CN113291735B - Unmanned vegetable seeding, conveying and seedling raising equipment and use method - Google Patents

Unmanned vegetable seeding, conveying and seedling raising equipment and use method Download PDF

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Publication number
CN113291735B
CN113291735B CN202110638767.7A CN202110638767A CN113291735B CN 113291735 B CN113291735 B CN 113291735B CN 202110638767 A CN202110638767 A CN 202110638767A CN 113291735 B CN113291735 B CN 113291735B
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CN
China
Prior art keywords
seedling
control signal
tray
seedling raising
conveying line
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CN202110638767.7A
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Chinese (zh)
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CN113291735A (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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)

Abstract

The invention provides unmanned vegetable seeding, conveying and seedling raising equipment and a using method thereof, wherein the unmanned vegetable seeding, conveying and seedling raising equipment comprises a seedling raising tray conveying line, a tidal seedling bed conveying line, M seedling raising tray positioning mechanisms, M seedling raising tray jacking mechanisms, M photoelectric switch groups, a sliding table module and seedling raising tray clamps, wherein the seedling raising tray conveying line adopts double rows of conveying belts, the seedling raising tray jacking mechanisms are arranged between the two rows of conveying belts, and each seedling raising tray jacking mechanism is used for jacking up a seedling raising tray on the seedling raising tray conveying line and leaving the seedling raising tray conveying line; the seedling raising tray positioning mechanism is arranged in front of the seedling raising tray jacking mechanism, and a photoelectric switch is arranged on a rack beside the seedling raising tray jacking mechanism; the slipway module comprises a door-shaped frame, an X-axis slipway and a Z-axis slipway. The clamp for the seedling raising tray can realize the automatic feeding and discharging of the seedling raising tray, solves the problems of large labor force requirement and high labor intensity when placing and taking out the plug tray in the production process of the tidal seedling tray, improves the mechanization and automation level in the production process of the tidal seedling tray, and lays a foundation for the whole unmanned production of vegetables.

Description

Unmanned vegetable seeding, conveying and seedling raising equipment and use method
Technical Field
The invention relates to the technical field of automatic agriculture, in particular to unmanned vegetable seeding, conveying and seedling raising equipment and a using method thereof.
Background
At present, the tidal seedling bed is carried, taken and placed with seedling raising trays (entering and leaving beds) in the production process by manpower, and the process has large labor requirement and high labor intensity. Therefore, how to realize the automatic bed entering and bed exiting of the tidal seedbed becomes a technical problem which needs to be solved first for realizing the whole-course unmanned production of vegetables.
Disclosure of Invention
The invention aims at least solving the technical problems in the prior art, and particularly creatively provides unmanned vegetable seeding, conveying and seedling raising equipment and a using method thereof.
In order to achieve the above purpose, the invention provides a tidal seedbed entering and exiting machine, which comprises a seedling raising tray conveying line, a tidal seedbed conveying line, M seedling raising tray positioning mechanisms, M seedling raising tray jacking mechanisms, M photoelectric switch groups, a sliding table module and a seedling raising tray clamp, wherein M is a positive integer greater than or equal to 1, the seedling raising tray conveying line adopts double rows of conveying belts, and a gap is reserved between the two rows of conveying belts; each seedling raising plate jacking mechanism is arranged between two rows of conveying belts and is used for jacking up seedling raising plates on the conveying line of the seedling raising plate and leaving the conveying line of the seedling raising plate; the seedling raising tray positioning mechanism is arranged in front of the seedling raising tray jacking mechanism and comprises a baffle rod and a rotary cylinder for controlling the baffle rod to be put down and retracted, when the baffle rod is put down, the baffle rod extends along the width direction of the seedling raising tray conveying line and is used for blocking the seedling raising tray, when the seedling raising tray is retracted, the seedling raising tray can pass through the seedling raising tray conveying line, and the photoelectric switch group is arranged on the seedling raising tray conveying line frame beside the seedling raising tray jacking mechanism; the tide type seedbed conveying line is used for conveying tide type seedbeds; the utility model provides a seedling raising tray, including the slip table module, the slip table module includes door shape frame, X axle slip table and Z axle slip table, seedling raising tray transfer chain and morning and evening tides formula seedbed transfer chain set up side by side under the door shape frame and pass the door shape frame, X axle slip table sets up along the door shape frame back timber, the lower extreme installation of Z axle slip table is grown seedlings the tray anchor clamps, through Z axle slip table realizes moving up and down to grow seedlings on the tray transfer chain clamp and get seedling raising tray and place seedling raising tray on the morning and evening tides formula seedbed transfer chain, realizes letting seedling raising tray anchor clamps remove between seedling raising tray transfer chain and morning and evening tides formula seedbed transfer chain through X axle slip table.
In a preferred embodiment of the invention, a plurality of seedling raising tray jacking mechanisms are arranged between two rows of conveying belts at intervals, seedling raising tray positioning mechanisms are arranged in front of each seedling raising tray jacking mechanism, each seedling raising tray jacking mechanism is correspondingly provided with a photoelectric switch, each seedling raising tray clamp comprises a main body framework, an installation tray used for being connected with a sliding table module is arranged on the upper side of the main body framework, M independent grippers for grabbing seedling raising trays are correspondingly arranged on the lower side of the main body framework, and the seedling raising trays which can be grabbed at one time are just placed on a tidal seedling bed. Thus, a plurality of seedling trays can be grasped at a time, and a row of seedling trays can be placed on the tidal seedling bed at a time. The working efficiency is improved, and the action times and frequency of the sliding table module are reduced.
In a preferred embodiment of the invention, the grippers comprise side grippers 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 formed in the side grippers at the left side and the right side, the guide rod passes through the guide holes in the side grippers at the two sides, a control cylinder is arranged at the lower side of the main body framework corresponding to each side gripper, and the side grippers at the two sides are controlled to be closed and separated by the control cylinder so as to take and place the seedling tray. Install main part skeleton on the slip table module, realize moving the top of educating seedling tray with anchor clamps through the removal of X, Z axles of slip table module, then draw close the side tongs of both sides through control cylinder control, grasp educate seedling tray, then remove main part skeleton to the seedbed upside, open through control cylinder control side tongs, place educate seedling tray on the seedbed.
In a preferred embodiment of the present invention, the side gripper includes gripper bodies and gripper bars for connecting the gripper bodies, the gripper bodies are in a vertical hook shape, at least two gripper bodies are disposed on each gripper bar, the gripper bodies of the side grippers on two sides are disposed opposite to each other, and the guide holes are located on the gripper bars. The clamping reliability of grabbing the seedling tray is improved.
In a preferred embodiment of the invention, each grip is provided with two guide bars, which are arranged in a spaced-apart manner one behind the other. This improves the reliability of the lateral grip movement.
In a preferred embodiment of the invention, the main body framework comprises left and right vertical beams, the left and right vertical beams are connected through a plurality of transverse beams, the 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.
In a preferred embodiment of the invention, a pair of seedling raising tray positioning mechanisms are 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 lifting mechanism includes a seedling raising tray support plate and a lifting cylinder for lifting the seedling raising tray support plate.
The invention also discloses a vegetable unmanned conveying equipment using method, which comprises the following steps:
s1, initializing a system;
s2, the M seedling raising trays are lifted off the seedling raising tray conveying line by the M seedling raising tray lifting mechanisms;
s3, grabbing and placing M seedling trays on the top-away seedling tray conveying line on a tidal seedling bed conveying line by the slipway module;
s4, repeating the steps S1 to S3; until the task is completed.
In a preferred embodiment of the present invention, the following steps are included in step S1:
s11, the controller sends a conveying belt movement stopping control signal on the conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving;
s12, M combination steps including steps S121 to S12M,
s121, the controller sends a 1 st gear lever lowering control signal to the 1 st rotary cylinder and sends a 1 st gear lever lowering control signal to the 1 st rotary cylinder, and the 1 st gear lever are lowered;
s122, the controller sends a 2 nd gear lever retraction control signal to the 2 nd rotary cylinder and sends a 2 '2 nd gear lever retraction control signal to the 2 nd rotary cylinder, and the 2 nd gear lever and the 2' 2 nd gear lever are retracted;
s123, the controller sends a 3 rd gear lever retraction control signal to the 3 rd rotary cylinder and sends a 3 'th gear lever retraction control signal to the 3 rd rotary cylinder, and the 3 rd gear lever and the 3' th gear lever are retracted;
……；
S12M, the controller sends an M-th gear lever retraction control signal to the M-th rotary cylinder of the controller, and sends an M ' -th gear lever retraction control signal to the M ' -th rotary cylinder of the controller, and the M-th gear lever and the M ' -th gear lever are retracted;
s13, including M combination steps of steps S131 to S13M,
s131, the controller sends an infrared signal to the 1 st infrared correlation transmitting device, and the 1 st infrared correlation transmitting device sends infrared rays;
s132, the controller sends an infrared signal to the 2 nd infrared correlation transmitting device, and the 2 nd infrared correlation transmitting device sends infrared rays;
s133, the controller sends an infrared signal to the 3 rd infrared correlation transmitting device, and the 3 rd infrared correlation transmitting device sends infrared rays;
……；
S13M, the controller sends an infrared signal to an Mth infrared correlation transmitting device of the controller, and the Mth infrared correlation transmitting device sends infrared rays;
s14, including steps S141-S143,
s141, including M combination steps of steps S1411 to S141M,
s1411, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on the two sides are separated;
s1412, the controller sends a separation control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides are separated;
s1413, the controller sends a separation control signal to the 3 rd control cylinder, and the 3 rd grippers on the two sides are separated;
……；
S141M, the controller sends a separation control signal to an Mth control cylinder of the controller, and Mth grippers on two sides are separated;
s142, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is far away from the seedling tray conveying line, and when the controller receives a proximity signal sent by a 1 st Y-axis proximity sensor, the Z-axis sliding table stops working;
s143, the controller sends a movement control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives the proximity signal sent by the 1 st X-axis proximity sensor, the X-axis sliding table stops working.
