. The top surface of the seedling raising plate extends outwards all around and is provided with a side flanging, so that the seedling raising plate clamp 7 is convenient to clamp. The seedling raising tray positioning mechanism 3 comprises a blocking rod 301 and a rotary cylinder 302 for controlling the blocking rod 301 to be put down and put up, a control input signal end of the rotary cylinder 302 is connected with a control output signal end of the rotary cylinder of the controller, when the blocking rod 301 is put down, the blocking rod 301 extends along the width direction of the seedling raising tray conveying line 1 and is used for blocking the seedling raising tray, and when the blocking rod 301 is put down, the seedling raising tray can pass through the seedling raising tray conveying line 1; namely, the 1 st seedling raising tray positioning mechanism comprises a 1 st gear rod and a 1 st rotary cylinder for controlling the 1 st gear rod to be put down and put up, and the control input signal end of the 1 st rotary cylinder is connected with the 1 st end of the control output signal of the rotary cylinder of the controller; the 2 nd seedling raising disc positioning mechanism comprises a 2 nd gear rod and a 2 nd rotary cylinder for controlling the 2 nd gear rod to be put down and put up, and a control input signal end of the 2 nd rotary cylinder is connected with a 2 nd end of a rotary cylinder control output signal of the controller; the 3 rd seedling raising disc positioning mechanism comprises a 3 rd gear rod and a 3 rd rotary cylinder for controlling the 3 rd gear rod to be put down and put up, and a control input signal end of the 3 rd rotary cylinder is connected with a 3 rd end of a rotary cylinder control output signal of the controller; … …, respectively; the M seedling raising plate positioning mechanism comprises an M gear rod and an M rotary cylinder for controlling the M gear rod to put down and put up, and a control input signal end of the M rotary cylinder is connected with an M end of a rotary cylinder control output signal of the controller. The two sides of the seedling-raising tray conveying line 1 are symmetrically provided with a pair of seedling-raising tray positioning mechanisms 3 corresponding to each seedling-raising tray jacking mechanism 4. That is, seedling raising tray positioning mechanisms 3 are arranged on two sides of the seedling raising tray jacking mechanism 4. That 1 educates seedling tray positioning mechanism and 1 'educates seedling tray positioning mechanism 1 to educating seedling tray positioning mechanism, and 2 nd educates seedling tray positioning mechanism and 2' educates seedling tray positioning mechanism 2 to educating seedling tray positioning mechanism, and 3 rd educates seedling tray positioning mechanism and 3 'educates seedling tray positioning mechanism 3 rd to educating seedling tray positioning mechanism, … …, and M educates seedling tray positioning mechanism and M' educates seedling tray positioning mechanism M to educating seedling tray positioning mechanism. The 1 st 'seedling raising disc positioning mechanism comprises a 1 st' gear rod and a 1 st 'rotary cylinder for controlling the 1 st' gear rod to be put down and put up, wherein the control input signal end of the 1 st 'rotary cylinder is connected with the 1 st' end of a rotary cylinder control output signal of the controller; the 2 'seedling raising plate positioning mechanism comprises a 2' gear rod and a 2 'rotary cylinder for controlling the 2' gear rod to be put down and put up, and a control input signal end of the 2 'rotary cylinder is connected with a 2' end of a rotary cylinder control output signal of the controller; the 3 'seedling raising plate positioning mechanism comprises a 3' gear rod and a 3 'rotary cylinder for controlling the 3' gear rod to be put down and put up, and a control input signal end of the 3 'rotary cylinder is connected with a 3' end of a rotary cylinder control output signal of the controller; … …, respectively; the M 'seedling raising plate positioning mechanism comprises an M' gear rod and an M 'rotary cylinder for controlling the M' gear rod to be put down and put up, and a control input signal end of the M 'rotary cylinder is connected with a M' end of a rotary cylinder control output signal of the controller.
Photoelectric switch group 8 sets up on educating seedling tray transfer chain frame by educating seedling tray climbing mechanism 4, and photoelectric switch group 8 is used for the response to educate seedling tray and whether targets in place. The photoelectric switch group 8 comprises an infrared correlation transmitting device and an infrared correlation receiving device, a control input signal end of the infrared correlation transmitting device is connected with a control output signal end of the infrared correlation transmitting device of the controller, and a signal output end of the infrared correlation receiving device is connected with a signal input end of the infrared correlation receiving device of the controller; when the control output signal end of the infrared correlation transmitting device of the controller inputs and sends an infrared signal to the control input signal end of the infrared correlation transmitting device, the infrared correlation transmitting device sends infrared rays, and if the infrared correlation receiving device receives the infrared rays, the seedling raising tray is not in place; if the infrared correlation receiving device does not receive infrared rays (the infrared rays are blocked by the seedling raising tray), the seedling raising tray is in place. Namely, the 1 st photoelectric switch group comprises a 1 st infrared correlation transmitting device and a 1 st infrared correlation receiving device, wherein a control input signal end of the 1 st infrared correlation transmitting device is connected with a 1 st end of an infrared correlation transmitting device control output signal of the controller, and a signal output end of the 1 st infrared correlation receiving device is connected with a 1 st end of an infrared correlation receiving device signal input of the controller; the 2 nd photoelectric switch group comprises a 2 nd infrared correlation transmitting device and a 2 nd infrared correlation receiving device, wherein a control input signal end of the 2 nd infrared correlation transmitting device is connected with a 2 nd end of an infrared correlation transmitting device control output signal of the controller, and a signal output end of the 2 nd infrared correlation receiving device is connected with a 2 nd end of an infrared correlation receiving device signal input of the controller; the 3 rd photoelectric switch group comprises a 3 rd infrared correlation transmitting device and a 3 rd infrared correlation receiving device, wherein a control input signal end of the 3 rd infrared correlation transmitting device is connected with a 3 rd end of an infrared correlation transmitting device control output signal of the controller, and a signal output end of the 3 rd infrared correlation receiving device is connected with a 3 rd end of an infrared correlation receiving device signal input of the controller; … …, respectively; the Mth photoelectric switch group comprises an Mth infrared correlation transmitting device and an Mth infrared correlation receiving device, a control input signal end of the Mth infrared correlation transmitting device is connected with an Mth end of an infrared correlation transmitting device control output signal of the controller, and a signal output end of the Mth infrared correlation receiving device is connected with an Mth end of an infrared correlation receiving device signal input of the controller.
Preferably, 5 seedling raising tray jacking mechanisms 4 are arranged between the two rows of conveying belts at intervals, and 5 seedling raising trays are placed in one row on the tide type seedbed. Every 4 the place ahead of educating seedling tray climbing mechanism is provided with educates seedling tray positioning mechanism 3, and every educates seedling tray climbing mechanism 4 and corresponds and is provided with photoelectric switch group 8. The seedling tray anchor clamps can once snatch 5 seedling trays that 5 seedling tray climbing mechanism 4 liftings come up at least. The seedling raising tray which can be grabbed by the seedling raising tray clamp at one time is just placed in a row on the tide type seedbed.
The tidal seedbed conveying line 2 is used for conveying a tidal seedbed.
