CN116002273A - Rotary seedling tray collecting and releasing mechanism and tray collecting and releasing method thereof - Google Patents

Abstract

The invention discloses a rotary seedling tray folding and unfolding mechanism and a tray folding and unfolding method thereof. The invention relates to a retractable disc mechanism which is positioned at a notch formed at the front end of a frame, two ends of a rotating shaft of a rotating device are respectively fixed with a rotating rod and an output shaft of a first driving motor, an inner cavity of a protective shell fixed on the rotating rod is provided with a gear train, and the rotating device is provided with two symmetrically arranged rotating devices and is connected through a seedling disc supporting plate; the outer sides of the two rotating devices on the frame are provided with belt transmission mechanisms; the middle part of the frame is fixed with a storage frame, and two transportation storage mechanisms which are symmetrically arranged are arranged on the storage frame and are positioned at the outer sides of the two belt transmission mechanisms. The invention has the functions of coiling and uncoiling, realizes full automation and multiple purposes, improves the working efficiency and has simple structure; the gear train provided by the invention enables the seedling tray supporting plate to rotate along with the rotating plate and rotate relative to the rotating plate, and further enables the seedling tray supporting plate to be kept horizontal all the time.

Description

Rotary seedling tray collecting and releasing mechanism and tray collecting and releasing method thereof

Technical Field

The invention belongs to the field of agricultural machinery, and particularly relates to a rotary seedling tray folding and unfolding mechanism and a tray folding and unfolding method thereof.

Background

Rice is one of the most important grains in daily life, and rice seedling raising is an important part in rice planting, and the rice growth period can be prolonged through the rice seedling raising, so that the rice yield is improved. With the development of agricultural mechanization in China, a rice seedling raising link is gradually mechanized, people use a seedling raising tray to raise rice seedlings through related machines, and the tray is placed through tray placing equipment after the seedling raising is finished, but in the aspect of recycling the seedling trays, most of the seedling trays are manually recycled, related seedling tray recycling devices are fewer, and the existing tray collecting machines on the market have the defects of large size, inconvenience in movement and high manufacturing cost, so that the adaptability is low, meanwhile, the existing seedling raising equipment is single in function, the work of tray collecting, tray placing and seedling tray conveying cannot be completed through one machine, and the working efficiency is low.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a rotary seedling tray collecting and releasing mechanism and a tray collecting and releasing method thereof.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

the invention relates to a rotary seedling tray collecting and releasing mechanism, which comprises a frame, a seedling tray storing mechanism, a crawler belt travelling mechanism, a collecting and releasing tray mechanism, a seedling tray conveying vehicle and a seedling tray conveying mechanism, wherein the crawler belt travelling mechanism is arranged on the frame; a retractable tray mechanism is arranged at a notch formed in the front end of the frame, a seedling tray storage mechanism and a seedling tray conveying mechanism are arranged on the upper surface of the frame, and the lower surface of the frame is connected with a crawler belt travelling mechanism through a connecting frame; the tray folding and unfolding mechanism comprises a rotating device and a seedling tray supporting plate; the rotating device comprises a gear train, a rotating rod, a rotating shaft, a hollow shaft and a first protective shell; a first protective shell is fixed on the rotating rod, and a gear train is arranged in an inner cavity of the first protective shell; the gear train comprises a sun gear, an intermediate gear and a planet gear; one end of the hollow shaft penetrates through a round hole formed in the first protective shell to be fixed with the sun gear, a revolute pair is formed by the hollow shaft and the first protective shell, and the other end of the hollow shaft is fixed with the frame; one end of the rotating shaft passes through a central hole of the hollow shaft and a round hole formed in the sun gear to be fixed with the rotating rod, and the other end of the rotating shaft and the frame form a rotating pair; two intermediate wheels are hinged on the rotating rod at intervals, and the two intermediate wheels are meshed with the sun wheel; the connecting shafts fixed on the two planetary gears respectively pass through a round hole formed on the rotating rod to form a revolute pair with the rotating rod, and the two planetary gears are respectively meshed with the two intermediate gears; the two rotating devices are symmetrically arranged, and each two opposite connecting shafts in the two rotating devices are respectively fixed with two ends of a seedling tray supporting plate; a first driving motor is fixed on the frame, and an output shaft of the first driving motor is fixed with a rotating shaft of any rotating device; the lower surface of the frame is fixed with a tray bar on two sides of the notch; the length of the seedling tray supporting plate is smaller than the distance between the two rotating rods, the two tray placing rods are positioned on the outer sides of the two rotating rods, and the seedling tray supporting plate is flush with the bottommost part of the crawler travelling mechanism when being positioned at the lowest point;

