CN114408554B - Planting cup recycling and stacking system - Google Patents
Planting cup recycling and stacking system Download PDFInfo
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- CN114408554B CN114408554B CN202111513429.7A CN202111513429A CN114408554B CN 114408554 B CN114408554 B CN 114408554B CN 202111513429 A CN202111513429 A CN 202111513429A CN 114408554 B CN114408554 B CN 114408554B
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- stacking
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- 238000004064 recycling Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 73
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 14
- 238000007493 shaping process Methods 0.000 claims description 6
- 239000002184 metal Substances 0.000 claims description 5
- 229920003023 plastic Polymers 0.000 claims description 4
- 239000004033 plastic Substances 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 238000011084 recovery Methods 0.000 abstract description 3
- 239000002910 solid waste Substances 0.000 abstract description 3
- 235000013311 vegetables Nutrition 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000001454 recorded image Methods 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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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
- 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
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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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
- B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
- B65G21/20—Means incorporated in, or attached to, framework or housings for guiding load-carriers, traction elements or loads supported on moving surfaces
- B65G21/2045—Mechanical means for guiding or retaining the load on the load-carrying surface
- B65G21/2063—Mechanical means for guiding or retaining the load on the load-carrying surface comprising elements not movable in the direction of load-transport
-
- 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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
-
- 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
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
Abstract
The invention discloses a planting cup recycling and stacking system which comprises a hopper for placing planting cups, a grabbing mechanism for placing the planting cups on a conveyor from the hopper, an inversion mechanism for placing the vertically placed planting cups on the conveyor, a conveyor for conveying the planting cups, side baffles arranged on two sides of a conveying belt of the conveyor, a detection mechanism for detecting whether the planting cups are damaged or not, a pushing mechanism for pushing out the damaged planting cups from the conveyor, a stacking device for stacking the planting cups, a reversing device for converting the planting cups transversely conveyed on the conveyor into the vertically conveyed planting cups, and a strip-shaped through hole for extending out of root systems of crops arranged on the lower portion of the planting cups. The automatic recovery of the planting cups is realized, the labor intensity of workers is reduced, the generation of solid waste in the soilless culture industry is reduced, and the environmental pressure is reduced.
Description
Technical Field
The invention relates to a planting cup recycling and stacking system, and belongs to the field of planting automation.
Background
Along with the improvement of the living standard of people and the development of planting technology, vegetables and fruits adopt soilless culture, and the planting mode is as follows: firstly, placing a planting cup on a seedling raising tray, placing a planting base in the planting cup, sowing by adopting automatic equipment, then placing the seedling raising tray on a seedling raising layer frame, transplanting the planting cup into the planting tray after seedlings grow well, and cultivating until seedlings are formed on the planting layer frame. Harvesting or picking on a production line, and disposing the planting cup and the planting base in the planting cup as waste materials.
The existing planting cups are all made of soft plastics and are disposable planting cups, so that the planting cups are inconvenient to recycle. The vegetable planting method has the advantages that a large amount of solid waste is generated, the vegetable planting method is inconvenient to treat, the environmental pressure is high, and the cost is high.
Disclosure of Invention
Aiming at the technical problems, the invention aims to provide a planting cup recycling and stacking system. The automatic recycling device is used for automatic recycling of the planting cup.
In order to achieve the above purpose, the technical scheme of the invention is as follows: planting cup retrieves pile up neatly system, its characterized in that: including the hopper that is used for placing planting cup for with the planting cup from the hopper place the snatch mechanism on the conveyer one by one, be used for with the vertical inversion mechanism that places planting cup that places, be used for carrying the conveyer of planting cup, the both sides of conveyer's conveyer belt are provided with the side shield, are used for detecting the detection mechanism that whether plants the cup damaged, are used for the ejecting mechanism that pushes out the damaged planting cup from the conveyer, the conveyer corresponds the position of ejecting mechanism and does not set up the side shield, be used for the switching-over device that changes the planting cup of transversely carrying on the conveyer into vertical transport, be used for the pile up neatly device that stacks the planting cup, the planting cup is made by rigid plastic, and its lower part is provided with the bar through-hole that supplies crop root system to stretch out, and planting cup snatchs on the conveyer through snatch mechanism in proper order, through inversion mechanism will stand planting cup put, detect the damaged planting cup through detection mechanism, push out the damaged planting cup through the ejecting mechanism, will transversely carry planting by the switching-over to vertical transport through the switching-over mechanism, finally the planting cup gets into pile up the pile up neatly device.