Slip table module 6 includes door-shaped frame 601, X axle slip table 602 and Z axle slip table 603, educate seedling tray transfer chain 1 and morning and evening tides formula seedbed transfer chain 2 and set up side by side under door-shaped frame 601 and pass door-shaped frame 601, X axle slip table 602 sets up along door-shaped frame 601 back timber, seedling tray anchor clamps 7 are educated in the lower extreme installation of Z axle slip table 603, it goes to educate seedling tray transfer chain 1 to go up to press from both sides and educate seedling tray and will educate seedling tray and place morning and evening tides formula seedbed on morning and evening tides formula seedbed transfer chain 2 to realize letting the seedling tray anchor clamps 7 of growing seedlings remove between educating seedling tray transfer chain 1 and morning and evening tides formula seedbed transfer chain 2 through Z axle slip table 602. P X-axis proximity sensors for detecting whether the X-axis sliding table 602 reaches a set point are arranged on the X-axis sliding table 602, wherein P is a positive integer greater than or equal to 2, and the horizontal distances among the adjacent sensors of the 1 st X-axis proximity sensor, the 2 nd X-axis proximity sensor, the 3 rd X-axis proximity sensor, … … and the PX-axis proximity sensor are sequentially arranged from the seedling tray conveying line 1 to the tide type seedbed conveying line 2, wherein the horizontal distances among the adjacent sensors of the 2 nd X-axis proximity sensor, the 3 rd X-axis proximity sensor, the 4 th X-axis proximity sensor, … … and the PX-axis proximity sensor are greater than or equal to the width or the length of the seedling tray; the approach signal output end of the 1X-axis approach sensor is connected with the X-axis approach 1-th signal input end of the controller, the approach signal output end of the 2X-axis approach sensor is connected with the X-axis approach 2-th signal input end of the controller, the approach signal output end of the 3X-axis approach sensor is connected with the X-axis approach 3-th signal input end of the controller, … …, the approach signal output end of the PX-axis approach sensor is connected with the X-axis approach P-th signal input end of the controller; a 1Z-axis proximity sensor and a 2Z-axis proximity sensor for detecting whether the Z-axis sliding table 603 reaches a set point are arranged on the Z-axis sliding table 603; the approach signal output end of the 1Z-axis approach sensor is connected with the Z-axis approach 1-th signal input end of the controller, and the approach signal output end of the 2Z-axis approach sensor is connected with the Z-axis approach 2-th signal input end of the controller; when the controller receives a proximity signal sent by the 1 st X-axis proximity sensor, the X-axis sliding table 602 stops moving, and the seedling tray clamp 7 is positioned above the seedling tray to be picked and placed on the seedling tray conveying line 1; when the controller receives a proximity signal sent by a 2X-axis proximity sensor, the X-axis sliding table 602 stops moving, and the seedling tray clamp 7 is positioned above the seedling tray to be taken and placed of the tidal seedbed conveying line 2 and is positioned at a 1 st taking and placing position; when the controller receives a proximity signal sent by the 3 rd X-axis proximity sensor, the X-axis sliding table 602 stops moving, and the seedling tray clamp 7 is positioned above the seedling tray to be taken and placed on the tidal seedbed conveying line 2 and is positioned at the 2 nd taking and placing position; when the controller receives a proximity signal sent by the 4 th X-axis proximity sensor, the X-axis sliding table 602 stops moving, and the seedling tray clamp 7 is positioned above the seedling tray to be taken and placed on the tidal seedbed conveying line 2 and is positioned at the 3 rd taking and placing position; … …, respectively; when the controller receives an approach signal sent by a PX shaft approach sensor, the X-axis sliding table 602 stops moving, and the seedling tray clamp 7 is positioned above the seedling tray to be picked and placed of the tidal seedbed conveying line 2 and is positioned at a P-1 picking and placing position; when the controller receives an approach signal sent by the 1 st Z-axis approach sensor, the seedling raising disc clamp 7 is positioned at a stopping point; when the controller receives a proximity signal sent by the 2Z-axis proximity sensor, the seedling raising tray clamp 7 is at the height capable of taking and placing the seedling raising tray.
Educate seedling tray anchor clamps 7, including main part skeleton 701, main part skeleton 701 includes vertical roof beam 70101 on left and right sides, links to each other through many horizontal roof beams 70102 between the vertical roof beam 70101 on left and right sides. The upside of main part skeleton 1 is provided with the mounting disc 70103 that is used for linking to each other with the slip table module, and mounting disc 70103 is located the center of main part skeleton 701.
M grippers for gripping the seedling raising tray are arranged on the lower side of the main body framework 701 at intervals from front to back, and the 1 st gripper, the 2 nd gripper, the 3 rd gripper, … … and the M gripper are sequentially arranged from front to back; in the figure, 5 grippers are arranged on the lower side of a main body framework 701 and are just enough to grip a row of seedling raising trays of a tidal type seedbed.
The hand grip comprises side hand grips 702 positioned on the left side and the right side of the main framework 701, each side hand grip 702 comprises a hand grip body 70201 and hand grip rods 70202 used for connecting the hand grip bodies 70201, each hand grip body 70201 is in a vertical hook shape, at least two hand grip bodies 70201 are arranged on each hand grip rod 70202, the hand grip bodies 70201 of the side hand grips 702 on the two sides are arranged oppositely, preferably, at least two hand grip bodies 70201 are arranged on each hand grip rod 70202, and at least four hand grip bodies 70201 are arranged on each hand grip rod 70202 in the drawing. Two ends of a guide rod 703 extending left and right are respectively fixed at the left and right ends of the lower side of the main body framework 701, guide holes for the guide rod 703 to pass through are symmetrically arranged on the side grippers 702 at the left and right sides, and the guide holes are positioned on the gripper bar 70202. The guide rod 70202 penetrates through guide holes in the side grippers 702 on two sides, preferably, two guide rods 703 are correspondingly arranged on each gripper, the two guide rods 703 are arranged at intervals in the front-back direction, and two guide holes are correspondingly arranged on each gripper rod 70202. This provides more reliable motion guidance.
The lower side of the main body framework 701 is provided with a control cylinder 704 corresponding to each side gripper, a control input signal end of the control cylinder 704 is connected with a control output signal end of the control cylinder of the controller, the control cylinders 704 of the side grippers 702 on the two sides are located between the side grippers 702 on the two sides, the control cylinders 704 are installed on the lower side of the transverse beam 70102, and the side grippers 702 on the two sides are controlled to be close to and separate from each other through the control cylinders 704, so that the seedling raising tray is taken and placed. The wall of the control cylinder 704 close to the side gripper 702 is provided with a limit head 705 for controlling the moving stroke of the side gripper 702.
The 1 st tongs include the 1 st side tongs that is located the main part skeleton 701 left and right sides promptly, the 1 st side tongs include the 1 st tongs body and be used for connecting the 1 st tongs pole of the 1 st tongs body, the 1 st tongs body is vertical hook-shaped, be provided with at least one 1 st tongs body on every 1 st tongs pole, the 1 st tongs body of the 1 st side tongs of both sides sets up relatively, generally set up two at least 1 st tongs bodies on every 1 st tongs pole, set up four at least 1 st tongs bodies on preferred every 1 st tongs pole. The both ends of the 1 st guide bar that extends about are fixed both ends about the downside of main body skeleton 701 respectively, and the 1 st side tongs of the left and right sides is gone up the symmetry and is provided with the 1 st guiding hole that supplies the 1 st guide bar to pass, and the 1 st guiding hole is located the 1 st tongs pole. The 1 st guide bar passes the guiding hole on the 1 st side tongs of both sides, and every 1 st tongs correspondence is provided with two 1 st guide bars preferentially, and two 1 st guide bars are the interval setting around, are provided with two guiding holes on every 1 st tongs pole that corresponds. The lower side of the main body framework 701 is provided with a 1 st control cylinder corresponding to each 1 st side gripper, a control input signal end of the 1 st control cylinder is connected with a 1 st end of a control output signal of a control cylinder of the controller, the 1 st control cylinders of the 1 st side grippers on two sides are positioned between the 1 st side grippers on two sides, the 1 st control cylinder is arranged on the lower side of the 1 st transverse beam, and the 1 st side grippers on two sides are controlled by the 1 st control cylinder to be close to and separated from each other so as to achieve picking and placing of the seedling raising tray. And a 1 st limiting head for controlling the moving stroke of the 1 st side gripper is arranged on the wall of the 1 st control cylinder close to the 1 st side gripper.
The 2 nd tongs include the 2 nd side tongs that are located the main part skeleton 701 left and right sides, the 2 nd side tongs include the 2 nd tongs body and be used for connecting the 2 nd tongs pole of body, the 2 nd tongs body is vertical hook-shaped, be provided with at least one 2 nd tongs body on every 2 nd tongs pole, the 2 nd tongs body of the 2 nd side tongs of both sides sets up relatively, set up two at least 2 nd tongs bodies on general every 2 nd tongs pole, set up four at least 2 nd tongs bodies on preferred every 2 nd tongs pole. The both ends of the 2 nd guide bar of controlling the extension are fixed both ends about the downside of main body skeleton 701 respectively, and the 2 nd side tongs of the left and right sides is gone up the symmetry and is provided with the 2 nd guiding hole that supplies the 2 nd guide bar to pass, and the 2 nd guiding hole is located the 2 nd tongs pole. The 2 nd guide bar passes the guiding hole on the 2 nd side tongs of both sides, and every 2 nd tongs correspondence is provided with two 2 nd guide bars preferentially, and two 2 nd guide bars interval sets up around, is provided with two guiding holes on every 2 nd tongs pole that corresponds. The lower side of the main body framework 701 is provided with a 2 nd control cylinder corresponding to each 2 nd side gripper, the control input signal end of the 2 nd control cylinder is connected with the 2 nd end of the control output signal of the control cylinder of the controller, the 2 nd control cylinders of the 2 nd side grippers on two sides are positioned between the 2 nd side grippers on two sides, the 2 nd control cylinder is arranged on the lower side of the 2 nd transverse beam, and the 2 nd side grippers on two sides are controlled by the 2 nd control cylinder to be close to and separated from each other so as to achieve the picking and placing of the seedling raising tray. And a 2 nd limiting head for controlling the moving stroke of the 2 nd side gripper is arranged on the wall of the 2 nd control cylinder close to the 2 nd side gripper.