The seedling tray conveying mechanism comprises a transport vehicle parking frame, a guard plate and a belt transmission mechanism, wherein the transport vehicle parking frame comprises a stop plate and a transport vehicle parking frame; two guard plates arranged at intervals are vertically fixed at the front end of the frame and positioned at two sides of the notch; the transport vehicle parking frame is fixed at the rear end of the frame, and one end, close to the middle part of the frame, of the transport vehicle parking frame is opened; the belt transmission mechanism is provided with two belt transmission mechanisms which are arranged at intervals; the driven pulleys of the two belt transmission mechanisms and the two guard plates respectively form a revolute pair, the driving pulleys of the two belt transmission mechanisms are fixed with a main shaft, the main shaft and a parking frame of the transport vehicle form the revolute pair, and the upper belt surfaces of the conveyor belts of the two belt transmission mechanisms are level; a stop plate is fixed at one end of the transport vehicle parking frame, which is provided with an opening, and the distance between the lower end of the stop plate and the two conveyor belts is smaller than the height of the seedling tray; a travel switch is fixed on the stop plate; the driving motor II fixed on the frame drives the main shaft to rotate, and the two rotating rods are positioned between the two conveyor belts;

the seedling disc storage mechanism comprises a storage frame and a transportation storage mechanism, and the transportation storage mechanism comprises a chain transmission mechanism, a first angle iron group and a second angle iron group; the storage frame is fixed in the middle of the rack, the two chain transmission mechanisms are vertically arranged at intervals, the driving chain wheels in the two chain transmission mechanisms are fixed through a rotating shaft, and the rotating shaft is driven to rotate by a driving motor three fixed on the rack; driven chain wheels in the two chain transmission mechanisms are fixed through another rotating shaft; the two rotating shafts and the storage frame form a revolute pair; the first angle iron set and the second angle iron set are composed of a plurality of angle irons which are equidistantly arranged, and two ends of each angle iron are respectively fixed with chains in the two chain transmission mechanisms; two transportation and storage mechanisms which are symmetrically arranged are arranged on the storage frame and are positioned on the outer sides of the two conveyor belts; the distance between two adjacent angle irons in the angle iron group I is equal to the length of one chain link of the chain, and the distance between two adjacent angle irons in the angle iron group II is equal to the length of two chain links;

The seedling tray transport vehicle comprises a tray collecting transport vehicle and a tray discharging transport vehicle; the coiling transport vehicle comprises a guide rail, transport wheels, a transport vehicle frame, a support frame and an electric slide rail; the four corners of the bottom end of the transport frame are hinged with transport wheels; an electric sliding rail is fixed at the bottom position inside the transportation frame; the support frame is arranged in the transportation frame and is fixed with the sliding block on the electric sliding rail; the support frame is provided with a plurality of rod groups which are integrally formed and are distributed up and down at equal intervals; the rod group consists of two support rods which are horizontally arranged at intervals, and the interval between the two support rods is smaller than the interval between the two transportation and storage mechanisms; the guide rails are provided with two guide rails which are vertically arranged, and each guide rail is detachably fixed with a row of support rods which are arranged up and down; compared with the pallet truck, the pallet truck has the advantages that the distance between two adjacent rod groups of the pallet truck is equal to the length of one chain link of the chain, the distance between two adjacent rod groups of the pallet truck is equal to the length of two chain links of the chain, and other structures are completely consistent.