In a preferred embodiment of the present invention, the following steps are included in step S2:
s21, including steps S211-S214;
s211, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer belt on the seedling tray conveying line moves;
s212, when the controller receives the infrared blocking signal sent by the 1 st infrared correlation receiving device, the controller sends a conveying belt movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as a 1 st seedling raising tray;
s213, the controller sends a 1 st gear lever retraction control signal to the 1 st rotary cylinder and sends a 1 st gear lever retraction control signal to the 1 st rotary cylinder, and the 1 st gear lever are retracted;
S214, the controller sends a lifting control signal of the 1 st seedling tray supporting plate to the 1 st lifting air cylinder until the 1 st seedling tray supporting plate supports the 1 st seedling tray to leave the seedling tray conveying line and the height from the seedling tray conveying line is Xcm, wherein 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 the 2 nd rotary cylinder, and sends a 2 'th gear lever lowering control signal to the 2 nd rotary cylinder, and the 2 nd gear lever and the 2' nd gear lever are lowered;
s222, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer belt on the seedling tray conveying line moves;
s223, when the controller receives the infrared blocking signal sent by the 2 nd infrared correlation receiving device, the controller sends a conveying belt movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as a 2 nd seedling raising tray;
s224, the controller sends a 2 nd gear lever retraction control signal to the 2 nd rotary cylinder and sends a 2 '2 nd gear lever retraction control signal to the 2 nd rotary cylinder, and the 2 nd gear lever and the 2' 2 nd gear lever are retracted;
S225, the controller sends a lifting control signal of the 2 nd seedling raising tray supporting plate to the 2 nd lifting air cylinder until the 2 nd seedling raising tray supporting plate supports the 2 nd seedling raising tray to leave the seedling raising tray conveying line and the height from the seedling raising tray conveying line is Xcm, wherein 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 the 3 rd rotary cylinder and sends a 3 'th gear lever lowering control signal to the 3 rd rotary cylinder, and the 3 rd gear lever and the 3' th gear lever are lowered;
s232, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer belt on the seedling tray conveying line moves;
s233, when the controller receives the infrared blocking signal sent by the 3 rd infrared correlation receiving device, the controller sends a conveying belt movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as a 3 rd seedling raising tray;
s234, the controller sends a 3 rd gear lever retraction control signal to the 3 rd rotary cylinder and sends a 3 'th gear lever retraction control signal to the 3 rd rotary cylinder, and the 3 rd gear lever and the 3' th gear lever are retracted;
S235, the controller sends a lifting control signal of the 3 rd seedling raising tray supporting plate to the 3 rd lifting air cylinder until the 3 rd seedling raising tray supporting plate supports the 3 rd seedling raising tray to leave the seedling raising tray conveying line and the height from the seedling raising tray conveying line is Xcm, wherein 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 the 4 th rotary cylinder and sends a 4' th gear lever lowering control signal to the 4' th rotary cylinder, and the 4 th gear lever and the 4' th gear lever are lowered;
s242, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer 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 movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as a 4 th seedling raising tray;
s244, the controller sends a 4 th gear lever retraction control signal to the 4 th rotary cylinder and sends a 4' th gear lever retraction control signal to the 4' th rotary cylinder, and the 4 th gear lever and the 4' th gear lever are retracted;
S245, the controller sends a 4 th seedling raising tray supporting plate lifting control signal to a 4 th lifting air cylinder until the 4 th seedling raising tray supporting plate supports the 4 th seedling raising tray to leave the seedling raising tray conveying line and the height from the seedling raising tray conveying line is Xcm, wherein X is a positive number, and cm is a length unit centimeter;
……；
S2M comprises the steps of S2M 1-S2M 5;
S2M1, the controller sends an Mth gear lever lowering control signal to an Mth rotary cylinder of the controller, and the Mth gear lever are lowered;
S2M2, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer belt on the seedling tray conveying line moves;
S2M3, when the controller receives the infrared blocking signal sent by the Mth infrared correlation receiving device, the controller sends a conveying belt movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as an Mth seedling raising tray;
S2M4, the controller sends an M-th gear lever retraction control signal to the M-th rotary cylinder of the controller, and the M-th gear lever are retracted;
S2M5, the controller sends an ascending control signal of the tray of the Mth seedling raising tray to the Mth lifting cylinder of the controller until the tray of the Mth seedling raising tray supports the tray of the Mth seedling raising tray to leave the seedling raising tray conveying line, the height from the seedling raising tray 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-S318;
s311, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is close to the seedling tray conveying line, and when the controller receives a proximity signal sent by a 2Y-axis proximity sensor, the Z-axis sliding table stops working;
s312, including M combination steps of steps S3121-S312M,
s3121, the controller sends a closing control signal to the 1 st control cylinder, and the 1 st grippers on the two sides close to grasp the 1 st seedling tray;
s3122, the controller sends a closing control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides close to grasp the 2 nd seedling tray;
s3123, the controller sends a closing control signal to the 3 rd control cylinder, and the 3 rd grippers on the two sides close to grasp the 3 rd seedling tray;
……；
S312M, the controller sends a closing control signal to an Mth control cylinder of the controller, and Mth side grippers on two sides close to grasp an Mth seedling tray;
S313, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is far away from the seedling tray conveying line, and when the controller receives a proximity signal sent by a 1 st Y-axis proximity 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 a proximity signal sent by the 2X-axis proximity sensor, the X-axis sliding table stops working;
s315, the controller sends a movement control signal of the seedling tray clamp approaching to the tidal type 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 M combination steps of steps S3161 to S36M,
s3161, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on two sides are separated;
s3162, the controller sends a separation control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides are separated;
s3163, the controller sends a separation control signal to a 3 rd control cylinder of the controller, and 3 rd grippers on two sides are separated;
……；
S316M, the controller sends a separation control signal to an Mth control cylinder of the controller, and Mth grippers on two sides are separated;
S317, the controller sends a movement control signal 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;
s318, the controller sends a movement 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;
s32, including steps S321-S328;
s321, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is close to the seedling tray conveying line, and when the controller receives a proximity signal sent by a 2Y-axis proximity sensor, the Z-axis sliding table stops working;
s322, including M combination steps of steps S3221-S322M,
s3221, the controller sends a closing control signal to the 1 st control cylinder, and the 1 st grippers on two sides close to grasp the 1 st seedling tray;
s3222, the controller sends a closing control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides close to grasp the 2 nd seedling tray;
s3223, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and 3 rd grippers on two sides close to grasp a 3 rd seedling tray;
……；
S322M, the controller sends a closing control signal to an Mth control cylinder of the controller, and Mth side grippers on two sides close to grasp an Mth seedling tray;
S323, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is far away from the seedling tray conveying line, and when the controller receives a proximity signal sent by a 1 st Y-axis proximity 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 a proximity signal sent by the 3 rd X-axis proximity sensor, the X-axis sliding table stops working;
s325, the controller sends a movement control signal of the seedling tray clamp approaching to the tidal type seedbed 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;
s326, including M combination steps of steps S3161 to S36M,
s3261, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on two sides are separated;
s3262, the controller sends a separation control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides are separated;
s3263, the controller sends a separation control signal to the 3 rd control cylinder, and the 3 rd grippers on two sides are separated;
……；
S326M, the controller sends a separation control signal to an Mth control cylinder of the controller, and the Mth grippers on two sides are separated;
S327, the controller sends a movement control signal 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;
s328, the controller sends a movement 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;
s33, including steps S331-S338;
s331, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is close to the seedling tray conveying line, and when the controller receives a proximity signal sent by a 2Y-axis proximity sensor, the Z-axis sliding table stops working;
s332, including M combination steps of steps S3321 to S332M,
s3321, the controller sends a closing control signal to the 1 st control cylinder, and the 1 st grippers on the two sides close to grasp the 1 st seedling tray;
s3322, the controller sends a closing control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides close to grasp the 2 nd seedling tray;
s3323, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and 3 rd grippers on two sides close to grasp a 3 rd seedling tray;
……；
S332M, the controller sends a closing control signal to an Mth control cylinder of the controller, and Mth side grippers on two sides close to grasp an Mth seedling tray;
S333, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is far away from the seedling tray conveying line, and when the controller receives a proximity signal sent by a 1 st Y-axis proximity 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 a proximity signal sent by the 4 th X-axis proximity sensor, the X-axis sliding table stops working;
s335, the controller sends a movement control signal of the seedling tray clamp approaching to the tidal type 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;
s336, including M combination steps of steps S3161 to S36M,
s3361, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on two sides are separated;
s3362, the controller sends a separation control signal to the 2 nd control cylinder, and the 2 nd 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 grippers on the two sides are separated;
……；
S336M, the controller sends a separation control signal to an Mth control cylinder of the controller, and the Mth grippers on two sides are separated;
S337, the controller sends a movement control signal 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;
s338, the controller sends a movement 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;
……；
S3Q comprises steps S3Q 1-S3Q 8;
S3Q1, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is close to the seedling tray conveying line, and when the controller receives a proximity signal sent by a 2Y-axis proximity sensor, the Z-axis sliding table stops working;
S3Q2, comprising M combination steps of steps S3Q21 to S3Q2M,
S3Q21, the controller sends a closing control signal to the 1 st control cylinder, and the 1 st grippers on the two sides close to grasp the 1 st seedling tray;
S3Q22, the controller sends a closing control signal to the 2 nd control cylinder of the controller, and the 2 nd grippers on the two sides close to grasp the 2 nd seedling tray;
S3Q23, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and 3 rd grippers on two sides close to grasp a 3 rd seedling tray;
……；
S3Q2M, the controller sends a closing control signal to an Mth control cylinder of the controller, and Mth side grippers on two sides close to grasp an Mth seedling tray;
S3Q3, the controller sends a seedling raising disk clamp moving control signal to the Z-axis sliding table, wherein the seedling raising disk clamp moving control signal is far away from the seedling raising disk conveying line, and when the controller receives a proximity signal sent by the 1 st Y-axis proximity sensor, the Z-axis sliding table stops working;
S3Q4, the controller sends a movement 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 (Q+1) th X-axis proximity sensor, the X-axis sliding table stops working;
S3Q5, the controller sends a movement control signal of the seedling raising tray clamp close to the tidal type 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;
S3Q6, comprising M combination steps of steps S3161 to S36M,
S3Q61, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on the two sides are separated;
S3Q62, the controller sends a separation control signal to the 2 nd control cylinder, and the 2 nd 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 grippers on the two sides are separated;
……；
S3Q6M, the controller sends a separation control signal to an Mth control cylinder of the controller, and the Mth grippers on two sides are separated;
S3Q7, the controller sends a movement control signal of the seedling raising tray clamp away from the tidal type 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;
S3Q8, the controller sends a movement control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives the proximity signal sent by the 1 st X-axis proximity sensor, the X-axis sliding table stops working.
In summary, by adopting the technical scheme, the automatic feeding and discharging of the seedling tray for grabbing the seedling tray can be realized, the problems of large labor requirements and high labor intensity of carrying, taking and placing the cave tray in the tidal seedling bed production process are solved, the mechanization and automation level in the tidal seedling bed production process 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 foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
Fig. 1 is a top view of the present invention.
Fig. 2 is a schematic diagram of a slipway module.
Fig. 3 is a schematic diagram of a seedling raising tray conveying line structure.
Fig. 4 is a top view of fig. 3.
Fig. 5 is a schematic structural view of a seedling tray clamp.
Fig. 6 is a schematic structural view of a seedling tray clamp.
Fig. 7 is a partial enlarged view of fig. 6 at a.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
Three kinds of tidal seedbeds exist, namely, a fixed seedbed and an immovable seedbed; secondly, the movable seedbed can transversely move for a certain distance, generally not more than 60cm, the number of operation channels can be reduced through transverse movement of the seedbed, and the space utilization rate is improved; thirdly, the automatic logistics seedbed, and the tidal-type seedbed is automatically transported and circulated through a conveying motor, an air cylinder, a guide wheel, a sensor and the like.