The 3 rd gripper comprises 3 rd side grippers positioned on the left side and the right side of the main body framework 701, the 3 rd side gripper comprises a 3 rd gripper body and a 3 rd gripper rod used for being connected with the 3 rd gripper body, the 3 rd gripper body is in a vertical hook shape, at least one 3 rd gripper body is arranged on each 3 rd gripper rod, the 3 rd gripper bodies of the 3 rd side grippers on the two sides are arranged oppositely, at least two 3 rd gripper bodies are arranged on each 3 rd gripper rod, and at least four 3 rd gripper bodies are preferably arranged on each 3 rd gripper rod. The both ends of the 3 rd guide bar that extend about are fixed respectively in both ends about the downside of main body skeleton 701, and the 3 rd side tongs of the left and right sides is gone up the symmetry and is provided with the 3 rd guiding hole that supplies the 3 rd guide bar to pass, and the 3 rd guiding hole is located the 3 rd tongs pole. The 3 rd guide bar passes the guiding hole on the 3 rd side tongs of both sides, and every 3 rd tongs correspondence is preferably provided with two 3 rd guide bars, and two 3 rd guide bars interval sets up around, is provided with two guiding holes on every 3 rd tongs pole that corresponds. The 3 rd control cylinder is arranged on the lower side of the main body framework 701 corresponding to each 3 rd side gripper, the control input signal end of the 3 rd control cylinder is connected with the 3 rd control output signal end of the control cylinder of the controller, the 3 rd control cylinders of the 3 rd side grippers on the two sides are located between the 3 rd side grippers on the two sides, the 3 rd control cylinder is installed on the lower side of the 3 rd transverse beam, and the 3 rd side grippers on the two sides are controlled by the 3 rd control cylinder to be close to and separated from each other so as to achieve picking and placing of the seedling raising tray. And a 3 rd limiting head for controlling the moving stroke of the 3 rd side gripper is arranged on the wall of the 3 rd control cylinder close to the 3 rd side gripper.
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The M hand grab comprises M side hand grabs positioned on the left side and the right side of the main body framework 701, the M side hand grabs comprise M hand grab bodies and M hand grab rods used for being connected with the M hand grab bodies, the M hand grab bodies are in vertical hook shapes, at least one M hand grab body is arranged on each M hand grab rod, the M hand grab bodies of the M side hand grabs on the two sides are arranged oppositely, at least two M hand grab bodies are arranged on each M hand grab rod, and at least four M hand grab bodies are preferably arranged on each M hand grab rod. The both ends of the M guide bar that extends about are fixed both ends about the downside of main part skeleton 701 respectively, and the symmetry is provided with the M guiding hole that supplies the M guide bar to pass on the M side tongs of the left and right sides, and the M guiding hole is located the M tongs pole. The Mth guide rod penetrates through guide holes in the Mth side grippers on the two sides, preferably, two Mth guide rods are correspondingly arranged on each Mth gripper, the two Mth guide rods are arranged at intervals in the front and back, and two guide holes are formed in each corresponding Mth gripper rod. An M control cylinder is arranged on the lower side of the main body framework 701 corresponding to each M side gripper, a control input signal end of each M control cylinder is connected with a control cylinder control output signal M end of the controller, the M control cylinders of the M side grippers on the two sides are located between the M side grippers on the two sides, the M control cylinders are installed on the lower side of the M transverse beam, and the M side grippers on the two sides are controlled by the M control cylinders to be close to and separate from each other so as to achieve picking and placing of the seedling raising tray. An M limiting head used for controlling the moving stroke of the M side gripper is arranged on the cylinder wall of the M control cylinder close to the M side gripper.
The working process is as follows:
1. initial state, foremost educate seedling tray positioning mechanism 3 and be in open mode (keep off the dish), all the other educate seedling tray positioning mechanism 3 all are in the state of packing up (educate seedling tray accessible), educate seedling tray climbing mechanism 4 and all are in the decline state.
2. When the seeding is accomplished educate seedling tray 9 and reach the preceding photoelectric switch 8 who educates seedling tray climbing mechanism 4, photoelectric switch 8 detects educates seedling tray, and the pause transfer chain is packed up foremost seedling tray positioning mechanism 3, and the jacking cylinder 402 of opening foremost seedling tray climbing mechanism 4 will educate seedling tray 9 jacking and leave educating seedling tray transfer chain 1 surface, and second seedling tray positioning mechanism 3 is become the open mode by packing up, and the restart educates seedling tray transfer chain.
3. The positioning and lifting actions of the seedling raising tray 2/3/4/5 are completed by repeating the actions.
4. Seedling tray anchor clamps 7 realize that X axle direction and Z axle direction remove through slip table module 6, utilize slip table module 6 to be driven by servo motor, can realize the accurate location in space of X axle and Z axle. After the sliding table module 6 moves to a designated position above the seedling raising tray conveying line 1, the control cylinder 704 is used for respectively driving the grippers to perform clamping/loosening actions, and 5 seedling raising trays can be clamped at one time; then, the sliding table module 6 group realizes the horizontal and vertical movement, and the seedling tray is clamped to the tide type seedbed 10 from the seedling tray conveying line 1, so that the seedling tray entering action is completed.
5. And (4) the action of going out of the bed is that the action is reversely completed in the step 4, the seedling-raising tray is taken out from the tide-type seedling bed and is placed on a seedling-raising tray conveying line of the hole, and therefore the action of going out of the seedling-raising tray on the seedling bed is realized.
The invention also discloses a use method of the vegetable unmanned conveying equipment, which comprises the following steps:
s1, initializing the system;
s2, jacking mechanisms of the M seedling raising trays lift the M seedling raising trays away from the seedling raising tray conveying line;
s3, the M seedling raising trays ejected from the seedling raising tray conveying line are grabbed and placed on the tide type seedbed conveying line by the sliding table module;
s4, repeating the steps S1-S3; until the task is completed.
In a preferred embodiment of the present invention, step S1 includes the following steps:
s11, the controller sends a control signal for stopping the movement of the conveyor belt on the seedling tray conveyor line to the seedling tray conveyor line, and the conveyor belt on the seedling tray conveyor line stops moving;
s12, including the M combination step of S121-S12M, the M combination step of S121-S12M means that the execution steps can be executed sequentially according to the sequence of S121-S12M, or simultaneously, or other sequences or parts of S121-S12M.
S121, the controller sends a 1 st gear lever lowering control signal to a 1 st rotary cylinder of the controller, sends a 1 st gear lever lowering control signal to a 1' st rotary cylinder of the controller, and lowers the 1 st gear lever and the 1 st gear lever;
s122, the controller sends a 2 nd gear lever retraction control signal to a 2 nd rotary cylinder of the controller, and sends a 2 ' gear lever retraction control signal to a 2 ' nd rotary cylinder of the controller, and the 2 nd gear lever and the 2 ' nd gear lever are retracted;
s123, the controller sends a 3 rd gear lever retraction control signal to a 3 rd rotary cylinder of the controller, sends a 3 rd gear lever retraction control signal to a 3 rd 'rotary cylinder of the controller, and retracts a 3 rd gear lever and a 3 rd' gear lever;
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S12M, the controller sends an M gear lever retraction control signal to the M-th rotary cylinder and sends an M ' gear lever retraction control signal to the M ' -th rotary cylinder, and the M gear lever and the M ' -th gear lever are retracted;
s13, including the M combination steps from S131 to S13M, the M combination step from S131 to S13M means that the execution steps can be executed in sequence from S131 to S13M, or simultaneously, or may include other sequential execution or partially simultaneous execution from S131 to S13M.
S131, the controller sends an infrared signal to a No. 1 infrared correlation emission device of the controller, and the No. 1 infrared correlation emission device sends infrared rays;
s132, the controller sends an infrared signal to a No. 2 infrared correlation emission device of the controller, and the No. 2 infrared correlation emission device sends infrared rays;
s133, the controller sends an infrared signal to a No. 3 infrared correlation emission device of the controller, and the No. 3 infrared correlation emission device sends infrared rays;
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S13M, the controller sends an infrared signal to the Mth infrared correlation emission device, and the Mth infrared correlation emission device sends infrared rays;
s14 includes 3 combination steps from S141 to S143, and the 3 combination steps from S141 to S143 indicate that the execution steps may be executed sequentially in the order from S141 to S143, may be executed simultaneously, and may include other sequential execution or partial simultaneous execution from S141 to S143.
S141, the controller sends a moving control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives an approaching signal sent by the 1 st X-axis approaching sensor, the X-axis sliding table stops working;
s142, the controller sends a seedling tray clamp moving control signal far away from the seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s143, the M combining steps from S1431 to S143M, the M combining steps from S1431 to S143M indicate that the executing steps can be executed sequentially according to the sequence from S1431 to S143M, or simultaneously, or can include other sequences from S1431 to S143M or partially simultaneously.
S1431, the controller sends a separation control signal to a 1 st control cylinder of the controller, and the 1 st side grippers on the two sides are separated;
s1432, the controller sends a separation control signal to a No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides are separated;
s1433, the controller sends a separation control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides are separated;
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S143M, the controller sends a separation control signal to the Mth control cylinder, and the Mth side grippers on the two sides are separated.