Preferably, the tray discharging rod comprises a stop rod and a stop block, a threaded hole is formed in the upper end of the stop rod, the stop rod is fixed with the frame through a bolt and the threaded hole, and the stop block is fixed at the lower end of the stop rod.

Preferably, the main shaft is supported on the transport vehicle parking frame by a first bearing seat, and the driven pulley is supported on the corresponding guard plate by a second bearing seat.

Preferably, a plurality of carrier rollers are arranged in the middle of the frame, the carrier rollers and the bracket form a revolute pair, and the bracket is fixed with the frame.

More preferably, the middle part of the frame is positioned between the two conveyor belts, a second protective shell is fixed between the two conveyor belts, the upper end face of the second protective shell is lower than the two conveyor belts, and each carrier roller is arranged in the inner cavity of the second protective shell.

Preferably, the rotation shaft is supported on the storage frame through a bearing housing three.

Preferably, the triangular brackets are fixed at the connecting positions of the storage frames.

Preferably, the guide rail is provided with a plurality of grooves which are distributed at intervals and have the same number as a row of supporting rods distributed up and down, and each supporting rod in the row of supporting rods distributed up and down is embedded into a corresponding groove; one end of the guide rail is provided with an inclined plane, and the other end of the guide rail is provided with an integrally formed connecting convex strip; the rear end of the transport vehicle parking frame is hinged with two connectors.

The disc collecting method of the invention comprises the following steps:

step one, the controller controls the output shaft of a driving motor IV in the crawler travelling mechanism to rotate positively, so that the crawler travelling mechanism drives the frame to move forwards; meanwhile, the controller controls the output shaft of the second driving motor to reversely rotate, and the output shaft of the second driving motor drives the two driving pulleys to synchronously reversely rotate, so that the two conveyor belts are conveyed backwards; the controller controls the output shaft of the first driving motor to rotate reversely, and the output shaft of the first driving motor drives the corresponding rotating shaft to rotate reversely, so that the corresponding rotating plate and the gear protection shell are driven to rotate reversely together, and the other rotating plate and the other gear protection shell are driven to rotate reversely synchronously through the two seedling tray supporting plates; when the two rotating plates synchronously rotate reversely, each sun wheel is static, each intermediate wheel is meshed with the corresponding sun wheel while rotating reversely along with the corresponding rotating plate and rotates reversely relative to the rotating plate, and each planet wheel is reversely rotated along with the corresponding rotating plate, meshed with the corresponding intermediate wheel and rotates positively relative to the rotating plate, so that each seedling tray supporting plate rotates positively relative to each rotating plate while rotating reversely along with each rotating plate, and the two seedling tray supporting plates are kept horizontal all the time;

Secondly, when the crawler belt travelling mechanism drives the frame to move forwards, one seedling tray supporting plate scoops up the seedling tray from the lowest point, the seedling tray supporting plate scooping up the seedling tray rotates along with the rotating plate and drives the seedling tray to rotate from the lowest point to the highest point, then the tray collecting and releasing mechanism drives the seedling tray to continue rotating, when two ends of the seedling tray are contacted with the two conveying belts, the seedling tray is supported by the two conveying belts, the seedling tray supporting plate is separated from the seedling tray along with the rotation of the rotating plate and rotates towards the lowest point, and the seedling tray moves towards the storage frame along with the two conveying belts;

when the seedling tray is conveyed between the two conveying and storing mechanisms and touches the travel switch, the controller controls the driving motors of the two conveying and storing mechanisms to rotate in the three positive directions, so that each chain transmission mechanism synchronously works, further the angle irons in the angle iron groups II on the inner sides of the two conveying and storing mechanisms are driven to move from bottom to top, when the angle irons in the angle iron groups II move upwards by the distance of the two chain link lengths, the controller controls the driving motors to stop working, and meanwhile, the two ends of the seedling tray are contacted with the two opposite angle irons in the angle iron groups II, and the seedling tray is lifted and moves upwards by the distance of the two chain link lengths;