In the scheme, the method comprises the following steps: the bottom plate of the hopper for placing the planting cup is an inclined plate with one end higher than the other end and arranged in an inclined mode. The planting cup can be conveniently concentrated at the lower end of the sloping plate, and the feeding is convenient.
In the scheme, the method comprises the following steps: the grabbing mechanism is located above the lower side of the hopper, the starting end of the conveyor is arranged by the grabbing mechanism, the grabbing mechanism comprises grabbing manipulators for grabbing the planting cups and X, Y, Z three-axis linear motion guide rails, and the grabbing manipulators move on the X, Y, Z three-axis linear motion guide rails so as to grab the planting cups in the hopper onto the conveyor. The grabbing manipulator is controlled to grab the planting cup and put on the conveying line through the X, Y, Z triaxial linear motion guide rail.
In the scheme, the method comprises the following steps: the pushing mechanism comprises a pushing cylinder, a pushing cylinder seat, a pushing head and a receiving groove, the detecting mechanism comprises a camera, the pushing cylinder seat is arranged on one side of the conveyor frame, the pushing cylinder is arranged on a pushing cylinder mounting seat, a piston rod of the pushing cylinder is connected with the pushing head, the receiving groove is arranged on the other side of the conveyor frame, and the pushing cylinder pushes the damaged planting cup into the receiving groove on the other side; the position of the conveyor frame, which is close to the pushing mechanism, is provided with a camera through a camera mounting frame, the image information number output end of the camera is connected with the image signal input end of the working processor, the pushing cylinder control end of the working processor is connected with the pushing cylinder, the camera acquires a clear image of the planting cup and is compared with a prestored complete image of the planting cup, if matching is successful, the pushing cylinder is not started, and if matching is unsuccessful, the pushing cylinder is started to push the planting cup. And photographing by a camera, and comparing the working processor with a pre-recorded image. Recovery is performed if the matching is successful, and pushing out is performed if the matching is unsuccessful.
In the scheme, the method comprises the following steps: the inversion mechanism is positioned between the pushing mechanism and the grabbing mechanism, and comprises an inversion rod arranged across the conveyor and an adjusting device for adjusting the inversion rod to move up and down, and the standing planting cup falls down after being impacted by the inversion rod in the conveying process. The standing planting cup is placed down by the inversion mechanism, so that subsequent stacking is facilitated.
In the scheme, the method comprises the following steps: the adjusting device comprises vertical supports which are oppositely arranged on two sides of the conveyor, the vertical supports are connected through transverse beams, screw nuts are arranged on the transverse beams, a screw rod penetrates through the screw nuts from the upper portion to extend to the lower portion of the transverse beams, the lower end of the screw rod is connected with an inverted rod, and an adjusting handle is arranged at the upper end of the screw rod. The height of the inverted rod is adjusted by the adjusting device so as to be suitable for the trial of planting cups with different heights.
In the scheme, the method comprises the following steps: the stacking device comprises a vertically extending stacking cylinder matched with the planting cup and a feeding cylinder which is arranged at the upper part of the side wall of the stacking cylinder and is communicated with the stacking cylinder, the feeding cylinder is connected with the tail end of the conveyor, the planting cup coming out of the conveyor directly enters the feeding cylinder, a reversing ejector rod which is higher than the outer end in the inner end and extends upwards in an inclined manner is arranged at one side, opposite to the feeding cylinder, of the stacking cylinder, the length of the reversing ejector rod extending into the stacking cylinder is smaller than the radius of the stacking cylinder, when the cup opening of the planting cup faces the reversing ejector rod, the planting cup is firstly hung on the reversing ejector rod and then falls down, and when the cup bottom of the planting cup faces the reversing ejector rod, the cup bottom of the planting cup is directly fallen down after being contacted with the reversing ejector rod; the lower end of the stacking cylinder is provided with an opening, and a planting cup guide frame is arranged below the stacking cylinder and used for placing falling planting cups.
In the scheme, the method comprises the following steps: the planting cup guide frame comprises a guide cylinder surrounded by a plurality of vertical rods extending vertically, the plurality of vertical rods are connected through transverse connecting rods, the upper end of the guide cylinder is in butt joint with the lower end of the stacking cylinder, and the lower end of the guide cylinder is fixed on the guide frame.
In the scheme, the method comprises the following steps: the guide frame comprises a base, a groove for placing a guide cylinder is formed in the base, and the lower end of the guide cylinder is inserted into the groove.