In a preferred embodiment of the present invention, step S2 includes the following steps:
s21, including steps S211 to S214;
s211, the controller sends a conveying belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line moves;
s212, when the controller receives an infrared blocking signal sent by the No. 1 infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as the No. 1 seedling raising plate;
s213, the controller sends a 1 st gear lever retraction control signal to the 1 st rotary cylinder of the controller, and sends a 1 ' st gear lever retraction control signal to the 1 ' st rotary cylinder of the controller, and the 1 st gear lever and the 1 ' st gear lever are retracted;
s214, the controller sends a 1 st seedling tray supporting plate lifting control signal to a 1 st jacking cylinder of the controller until the 1 st seedling tray supporting plate holds the 1 st seedling tray and leaves the seedling tray conveying line, the height from the seedling tray conveying line is Xcm, X is a positive number, and cm is a length unit centimeter;
s22, including steps S221-S225;
s221, the controller sends a 2 nd gear lever lowering control signal to a 2 nd rotary cylinder of the controller, and sends a 2 nd gear lever lowering control signal to a 2' nd rotary cylinder of the controller, and the 2 nd gear lever are lowered;
s222, the controller sends a conveying belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line moves;
s223, when the controller receives the infrared blocking signal sent by the No. 2 infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as the No. 2 seedling raising plate;
s224, the controller sends a 2 nd gear lever retraction control signal to the 2 nd rotary cylinder of the controller, and sends a 2 ' gear lever retraction control signal to the 2 ' nd rotary cylinder of the controller, and the 2 nd gear lever and the 2 ' gear lever are retracted;
s225, the controller sends a lifting control signal of a supporting plate of a 2 nd seedling raising plate to a 2 nd jacking cylinder of the controller until the supporting plate of the 2 nd seedling raising plate supports the 2 nd seedling raising plate and leaves the seedling raising plate conveying line, the height from the conveying line of the seedling raising plate is Xcm, X is a positive number, and cm is a length unit centimeter;
s23, including steps S231-S235;
s231, the controller sends a 3 rd gear lever lowering control signal to a 3 rd rotary cylinder of the controller, and the 3 rd gear lever are lowered;
s232, the controller sends a conveying belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line moves;
s233, when the controller receives the infrared blocking signal sent by the No. 3 infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as a No. 3 seedling raising plate;
s234, the controller sends a 3 rd gear lever retraction control signal to a 3 rd rotary cylinder of the controller, and sends a 3 ' gear lever retraction control signal to a 3 ' rd rotary cylinder of the controller, and the 3 rd gear lever and the 3 ' gear lever are retracted;
s235, the controller sends a 3 rd seedling tray supporting plate lifting control signal to the 3 rd jacking cylinder of the controller until the 3 rd seedling tray supporting plate supports the 3 rd seedling tray and leaves the seedling tray conveying line, the height from the seedling tray conveying line is Xcm, X is a positive number, and cm is a length unit centimeter;
s24, including steps S241-S245;
s241, the controller sends a 4 th gear lever lowering control signal to a 4 th rotary cylinder of the controller, sends a 4 ' th gear lever lowering control signal to a 4 ' th rotary cylinder of the controller, and lowers a 4 th gear lever and a 4 ' th gear lever;
s242, the controller sends a conveying belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line moves;
s243, when the controller receives the infrared blocking signal sent by the 4 th infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as a 4 th seedling raising plate;
s244, the controller sends a 4 th gear lever retraction control signal to a 4 th rotary cylinder of the controller, and sends a 4 ' gear lever retraction control signal to a 4 ' th rotary cylinder of the controller, and the 4 th gear lever and the 4 ' th gear lever are retracted;
s245, the controller sends a 4 th seedling tray supporting plate lifting control signal to a 4 th jacking cylinder of the controller until the 4 th seedling tray supporting plate holds the 4 th seedling tray and leaves the seedling tray conveying line, the height from the seedling tray conveying line is Xcm, X is a positive number, and cm is a length unit centimeter;
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S2M, comprising steps S2M 1-S2M 5;
S2M1, the controller sends an Mth gear lever lowering control signal to an Mth rotary cylinder and sends an Mth gear lever lowering control signal to an Mth' rotary cylinder, and the Mth gear lever are lowered;
S2M2, sending a conveying belt movement control signal on a seedling tray conveying line to the seedling tray conveying line by a controller, and moving a conveying belt on the seedling tray conveying line;
S2M3, when the controller receives an infrared blocking signal sent by the Mth infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as the Mth seedling raising plate;
S2M4, the controller sends an M gear lever retraction control signal to the M-th rotary cylinder of the controller, and sends an M ' gear lever retraction control signal to the M ' -th rotary cylinder of the controller, and the M gear lever and the M ' gear lever are retracted;
and S2M5, sending a lifting control signal of the support plate of the Mth seedling raising plate to the Mth jacking cylinder of the controller until the support plate of the Mth seedling raising plate supports the Mth seedling raising plate to leave the seedling raising plate conveying line, wherein the height from the seedling raising plate conveying line is Xcm, X is a positive number, and cm is a length unit centimeter.
In a preferred embodiment of the present invention, step S3 includes the following steps:
s31, the controller sends a moving control signal that the seedling tray clamp is close to the seedling tray conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 4 th proximity sensor, the Z-axis sliding table stops working;
s32, including the M combination steps of S321-S32M,
s321, the controller sends a closing control signal to a 1 st control cylinder of the controller, and 1 st side grippers on two sides close to each other to grab a 1 st seedling raising plate;
s322, the controller sends a closing control signal to a No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides close to grab the No. 2 seedling tray;
s323, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides close to grab a 3 rd seedling raising plate;
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S32M, the controller sends a closing control signal to the Mth control cylinder of the controller, and the Mth side grippers on the two sides close to grab the Mth seedling tray;
s33, the controller sends a control signal for moving the seedling tray clamp away from the seedling tray conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 3 rd proximity sensor, the Z-axis sliding table stops working;
s34, the controller sends a moving control signal to the tidal seedbed conveying line to the X-axis sliding table, and when the controller receives a proximity signal sent by the 2 nd proximity sensor, the X-axis sliding table stops working;
s35, the controller sends a control signal for the seedling raising tray clamp to move close to the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 4 th proximity sensor, the Z-axis sliding table stops working;
s36, including the M combination steps of S361-S36M,
s361, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st side grippers on the two sides are separated;
s362, the controller sends a separation control signal to the 2 nd control cylinder, and the 2 nd side grippers on the two sides are separated;
s363, the controller sends a separation control signal to the 3 rd control cylinder, and the 3 rd side grippers on the two sides are separated;
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S36M, the controller sends a separation control signal to the Mth control cylinder, and the Mth side grippers on the two sides are separated;
s37, the controller sends a control signal for controlling the movement of the seedling tray clamp away from the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 3 rd proximity sensor, the Z-axis sliding table stops working;
s38, including the 2 combination steps of steps S381 to S382,
s381, the controller sends a moving control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives a proximity signal sent by the 1 st proximity sensor, the X-axis sliding table stops working;
s382, including the M combination steps of S3821 to S382M,
s3821, the controller sends a separation control signal to the 1 st control cylinder of the controller, and the 1 st side grippers on the two sides are separated;
s3822, the controller sends a separation control signal to the 2 nd control cylinder of the controller, and the 2 nd side grippers on the two sides are separated;
s3823, the controller sends a separation control signal to the 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides are separated;
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S382M, the controller sends a separation control signal to the Mth control cylinder, and the Mth grippers on the two sides are separated.
When M is 5, the use method of the vegetable unmanned conveying equipment comprises the following steps:
s1, initializing the system; the method comprises the following steps:
s11, the controller sends a control signal for stopping the movement of the conveyor belt on the seedling tray conveyor line to the seedling tray conveyor line, and the conveyor belt on the seedling tray conveyor line stops moving;
s12, including the 5 combination steps of S121-S125,
s121, the controller sends a 1 st gear lever lowering control signal to a 1 st rotary cylinder of the controller, sends a 1 st gear lever lowering control signal to a 1' st rotary cylinder of the controller, and lowers the 1 st gear lever and the 1 st gear lever;
s122, the controller sends a 2 nd gear lever retraction control signal to a 2 nd rotary cylinder of the controller, and sends a 2 ' gear lever retraction control signal to a 2 ' nd rotary cylinder of the controller, and the 2 nd gear lever and the 2 ' nd gear lever are retracted;
s123, the controller sends a 3 rd gear lever retraction control signal to a 3 rd rotary cylinder of the controller, sends a 3 rd gear lever retraction control signal to a 3 rd 'rotary cylinder of the controller, and retracts a 3 rd gear lever and a 3 rd' gear lever;
s124, the controller sends a 4 th gear lever retraction control signal to a 4 th rotary cylinder of the controller, and sends a 4 ' gear lever retraction control signal to a 4 ' th rotary cylinder of the controller, and the 4 th gear lever and the 4 ' th gear lever are retracted;
s125, the controller sends a 5 th gear lever retraction control signal to a 5 th rotary cylinder of the controller, and sends a 5 ' gear lever retraction control signal to a 5 ' th rotary cylinder of the controller, and the 5 th gear lever and the 5 ' gear lever are retracted;
s13, including the 5 combination steps of S131-S135,
s131, the controller sends an infrared signal to a No. 1 infrared correlation emission device of the controller, and the No. 1 infrared correlation emission device sends infrared rays;
s132, the controller sends an infrared signal to a No. 2 infrared correlation emission device of the controller, and the No. 2 infrared correlation emission device sends infrared rays;
s133, the controller sends an infrared signal to a No. 3 infrared correlation emission device of the controller, and the No. 3 infrared correlation emission device sends infrared rays;
s134, the controller sends an infrared signal to a 4 th infrared correlation emission device of the controller, and the 4 th infrared correlation emission device sends infrared rays;
s135, the controller sends an infrared signal to a 5 th infrared correlation emission device of the controller, and the 5 th infrared correlation emission device sends infrared rays;
s14, including the 3 combination steps of steps S141 to S143,
s141, the controller sends a moving control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives a proximity signal sent by the 1 st proximity sensor, the X-axis sliding table stops working;
s142, the controller sends a seedling tray clamp moving control signal far away from the seedling tray conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 3 rd proximity sensor, the Z-axis sliding table stops working;
s143, including 5 combining steps of S1431 to S1435,
s1431, the controller sends a separation control signal to a 1 st control cylinder of the controller, and the 1 st side grippers on the two sides are separated;
s1432, the controller sends a separation control signal to a No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides are separated;
s1433, the controller sends a separation control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides are separated;
s1434, the controller sends a separation control signal to a 4 th control cylinder of the controller, and the 4 th grippers on the two sides are separated;
and S1435, the controller sends a separation control signal to the 5 th control cylinder of the controller, and the 5 th grippers on the two sides are separated.