Step four, repeating the step two and the step three, when the seedling tray is fully filled on the two angle iron groups II, the controller controls the driving motor I, the driving motor II and the driving motor IV to stop working, then the two guide rails on the coiling transport vehicle are disassembled, the two guide rails are obliquely arranged and fixed with the transport vehicle parking frame, then the controller controls the hub motor of each transport wheel to rotate positively, and the hub motor drives the transport wheels to drive the transport vehicle frame, the support frame and the electric slide rail to move onto the transport vehicle parking frame along the guide surfaces of the two guide rails;

fifthly, the controller controls the driving motors of the two transporting and storing mechanisms to rotate in three positive directions, so that the angle iron groups II of the two transporting and storing mechanisms and the seedling tray are driven to move upwards to the position between the two rod groups at the lowest positions of the two angle iron groups II in height; the controller controls the driving motor of the electric slide rail to rotate in five directions, so that the sliding block of the electric slide rail drives the support frame to move outwards between the two transportation and storage mechanisms, and a seedling tray is arranged above each rod group of the support frame; then the controller controls the output shaft of the driving motor III to rotate reversely, and each chain transmission mechanism drives the two angle iron groups to move downwards until each seedling tray is placed on the corresponding rod group, and at the moment, each seedling tray is separated from the corresponding angle iron;

And step six, the controller controls the driving motor five of the electric slide rail to reversely rotate, so that the sliding block of the electric slide rail drives the supporting frame and each seedling tray to move into the transportation frame, then the controller controls the hub motors to reversely rotate, the hub motors drive the transportation wheels to drive the transportation frame, the supporting frame, the electric slide rail and each seedling tray to move to the ground along the guide rails from the transportation vehicle parking frame, then the two guide rails are detached from the transportation vehicle parking frame and fixed with the corresponding supporting rods, finally the controller controls the hub motors to work, and the seedling trays are transported to the appointed place by the tray collecting transportation vehicle, so that tray collecting work of the seedling trays is completed.

The disc placing method of the invention comprises the following steps:

the method comprises the steps that firstly, two guide rails on a tray-placing transport vehicle with seedling trays are detached, the two guide rails are obliquely arranged and fixed with a transport vehicle parking frame, then a controller controls a hub motor of each transport wheel to rotate positively, and the hub motor drives the transport wheels to drive a transport vehicle frame, a support frame, an electric slide rail and each seedling tray to move onto the transport vehicle parking frame along the two guide rails;

the second step, the controller controls the driving motors of the two transporting and storing mechanisms to rotate, so that the angle iron groups I of the two transporting and storing mechanisms are driven to move to the inner side, and the rod group at the lowest position on the supporting frame is positioned between the two angle irons at the lowest position in the angle iron groups I in height; then the controller controls the driving motor of the electric slide rail to rotate in five directions, so that the sliding block of the electric slide rail drives the support frame and each seedling tray to move outwards between the two transportation and storage mechanisms, and one seedling tray is arranged above each angle iron in the first angle iron group; then the controller controls the driving motors of the two transport and storage mechanisms to rotate in three positive directions to drive the angle iron groups of the two transport and storage mechanisms to move upwards until each seedling tray is supported by each diagonal iron of the first two angle iron groups, and at the moment, each seedling tray is separated from the corresponding rod group;

Thirdly, the controller controls the output shaft of the driving motor five to rotate reversely, so that the sliding block of the electric sliding rail drives the supporting frame to move into the transportation frame, then the controller controls the output shaft of each wheel hub motor to rotate reversely, the output shaft of the wheel hub motor drives the transportation wheels to drive the transportation frame, the supporting frame and the electric sliding rail to move to the ground along the two guide rails from the transportation vehicle parking frame, and finally the two guide rails are detached from the transportation vehicle parking frame and fixed with corresponding supporting rods;