In the scheme, the method comprises the following steps: the base is a rotary disk, a circle of grooves for placing guide cylinders are formed in the base, the guide cylinders are respectively placed in the circle of grooves, a counter is arranged on the feeding cylinder, the signal output end of the counter is connected with the technical signal input end of the working processor, and the control end of the rotary disk of the working processor is connected with the rotary disk. Like this, when the planting cup quantity in one planting cup leading truck reaches the setting value, work processor control rotary disk rotates, then manipulator or workman can take away the planting cup that stacks together with planting cup leading truck for educate seedling department and educate seedling, when educating seedling, the planting cup that stacks is under the effect of putting a cup mechanism, and put on educating seedling tray one by one again.
The invention has the following beneficial effects: according to the invention, the planting cups in the hopper are grabbed onto the conveyor through the grabbing mechanism, each planting cup is guaranteed to lie down through the inversion mechanism, then the planting cups are detected, the damaged planting cups are pushed out, and the planting cups without damage are stacked vertically by the stacking device. The automatic recovery of the planting cups is realized, the labor intensity of workers is reduced, the generation of solid waste in the soilless culture industry is reduced, and the environmental pressure is reduced.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic view of the push-out mechanism.
Fig. 3 is a schematic diagram of a reversing device.
Fig. 4 is a top view of the rotating disk.
Fig. 5 is a schematic view of a shaping and adjusting mechanism.
Fig. 6 is a schematic diagram of an inversion mechanism.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
example 1
The upper, lower, left, right, back, front, etc. of the present invention are merely representative of the orientations in the figures. The absolute position of the product is not indicated.
As shown in fig. 1 to 5, a system for collecting and stacking planting cups comprises a hopper 1 for placing planting cups, a grabbing mechanism 3 for placing planting cups on a conveyor one by one from the hopper 1, an inversion mechanism 4 for placing vertically placed planting cups, a conveyor 5 for conveying planting cups, side baffles arranged on two sides of a conveyor belt of the conveyor 5, a detection mechanism 6 for detecting whether the planting cups are damaged, a pushing mechanism 7 for pushing out the damaged planting cups from the conveyor, a stacking device 8 for stacking the planting cups by one without side baffles arranged at positions of the conveyor 5 corresponding to the pushing mechanism 7, and a reversing device 9 for converting the planting cups transversely conveyed on the conveyor 5 into vertical conveying. Unlike traditional planting cup made of soft material, the planting cup of the invention is made of hard plastic, and the lower part of the planting cup is provided with a strip-shaped through hole for the crop root system to extend out, which is the prior art, and the thickness of the cup wall of the planting cup is about 1 mm. The planting cups are grabbed onto the conveyor through the grabbing mechanism, the standing planting cups are placed through the inversion mechanism, the damaged planting cups are detected through the detection mechanism, the damaged planting cups are pushed out through the pushing mechanism, the horizontally conveyed planting cups are reversed to be vertically conveyed through the reversing mechanism, and finally the planting cups enter the stacking device for stacking. The bottom plate of the hopper 1 for placing planting cups is an inclined plate with one end higher than the other end and arranged in an inclined way. The planting cup placed in the hopper can slide towards the lower end of the inclined plate under the action of gravity. The grabbing mechanism 3 is convenient to grab the planting cup.
The grabbing mechanism 3 is located above the lower side of the hopper 1, the starting end of the conveyor 5 is arranged by the grabbing mechanism 3, the grabbing mechanism 3 comprises a grabbing manipulator 301 for grabbing the planting cup and a X, Y, Z three-axis linear motion guide rail 302, and the grabbing manipulator 301 moves on the X, Y, Z three-axis linear motion guide rail so as to grab the planting cup in the hopper 1 onto the conveyor 5. Specifically, the X-axis linear motion guide rail is a linear motion guide rail extending along the length direction of the hopper 1, and the X-axis linear motion guide rail approaches or separates the gripping manipulator 301 from the conveyor 5. The Y-axis linear motion guide rail is slidably connected to the X-axis linear motion guide rail, the Y-axis linear motion guide rail extends along the direction perpendicular to the conveyor, the Z-axis linear motion guide rail is slidably connected to the Y-axis linear motion guide rail, the grabbing manipulator is slidably connected to the Z-axis linear motion guide rail, and the grabbing manipulator 301 can move up and down along the Z-axis linear motion guide rail. The Z-axis linear motion guide rail can move along the Y-axis linear motion guide rail. The grabbing mechanical arm can adopt a sucker type to absorb the planting cup, and can also adopt grabbing fingers to grab. The grabbing manipulator is driven to move up and down through an air cylinder. Or the grabbing mechanism 3 may only need an X-axis linear motion module, a sliding block is slidably mounted on the X-axis linear motion module, a Z-axis linear motion module is mounted on the sliding block, a sliding block is slidably mounted on the Z-axis linear motion module, a grabbing manipulator is mounted on the Z-axis sliding block, the grabbing manipulator 301 moves up and down along the Z-axis, and moves along the X-axis near the conveyor 5 and away from the conveyor 5, and the driving device may be an air cylinder. At this time, the bottom of the hopper 1 is designed into a cone shape, so that the hopper is convenient to grasp, and the planting cups can be concentrated at the bottom of the hopper.