As shown in fig. 1 to 7, the tidal seedbed in-bed out-of-bed machine consists of a seedling raising tray conveying line 1, a tidal seedbed conveying line 2, M seedling raising tray positioning mechanisms 3, M seedling raising tray jacking mechanisms 4, M photoelectric switch groups, a sliding table module 6, a seedling raising tray clamp 7 and a photoelectric switch 8. Wherein M is a positive integer greater than or equal to 1, and the M seedling tray positioning mechanisms are respectively a 1 st seedling tray positioning mechanism, a 2 nd seedling tray positioning mechanism, a 3 rd seedling tray positioning mechanism, a … … and an M th seedling tray positioning mechanism from front to back in sequence; the M seedling raising disk jacking mechanisms are respectively a 1 st seedling raising disk jacking mechanism, a 2 nd seedling raising disk jacking mechanism, a 3 rd seedling raising disk jacking mechanism, a … … th seedling raising disk jacking mechanism and an M th seedling raising disk 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, a … … th photoelectric switch group and an M th photoelectric switch group from front to back in sequence.
The seedling tray conveying line 1 adopts double-row PVC conveying belts, and a gap is reserved between the two rows of conveying belts.
The seedling raising tray adopts a hard seedling raising tray, and the specific seedling raising tray structure can adopt the existing structure.
In addition, the seeding machine, the automatic logistics seedbed and the lifting platform are all provided with mature equipment, the equipment and the tidal seedbed in-bed out-bed machine are connected through a conveying line, a turning machine and the like, a seedling tray arranging machine and a field planting cup tray arranging machine can be further arranged at the front end of the seeding line, automatic placement of seedling trays and automatic filling of field planting cups are achieved, and labor intensity is relieved.
Each seedling raising tray jacking mechanism 4 is arranged between two rows of conveying belts, and the seedling raising tray jacking mechanism 4 is used for jacking up seedling raising trays on the seedling raising tray conveying line 1 and leaving the seedling raising tray conveying line 1. The seedling raising tray jacking mechanism 4 comprises a seedling raising tray supporting plate 401 and a jacking cylinder 402 for jacking the seedling raising tray supporting plate 401, wherein a control input signal end of the jacking cylinder 402 is connected with a jacking cylinder control output signal end of the controller; namely, the 1 st seedling raising tray jacking mechanism comprises a 1 st seedling raising tray supporting plate and a 1 st jacking air cylinder for jacking the 1 st seedling raising tray supporting plate, wherein a control input signal end of the 1 st jacking air cylinder is connected with a 1 st end of a jacking air cylinder control output signal of the controller; the 2 nd seedling raising tray jacking mechanism comprises a 2 nd seedling raising tray supporting plate and a 2 nd jacking cylinder for jacking the 2 nd seedling raising tray supporting plate, wherein a control input signal end of the 2 nd jacking cylinder is connected with a 2 nd end of a jacking cylinder control output signal of the controller; the 3 rd seedling raising tray jacking mechanism comprises a 3 rd seedling raising tray supporting plate and a 3 rd jacking cylinder for jacking the 3 rd seedling raising tray supporting plate, wherein 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; … …; the lifting mechanism of the Mth seedling raising tray comprises an Mth seedling raising tray supporting plate and an Mth lifting air cylinder for lifting the Mth seedling raising tray supporting plate, and a control input signal end of the Mth lifting air cylinder is connected with an Mth end of a lifting air cylinder control output signal of the controller.
The seedling raising tray positioning mechanism 3 is arranged in front of the seedling raising tray jacking mechanism 4, and the specific seedling raising tray positioning mechanism 3 is positioned in front of the seedling raising tray supporting plate 401 and used for blocking the seedling raising tray and avoiding the continuous forward conveying of the seedling raising tray. The side flanging is outwards extended and arranged on the periphery of the top surface of the seedling raising tray, so that the seedling raising tray clamp 7 can be conveniently clamped. The seedling tray positioning mechanism 3 comprises a gear lever 301 and a rotary cylinder 302 for controlling the gear lever 301 to be put down and retracted, wherein a control input signal end of the rotary cylinder 302 is connected with a rotary cylinder control output signal end of the controller, when the gear lever 301 is put down, the gear lever 301 extends along the width direction of the seedling tray conveying line 1 and is used for blocking the seedling tray, and when the gear lever 301 is retracted, the seedling tray can pass through the seedling tray conveying line 1; namely, the 1 st seedling tray positioning mechanism comprises a 1 st gear rod and a 1 st rotary cylinder for controlling the 1 st gear rod to put down and retract, wherein a control input signal end of the 1 st rotary cylinder is connected with a 1 st end of a rotary cylinder control output signal of the controller; the 2 nd seedling tray positioning mechanism comprises a 2 nd gear lever and a 2 nd rotary cylinder for controlling the 2 nd gear lever to put down and retract, wherein 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 tray positioning mechanism comprises a 3 rd gear lever and a 3 rd rotary cylinder for controlling the 3 rd gear lever to put down and retract, wherein 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; … …; the positioning mechanism of the Mth seedling raising disk comprises an Mth gear rod and an Mth rotary cylinder for controlling the Mth gear rod to put down and retract, and a control input signal end of the Mth rotary cylinder is connected with an Mth end of a rotary cylinder control output signal of the controller. 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. Namely, the two sides of the seedling raising disk jacking mechanism 4 are provided with seedling raising disk positioning mechanisms 3. Namely, a 1 st seedling tray positioning mechanism and a 1' st seedling tray positioning mechanism, a 1 st pair of seedling tray positioning mechanisms, a 2 nd seedling tray positioning mechanism and a 2' nd pair of seedling tray positioning mechanisms, a 3 rd seedling tray positioning mechanism and a 3 rd pair of seedling tray positioning mechanisms, a … …, an M th seedling tray positioning mechanism and an M ' th pair of seedling tray positioning mechanisms. The 1 'seedling tray positioning mechanism comprises a 1' gear lever and a 1 'rotary cylinder for controlling the 1' gear lever to put down and retract, wherein a control input signal end of the 1 'rotary cylinder is connected with a 1' end of a rotary cylinder control output signal of the controller; the 2 'seedling tray positioning mechanism comprises a 2' gear lever and a 2 'rotary cylinder for controlling the 2' gear lever to put down and retract, wherein 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 tray positioning mechanism comprises a 3' gear lever and a 3 'rotary cylinder for controlling the 3' gear lever to put down and retract, wherein 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; … …; the positioning mechanism of the M 'seedling raising disk comprises an M' gear lever and an M 'rotary cylinder for controlling the M' gear lever to put down and retract, wherein 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 photoelectric switch group 8 is arranged on the seedling raising tray conveying line frame beside the seedling raising tray jacking mechanism 4, and the photoelectric switch group 8 is used for sensing whether the seedling raising tray is in place or not. The photoelectric switch group 8 comprises an infrared correlation transmitting device and an infrared correlation receiving device, wherein 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 transmits an infrared signal to the control input signal end of the infrared correlation transmitting device, the infrared correlation transmitting device transmits 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 indicated to be 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 a control output signal of the infrared correlation transmitting device of the controller, and a signal output end of the 1 st infrared correlation receiving device is connected with a 1 st signal input end of the infrared correlation receiving device 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 a control output signal of the infrared correlation transmitting device of the controller, and a signal output end of the 2 nd infrared correlation receiving device is connected with a 2 nd signal input end of the infrared correlation receiving device 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 a control output signal of the infrared correlation transmitting device of the controller, and a signal output end of the 3 rd infrared correlation receiving device is connected with a 3 rd signal input end of the infrared correlation receiving device of the controller; … …; the M-th photoelectric switch group comprises an M-th infrared correlation transmitting device and an M-th infrared correlation receiving device, wherein a control input signal end of the M-th infrared correlation transmitting device is connected with an M-th end of a control output signal of the infrared correlation transmitting device of the controller, and a signal output end of the M-th infrared correlation receiving device is connected with an infrared correlation receiving device signal input M-th end 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 just placed on one row of the tidal seedling raising bed. The front of each seedling raising tray lifting mechanism 4 is provided with a seedling raising tray positioning mechanism 3, and each seedling raising tray lifting mechanism 4 is correspondingly provided with a photoelectric switch group 8. The seedling raising tray clamp can at least grasp 5 seedling raising trays lifted by the 5 seedling raising tray lifting mechanisms 4 at a time. The seedling raising trays which can be grasped at one time by the seedling raising tray clamp are placed in a row just above the tidal seedling bed.
The tidal seedbed conveyor line 2 is used to transport tidal seedbeds.
The slipway 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, educate seedling tray anchor clamps 7 are installed to the lower extreme of Z axle slip table 603, realize through Z axle slip table 603 that educate the upper and lower removal of educating tray anchor clamps 7 is gone to educate seedling tray transfer chain 1 and is pressed from both sides and get educate seedling tray and place educating seedling tray on the morning and evening tides formula seedbed on morning and evening tides formula seedbed transfer chain 2, realize letting educate seedling tray anchor clamps 7 remove between educating seedling tray transfer chain 1 and morning and evening tides formula seedbed transfer chain 2 through X axle slip table 602. The X-axis sliding table 602 is provided with P X-axis proximity sensors for detecting whether the X-axis sliding table 602 reaches a set point, wherein P is a positive integer greater than or equal to 2, and the P is a 1 st X-axis proximity sensor, a 2 nd X-axis proximity sensor, a 3 rd X-axis proximity sensor, a … … th PX-axis proximity sensor and a PX-axis proximity sensor in sequence from the seedling tray conveying line 1 to the tidal seedling bed conveying line 2, wherein the horizontal distance between adjacent sensors of the 2 nd X-axis proximity sensor, the 3 rd X-axis proximity sensor, the 4 th X-axis proximity sensor, the … … th PX-axis proximity sensor is greater than or equal to the width or the length of the seedling tray; the proximity signal output end of the 1 st X-axis proximity sensor is connected with the X-axis proximity 1 st signal input end of the controller, the proximity signal output end of the 2 nd X-axis proximity sensor is connected with the X-axis proximity 2 nd signal input end of the controller, the proximity signal output end of the 3 rd X-axis proximity sensor is connected with the X-axis proximity 3 rd signal input end of the controller, … … is provided, and the proximity signal output end of the PX-axis proximity sensor is connected with the X-axis proximity P-th signal input end of the controller; a 1 st Z-axis proximity sensor and a 2 nd Z-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 proximity signal output end of the 1 st Z-axis proximity sensor is connected with the 1 st Z-axis proximity signal input end of the controller, and the proximity signal output end of the 2 nd Z-axis proximity sensor is connected with the 2 nd Z-axis proximity signal input end of the controller; when the controller receives the 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 taken and placed by the seedling tray conveying line 1; when the controller receives the proximity signal sent by the 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 by the tidal seedbed conveying line 2 and is positioned at the 1 st taking and placing position; when the controller receives the proximity signal sent by the 3X-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 by the tidal seedbed conveying line 2 and is positioned at the 2 nd taking and placing position; when the controller receives the proximity signal sent by the 4X-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 by the tidal seedbed conveying line 2 and is positioned at the 3 rd taking and placing position; … …; when the controller receives the proximity signal sent by the PX axis proximity sensor, the X axis sliding table 602 stops moving, and the seedling raising tray clamp 7 is positioned above the seedling raising tray to be taken and placed by the tidal seedbed conveying line 2 and is positioned at the P-1 taking and placing position; when the controller receives the proximity signal sent by the 1 st Z-axis proximity sensor, the seedling tray clamp 7 is at a stop point; when the controller receives the proximity signal sent by the 2Z axis proximity sensor, the seedling tray clamp 7 is at a height capable of taking and placing the seedling tray.