the fourth step, the controller controls the output shaft of the driving motor IV in the crawler travelling mechanism to rotate reversely, so that the crawler travelling mechanism drives the frame and the seedling tray to move backwards, and simultaneously controls the output shaft of the driving motor II to rotate positively, and the output shaft of the driving motor II drives the two driving belt wheels to rotate positively synchronously, so that the two conveying belts are conveyed forwards; the controller controls the output shaft of the first driving motor to rotate positively, and the output shaft of the first driving motor drives the corresponding rotating shaft to rotate positively, so that the corresponding rotating plate and the gear protection shell are driven to rotate positively together, and the other rotating plate and the other gear protection shell are driven to rotate positively synchronously through the two seedling tray supporting plates; when the two rotating plates synchronously rotate forward, each sun wheel is static, each intermediate wheel rotates forward along with the corresponding rotating plate and is meshed with the corresponding sun wheel, and rotates forward relative to the rotating plate, and each planet wheel rotates forward along with the corresponding rotating plate, is meshed with the corresponding intermediate wheel and rotates reversely relative to the rotating plate, so that each seedling tray supporting plate rotates forward along with each rotating plate and rotates reversely relative to each rotating plate, and further the two seedling tray supporting plates always keep horizontal;

Fifthly, the controller controls the driving motors of the two transporting and storing mechanisms to reversely rotate, so that the angle iron groups I of the two transporting and storing mechanisms and the seedling trays are driven to move downwards until one seedling tray is separated from the corresponding angle iron, at the moment, the seedling tray falls onto the two conveying belts, and then the two conveying belts drive the seedling tray to be conveyed towards the direction of the tray collecting and releasing mechanism;

sixthly, when the empty seedling tray supporting plate positioned at the lowest position rotates to the upper end face to be level with the two conveying belts, one seedling tray is conveyed to the upper part of the seedling tray supporting plate, and meanwhile, the seedling tray supporting plate supports the seedling tray along with the rotation of the rotating plate, and the seedling tray is separated from the two conveying belts; then the seedling tray supporting plate carries the seedling tray to rotate to the highest point and to rotate to the lowest point; when two ends of the seedling tray touch two tray discharging rods, the two tray discharging rods block the seedling tray to move together with the seedling tray supporting plate, and the seedling tray is separated from the seedling tray supporting plate along with the continuous rotation of the rotating plate and finally placed on the ground;

and seventhly, repeating the fifth step and the sixth step until the seedling trays on the first two-angle iron group are all placed on the ground, and controlling the first driving motor, the second driving motor and the fourth driving motor to stop working by the controller to finish the tray discharging work of the seedling trays.

The invention has the following beneficial effects:

1. the invention has the functions of coiling and uncoiling, realizes full automation and multiple purposes, improves the working efficiency, has simple structure and greatly reduces the manufacturing cost, and meanwhile, the invention is provided with the crawler travelling mechanism, so that the invention can move better in the field, is convenient to move and improves the adaptability. When the seedling tray is in coiling operation, the crawler belt travelling mechanism drives the rack to advance, the controller controls the output shaft of the first driving motor to reversely rotate, the output shaft of the first driving motor drives the coiling and uncoiling disc mechanism to reversely rotate, the seedling tray supporting plate in the coiling and uncoiling disc mechanism scoops up the seedling tray from the ground and conveys the seedling tray to the two conveying belts, the two conveying belts drive the seedling tray to be conveyed to the seedling tray storage mechanism, after the seedling tray touches the travel switch, the controller controls the driving motor of the two conveying and uncoiling mechanisms to drive the two angle iron groups to move from bottom to top, two opposite angle irons in the two angle iron groups support the two ends of the seedling tray, after the two angle iron groups are fully loaded with the seedling tray, the controller controls the coiling and uncoiling carrier to drive the conveying frame to move to the carrier parking frame, and drives the supporting frame to stretch out through the electric sliding rail, and finally the controller controls the driving motor of the two conveying and uncoiling storage mechanisms to enable the two angle iron groups to move downwards and place the seedling tray on the corresponding rod groups, and the coiling and conveying carrier is completed; when the tray discharging operation is carried out, the tray discharging transport vehicle conveys the seedling tray to the transport vehicle parking frame, the support frame is driven to extend through the electric sliding rail, the controller controls the driving motor to rotate in the three positive directions, the two angle iron groups move upwards, the seedling trays are placed on corresponding angle irons, then the seedling trays are placed on two conveyor belts, the conveyor belts drive the seedling trays to move to the tray discharging mechanism, the controller controls the output shaft of the driving motor I to rotate in the positive direction, the output shaft of the driving motor I drives the tray discharging mechanism to rotate in the positive direction, the seedling tray supporting plate in the tray discharging mechanism supports the seedling tray from the conveyor belts and conveys the seedling tray to the lowest point, finally the seedling tray is prevented from rotating along with the seedling tray supporting plate through the tray discharging rod, and the seedling tray is placed on the ground, so that the tray discharging is completed.