The pushing mechanism 7 comprises a pushing cylinder 701, a pushing cylinder seat 702, a pushing head 703 and a receiving groove 704, and the detection mechanism 6 comprises a camera 601.
The pushing cylinder seat 702 is arranged on one side of the conveyor frame, the pushing cylinder 701 is arranged on the pushing cylinder installation seat 702, a piston rod of the pushing cylinder 701 is connected with the pushing head 703, the receiving groove 704 is arranged on the other side of the conveyor frame, and the pushing cylinder 701 pushes the damaged planting cup into the receiving groove 704 on the other side. The position of the conveyor frame, which is close to the pushing mechanism 7, is provided with a camera 601 through a camera mounting frame, the camera 601 can be a wide-angle high-definition camera, and a plurality of cameras 601 can be arranged to shoot different angles of the planting cup (only one camera is shown in the figure). The image information output end of the camera 601 is connected with the image signal input end of the working processor, the pushing cylinder control end of the working processor is connected with the pushing cylinder 701, the camera 601 obtains a clear image of the planting cup and compares the clear image with a prestored complete image of the planting cup, if matching is successful, the pushing cylinder 701 is not started, and if matching is unsuccessful, the pushing cylinder 701 is started to push the planting cup out, and the control method is the prior art.
The inversion mechanism 4 is located between the push-out mechanism 7 and the grasping mechanism 3, and the inversion mechanism 4 includes an inversion bar 401 provided across the conveyor 5 and an adjusting device for adjusting the up-and-down movement of the inversion bar, and the standing planting cups fall down after being hit by the inversion bar 401 during the conveyance. The adjusting device comprises vertical supports 403 which are oppositely arranged at two sides of the conveyor 5, the vertical supports 403 at the two sides are connected through a transverse beam 404, a screw nut is arranged on the transverse beam 404, the screw 402 penetrates through the screw nut from the upper side to extend below the transverse beam 404, the lower end of the screw 402 is connected with an inverted rod 401, the inverted rod 401 extends along the width direction of the conveyor 5, and an adjusting handle is arranged at the upper end of the screw 402.
The reversing device 9 comprises a reversing pulley 901, a U-shaped mounting bracket 902 with side openings and an adjusting seat 903, wherein the reversing pulley 901 is rotatably mounted in the U-shaped mounting bracket 902 through a pulley shaft, the reversing pulley 901 extends out of three sides of the U-shaped mounting bracket 902, an adjusting rod 904 is connected to the closed side of the U-shaped mounting bracket 902, the adjusting seat 903 is mounted on a frame on one side of the conveyor, a through hole for the axis of the adjusting rod 904 to horizontally extend is formed in the adjusting seat 903, a locking screw 905 extending up and down is arranged above the adjusting seat 903 and is inserted into the through hole, the adjusting rod 904 is locked through the locking screw 905, the reversing pulley 901 extends into the conveyor 5, the width of the reversing pulley 901 and the width of the other side of the conveyor are smaller than the height of a planting cup, and the planting cup conveyed transversely is changed into vertical conveying after encountering the reversing pulley. The reversing device 9 is positioned behind the push-out mechanism 7, a shaping and adjusting mechanism is arranged in front of the conveyor 5 behind the reversing device 9 and is closely arranged on the feeding cylinder 802 of the stacking device 8, the shaping and adjusting mechanism comprises two splayed separated metal elastic pieces 10, the two metal elastic pieces 10 are respectively arranged in through holes horizontally extending through the connecting rod 1001 and the axes arranged on the adjusting and adjusting seats 1002 on the two sides of the conveyor frame, and a locking screw 905 extending up and down is arranged above the adjusting and adjusting seats 1002 and is inserted into the through holes, and the connecting rod 1001 is locked through the locking screw 905. The distance between the close ends of the two metal spring plates 10 is adjusted by adjusting the connecting rod 1001, so that the distance just passes through the vertically conveyed planting cup. The planting cup can be kept at the position on the conveyor for conveying, so that the planting cup can enter the stacking cylinder conveniently.