S2, jacking mechanisms of the M seedling raising trays lift the M seedling raising trays away from the seedling raising tray conveying line; the method comprises the following steps:
s21, including steps S211 to S214;
s211, the controller sends a conveying belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line moves;
s212, when the controller receives an infrared blocking signal sent by the No. 1 infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as the No. 1 seedling raising plate;
s213, the controller sends a 1 st gear lever retraction control signal to the 1 st rotary cylinder of the controller, and sends a 1 ' st gear lever retraction control signal to the 1 ' st rotary cylinder of the controller, and the 1 st gear lever and the 1 ' st gear lever are retracted;
s214, the controller sends a 1 st seedling tray supporting plate lifting control signal to a 1 st jacking cylinder of the controller until the 1 st seedling tray supporting plate holds the 1 st seedling tray and leaves the seedling tray conveying line, the height from the seedling tray conveying line is Xcm, X is a positive number, and cm is a length unit centimeter;
s22, including steps S221-S225;
s221, the controller sends a 2 nd gear lever lowering control signal to a 2 nd rotary cylinder of the controller, and sends a 2 nd gear lever lowering control signal to a 2' nd rotary cylinder of the controller, and the 2 nd gear lever are lowered;
s222, the controller sends a conveying belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line moves;
s223, when the controller receives the infrared blocking signal sent by the No. 2 infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as the No. 2 seedling raising plate;
s224, the controller sends a 2 nd gear lever retraction control signal to the 2 nd rotary cylinder of the controller, and sends a 2 ' gear lever retraction control signal to the 2 ' nd rotary cylinder of the controller, and the 2 nd gear lever and the 2 ' gear lever are retracted;
s225, the controller sends a lifting control signal of a supporting plate of a 2 nd seedling raising plate to a 2 nd jacking cylinder of the controller until the supporting plate of the 2 nd seedling raising plate supports the 2 nd seedling raising plate and leaves the seedling raising plate conveying line, the height from the conveying line of the seedling raising plate is Xcm, X is a positive number, and cm is a length unit centimeter;
s23, including steps S231-S235;
s231, the controller sends a 3 rd gear lever lowering control signal to a 3 rd rotary cylinder of the controller, and the 3 rd gear lever are lowered;
s232, the controller sends a conveying belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line moves;
s233, when the controller receives the infrared blocking signal sent by the No. 3 infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as a No. 3 seedling raising plate;
s234, the controller sends a 3 rd gear lever retraction control signal to a 3 rd rotary cylinder of the controller, and sends a 3 ' gear lever retraction control signal to a 3 ' rd rotary cylinder of the controller, and the 3 rd gear lever and the 3 ' gear lever are retracted;
s235, the controller sends a 3 rd seedling tray supporting plate lifting control signal to the 3 rd jacking cylinder of the controller until the 3 rd seedling tray supporting plate supports the 3 rd seedling tray and leaves the seedling tray conveying line, the height from the seedling tray conveying line is Xcm, X is a positive number, and cm is a length unit centimeter;
s24, including steps S241-S245;
s241, the controller sends a 4 th gear lever lowering control signal to a 4 th rotary cylinder of the controller, sends a 4 ' th gear lever lowering control signal to a 4 ' th rotary cylinder of the controller, and lowers a 4 th gear lever and a 4 ' th gear lever;
s242, the controller sends a conveying belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line moves;
s243, when the controller receives the infrared blocking signal sent by the 4 th infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as a 4 th seedling raising plate;
s244, the controller sends a 4 th gear lever retraction control signal to a 4 th rotary cylinder of the controller, and sends a 4 ' gear lever retraction control signal to a 4 ' th rotary cylinder of the controller, and the 4 th gear lever and the 4 ' th gear lever are retracted;
s245, the controller sends a 4 th seedling tray supporting plate lifting control signal to a 4 th jacking cylinder of the controller until the 4 th seedling tray supporting plate holds the 4 th seedling tray and leaves the seedling tray conveying line, the height from the seedling tray conveying line is Xcm, X is a positive number, and cm is a length unit centimeter;
s25, including steps S251 to S255;
s251, the controller sends a 5 th gear lever lowering control signal to a 5 th rotary cylinder of the controller, and sends a 5 ' th gear lever lowering control signal to a 5 ' th rotary cylinder of the controller, and the 5 th gear lever and the 5 ' th gear lever are lowered;
s252, the controller sends a conveying belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line moves;
s253, when the controller receives the infrared blocking signal sent by the 5 th infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as the 5 th seedling raising plate;
s254, the controller sends a 5 th gear lever retraction control signal to a 5 th rotary cylinder of the controller, and sends a 5 ' gear lever retraction control signal to a 5 ' th rotary cylinder of the controller, and the 5 th gear lever and the 5 ' gear lever are retracted;
and S255, the controller sends a lifting control signal of the 5 th seedling raising disc supporting plate to the 5 th jacking cylinder until the 5 th seedling raising disc supporting plate supports the 5 th seedling raising disc to leave the seedling raising disc conveying line, the height from the seedling raising disc conveying line is Xcm, X is a positive number, and cm is a length unit centimeter.