2. The invention is provided with the gear train, when the tray is taken in, the tray support plate rotates forward relative to the rotating plate while rotating reversely along with the rotating plate, and when the tray is taken in, the tray support plate rotates forward relative to the rotating plate while rotating reversely along with the rotating plate, so that the tray support plate always keeps horizontal when the tray is taken in and taken out, the tray is prevented from falling off in the tray taking in and taking out process, and the stability and reliability of the tray taking in and taking out mechanism are improved.

3. The seedling disc storage mechanism is arranged, the seedling discs are supported by the angle iron groups II in the disc collecting process, temporary storage of the seedling discs in the vertical direction is realized, space is saved, the seedling discs can be transported away by the disc collecting transport vehicle after the seedling discs are fully stored on the angle iron groups II, manpower is replaced for recycling the seedling discs, labor is saved, meanwhile, the disc collecting work can be carried out simultaneously with the work of transporting the seedling discs by the disc collecting transport vehicle, time is saved, and work efficiency is improved.

4. The width of the crawler travelling mechanism is smaller than the length of the seedling tray, namely the width of the grounding part is smaller than the length of the seedling tray, so that the crawler travelling mechanism can work normally in an environment where the seedling trays are densely arranged. When the invention is used for taking up, the seedling trays at two sides beside can not be influenced, and when the invention is used for putting down, the seedling trays can be put down at smaller intervals, thereby improving the utilization rate of the field.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic view of the structure of the frame, the tray-retracting mechanism, the seedling tray-storing mechanism, the seedling tray transporting mechanism and the crawler belt travelling mechanism in the invention;

FIG. 3 is a schematic view of a retractable tray mechanism according to the present invention;

FIG. 4 is a schematic view of the structure of the tray stick of the present invention;

FIG. 5 is a schematic view of the structure of the seedling tray conveying mechanism and the crawler belt travelling mechanism in the invention;

FIG. 6 is a schematic view of a seedling disk storage mechanism according to the present invention;

FIG. 7 is a schematic view of a tray truck according to the present invention;

FIG. 8 is a schematic view of the structure of the guide rail of the present invention;

FIG. 9 is a schematic view of a second angle iron set of the present invention when storing trays;

FIG. 10 is a schematic view of the tray truck of the present invention showing the placement of seedling trays;

FIG. 11 is a schematic view of the structure of the angle iron set of the present invention when the seedling tray is fully filled.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in fig. 1, the rotary seedling tray collecting and releasing mechanism comprises a frame, a collecting and releasing tray mechanism 1, a seedling tray storing mechanism 2, a seedling tray conveying vehicle 3, a seedling tray conveying mechanism and a crawler belt travelling mechanism 9. The notch that the frame front end was seted up is equipped with and receives a set mechanism 1, and the frame upper surface is equipped with seedling dish storage mechanism 2 and seedling dish transport mechanism, and the lower surface passes through link 8 and is connected with crawler belt running gear 9 (crawler belt running gear's width is less than the length of seedling dish).