The seedling raising tray clamp 7 comprises a main body framework 701, wherein the main body framework 701 comprises left and right vertical beams 70101, and the left and right vertical beams 70101 are connected through a plurality of transverse beams 70102. The upper side of the main body frame 1 is provided with a mounting plate 70103 for connection with the slide table module, and the mounting plate 70103 is located at the center of the main body frame 701.
M grippers for grabbing the seedling tray are arranged at intervals in front of and behind the lower side of the main body framework 701, and the 1 st gripper, the 2 nd gripper, the 3 rd gripper, the … … th gripper and the M th gripper are respectively arranged from front to back in sequence; in the figure, the underside of the main body skeleton 701 is provided with 5 grippers, just enough to grip a row of number of seedling trays of the tidal seedbed.
The tongs include the side tongs 702 that is located main part skeleton 701 left and right sides, and side tongs 702 include tongs body 70201 and are used for connecting tongs body 70201's tongs pole 70202, and tongs body 70201 is perpendicular to collude the shape, is provided with two at least tongs body 70201 on every tongs pole 70202, and the tongs body 70201 of the side tongs 702 of both sides set up relatively, preferably set up two at least tongs body 70201 on every tongs pole 70202, sets up four at least tongs body 70201 on every tongs pole 70202 in the figure. The two ends of the guide rod 703 extending left and right are respectively fixed at the left and right ends of the lower side of the main body skeleton 701, and the side grips 702 on the left and right sides are symmetrically provided with guide holes for the guide rod 703 to pass through, and the guide holes are positioned on the grip rod 70202. The guide rods 70202 pass through the guide holes on the side grips 702 on two sides, preferably, two guide rods 703 are correspondingly arranged on each grip, the two guide rods 703 are arranged at intervals front and back, and two guide holes are correspondingly arranged on each grip rod 70202. So that the motion guidance is more reliable.
A control cylinder 704 is arranged at the lower side of the main body framework 701 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 at two sides are positioned between the side grippers 702 at two sides, the control cylinder 704 is arranged at the lower side of the transverse beam 70102, and the side grippers 702 at two sides are controlled to be close and separated by the control cylinders 704, so that picking and placing of seedling trays are realized. A limiting head 705 for controlling the moving stroke of the side grip 702 is arranged on the cylinder wall of the control cylinder 704 close to the side grip 702.
That is, the 1 st hand grip includes 1 st hand grips located at the left and right sides of the main body skeleton 701, the 1 st hand grip includes a 1 st hand grip body and a 1 st hand grip lever for connecting the 1 st hand grip body, the 1 st hand grip body is in a vertical hook shape, at least one 1 st hand grip body is disposed on each 1 st hand grip lever, the 1 st hand grip bodies of the 1 st hand grips on both sides are oppositely disposed, generally, at least two 1 st hand grip bodies are disposed on each 1 st hand grip lever, and preferably, at least four 1 st hand grip bodies are disposed on each 1 st hand grip lever. The two ends of the 1 st 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 701, and the 1 st guide holes for the 1 st guide rod to pass through are symmetrically arranged on the 1 st grippers on the left side and the right side, and the 1 st guide holes are positioned on the 1 st gripper rod. The 1 st guide rod passes the guiding hole on the 1 st grab handle of both sides, and preferably each 1 st grab handle is provided with two 1 st guide rods corresponding, and two 1 st guide rods back-and-forth interval sets up, is provided with two guiding holes on each 1 st grab handle 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 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 cylinder of the 1 st grippers on two sides is positioned between the 1 st 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 grippers on two sides are controlled to be close and separated through the 1 st control cylinder, so that picking and placing of seedling trays are realized. The 1 st control cylinder is provided with a 1 st limit head for controlling the moving stroke of the 1 st side gripper on the cylinder wall close to the 1 st side gripper.
The 2 nd tongs include the 2 nd side tongs that are located main body skeleton 701 left and right sides, and the 2 nd side tongs include 2 nd tongs body and are used for connecting the 2 nd tongs pole of 2 nd tongs body, and the 2 nd tongs body is for erecting the shape of colluding, is provided with at least one 2 nd tongs body on every 2 nd tongs pole, and the 2 nd tongs body of the 2 nd side tongs of both sides sets up relatively, sets up two at least 2 nd tongs bodies on general every 2 nd tongs pole, sets up four at least 2 nd tongs bodies on the preferential every 2 nd tongs pole. The two ends of the 2 nd 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 701, and the 2 nd guide holes for the 2 nd guide rod to pass through are symmetrically arranged on the 2 nd grippers on the left side and the right side, and the 2 nd guide holes are positioned on the 2 nd gripper rod. The 2 nd guide rod passes the guiding hole on the 2 nd grab handle of both sides, and preferably every 2 nd grab handle corresponds to be provided with two 2 nd guide rods, and two 2 nd guide rods back-and-forth interval sets up, is provided with two guiding holes on every 2 nd grab handle 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 cylinder of the 2 nd side grippers on two sides is 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 to be close and separated through the 2 nd control cylinder, so that picking and placing of seedling trays are realized. The 2 nd control cylinder is provided with a 2 nd limit head for controlling the moving stroke of the 2 nd gripper on the cylinder wall close to the 2 nd gripper.
The 3 rd tongs include the 3 rd tongs that are located main body skeleton 701 left and right sides, and the 3 rd tongs include 3 rd tongs body and be used for connecting the 3 rd tongs body 3 rd tongs pole, and the 3 rd tongs body is perpendicular to collude the shape, is provided with at least one 3 rd tongs body on every 3 rd tongs pole, and the 3 rd tongs body of the 3 rd tongs of both sides sets up relatively, sets up two at least 3 rd tongs bodies on every 3 rd tongs pole generally, sets up four at least 3 rd tongs bodies on every 3 rd tongs pole preferably. The two ends of the 3 rd 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 701, and 3 rd guide holes for the 3 rd guide rod to pass through are symmetrically formed in the 3 rd grippers on the left side and the right side, and the 3 rd guide holes are positioned on the 3 rd gripper rod. The 3 rd guide rod passes the guiding hole on the 3 rd grab handle of both sides, and preferably every 3 rd grab handle corresponds to be provided with two 3 rd guide rods, and two 3 rd guide rods back-and-forth interval sets up, is provided with two guiding holes on every 3 rd grab handle pole that corresponds. The lower side of the main body framework 701 is provided with a 3 rd control cylinder corresponding to each 3 rd side gripper, a control input signal end of the 3 rd control cylinder is connected with a 3 rd end of a control output signal of a control cylinder of the controller, the 3 rd control cylinder of the 3 rd side grippers on two sides is positioned between the 3 rd side grippers on two sides, the 3 rd control cylinder is arranged on the lower side of the 3 rd transverse beam, and the 3 rd side grippers on two sides are controlled to be close and separated through the 3 rd control cylinder, so that picking and placing of seedling trays are realized. The 3 rd control cylinder is provided with a 3 rd limit head for controlling the moving stroke of the 3 rd side gripper on the cylinder wall close to the 3 rd side gripper.
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The mth tongs include the mth side tongs that are located main part skeleton 701 left and right sides, and the mth side tongs include the mth tongs body and are used for connecting the mth tongs pole of mth tongs body, and the mth tongs body is perpendicular to collude the shape, is provided with at least one mth tongs body on every mth tongs pole, and the mth tongs body of the mth side tongs of both sides sets up relatively, sets up two at least mth tongs bodies on every mth tongs pole generally, sets up four at least mth tongs bodies on every mth tongs pole preferably. The two ends of the M 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 701, and M guide holes for the M guide rod to pass through are symmetrically formed in M side grips on the left side and the right side, and the M guide holes are positioned on the M side grip rod. The Mth guide rod passes through the guide holes on the Mth handles on the two sides, preferably, each Mth handle is correspondingly provided with two Mth guide rods, the two Mth guide rods are arranged at intervals front and back, and each corresponding Mth handle rod is provided with two guide holes. The lower side of the main body framework 701 is provided with an Mth control cylinder corresponding to each Mth side gripper, a control input signal end of the Mth control cylinder is connected with a control output signal Mth end of a control cylinder of the controller, the Mth control cylinder of the Mth side grippers on two sides is located between the Mth side grippers on two sides, the Mth control cylinder is arranged on the lower side of the Mth transverse beam, and the Mth side grippers on two sides are controlled to be close and separated through the Mth control cylinder, so that picking and placing of seedling trays are realized. The Mth control cylinder is provided with an Mth limit head for controlling the movement stroke of the Mth gripper on the cylinder wall close to the Mth gripper.
The working flow is as follows:
1. in the initial state, the forefront seedling tray positioning mechanism 3 is in an open state (a baffle tray), the rest seedling tray positioning mechanisms 3 are in a retracted state (the seedling tray can pass through), and the seedling tray jacking mechanisms 4 are in a descending state.
2. When the seedling raising tray 9 after seeding reaches the photoelectric switch 8 of the front seedling raising tray jacking mechanism 4, the photoelectric switch 8 detects the seedling raising tray, the conveying line is suspended, the front seedling raising tray positioning mechanism 3 is retracted, the jacking cylinder 402 of the front seedling raising tray jacking mechanism 4 is opened to jack the seedling raising tray 9 away from the surface of the seedling raising tray conveying line 1, the second seedling raising tray positioning mechanism 3 is changed into an opened state from retraction, and then the seedling raising tray conveying line is started.
3. Repeating the above actions to complete the positioning and lifting actions of 2/3/4/5 of the seedling raising tray.
4. The seedling tray clamp 7 moves in the X-axis direction and the Z-axis direction through the sliding table module 6, and the sliding table module 6 is driven by a servo motor, so that the accurate positioning of the X-axis and the Z-axis can be realized. After the sliding table module 6 moves to a designated position above the seedling raising tray conveying line 1, the grippers are respectively driven by the control cylinder 704 to clamp/unclamp, so that 5 trays of seedling raising trays can be clamped at one time; then, the horizontal and vertical movement is realized through the sliding table mould 6 group, the seedling raising tray is clamped onto the tide type seedling bed 10 from the seedling raising tray conveying line 1, and the seedling raising tray feeding action is completed.
5. And the bed discharging action is that the step 4 is reversely completed, the seedling raising tray is taken out from the tidal seedling bed and is placed on a seedling raising tray conveying line of the hole, so that the bed discharging action of the seedling raising tray on the seedling bed is realized.