S3, the M seedling raising trays ejected from the seedling raising tray conveying line are grabbed and placed on the tide type seedbed conveying line by the sliding table module; the step S3 includes steps S31 to S34:
s31, including steps S311 to S318;
s311, the controller sends a movement control signal that the seedling tray clamp is close to the seedling tray conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 2Y-axis proximity sensor, the Z-axis sliding table stops working;
s312, including the 5 combination steps of steps S3121-S3125,
s3121, the controller sends a closing control signal to a 1 st control cylinder of the controller, and 1 st side grippers on two sides close to each other to grab a 1 st seedling tray;
s3122, the controller sends a closing control signal to a No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides close to grab the No. 2 seedling tray;
s3123, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides close to grab a 3 rd seedling raising tray;
s3124, the controller sends a closing control signal to a 4 th control cylinder of the controller, and the 4 th side grippers on the two sides close to grab a 3 rd seedling raising tray;
s3125, the controller sends a closing control signal to a 5 th control cylinder of the controller, and the 5 th side grippers on the two sides close to each other to grab a 5 th seedling tray;
s313, the controller sends a seedling tray clamp moving control signal far away from the seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s314, the controller sends a movement control signal to the tidal seedbed conveying line to the X-axis sliding table, and when the controller receives an approach signal sent by the 2X-axis approach sensor, the X-axis sliding table stops working;
s315, the controller sends a movement control signal that the seedling raising tray clamp is close to the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 2Y-axis proximity sensor, the Z-axis sliding table stops working;
s316, including the 5 combination steps of S3161-S365,
s3161, the controller sends a separation control signal to the 1 st control cylinder of the controller, and the 1 st side grippers on the two sides are separated;
s3162, the controller sends a separation control signal to the No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides are separated;
s3163, the controller sends a separation control signal to the 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides are separated;
s3164, the controller sends a separation control signal to the 4 th control cylinder of the controller, and the 4 th grippers on the two sides are separated;
s3165, the controller sends a separation control signal to the 5 th control cylinder of the controller, and the 5 th side grippers on the two sides are separated;
s317, the controller sends a movement control signal of the seedling raising tray clamp far away from the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s318, the controller sends a moving control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives an approaching signal sent by the 1 st X-axis approaching sensor, the X-axis sliding table stops working;
s32, including steps S321-S328;
s321, the controller sends a movement control signal of the seedling tray clamp approaching the seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 2Y-axis approach sensor, the Z-axis sliding table stops working;
s322, including the 5 combination steps of steps S3221 to S3225,
s3221, the controller sends a closing control signal to a 1 st control cylinder of the controller, and 1 st side grippers on two sides close to each other to grab a 1 st seedling raising disc;
s3222, the controller sends a closing control signal to a No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides close to each other to grip a No. 2 seedling raising plate;
s3223, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides close to each other to grip a 3 rd seedling raising disc;
s3224, the controller sends a closing control signal to a 4 th control cylinder of the controller, and the 4 th side grippers on the two sides close to each other to grip a 3 rd seedling raising tray;
s3225, the controller sends a closing control signal to a 5 th control cylinder of the controller, and the 5 th side grippers on the two sides close to each other to grip a 5 th seedling raising disc;
s323, the controller sends a seedling tray clamp moving control signal far away from a seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s324, the controller sends a movement control signal to the tidal seedbed conveying line to the X-axis sliding table, and when the controller receives an approach signal sent by the 3X-axis approach sensor, the X-axis sliding table stops working;
s325, the controller sends a movement control signal that the seedling raising tray clamp is close to the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 2Y-axis proximity sensor, the Z-axis sliding table stops working;
s326, including the 5 combination steps of S3161-S365,
s3261, the controller sends a separation control signal to a 1 st control cylinder of the controller, and the 1 st side grippers on the two sides are separated;
s3262, the controller sends a separation control signal to a No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides are separated;
s3263, the controller sends a separation control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides are separated;
s3264, the controller sends a separation control signal to a 4 th control cylinder of the controller, and the 4 th grippers on the two sides are separated;
s3265, the controller sends a separation control signal to a 5 th control cylinder of the controller, and the 5 th side grippers on the two sides are separated;
s327, the controller sends a movement control signal that the seedling raising tray clamp is far away from the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s328, the controller sends a moving control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives an approaching signal sent by the 1 st X-axis approaching sensor, the X-axis sliding table stops working;
s33, including steps S331-S338;
s331, the controller sends a movement control signal of the seedling tray clamp approaching the seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approaching signal sent by the 2Y-axis approaching sensor, the Z-axis sliding table stops working;
s332, comprising the 5 combination steps of S3321 to S3325,
s3321, the controller sends a closing control signal to a 1 st control cylinder of the controller, and 1 st side grippers on two sides close to each other to grab a 1 st seedling raising plate;
s3322, the controller sends a closing control signal to a No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides close to grab the No. 2 seedling tray;
s3323, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides close to grab a 3 rd seedling raising plate;
s3324, the controller sends a closing control signal to a 4 th control cylinder of the controller, and the 4 th side grippers on the two sides close to each other to grab a 4 th seedling raising plate;
s3325, the controller sends a closing control signal to a 5 th control cylinder of the controller, and the 5 th side grippers on the two sides close to each other to grab a 5 th seedling raising plate;
s333, the controller sends a seedling tray clamp moving control signal far away from a seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s334, the controller sends a movement control signal to the tidal seedbed conveying line to the X-axis sliding table, and when the controller receives an approach signal sent by the 4X-axis approach sensor, the X-axis sliding table stops working;
s335, the controller sends a movement control signal that the seedling raising tray clamp is close to the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 2 nd Y-axis proximity sensor, the Z-axis sliding table stops working;
s336, including the 5 combination steps of steps S3161-S365,
s3361, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on the two sides are separated;
s3362, the controller sends a separation control signal to the No. 2 control cylinder, and the No. 2 grippers on the two sides are separated;
s3363, the controller sends a separation control signal to the 3 rd control cylinder, and the 3 rd side grippers on the two sides are separated;
s3364, the controller sends a separation control signal to a 4 th control cylinder of the controller, and the 4 th grippers on the two sides are separated;
s3365, the controller sends a separation control signal to the 5 th control cylinder, and the 5 th side grippers on the two sides are separated;
s337, the controller sends a movement control signal that the seedling raising tray clamp is far away from the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s338, the controller sends a moving control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives an approaching signal sent by the 1 st X-axis approaching sensor, the X-axis sliding table stops working;
……；
s34, including steps S341 to S348;
s341, the controller sends a movement control signal of the seedling tray clamp approaching the seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 2Y-axis approach sensor, the Z-axis sliding table stops working;
s342, including 5 combination steps of steps S3421 to S3425,
s3421, the controller sends a closing control signal to a 1 st control cylinder of the controller, and 1 st side grippers on two sides close to each other to grab a 1 st seedling raising plate;
s3422, the controller sends a closing control signal to a No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides close to each other to grab the No. 2 seedling tray;
s3423, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides close to grab a 3 rd seedling raising tray;
s3424, the controller sends a closing control signal to a 4 th control cylinder of the controller, and the 4 th side grippers on the two sides close to each other to grab a 4 th seedling raising tray;
s3425, the controller sends a closing control signal to a 5 th control cylinder of the controller, and the 5 th side grippers on the two sides close to each other to grab a 5 th seedling raising plate;
s343, the controller sends a seedling tray clamp moving control signal far away from the seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s344, the controller sends a moving control signal to the tidal seedbed conveying line to the X-axis sliding table, and when the controller receives an approaching signal sent by the 5 th X-axis approaching sensor, the X-axis sliding table stops working;
s345, the controller sends a movement control signal that the seedling raising tray clamp is close to the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 2Y-axis proximity sensor, the Z-axis sliding table stops working;
s346, including 5 combination steps of S3161-S365,
s461, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on the two sides are separated;
s3462, the controller sends a separation control signal to the No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides are separated;
s3463, the controller sends a separation control signal to the 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides are separated;
s3464, the controller sends a separation control signal to a 4 th control cylinder of the controller, and the 4 th grippers on the two sides are separated;
s3465, the controller sends a separation control signal to a 5 th control cylinder of the controller, and the 5 th side grippers on the two sides are separated;
s347, the controller sends a seedling raising disc clamp moving control signal far away from the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s348, the controller sends a moving control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives a proximity signal sent by the 1 st X-axis proximity sensor, the X-axis sliding table stops working;
s4, repeating the steps S1-S3; until the task is completed.
In this embodiment, the unmanned sowing device is a front-end device of the unmanned conveying device, the unmanned seedling raising device is a rear-end device of the unmanned conveying device, and the unmanned sowing device, the unmanned seedling raising device and the corresponding control method are the prior art and are not described herein again; the unmanned conveying equipment (tide type seedbed in-and-out-of-bed machine) has a bridging effect between the unmanned sowing equipment and the unmanned seedling raising equipment.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (6)

1. A tide type seedbed entering and exiting machine is characterized by comprising a seedling tray conveying line, a tide type seedbed conveying line, M seedling tray positioning mechanisms, M seedling tray jacking mechanisms, M photoelectric switch groups, a sliding table module and a seedling tray clamp, wherein M is a positive integer greater than or equal to 1, the seedling tray conveying line adopts double rows of conveying belts, and a gap is reserved between the two rows of conveying belts; each seedling tray jacking mechanism is arranged between the two rows of conveying belts and is used for jacking the seedling trays on the seedling tray conveying line upwards and leaving the seedling tray conveying line; the seedling tray positioning mechanism is arranged in front of the seedling tray jacking mechanism and comprises a blocking rod and a rotary cylinder for controlling the blocking rod to be put down and put away, when the blocking rod is put down, the blocking rod extends along the width direction of a seedling tray conveying line and is used for blocking the seedling tray, when the blocking rod is put down, the seedling tray can pass through the seedling tray conveying line, and the photoelectric switch group is arranged on a seedling tray conveying line rack beside the seedling tray jacking mechanism; the tidal seedbed conveying line is used for conveying a tidal seedbed; slip table module includes door-shaped frame, X axle slip table and Z axle slip table, educate seedling tray transfer chain and morning and evening tides formula seedbed transfer chain and set up side by side under the door-shaped frame and pass the door-shaped frame, X axle slip table sets up along door-shaped frame back timber, the lower extreme installation seedling tray anchor clamps of Z axle slip table, through Z axle slip table realizes that reciprocating of seedling tray anchor clamps removes to educate seedling tray transfer chain go to press from both sides and get and educate seedling tray and will educate seedling tray and place morning and evening tides formula seedbed on the morning and evening tides formula seedbed transfer chain on, realizes letting seedling tray anchor clamps move between educating seedling tray transfer chain and morning and evening tides formula seedbed transfer chain through X axle slip table.