The stacking device 8 comprises a vertically extending stacking barrel 801 matched with a planting cup and a feeding barrel 802 which is arranged on the upper part of the side wall of the stacking barrel 801 and is communicated with the stacking barrel 801, the feeding barrel 802 is connected with the tail end of a conveyor, the feeding barrel 802 is obliquely arranged and serves as a chute, a feeding chute 11 can also be arranged between the feeding barrel 802 and the conveyor 5, a planting cup (coming out of a shaping and adjusting mechanism) coming out of the conveyor 5 enters the feeding barrel 802, one side of the stacking barrel 801 opposite to the feeding barrel 802 is provided with an obliquely extending reversing ejector rod 803 with the inner end higher than the outer end, the length of the reversing ejector rod 803 extending into the stacking barrel 801 is smaller than the radius of the stacking barrel 801, preferably one third to one half of the radius, the reversing ejector rod 803 is in threaded connection with an obliquely threaded hole on a mounting seat on the side wall of the stacking barrel 801, so that the extending length of the reversing ejector rod 803 can be adjusted, when a cup mouth of the planting cup faces the reversing ejector rod, the planting cup can be firstly hung on the reversing ejector rod 803, then falls down, and when the cup bottom of the planting cup faces the reversing ejector rod 803, the cup bottom contacts with the reversing ejector rod 803. The lower end of the stacking cylinder 801 is opened, and a planting cup guide frame 804 is arranged below the stacking cylinder for placing falling planting cups. The planting cup guide frame 804 comprises a guide cylinder surrounded by a plurality of vertical rods extending vertically, the plurality of vertical rods are connected through transverse connecting rods, the upper end of the guide cylinder is in butt joint with the lower end of the stacking cylinder, and the lower end of the guide cylinder is fixed on the guide frame. The guide frame comprises a base, a groove for placing a guide cylinder is formed in the base, and the lower end of the guide cylinder is inserted into the groove. The specific base is a rotary disk 805, a circle of grooves for placing guide cylinders are formed on the base, the guide cylinders are respectively placed in the circle of grooves, a counter 2 is arranged on the feeding cylinder 802, the signal output end of the counter 2 is connected with the technical signal input end of the working processor, and the rotary disk control end of the working processor is connected with the rotary disk 805. When the count reaches the set point, i.e., the cartridge is filled, the work processor controls the rotary disk 805 to rotate, and the next cartridge is replaced with a planting cup, while the filled planting cup guide 804 is removed manually or by a robot.
The present invention is not limited to the above-described embodiments, and those skilled in the art will appreciate 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 (7)
1. Planting cup retrieves pile up neatly system, its characterized in that: the automatic planting device comprises a hopper for placing planting cups, a grabbing mechanism for placing the planting cups on a conveyor one by one from the hopper, an inversion mechanism for placing the vertically placed planting cups on the conveyor, a conveyor for conveying the planting cups, side baffles arranged on two sides of a conveying belt of the conveyor, a detection mechanism for detecting whether the planting cups are damaged or not, a pushing mechanism for pushing out the damaged planting cups from the conveyor, a reversing device for converting the planting cups transversely conveyed on the conveyor into vertical conveying and a stacking device for stacking the planting cups, wherein the conveyor is not provided with the side baffles, the position of the conveyor corresponding to the pushing mechanism is not provided with the side baffles, the planting cups are made of hard plastics, and the lower part of the planting cups is provided with strip-shaped through holes for extending out crop root systems;
the stacking device comprises a vertically extending stacking cylinder matched with the planting cup and a feeding cylinder which is arranged at the upper part of the side wall of the stacking cylinder and is communicated with the stacking cylinder, the feeding cylinder is connected with the tail end of the conveyor, the planting cup coming out of the conveyor directly enters the feeding cylinder, a reversing ejector rod which is higher than the outer end in the inner end and extends upwards in an inclined manner is arranged at one side, opposite to the feeding cylinder, of the stacking cylinder, the length of the reversing ejector rod extending into the stacking cylinder is smaller than the radius of the stacking cylinder, when the cup opening of the planting cup faces the reversing ejector rod, the planting cup is firstly hung on the reversing ejector rod and then falls down, and when the cup bottom of the planting cup faces the reversing ejector rod, the cup bottom of the planting cup is directly fallen down after being contacted with the reversing ejector rod; the lower end of the stacking cylinder is provided with an opening, and a planting cup guide frame is arranged below the stacking cylinder and used for placing falling planting cups;