The invention also discloses a vegetable unmanned conveying equipment using method, which comprises the following steps:
s1, initializing a system;
s2, the M seedling raising trays are lifted off the seedling raising tray conveying line by the M seedling raising tray lifting mechanisms;
s3, grabbing and placing M seedling trays on the top-away seedling tray conveying line on a tidal seedling bed conveying line by the slipway module;
s4, repeating the steps S1 to S3; until the task is completed.
In a preferred embodiment of the present invention, the following steps are included in step S1:
s11, the controller sends a conveying belt movement stopping control signal on the conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving;
s12, including the M combination steps of steps S121-S12M, the M combination steps of S121-S12M indicate that the execution steps can be sequentially executed according to the order of S121-S12M, can be executed simultaneously, and can also include other order execution or partial simultaneous execution of S121-S12M.
S121, the controller sends a 1 st gear lever lowering control signal to the 1 st rotary cylinder and sends a 1 st gear lever lowering control signal to the 1 st rotary cylinder, and the 1 st gear lever are lowered;
S122, the controller sends a 2 nd gear lever retraction control signal to the 2 nd rotary cylinder and sends a 2 '2 nd gear lever retraction control signal to the 2 nd rotary cylinder, and the 2 nd gear lever and the 2' 2 nd gear lever are retracted;
s123, the controller sends a 3 rd gear lever retraction control signal to the 3 rd rotary cylinder and sends a 3 'th gear lever retraction control signal to the 3 rd rotary cylinder, and the 3 rd gear lever and the 3' th gear lever are retracted;
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S12M, the controller sends an M-th gear lever retraction control signal to the M-th rotary cylinder of the controller, and sends an M ' -th gear lever retraction control signal to the M ' -th rotary cylinder of the controller, and the M-th gear lever and the M ' -th gear lever are retracted;
s13, including the M combination steps of steps S131 to S13M, the M combination steps of S131 to S13M indicate that the execution steps can be sequentially executed according to the order of S131 to S13M, can be simultaneously executed, and can also comprise other order execution or partial simultaneous execution of S131 to S13M.
S131, the controller sends an infrared signal to the 1 st infrared correlation transmitting device, and the 1 st infrared correlation transmitting device sends infrared rays;
s132, the controller sends an infrared signal to the 2 nd infrared correlation transmitting device, and the 2 nd infrared correlation transmitting device sends infrared rays;
S133, the controller sends an infrared signal to the 3 rd infrared correlation transmitting device, and the 3 rd infrared correlation transmitting device sends infrared rays;
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S13M, the controller sends an infrared signal to an Mth infrared correlation transmitting device of the controller, and the Mth infrared correlation transmitting device sends infrared rays;
s14, including the step S141-S143 of 3 combination steps, S141-S143 of 3 combination steps means that the execution steps can be executed according to the order of S141-S143, or can be executed simultaneously, or can include the other order or partial simultaneous execution of S141-S143.
S141, the controller sends a movement 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;
s142, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is far away from the seedling tray conveying line, and when the controller receives a proximity signal sent by a 1 st Y-axis proximity sensor, the Z-axis sliding table stops working;
s143, including the M combination steps of steps S1431 to S143M, the M combination steps of S1431 to S143M indicate that the execution steps can be sequentially executed according to the order of S1431 to S143M, can be executed simultaneously, and can also include other order execution or partial simultaneous execution of S1431 to S143M.
S1431, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on two sides are separated;
s1432, the controller sends a separation control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides are separated;
s1433, the controller sends a separation control signal to the 3 rd control cylinder, and the 3 rd grippers on the two sides are separated;
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and S143M, the controller sends a separation control signal to an Mth control cylinder of the controller, and the Mth grippers on two sides are separated.
In a preferred embodiment of the present invention, the following steps are included in step S2:
s21, including steps S211-S214;
s211, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer belt on the seedling tray conveying line moves;
s212, when the controller receives the infrared blocking signal sent by the 1 st infrared correlation receiving device, the controller sends a conveying belt movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as a 1 st seedling raising tray;
s213, the controller sends a 1 st gear lever retraction control signal to the 1 st rotary cylinder and sends a 1 st gear lever retraction control signal to the 1 st rotary cylinder, and the 1 st gear lever are retracted;
S214, the controller sends a lifting control signal of the 1 st seedling tray supporting plate to the 1 st lifting air cylinder until the 1 st seedling tray supporting plate supports the 1 st seedling tray to leave the seedling tray conveying line and the height from the seedling tray conveying line is Xcm, wherein 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 the 2 nd rotary cylinder, and sends a 2 'th gear lever lowering control signal to the 2 nd rotary cylinder, and the 2 nd gear lever and the 2' nd gear lever are lowered;
s222, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer belt on the seedling tray conveying line moves;
s223, when the controller receives the infrared blocking signal sent by the 2 nd infrared correlation receiving device, the controller sends a conveying belt movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as a 2 nd seedling raising tray;
s224, the controller sends a 2 nd gear lever retraction control signal to the 2 nd rotary cylinder and sends a 2 '2 nd gear lever retraction control signal to the 2 nd rotary cylinder, and the 2 nd gear lever and the 2' 2 nd gear lever are retracted;
S225, the controller sends a lifting control signal of the 2 nd seedling raising tray supporting plate to the 2 nd lifting air cylinder until the 2 nd seedling raising tray supporting plate supports the 2 nd seedling raising tray to leave the seedling raising tray conveying line and the height from the seedling raising tray conveying line is Xcm, wherein 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 the 3 rd rotary cylinder and sends a 3 'th gear lever lowering control signal to the 3 rd rotary cylinder, and the 3 rd gear lever and the 3' th gear lever are lowered;
s232, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer belt on the seedling tray conveying line moves;
s233, when the controller receives the infrared blocking signal sent by the 3 rd infrared correlation receiving device, the controller sends a conveying belt movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as a 3 rd seedling raising tray;
s234, the controller sends a 3 rd gear lever retraction control signal to the 3 rd rotary cylinder and sends a 3 'th gear lever retraction control signal to the 3 rd rotary cylinder, and the 3 rd gear lever and the 3' th gear lever are retracted;
S235, the controller sends a lifting control signal of the 3 rd seedling raising tray supporting plate to the 3 rd lifting air cylinder until the 3 rd seedling raising tray supporting plate supports the 3 rd seedling raising tray to leave the seedling raising tray conveying line and the height from the seedling raising tray conveying line is Xcm, wherein 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 the 4 th rotary cylinder and sends a 4' th gear lever lowering control signal to the 4' th rotary cylinder, and the 4 th gear lever and the 4' th gear lever are lowered;
s242, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer 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 movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as a 4 th seedling raising tray;
s244, the controller sends a 4 th gear lever retraction control signal to the 4 th rotary cylinder and sends a 4' th gear lever retraction control signal to the 4' th rotary cylinder, and the 4 th gear lever and the 4' th gear lever are retracted;
S245, the controller sends a 4 th seedling raising tray supporting plate lifting control signal to a 4 th lifting air cylinder until the 4 th seedling raising tray supporting plate supports the 4 th seedling raising tray to leave the seedling raising tray conveying line and the height from the seedling raising tray conveying line is Xcm, wherein X is a positive number, and cm is a length unit centimeter;
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S2M comprises the steps of S2M 1-S2M 5;
S2M1, the controller sends an Mth gear lever lowering control signal to an Mth rotary cylinder of the controller, and the Mth gear lever are lowered;
S2M2, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer belt on the seedling tray conveying line moves;
S2M3, when the controller receives the infrared blocking signal sent by the Mth infrared correlation receiving device, the controller sends a conveying belt movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as an Mth seedling raising tray;
S2M4, the controller sends an M-th gear lever retraction control signal to the M-th rotary cylinder of the controller, and the M-th gear lever are retracted;
S2M5, the controller sends an ascending control signal of the tray of the Mth seedling raising tray to the Mth lifting cylinder of the controller until the tray of the Mth seedling raising tray supports the tray of the Mth seedling raising tray to leave the seedling raising tray conveying line, the height from the seedling raising tray conveying line is Xcm, X is a positive number, and cm is a length unit centimeter.
In a preferred embodiment of the present invention, the following steps are included in step S3:
s31, the controller sends a movement control signal that the seedling tray clamp approaches 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 M combination steps of steps S321 to S32M,
s321, the controller sends a closing control signal to the 1 st control cylinder, and the 1 st grippers on the two sides close to grasp the 1 st seedling tray;
s322, the controller sends a closing control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides close to grasp the 2 nd seedling tray;
s323, the controller sends a closing control signal to the 3 rd control cylinder, and the 3 rd grippers on the two sides close to grasp the 3 rd seedling tray;
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S32M, the controller sends a closing control signal to an Mth control cylinder of the controller, and Mth side grippers on two sides close to grasp an Mth seedling tray;
S33, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is far away from the seedling tray conveying line, and when the controller receives a proximity signal sent by a 3 rd proximity sensor, the Z-axis sliding table stops working;
s34, the controller sends a movement 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 movement control signal that the seedling tray clamp approaches to the tidal type 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, M combination steps including steps S361-S36M,
s361, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on two sides are separated;
s362, the controller sends a separation control signal to the 2 nd control cylinder, and the 2 nd 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 grippers on the two sides are separated;
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S36M, the controller sends a separation control signal to an Mth control cylinder of the controller, and Mth grippers on two sides are separated;
s37, the controller sends a movement control signal 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, comprising 2 combination steps of steps S381-S382,
s381, the controller sends a movement 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 includes M combination steps of steps S3821 to S382M,
s3821, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on the two sides are separated;
s3822, the controller sends a separation control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides are separated;
s3823, the controller sends a separation control signal to the 3 rd control cylinder, and the 3 rd grippers on the two sides are separated;
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and S382M, the controller sends a separation control signal to an Mth control cylinder of the controller, and the Mth grippers on two sides are separated.