2. The tidal type seedbed in-and-out-of-bed machine of claim 1, characterized in that a plurality of seedling tray jacking mechanisms are arranged between two rows of conveyor belts at intervals, a seedling tray positioning mechanism is arranged in front of each seedling tray jacking mechanism, a photoelectric switch is correspondingly arranged on each seedling tray jacking mechanism, the seedling tray clamp comprises a main body framework, an installation plate for connecting with a sliding table module is arranged on the upper side of the main body framework, M independent grippers for grabbing the seedling trays are correspondingly arranged on the lower side of the main body framework, and the seedling trays which can be grabbed by the seedling tray clamp at one time are just placed in one row on the tidal type seedbed;
the side grippers on the left side and the right side of the main body framework are respectively provided with a control cylinder, the side grippers on the two sides are controlled to be close to and separated from each other through the control cylinders, so that the seedling raising tray is taken and placed;
the side gripper comprises a gripper body and gripper rods used for connecting the gripper body, the gripper body is in a vertical hook shape, each gripper rod is provided with at least two gripper bodies, the gripper bodies of the side grippers on two sides are oppositely arranged, and the guide holes are positioned on the gripper rods;
or/and each gripper is correspondingly provided with two guide rods which are arranged at intervals in the front and back;
the main body framework comprises a left vertical beam, a right vertical beam, a plurality of transverse beams, control cylinders of the grippers are arranged on the lower sides of the transverse beams, and the control cylinders of the side grippers on the two sides are positioned between the side grippers on the two sides;
or/and a pair of seedling tray positioning mechanisms are symmetrically arranged at two sides of the seedling tray conveying line corresponding to each seedling tray jacking mechanism, and photoelectric switches are arranged at two sides of each seedling tray jacking mechanism;
and the seedling raising plate jacking mechanism comprises a seedling raising plate supporting plate and a jacking cylinder used for jacking the seedling raising plate supporting plate.
3. The use method of the vegetable unmanned conveying equipment is characterized by comprising the following steps:
s1, initializing the system;
s2, jacking mechanisms of the M seedling raising trays lift the M seedling raising trays away from the seedling raising tray conveying line;
s3, the M seedling raising trays ejected from the seedling raising tray conveying line are grabbed and placed on the tide type seedbed conveying line by the sliding table module;
s4, repeating the steps S1-S3; until the task is completed.
4. The use method of the vegetable unmanned conveying apparatus, according to claim 3, wherein the step S1 comprises the steps of:
s11, the controller sends a control signal for stopping the movement of the conveyor belt on the seedling tray conveyor line to the seedling tray conveyor line, and the conveyor belt on the seedling tray conveyor line stops moving;
s12, including the M combination step of steps S121-S12M,
s121, the controller sends a 1 st gear lever lowering control signal to a 1 st rotary cylinder of the controller, sends a 1 st gear lever lowering control signal to a 1' st rotary cylinder of the controller, and lowers the 1 st gear lever and the 1 st gear lever;
s122, the controller sends a 2 nd gear lever retraction control signal to a 2 nd rotary cylinder of the controller, and sends a 2 ' gear lever retraction control signal to a 2 ' nd rotary cylinder of the controller, and the 2 nd gear lever and the 2 ' nd gear lever are retracted;
s123, the controller sends a 3 rd gear lever retraction control signal to a 3 rd rotary cylinder of the controller, sends a 3 rd gear lever retraction control signal to a 3 rd 'rotary cylinder of the controller, and retracts a 3 rd gear lever and a 3 rd' gear lever;
……；
S12M, the controller sends an M gear lever retraction control signal to the M-th rotary cylinder and sends an M ' gear lever retraction control signal to the M ' -th rotary cylinder, and the M gear lever and the M ' -th gear lever are retracted;
s13, including the M combination step of steps S131-S13M,
s131, the controller sends an infrared signal to a No. 1 infrared correlation emission device of the controller, and the No. 1 infrared correlation emission device sends infrared rays;
s132, the controller sends an infrared signal to a No. 2 infrared correlation emission device of the controller, and the No. 2 infrared correlation emission device sends infrared rays;
s133, the controller sends an infrared signal to a No. 3 infrared correlation emission device of the controller, and the No. 3 infrared correlation emission device sends infrared rays;
……；
S13M, the controller sends an infrared signal to the Mth infrared correlation emission device, and the Mth infrared correlation emission device sends infrared rays;
s14, including steps S141 to S143,
s141, including the M combination steps of S1411 to S141M,
s1411, the controller sends a separation control signal to a 1 st control cylinder of the controller, and the 1 st side grippers on the two sides are separated;
s1412, the controller sends a separation control signal to the 2 nd control cylinder of the controller, and the 2 nd side grippers on the two sides are separated;
s1413, the controller sends a separation control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides are separated;
……；
S141M, the controller sends a separation control signal to the Mth control cylinder, and the Mth side grippers on the two sides are separated;
s142, the controller sends a seedling tray clamp moving control signal far away from the seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
and S143, the controller sends a moving control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives an approaching signal sent by the 1 st X-axis approaching sensor, the X-axis sliding table stops working.
5. The use method of the vegetable unmanned conveying apparatus, according to claim 3, wherein the step S2 comprises the steps of:
s21, including steps S211 to S214;
s211, the controller sends a conveying belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line moves;
s212, when the controller receives an infrared blocking signal sent by the No. 1 infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as the No. 1 seedling raising plate;
s213, the controller sends a 1 st gear lever retraction control signal to the 1 st rotary cylinder of the controller, and sends a 1 ' st gear lever retraction control signal to the 1 ' st rotary cylinder of the controller, and the 1 st gear lever and the 1 ' st gear lever are retracted;
s214, the controller sends a 1 st seedling tray supporting plate lifting control signal to a 1 st jacking cylinder of the controller until the 1 st seedling tray supporting plate holds the 1 st seedling tray and leaves the seedling tray conveying line, the height from the seedling tray conveying line is Xcm, X is a positive number, and cm is a length unit centimeter;
s22, including steps S221-S225;
s221, the controller sends a 2 nd gear lever lowering control signal to a 2 nd rotary cylinder of the controller, and sends a 2 nd gear lever lowering control signal to a 2' nd rotary cylinder of the controller, and the 2 nd gear lever are lowered;
s222, the controller sends a conveying belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line moves;
s223, when the controller receives the infrared blocking signal sent by the No. 2 infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as the No. 2 seedling raising plate;
s224, the controller sends a 2 nd gear lever retraction control signal to the 2 nd rotary cylinder of the controller, and sends a 2 ' gear lever retraction control signal to the 2 ' nd rotary cylinder of the controller, and the 2 nd gear lever and the 2 ' gear lever are retracted;
s225, the controller sends a lifting control signal of a supporting plate of a 2 nd seedling raising plate to a 2 nd jacking cylinder of the controller until the supporting plate of the 2 nd seedling raising plate supports the 2 nd seedling raising plate and leaves the seedling raising plate conveying line, the height from the conveying line of the seedling raising plate is Xcm, X is a positive number, and cm is a length unit centimeter;
s23, including steps S231-S235;
s231, the controller sends a 3 rd gear lever lowering control signal to a 3 rd rotary cylinder of the controller, and the 3 rd gear lever are lowered;
s232, the controller sends a conveying belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line moves;
s233, when the controller receives the infrared blocking signal sent by the No. 3 infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as a No. 3 seedling raising plate;
s234, the controller sends a 3 rd gear lever retraction control signal to a 3 rd rotary cylinder of the controller, and sends a 3 ' gear lever retraction control signal to a 3 ' rd rotary cylinder of the controller, and the 3 rd gear lever and the 3 ' gear lever are retracted;
s235, the controller sends a 3 rd seedling tray supporting plate lifting control signal to the 3 rd jacking cylinder of the controller until the 3 rd seedling tray supporting plate supports the 3 rd seedling tray and leaves the seedling tray conveying line, the height from the seedling tray conveying line is Xcm, X is a positive number, and cm is a length unit centimeter;
s24, including steps S241-S245;
s241, the controller sends a 4 th gear lever lowering control signal to a 4 th rotary cylinder of the controller, sends a 4 ' th gear lever lowering control signal to a 4 ' th rotary cylinder of the controller, and lowers a 4 th gear lever and a 4 ' th gear lever;
s242, the controller sends a conveying belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line moves;
s243, when the controller receives the infrared blocking signal sent by the 4 th infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as a 4 th seedling raising plate;
s244, the controller sends a 4 th gear lever retraction control signal to a 4 th rotary cylinder of the controller, and sends a 4 ' gear lever retraction control signal to a 4 ' th rotary cylinder of the controller, and the 4 th gear lever and the 4 ' th gear lever are retracted;
s245, the controller sends a 4 th seedling tray supporting plate lifting control signal to a 4 th jacking cylinder of the controller until the 4 th seedling tray supporting plate holds the 4 th seedling tray and leaves the seedling tray conveying line, the height from the seedling tray conveying line is Xcm, X is a positive number, and cm is a length unit centimeter;
……；
S2M, comprising steps S2M 1-S2M 5;
S2M1, the controller sends an Mth gear lever lowering control signal to an Mth rotary cylinder and sends an Mth gear lever lowering control signal to an Mth' rotary cylinder, and the Mth gear lever are lowered;
S2M2, sending a conveying belt movement control signal on a seedling tray conveying line to the seedling tray conveying line by a controller, and moving a conveying belt on the seedling tray conveying line;
S2M3, when the controller receives an infrared blocking signal sent by the Mth infrared correlation receiving device, the controller sends a conveying belt stop motion control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveying belt on the seedling tray conveying line stops moving; at the moment, the seedling raising plate is in place and is marked as the Mth seedling raising plate;
S2M4, the controller sends an M gear lever retraction control signal to the M-th rotary cylinder of the controller, and sends an M ' gear lever retraction control signal to the M ' -th rotary cylinder of the controller, and the M gear lever and the M ' gear lever are retracted;
and S2M5, sending a lifting control signal of the support plate of the Mth seedling raising plate to the Mth jacking cylinder of the controller until the support plate of the Mth seedling raising plate supports the Mth seedling raising plate to leave the seedling raising plate conveying line, wherein the height from the seedling raising plate conveying line is Xcm, X is a positive number, and cm is a length unit centimeter.