the inversion mechanism is positioned between the pushing mechanism and the grabbing mechanism and comprises an inversion rod which is arranged across the conveyor and an adjusting device for adjusting the inversion rod to move up and down, and the standing planting cup falls down after being touched by the inversion rod in the conveying process;
the adjusting device comprises vertical supports which are oppositely arranged at two sides of the conveyor, the vertical supports are connected through transverse beams, screw nuts are arranged on the transverse beams, a screw rod penetrates through the screw nuts from the upper side to extend to the lower side of the transverse beams, the lower end of the screw rod is connected with an inverted rod, and the upper end of the screw rod is provided with an adjusting handle;
the reversing device comprises a reversing pulley, a U-shaped mounting bracket with a side opening and an adjusting seat, wherein the reversing pulley is rotatably mounted in the U-shaped mounting bracket through a pulley shaft, the reversing pulley extends out of three sides of the U-shaped mounting bracket, an adjusting rod is connected to the closed side of the U-shaped mounting bracket, the adjusting seat is mounted on a frame on one side of the conveyor, a through hole for the axis of the adjusting rod to pass through is horizontally extended on the adjusting seat, a locking screw rod extending up and down is arranged above the adjusting seat and is inserted into the through hole, the adjusting rod is locked through the locking screw rod, the reversing pulley extends into the conveyor, the width of the reversing pulley and the other side of the conveyor is smaller than the height of a planting cup, and the planting cup which is transversely conveyed is changed into vertical conveying after touching the reversing pulley; the reversing device is positioned behind the pushing mechanism, a shaping and adjusting mechanism is arranged in front of the conveyor behind the reversing device and is closely arranged on a feeding cylinder of the stacking device, the shaping and adjusting mechanism comprises two splayed separated metal elastic sheets, the two metal elastic sheets are respectively arranged in through holes horizontally extending through connecting rods and axes arranged on adjusting seats on two sides of a conveyor frame, and locking screws extending up and down are arranged above the adjusting seats and are inserted into the through holes to lock the connecting rods through the locking screws.
2. The plant cup recycling palletizing system according to claim 1, wherein: the bottom plate of the hopper for placing the planting cup is an inclined plate with one end higher than the other end and arranged in an inclined mode.
3. The plant cup recycling palletizing system according to claim 2, wherein: the grabbing mechanism is located above the lower side of the hopper, the starting end of the conveyor is arranged by the grabbing mechanism, the grabbing mechanism comprises grabbing manipulators for grabbing the planting cups and X, Y, Z three-axis linear motion guide rails, and the grabbing manipulators move on the X, Y, Z three-axis linear motion guide rails so as to grab the planting cups in the hopper onto the conveyor.
4. A planting cup recycling palletizing system according to claim 3, wherein: the pushing mechanism comprises a pushing cylinder, a pushing cylinder seat, a pushing head and a receiving groove, the detecting mechanism comprises a camera, the pushing cylinder seat is arranged on one side of the conveyor frame, the pushing cylinder is arranged on a pushing cylinder mounting seat, a piston rod of the pushing cylinder is connected with the pushing head, the receiving groove is arranged on the other side of the conveyor frame, and the pushing cylinder pushes the damaged planting cup into the receiving groove on the other side; and a camera is further arranged at a position, close to the pushing mechanism, on the conveyor frame through a camera mounting frame.
5. The planting cup recycling palletizing system according to claim 4, wherein: the planting cup guide frame comprises a guide cylinder surrounded by a plurality of vertical rods extending vertically, the plurality of vertical rods are connected through transverse connecting rods, the upper end of the guide cylinder is in butt joint with the lower end of the stacking cylinder, and the lower end of the guide cylinder is fixed on the guide frame.
6. The planting cup recycling palletizing system according to claim 5, wherein: the guide frame comprises a base, a groove for placing a guide cylinder is formed in the base, and the lower end of the guide cylinder is inserted into the groove.
7. The plant cup recycling palletizing system according to claim 6, wherein: the base is a rotary disk, a circle of grooves for placing the guide cylinders are formed in the base, the guide cylinders are respectively placed in the circle of grooves, and the feeding cylinder is provided with a counter.
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| CN114408554A (en) | 2022-04-29 |
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