When M is 5, the application method of the unmanned vegetable conveying equipment comprises the following steps:
s1, initializing a system; the method comprises the following steps:
s11, the controller sends a conveying belt movement stopping control signal on the conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving;
s12, comprising 5 steps of combining steps S121-S125,
s121, the controller sends a 1 st gear lever lowering control signal to the 1 st rotary cylinder and sends a 1 st gear lever lowering control signal to the 1 st rotary cylinder, and the 1 st gear lever are lowered;
S122, the controller sends a 2 nd gear lever retraction control signal to the 2 nd rotary cylinder and sends a 2 '2 nd gear lever retraction control signal to the 2 nd rotary cylinder, and the 2 nd gear lever and the 2' 2 nd gear lever are retracted;
s123, the controller sends a 3 rd gear lever retraction control signal to the 3 rd rotary cylinder and sends a 3 'th gear lever retraction control signal to the 3 rd rotary cylinder, and the 3 rd gear lever and the 3' th gear lever are retracted;
s124, the controller sends a 4 th gear lever retraction control signal to the 4 th rotary cylinder and sends a 4' th gear lever retraction control signal to the 4' th rotary cylinder, 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 the 5 th rotary cylinder and sends a 5' th gear lever retraction control signal to the 5' th rotary cylinder, and the 5 th gear lever and the 5' th gear lever are retracted;
s13, including 5 steps of combining steps S131 to S135,
s131, the controller sends an infrared signal to the 1 st infrared correlation transmitting device, and the 1 st infrared correlation transmitting device sends infrared rays;
s132, the controller sends an infrared signal to the 2 nd infrared correlation transmitting device, and the 2 nd infrared correlation transmitting device sends infrared rays;
S133, the controller sends an infrared signal to the 3 rd infrared correlation transmitting device, and the 3 rd infrared correlation transmitting device sends infrared rays;
s134, the controller sends an infrared signal to the 4 th infrared correlation transmitting device, and the 4 th infrared correlation transmitting device sends infrared rays;
s135, the controller sends an infrared signal to the 5 th infrared correlation transmitting device, and the 5 th infrared correlation transmitting device sends infrared rays;
s14, including the step of 3 combination of steps S141 to S143,
s141, the controller sends a movement 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 to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is far away from the seedling tray conveying line, and when the controller receives a proximity signal sent by a 3 rd proximity sensor, the Z-axis sliding table stops working;
s143, including 5 combination steps of steps S1431 to S1435,
s1431, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on two sides are separated;
s1432, the controller sends a separation control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides are separated;
S1433, the controller sends a separation control signal to the 3 rd control cylinder, and the 3 rd grippers on the two sides are separated;
s1434, the controller sends a separation control signal to the 4 th control cylinder, and the 4 th grippers on the two sides are separated;
s1435, the controller sends a separation control signal to the 5 th control cylinder, and the 5 th grippers on the two sides are separated.
S2, the M seedling raising trays are lifted off the seedling raising tray conveying line by the M seedling raising tray lifting mechanisms; the method comprises the following steps:
s21, including steps S211-S214;
s211, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer belt on the seedling tray conveying line moves;
s212, when the controller receives the infrared blocking signal sent by the 1 st infrared correlation receiving device, the controller sends a conveying belt movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as a 1 st seedling raising tray;
s213, the controller sends a 1 st gear lever retraction control signal to the 1 st rotary cylinder and sends a 1 st gear lever retraction control signal to the 1 st rotary cylinder, and the 1 st gear lever are retracted;
S214, the controller sends a lifting control signal of the 1 st seedling tray supporting plate to the 1 st lifting air cylinder until the 1 st seedling tray supporting plate supports the 1 st seedling tray to leave the seedling tray conveying line and the height from the seedling tray conveying line is Xcm, wherein 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 the 2 nd rotary cylinder, and sends a 2 'th gear lever lowering control signal to the 2 nd rotary cylinder, and the 2 nd gear lever and the 2' nd gear lever are lowered;
s222, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer belt on the seedling tray conveying line moves;
s223, when the controller receives the infrared blocking signal sent by the 2 nd infrared correlation receiving device, the controller sends a conveying belt movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as a 2 nd seedling raising tray;
s224, the controller sends a 2 nd gear lever retraction control signal to the 2 nd rotary cylinder and sends a 2 '2 nd gear lever retraction control signal to the 2 nd rotary cylinder, and the 2 nd gear lever and the 2' 2 nd gear lever are retracted;
S225, the controller sends a lifting control signal of the 2 nd seedling raising tray supporting plate to the 2 nd lifting air cylinder until the 2 nd seedling raising tray supporting plate supports the 2 nd seedling raising tray to leave the seedling raising tray conveying line and the height from the seedling raising tray conveying line is Xcm, wherein 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 the 3 rd rotary cylinder and sends a 3 'th gear lever lowering control signal to the 3 rd rotary cylinder, and the 3 rd gear lever and the 3' th gear lever are lowered;
s232, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer belt on the seedling tray conveying line moves;
s233, when the controller receives the infrared blocking signal sent by the 3 rd infrared correlation receiving device, the controller sends a conveying belt movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as a 3 rd seedling raising tray;
s234, the controller sends a 3 rd gear lever retraction control signal to the 3 rd rotary cylinder and sends a 3 'th gear lever retraction control signal to the 3 rd rotary cylinder, and the 3 rd gear lever and the 3' th gear lever are retracted;
S235, the controller sends a lifting control signal of the 3 rd seedling raising tray supporting plate to the 3 rd lifting air cylinder until the 3 rd seedling raising tray supporting plate supports the 3 rd seedling raising tray to leave the seedling raising tray conveying line and the height from the seedling raising tray conveying line is Xcm, wherein 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 the 4 th rotary cylinder and sends a 4' th gear lever lowering control signal to the 4' th rotary cylinder, and the 4 th gear lever and the 4' th gear lever are lowered;
s242, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer 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 movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as a 4 th seedling raising tray;
s244, the controller sends a 4 th gear lever retraction control signal to the 4 th rotary cylinder and sends a 4' th gear lever retraction control signal to the 4' th rotary cylinder, and the 4 th gear lever and the 4' th gear lever are retracted;
S245, the controller sends a 4 th seedling raising tray supporting plate lifting control signal to a 4 th lifting air cylinder until the 4 th seedling raising tray supporting plate supports the 4 th seedling raising tray to leave the seedling raising tray conveying line and the height from the seedling raising tray conveying line is Xcm, wherein X is a positive number, and cm is a length unit centimeter;
s25, including steps S251-S255;
s251, the controller sends a 5 th gear lever lowering control signal to the 5 th rotary cylinder, and sends a 5' th gear lever lowering control signal to the 5' th rotary cylinder, and the 5 th gear lever and the 5' th gear lever are lowered;
s252, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer 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 movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as a 5 th seedling raising tray;
s254, the controller sends a 5 th gear lever retraction control signal to the 5 th rotary cylinder and sends a 5' th gear lever retraction control signal to the 5' th rotary cylinder, and the 5 th gear lever and the 5' th gear lever are retracted;
And S255, the controller sends a 5 th seedling raising tray supporting plate lifting control signal to the 5 th lifting air cylinder until the 5 th seedling raising tray supporting plate supports the 5 th seedling raising tray to leave the seedling raising tray conveying line and the height from the seedling raising tray conveying line is Xcm, wherein X is a positive number, and cm is a length unit centimeter.
S3, grabbing and placing M seedling trays on the top-away seedling tray conveying line on a tidal seedling bed conveying line by the slipway module; the step S3 includes steps S31 to S34:
s31, including steps S311-S318;
s311, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is close to the seedling tray conveying line, and when the controller receives a proximity signal sent by a 2Y-axis proximity sensor, the Z-axis sliding table stops working;
s312, comprising the step of 5 combination of steps S3121-S3125,
s3121, the controller sends a closing control signal to the 1 st control cylinder, and the 1 st grippers on the two sides close to grasp the 1 st seedling tray;
s3122, the controller sends a closing control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides close to grasp the 2 nd seedling tray;
s3123, the controller sends a closing control signal to the 3 rd control cylinder, and the 3 rd grippers on the two sides close to grasp the 3 rd seedling tray;
S3124, the controller sends a closing control signal to the 4 th control cylinder, and 4 th grippers on two sides close to grasp the 3 rd seedling tray;
s3125, the controller sends a closing control signal to the 5 th control cylinder, and the 5 th grippers on the two sides close to grasp the 5 th seedling tray;
s313, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is far away from the seedling tray conveying line, and when the controller receives a proximity signal sent by a 1 st Y-axis proximity 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 a proximity signal sent by the 2X-axis proximity sensor, the X-axis sliding table stops working;
s315, the controller sends a movement control signal of the seedling tray clamp approaching to the tidal type 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, comprising 5 combination steps of steps S3161 to S365,
s3161, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on two sides are separated;
s3162, the controller sends a separation control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides are separated;
S3163, the controller sends a separation control signal to a 3 rd control cylinder of the controller, and 3 rd grippers on two sides are separated;
s3164, the controller sends a separation control signal to the 4 th control cylinder, and 4 th grippers on two sides are separated;
s3165, the controller sends a separation control signal to the 5 th control cylinder, and the 5 th grippers on the two sides are separated;
s317, the controller sends a movement control signal 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;
s318, the controller sends a movement 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;
s32, including steps S321-S328;
s321, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is close to the seedling tray conveying line, and when the controller receives a proximity signal sent by a 2Y-axis proximity sensor, the Z-axis sliding table stops working;
s322, comprising 5 combination steps of steps S3221-S3225,
s3221, the controller sends a closing control signal to the 1 st control cylinder, and the 1 st grippers on two sides close to grasp the 1 st seedling tray;
S3222, the controller sends a closing control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides close to grasp the 2 nd seedling tray;
s3223, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and 3 rd grippers on two sides close to grasp a 3 rd seedling tray;
s3224, the controller sends a closing control signal to a 4 th control cylinder of the seedling raising tray, and 4 th grippers on two sides close to grasp a 3 rd seedling raising tray;
s3225, the controller sends a closing control signal to the 5 th control cylinder, and the 5 th grippers on the two sides close to grasp the 5 th seedling tray;
s323, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is far away from the seedling tray conveying line, and when the controller receives a proximity signal sent by a 1 st Y-axis proximity 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 a proximity signal sent by the 3 rd X-axis proximity sensor, the X-axis sliding table stops working;
s325, the controller sends a movement control signal of the seedling tray clamp approaching to the tidal type seedbed 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;
S326, comprising 5 steps of combining steps S3161 to S365,
s3261, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on two sides are separated;
s3262, the controller sends a separation control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides are separated;
s3263, the controller sends a separation control signal to the 3 rd control cylinder, and the 3 rd grippers on two sides are separated;
s3264, the controller sends a separation control signal to the 4 th control cylinder, and 4 th grippers on two sides are separated;
s3265, the controller sends a separation control signal to the 5 th control cylinder, and the 5 th grippers on the two sides are separated;
s327, the controller sends a movement control signal 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;
s328, the controller sends a movement 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;
s33, including steps S331-S338;
s331, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is close to the seedling tray conveying line, and when the controller receives a proximity signal sent by a 2Y-axis proximity sensor, the Z-axis sliding table stops working;
S332, comprising 5 combination steps of steps S3321 to S3325,
s3321, the controller sends a closing control signal to the 1 st control cylinder, and the 1 st grippers on the two sides close to grasp the 1 st seedling tray;
s3322, the controller sends a closing control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides close to grasp the 2 nd seedling tray;
s3323, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and 3 rd grippers on two sides close to grasp a 3 rd seedling tray;
s3324, the controller sends a closing control signal to the 4 th control cylinder, and 4 th grippers on two sides close to grasp the 4 th seedling tray;
s3325, the controller sends a closing control signal to the 5 th control cylinder, and the 5 th grippers on the two sides close to grasp the 5 th seedling tray;
s333, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is far away from the seedling tray conveying line, and when the controller receives a proximity signal sent by a 1 st Y-axis proximity 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 a proximity signal sent by the 4 th X-axis proximity sensor, the X-axis sliding table stops working;
s335, the controller sends a movement control signal of the seedling tray clamp approaching to the tidal type 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;
S336, comprising 5 combination steps of steps S3161 to S365,
s3361, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on two sides are separated;
s3362, the controller sends a separation control signal to the 2 nd control cylinder, and the 2 nd 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 grippers on the two sides are separated;
s3364, the controller sends a separation control signal to the 4 th control cylinder, 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 grippers on the two sides are separated;
s337, the controller sends a movement control signal 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;
s338, the controller sends a movement 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;
……；
s34, including steps S341-S348;
s341, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is close to the seedling tray conveying line, and when the controller receives a proximity signal sent by a 2Y-axis proximity sensor, the Z-axis sliding table stops working;
S342, comprising 5 combination steps of steps S3421 to S3425,
s3421, the controller sends a closing control signal to the 1 st control cylinder, and the 1 st grippers on the two sides close to grasp the 1 st seedling tray;
s3422, the controller sends a closing control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides close to grasp the 2 nd seedling tray;
s3423, the controller sends a closing control signal to the 3 rd control cylinder, and the 3 rd grippers on the two sides close to grasp the 3 rd seedling tray;
s3424, the controller sends a closing control signal to the 4 th control cylinder, and 4 th grippers on two sides close to grasp the 4 th seedling tray;
s3425, the controller sends a closing control signal to the 5 th control cylinder, and the 5 th grippers on the two sides close to grasp the 5 th seedling tray;
s343, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is far away from the seedling tray conveying line, and when the controller receives a proximity signal sent by a 1 st Y-axis proximity sensor, the Z-axis sliding table stops working;
s344, the controller sends a movement 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 5 th X-axis proximity sensor, the X-axis sliding table stops working;
s345, the controller sends a movement control signal of the seedling tray clamp approaching to the tidal type seedbed 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;
S346, comprising 5 combination steps of steps S3161 to 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 2 nd control cylinder, and the 2 nd grippers on the two sides are separated;
s3463, the controller sends a separation control signal to the 3 rd control cylinder, and the 3 rd grippers on the two sides are separated;
s3464, the controller sends a separation control signal to the 4 th control cylinder, and 4 th grippers on two sides are separated;
s3465, the controller sends a separation control signal to the 5 th control cylinder, and the 5 th grippers on the two sides are separated;
s347, the controller sends a movement control signal 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;
s348, the controller sends a movement 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 to S3; until the task is completed.