6. The use method of the vegetable unmanned conveying apparatus, according to claim 3, wherein the step S3 includes steps S31-S3Q:
s31, including steps S311 to S318;
s311, the controller sends a movement control signal that the seedling tray clamp is close to the seedling tray conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 2Y-axis proximity sensor, the Z-axis sliding table stops working;
s312, including the step of combining M of steps S3121-S312M,
s3121, the controller sends a closing control signal to a 1 st control cylinder of the controller, and 1 st side grippers on two sides close to each other to grab a 1 st seedling tray;
s3122, the controller sends a closing control signal to a No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides close to grab the No. 2 seedling tray;
s3123, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides close to grab a 3 rd seedling raising tray;
……；
S312M, the controller sends a closing control signal to the Mth control cylinder of the controller, and the Mth side grippers on the two sides close to grab the Mth seedling tray;
s313, the controller sends a seedling tray clamp moving control signal far away from the seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s314, the controller sends a movement control signal to the tidal seedbed conveying line to the X-axis sliding table, and when the controller receives an approach signal sent by the 2X-axis approach sensor, the X-axis sliding table stops working;
s315, the controller sends a movement control signal that the seedling raising tray clamp is close to the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 2Y-axis proximity sensor, the Z-axis sliding table stops working;
s316, including the M combination steps of S3161-S36M,
s3161, the controller sends a separation control signal to the 1 st control cylinder of the controller, and the 1 st side grippers on the two sides are separated;
s3162, the controller sends a separation control signal to the No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides are separated;
s3163, the controller sends a separation control signal to the 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides are separated;
……；
S316M, the controller sends a separation control signal to the Mth control cylinder, and the Mth side grippers on the two sides are separated;
s317, the controller sends a movement control signal of the seedling raising tray clamp far away from the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s318, the controller sends a moving control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives an approaching signal sent by the 1 st X-axis approaching sensor, the X-axis sliding table stops working;
s32, including steps S321-S328;
s321, the controller sends a movement control signal of the seedling tray clamp approaching the seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 2Y-axis approach sensor, the Z-axis sliding table stops working;
s322, including the M combination steps of S3221 to S322M,
s3221, the controller sends a closing control signal to a 1 st control cylinder of the controller, and 1 st side grippers on two sides close to each other to grab a 1 st seedling raising disc;
s3222, the controller sends a closing control signal to a No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides close to each other to grip a No. 2 seedling raising plate;
s3223, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides close to each other to grip a 3 rd seedling raising disc;
……；
S322M, the controller sends a closing control signal to the Mth control cylinder, and the M-th side grippers on the two sides close to grab the Mth seedling tray;
s323, the controller sends a seedling tray clamp moving control signal far away from a seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s324, the controller sends a movement control signal to the tidal seedbed conveying line to the X-axis sliding table, and when the controller receives an approach signal sent by the 3X-axis approach sensor, the X-axis sliding table stops working;
s325, the controller sends a movement control signal that the seedling raising tray clamp is close to the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 2Y-axis proximity sensor, the Z-axis sliding table stops working;
s326, comprising the step of M combination of steps S3161 to S36M,
s3261, the controller sends a separation control signal to a 1 st control cylinder of the controller, and the 1 st side grippers on the two sides are separated;
s3262, the controller sends a separation control signal to a No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides are separated;
s3263, the controller sends a separation control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides are separated;
……；
S326M, the controller sends a separation control signal to the Mth control cylinder, and the Mth side grippers on the two sides are separated;
s327, the controller sends a movement control signal that the seedling raising tray clamp is far away from the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s328, the controller sends a moving control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives an approaching signal sent by the 1 st X-axis approaching sensor, the X-axis sliding table stops working;
s33, including steps S331-S338;
s331, the controller sends a movement control signal of the seedling tray clamp approaching the seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approaching signal sent by the 2Y-axis approaching sensor, the Z-axis sliding table stops working;
s332, comprising the M combination steps of S3321 to S332M,
s3321, the controller sends a closing control signal to a 1 st control cylinder of the controller, and 1 st side grippers on two sides close to each other to grab a 1 st seedling raising plate;
s3322, the controller sends a closing control signal to a No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides close to grab the No. 2 seedling tray;
s3323, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides close to grab a 3 rd seedling raising plate;
……；
S332M, the controller sends a closing control signal to the Mth control cylinder of the controller, and the M-th side grippers on the two sides close to each other to grab the Mth seedling tray;
s333, the controller sends a seedling tray clamp moving control signal far away from a seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s334, the controller sends a movement control signal to the tidal seedbed conveying line to the X-axis sliding table, and when the controller receives an approach signal sent by the 4X-axis approach sensor, the X-axis sliding table stops working;
s335, the controller sends a movement control signal that the seedling raising tray clamp is close to the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 2 nd Y-axis proximity sensor, the Z-axis sliding table stops working;
s336, including the M combination steps of S3161-S36M,
s3361, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on the two sides are separated;
s3362, the controller sends a separation control signal to the No. 2 control cylinder, and the No. 2 grippers on the two sides are separated;
s3363, the controller sends a separation control signal to the 3 rd control cylinder, and the 3 rd side grippers on the two sides are separated;
……；
S336M, the controller sends a separation control signal to the Mth control cylinder, and the Mth side grippers on the two sides are separated;
s337, the controller sends a movement control signal that the seedling raising tray clamp is far away from the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
s338, the controller sends a moving control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives an approaching signal sent by the 1 st X-axis approaching sensor, the X-axis sliding table stops working;
……；
S3Q, including steps S3Q 1-S3Q 8;
S3Q1, the controller sends a control signal for controlling the movement of the seedling tray clamp close to the seedling tray conveying line to the Z-axis sliding table, and when the controller receives a close signal sent by the 2Y-axis close sensor, the Z-axis sliding table stops working;
S3Q2, comprising the step of M combination of steps S3Q 21-S3Q 2M,
S3Q21, the controller sends a closing control signal to a 1 st control cylinder of the controller, and 1 st side grippers on two sides close to grab a 1 st seedling raising tray;
S3Q22, the controller sends a closing control signal to a No. 2 control cylinder of the controller, and the No. 2 side grippers on the two sides close to grab the No. 2 seedling tray;
S3Q23, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and the 3 rd side grippers on the two sides close to grab the 3 rd seedling raising tray;
……；
S3Q2M, the controller sends a closing control signal to the Mth control cylinder of the controller, and the Mth side grippers on the two sides close to grab the Mth seedling tray;
S3Q3, the controller sends a control signal for moving the seedling tray clamp away from the seedling tray conveying line to the Z-axis sliding table, and when the controller receives an approach signal sent by the 1 st Y-axis approach sensor, the Z-axis sliding table stops working;
S3Q4, the controller sends a movement control signal to the X-axis sliding table to move to the tidal seedbed conveying line, and when the controller receives an approach signal sent by the (Q +1) th X-axis approach sensor, the X-axis sliding table stops working;
S3Q5, the controller sends a control signal for controlling the seedling raising tray clamp to move close to the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives a close signal sent by the 2 nd Y-axis close sensor, the Z-axis sliding table stops working;
S3Q6, including the M combination step of steps S3161-S36M,
S3Q61, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st side grippers on the two sides are separated;
S3Q62, the controller sends a separation control signal to the No. 2 control cylinder, and the No. 2 side grippers on the two sides are separated;
S3Q63, the controller sends a separation control signal to the 3 rd control cylinder, and the 3 rd side grippers on the two sides are separated;
……；
S3Q6M, the controller sends a separation control signal to the Mth control cylinder, and the Mth side grippers on the two sides are separated;
S3Q7, the controller sends a control signal for controlling the movement of the seedling tray clamp away from the tidal seedbed conveying line to the Z-axis sliding table, and when the controller receives a proximity signal sent by the 1 st Y-axis proximity sensor, the Z-axis sliding table stops working;
and S3Q8, the controller sends a moving control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives an approaching signal sent by the 1 st X-axis approaching sensor, the X-axis sliding table stops working.
CN202110638767.7A 2021-06-08 2021-06-08 Unmanned vegetable seeding, conveying and seedling raising equipment and use method Active CN113291735B (en)

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