In this embodiment, the unmanned seeding apparatus is a front end apparatus of an unmanned conveying apparatus, the unmanned seedling raising apparatus is a rear end apparatus of the unmanned conveying apparatus, the unmanned seeding apparatus, the unmanned seedling raising apparatus and the corresponding control method are related arts, and no description is given here; the unmanned conveying equipment (tidal seedbed in-bed out-of-bed machine) plays a bridging role between unmanned seeding equipment and unmanned seedling raising equipment.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims (5)

1. The tide type seedbed entering and exiting machine is characterized by comprising a seedling raising tray conveying line, a tide type seedbed conveying line, M seedling raising tray positioning mechanisms, M seedling raising tray jacking mechanisms, M photoelectric switch groups, a sliding table module and a seedling raising tray clamp, wherein M is a positive integer greater than or equal to 1, the seedling raising tray conveying line adopts double rows of conveying belts, and gaps are reserved between the two rows of conveying belts; each seedling raising plate jacking mechanism is arranged between two rows of conveying belts and is used for jacking up seedling raising plates on the conveying line of the seedling raising plate and leaving the conveying line of the seedling raising plate; the seedling raising tray positioning mechanism is arranged in front of the seedling raising tray jacking mechanism and comprises a baffle rod and a rotary cylinder for controlling the baffle rod to be put down and retracted, when the baffle rod is put down, the baffle rod extends along the width direction of the seedling raising tray conveying line and is used for blocking the seedling raising tray, when the seedling raising tray is retracted, the seedling raising tray can pass through the seedling raising tray conveying line, and the photoelectric switch group is arranged on the seedling raising tray conveying line frame beside the seedling raising tray jacking mechanism; the tide type seedbed conveying line is used for conveying tide type seedbeds; the seedling raising tray conveying line and the tide type seedling bed conveying line are arranged below the door-shaped frame side by side and penetrate through the door-shaped frame, the X-axis sliding table is arranged along a top beam of the door-shaped frame, a seedling raising tray clamp is arranged at the lower end of the Z-axis sliding table, the seedling raising tray clamp is moved up and down through the Z-axis sliding table to clamp the seedling raising tray on the seedling raising tray conveying line, the seedling raising tray is placed on the tide type seedling bed conveying line, and the seedling raising tray clamp is moved between the seedling raising tray conveying line and the tide type seedling bed conveying line through the X-axis sliding table;
A plurality of seedling raising disk jacking mechanisms are arranged between two rows of conveying belts at intervals, seedling raising disk positioning mechanisms are arranged in front of each seedling raising disk jacking mechanism, each seedling raising disk jacking mechanism is correspondingly provided with a photoelectric switch, each seedling raising disk clamp comprises a main body framework, an installation disk used for being connected with a sliding table module is arranged on the upper side of the main body framework, M independent grippers for grabbing seedling raising disks are correspondingly arranged on the lower side of the main body framework, and one row of seedling raising disks which can be grabbed at one time are just placed on a tidal seedling bed;
the grippers comprise side grippers positioned at the left side and the right side of the main body framework, two ends of a left guide rod and a right guide rod which extend 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 rods to pass through are symmetrically formed in the side grippers at the left side and the right side, the guide rods pass through the guide holes in the side grippers at the two sides, a control cylinder is arranged at the lower side of the main body framework corresponding to each side gripper, and the side grippers at the two sides are controlled to be closed and separated by the control cylinder so as to take and put the seedling tray;
the side grippers comprise gripper bodies and gripper bars used for connecting the gripper bodies, the gripper bodies are in a vertical hook shape, at least two gripper bodies are arranged on each gripper bar, the gripper bodies of the side grippers on two sides are oppositely arranged, and the guide holes are formed in the gripper bars; the application method of the vegetable unmanned conveying equipment of the intelligent seedbed in-bed out-of-bed machine comprises the following steps:
S1, initializing a system;
s2, the M seedling raising trays are lifted off the seedling raising tray conveying line by the M seedling raising tray lifting mechanisms;
s3, grabbing and placing M seedling trays on the top-away seedling tray conveying line on a tidal seedling bed conveying line by the slipway module;
s4, repeating the steps S1 to S3; until the task is completed;
further, the system initialization specifically includes the following steps:
s11, the controller sends a conveying belt movement stopping control signal on the conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving;
s12, M combination steps including steps S121 to S12M,
s121, the controller sends a 1 st gear lever lowering control signal to the 1 st rotary cylinder and sends a 1 st gear lever lowering control signal to the 1 st rotary cylinder, and the 1 st gear lever are lowered;
s122, the controller sends a 2 nd gear lever retraction control signal to the 2 nd rotary cylinder and sends a 2 '2 nd gear lever retraction control signal to the 2 nd rotary cylinder, and the 2 nd gear lever and the 2' 2 nd gear lever are retracted;
s123, the controller sends a 3 rd gear lever retraction control signal to the 3 rd rotary cylinder and sends a 3 'th gear lever retraction control signal to the 3 rd rotary cylinder, and the 3 rd gear lever and the 3' th gear lever are retracted;
……；
S12M, the controller sends an M-th gear lever retraction control signal to the M-th rotary cylinder of the controller, and sends an M ' -th gear lever retraction control signal to the M ' -th rotary cylinder of the controller, and the M-th gear lever and the M ' -th gear lever are retracted;
s13, including M combination steps of steps S131 to S13M,
s131, the controller sends an infrared signal to the 1 st infrared correlation transmitting device, and the 1 st infrared correlation transmitting device sends infrared rays;
s132, the controller sends an infrared signal to the 2 nd infrared correlation transmitting device, and the 2 nd infrared correlation transmitting device sends infrared rays;
s133, the controller sends an infrared signal to the 3 rd infrared correlation transmitting device, and the 3 rd infrared correlation transmitting device sends infrared rays;
……；
S13M, the controller sends an infrared signal to an Mth infrared correlation transmitting device of the controller, and the Mth infrared correlation transmitting device sends infrared rays;
s14, including steps S141-S143,
s141, including M combination steps of steps S1411 to S141M,
s1411, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on the two sides are separated;
s1412, the controller sends a separation control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides are separated;
s1413, the controller sends a separation control signal to the 3 rd control cylinder, and the 3 rd grippers on the two sides are separated;
……；
S141M, the controller sends a separation control signal to an Mth control cylinder of the controller, and Mth grippers on two sides are separated;
s142, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is far away from the seedling tray conveying line, and when the controller receives a proximity signal sent by a 1 st Y-axis proximity sensor, the Z-axis sliding table stops working;
s143, the controller sends a movement 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;
further, the M seedling raising tray jacking mechanisms jack M seedling raising trays away from the seedling raising tray conveying line specifically comprises the following steps:
s21, including steps S211-S214;
s211, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer belt on the seedling tray conveying line moves;
s212, when the controller receives the infrared blocking signal sent by the 1 st infrared correlation receiving device, the controller sends a conveying belt movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as a 1 st seedling raising tray;
S213, the controller sends a 1 st gear lever retraction control signal to the 1 st rotary cylinder and sends a 1 st gear lever retraction control signal to the 1 st rotary cylinder, and the 1 st gear lever are retracted;
s214, the controller sends a lifting control signal of the 1 st seedling tray supporting plate to the 1 st lifting air cylinder until the 1 st seedling tray supporting plate supports the 1 st seedling tray to leave the seedling tray conveying line and the height from the seedling tray conveying line is Xcm, wherein 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 the 2 nd rotary cylinder, and sends a 2 'th gear lever lowering control signal to the 2 nd rotary cylinder, and the 2 nd gear lever and the 2' nd gear lever are lowered;
s222, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer belt on the seedling tray conveying line moves;
s223, when the controller receives the infrared blocking signal sent by the 2 nd infrared correlation receiving device, the controller sends a conveying belt movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as a 2 nd seedling raising tray;
S224, the controller sends a 2 nd gear lever retraction control signal to the 2 nd rotary cylinder and sends a 2 '2 nd gear lever retraction control signal to the 2 nd rotary cylinder, and the 2 nd gear lever and the 2' 2 nd gear lever are retracted;
s225, the controller sends a lifting control signal of the 2 nd seedling raising tray supporting plate to the 2 nd lifting air cylinder until the 2 nd seedling raising tray supporting plate supports the 2 nd seedling raising tray to leave the seedling raising tray conveying line and the height from the seedling raising tray conveying line is Xcm, wherein 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 the 3 rd rotary cylinder and sends a 3 'th gear lever lowering control signal to the 3 rd rotary cylinder, and the 3 rd gear lever and the 3' th gear lever are lowered;
s232, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer belt on the seedling tray conveying line moves;
s233, when the controller receives the infrared blocking signal sent by the 3 rd infrared correlation receiving device, the controller sends a conveying belt movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as a 3 rd seedling raising tray;
S234, the controller sends a 3 rd gear lever retraction control signal to the 3 rd rotary cylinder and sends a 3 'th gear lever retraction control signal to the 3 rd rotary cylinder, and the 3 rd gear lever and the 3' th gear lever are retracted;
s235, the controller sends a lifting control signal of the 3 rd seedling raising tray supporting plate to the 3 rd lifting air cylinder until the 3 rd seedling raising tray supporting plate supports the 3 rd seedling raising tray to leave the seedling raising tray conveying line and the height from the seedling raising tray conveying line is Xcm, wherein 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 the 4 th rotary cylinder and sends a 4' th gear lever lowering control signal to the 4' th rotary cylinder, and the 4 th gear lever and the 4' th gear lever are lowered;
s242, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer 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 movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as a 4 th seedling raising tray;
S244, the controller sends a 4 th gear lever retraction control signal to the 4 th rotary cylinder and sends a 4' th gear lever retraction control signal to the 4' th rotary cylinder, and the 4 th gear lever and the 4' th gear lever are retracted;
s245, the controller sends a 4 th seedling raising tray supporting plate lifting control signal to a 4 th lifting air cylinder until the 4 th seedling raising tray supporting plate supports the 4 th seedling raising tray to leave the seedling raising tray conveying line and the height from the seedling raising tray conveying line is Xcm, wherein X is a positive number, and cm is a length unit centimeter;
……；
S2M comprises the steps of S2M 1-S2M 5;
S2M1, the controller sends an Mth gear lever lowering control signal to an Mth rotary cylinder of the controller, and the Mth gear lever are lowered;
S2M2, the controller sends a conveyer belt movement control signal on the seedling tray conveying line to the seedling tray conveying line, and the conveyer belt on the seedling tray conveying line moves;
S2M3, when the controller receives the infrared blocking signal sent by the Mth infrared correlation receiving device, the controller sends a conveying belt movement stopping control signal on a conveying line of the seedling raising tray to the conveying line of the seedling raising tray, and the conveying belt on the conveying line of the seedling raising tray stops moving; at this time, the seedling raising tray is in place and is marked as an Mth seedling raising tray;
S2M4, the controller sends an M-th gear lever retraction control signal to the M-th rotary cylinder of the controller, and the M-th gear lever are retracted;
S2M5, the controller sends an ascending control signal of an Mth seedling tray supporting plate to an Mth jacking cylinder of the controller until the Mth seedling tray supporting plate supports the Mth seedling tray to leave the seedling tray conveying line and the height from the seedling tray conveying line is Xcm, wherein X is a positive number, and cm is a length unit centimeter;
further, the slipway module grabs and places M seedling trays on the top-away seedling tray conveying line on the tidal type seedbed conveying line, and specifically comprises the following steps S31-S3Q:
s31, including steps S311-S318;
s311, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is close to the seedling tray conveying line, and when the controller receives a proximity signal sent by a 2Y-axis proximity sensor, the Z-axis sliding table stops working;
s312, including M combination steps of steps S3121-S312M,
s3121, the controller sends a closing control signal to the 1 st control cylinder, and the 1 st grippers on the two sides close to grasp the 1 st seedling tray;
s3122, the controller sends a closing control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides close to grasp the 2 nd seedling tray;
S3123, the controller sends a closing control signal to the 3 rd control cylinder, and the 3 rd grippers on the two sides close to grasp the 3 rd seedling tray;
……；
S312M, the controller sends a closing control signal to an Mth control cylinder of the controller, and Mth side grippers on two sides close to grasp an Mth seedling tray;
s313, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is far away from the seedling tray conveying line, and when the controller receives a proximity signal sent by a 1 st Y-axis proximity 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 a proximity signal sent by the 2X-axis proximity sensor, the X-axis sliding table stops working;
s315, the controller sends a movement control signal of the seedling tray clamp approaching to the tidal type 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 M combination steps of steps S3161 to S36M,
s3161, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on two sides are separated;
s3162, the controller sends a separation control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides are separated;
S3163, the controller sends a separation control signal to a 3 rd control cylinder of the controller, and 3 rd grippers on two sides are separated;
……；
S316M, the controller sends a separation control signal to an Mth control cylinder of the controller, and Mth grippers on two sides are separated;
s317, the controller sends a movement control signal 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;
s318, the controller sends a movement 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;
s32, including steps S321-S328;
s321, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is close to the seedling tray conveying line, and when the controller receives a proximity signal sent by a 2Y-axis proximity sensor, the Z-axis sliding table stops working;
s322, including M combination steps of steps S3221-S322M,
s3221, the controller sends a closing control signal to the 1 st control cylinder, and the 1 st grippers on two sides close to grasp the 1 st seedling tray;
s3222, the controller sends a closing control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides close to grasp the 2 nd seedling tray;
S3223, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and 3 rd grippers on two sides close to grasp a 3 rd seedling tray;
……；
S322M, the controller sends a closing control signal to an Mth control cylinder of the controller, and Mth side grippers on two sides close to grasp an Mth seedling tray;
s323, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is far away from the seedling tray conveying line, and when the controller receives a proximity signal sent by a 1 st Y-axis proximity 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 a proximity signal sent by the 3 rd X-axis proximity sensor, the X-axis sliding table stops working;
s325, the controller sends a movement control signal of the seedling tray clamp approaching to the tidal type seedbed 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;
s326, including M combination steps of steps S3161 to S36M,
s3261, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on two sides are separated;
s3262, the controller sends a separation control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides are separated;
S3263, the controller sends a separation control signal to the 3 rd control cylinder, and the 3 rd grippers on two sides are separated;
……；
S326M, the controller sends a separation control signal to an Mth control cylinder of the controller, and the Mth grippers on two sides are separated;
s327, the controller sends a movement control signal 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;
s328, the controller sends a movement 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;
s33, including steps S331-S338;
s331, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is close to the seedling tray conveying line, and when the controller receives a proximity signal sent by a 2Y-axis proximity sensor, the Z-axis sliding table stops working;
s332, including M combination steps of steps S3321 to S332M,
s3321, the controller sends a closing control signal to the 1 st control cylinder, and the 1 st grippers on the two sides close to grasp the 1 st seedling tray;
s3322, the controller sends a closing control signal to the 2 nd control cylinder, and the 2 nd grippers on the two sides close to grasp the 2 nd seedling tray;
S3323, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and 3 rd grippers on two sides close to grasp a 3 rd seedling tray;
……；
S332M, the controller sends a closing control signal to an Mth control cylinder of the controller, and Mth side grippers on two sides close to grasp an Mth seedling tray;
s333, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is far away from the seedling tray conveying line, and when the controller receives a proximity signal sent by a 1 st Y-axis proximity 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 a proximity signal sent by the 4 th X-axis proximity sensor, the X-axis sliding table stops working;
s335, the controller sends a movement control signal of the seedling tray clamp approaching to the tidal type 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;
s336, including M combination steps of steps S3161 to S36M,
s3361, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on two sides are separated;
s3362, the controller sends a separation control signal to the 2 nd control cylinder, and the 2 nd 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 grippers on the two sides are separated;
……；
S336M, the controller sends a separation control signal to an Mth control cylinder of the controller, and the Mth grippers on two sides are separated;
s337, the controller sends a movement control signal 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;
s338, the controller sends a movement 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;
……；
S3Q comprises steps S3Q 1-S3Q 8;
S3Q1, the controller sends a seedling tray clamp moving control signal to the Z-axis sliding table, wherein the seedling tray clamp moving control signal is close to the seedling tray conveying line, and when the controller receives a proximity signal sent by a 2Y-axis proximity sensor, the Z-axis sliding table stops working;
S3Q2, comprising M combination steps of steps S3Q21 to S3Q2M,
S3Q21, the controller sends a closing control signal to the 1 st control cylinder, and the 1 st grippers on the two sides close to grasp the 1 st seedling tray;
S3Q22, the controller sends a closing control signal to the 2 nd control cylinder of the controller, and the 2 nd grippers on the two sides close to grasp the 2 nd seedling tray;
S3Q23, the controller sends a closing control signal to a 3 rd control cylinder of the controller, and 3 rd grippers on two sides close to grasp a 3 rd seedling tray;
……；
S3Q2M, the controller sends a closing control signal to an Mth control cylinder of the controller, and Mth side grippers on two sides close to grasp an Mth seedling tray;
S3Q3, the controller sends a seedling raising disk clamp moving control signal to the Z-axis sliding table, wherein the seedling raising disk clamp moving control signal is far away from the seedling raising disk conveying line, and when the controller receives a proximity signal sent by the 1 st Y-axis proximity sensor, the Z-axis sliding table stops working;
S3Q4, the controller sends a movement 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 (Q+1) th X-axis proximity sensor, the X-axis sliding table stops working;
S3Q5, the controller sends a movement control signal of the seedling raising tray clamp close to the tidal type 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;
S3Q6, comprising M combination steps of steps S3161 to S36M,
S3Q61, the controller sends a separation control signal to the 1 st control cylinder, and the 1 st grippers on the two sides are separated;
S3Q62, the controller sends a separation control signal to the 2 nd control cylinder, and the 2 nd 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 grippers on the two sides are separated;
……；
S3Q6M, the controller sends a separation control signal to an Mth control cylinder of the controller, and the Mth grippers on two sides are separated;
S3Q7, the controller sends a movement control signal of the seedling raising tray clamp away from the tidal type 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;
S3Q8, the controller sends a movement control signal to the seedling tray conveying line to the X-axis sliding table, and when the controller receives the proximity signal sent by the 1 st X-axis proximity sensor, the X-axis sliding table stops working.
2. The tidal seedbed entering and exiting machine according to claim 1, wherein each gripper is provided with two guide rods, which are arranged at intervals in front and back.
3. The tidal seedbed entering and exiting machine according to claim 1, wherein the main body framework comprises left and right vertical beams, the left and right vertical beams are connected through a plurality of transverse beams, the control cylinders of the grippers are arranged on the lower sides of the transverse beams, and the control cylinders of the side grippers on two sides are located between the side grippers on two sides.
4. The tidal seedbed entering and exiting machine according to claim 1, wherein a pair of seedling raising tray positioning mechanisms are symmetrically arranged on two sides of the seedling raising tray conveying line corresponding to each seedling raising tray jacking mechanism, and photoelectric switches are arranged on two sides of each seedling raising tray jacking mechanism.
5. The tidal type seedbed entering and exiting machine according to claim 1, wherein the seedling raising tray lifting mechanism comprises a seedling raising tray supporting plate and a lifting cylinder for lifting the seedling raising tray supporting plate.
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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JPH09182528A (en) * 1995-12-29 1997-07-15 T & T Nursery:Kk System for conveying nursery box and pallet for exclusive use in system for conveying nursery box and connected truck
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EP2654397B1 (en) * 2010-12-22 2019-11-20 Van den Top, Hendrik Harvesting device, grow space, grow system and method
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