As shown in fig. 2 and 3, the take-up/pay-off tray mechanism 1 includes a rotating device and a seedling tray pallet 16; the rotating device comprises a gear train, a rotating rod 12, a rotating shaft 14, a hollow shaft 15 and a first protective shell 17; a first protective shell 17 is fixed on the rotating rod 12, a gear train is arranged in an inner cavity of the first protective shell 17, and the first protective shell 17 is used for protecting the gear train; the gear train comprises a sun gear, an intermediate gear 13 and planet gears; one end of the hollow shaft 15 passes through a round hole formed in the first protective shell 17 to be fixed with the sun gear, forms a revolute pair with the first protective shell 17, and is fixed with the frame at the other end; one end of the rotating shaft 14 passes through a central hole of the hollow shaft 15 and a round hole formed in the sun gear to be fixed with the rotating rod 12, and the other end of the rotating shaft and the frame form a revolute pair; two intermediate wheels 13 are hinged on the rotating rod 12 at intervals, and the two intermediate wheels 13 are meshed with the sun wheel; the connecting shafts fixed on the two planetary gears respectively pass through a round hole formed on the rotating rod 12, and form a revolute pair with the rotating rod 12, and the two planetary gears are respectively meshed with the two intermediate gears 13. The rotating device is provided with two symmetrically arranged rotating devices, and each two opposite connecting shafts in the two rotating devices are respectively fixed with two ends of one seedling tray supporting plate 16. A first driving motor is fixed on the frame, and an output shaft of the first driving motor is fixed with a rotating shaft 14 of any rotating device; the lower surface of the frame is fixed with a tray bar 10 on two sides of the notch. Wherein the length of the seedling tray supporting plate 16 is smaller than the interval between the two rotating rods 12, the two tray discharging rods 10 are positioned on the outer sides of the two rotating rods 12 (the distance between the two tray discharging rods 10 is smaller than the length of the seedling tray), and the seedling tray supporting plate 16 is flush with the bottommost part of the crawler belt travelling mechanism 9 when being positioned at the lowest point.

As shown in fig. 2 and 5, the seedling tray transport mechanism includes a transport vehicle parking frame 5, a guard plate 33, and a belt transmission mechanism 34, the transport vehicle parking frame 5 including a stopper plate 7 and a transport vehicle parking frame 39; two guard plates 33 which are arranged at intervals are vertically fixed at the front end of the frame and are positioned at two sides of the notch; the transport vehicle parking frame 39 is fixed at the rear end of the frame and is opened at one end close to the middle of the frame; the belt transmission mechanism 34 is provided with two belt transmission mechanisms which are arranged at intervals; the driven pulleys of the two belt transmission mechanisms 34 and the two guard plates 33 respectively form a revolute pair, the driving pulleys of the two belt transmission mechanisms 34 are fixed with a main shaft, and the main shaft and a transport vehicle parking frame 39 form the revolute pair; the upper belt surfaces of the two belt transmission mechanisms 34 are flush; the end of the transport vehicle parking frame 39 provided with the opening is fixedly provided with a stop plate 7, and the distance between the lower end of the stop plate 7 and the two conveyor belts is smaller than the height of the seedling tray; a travel switch is fixed on the stop plate 7; wherein, the second driving motor 37 fixed on the frame drives the main shaft to rotate, and the two rotating rods 12 are positioned between the two conveying belts (the distance between the two conveying belts is smaller than the length of the seedling tray).

As shown in fig. 6, the seedling disk storage mechanism 2 includes a storage frame 19 and a transport storage mechanism; the storage frame 19 is fixed in the middle of the rack; the transportation and storage mechanism comprises a chain transmission mechanism, a first angle iron group and a second angle iron group; the chain transmission mechanisms are provided with two vertical chain transmission mechanisms which are arranged at intervals, the driving chain wheels 18 in the two chain transmission mechanisms are fixed through a rotating shaft 22, and the rotating shaft 22 is driven to rotate by a driving motor three fixed on the frame; the driven sprocket wheels in the two chain transmission mechanisms are fixed through the other rotating shaft 22; the two rotating shafts 22 and the storage frame 19 form a revolute pair; the first angle iron group and the second angle iron group are respectively composed of a plurality of angle irons 24 which are equidistantly arranged, and two ends of each angle iron 24 are respectively fixed with chains 23 in two chain transmission mechanisms. The storage frame 19 is provided with two symmetrically arranged transportation and storage mechanisms, and the two transportation and storage mechanisms are positioned on the outer sides of the two conveyor belts. Wherein, the distance between two adjacent angle irons 24 in the first angle iron group is equal to the length of one chain link of the chain 23, and the distance between two adjacent angle irons 24 in the second angle iron group is equal to the length of two chain links (when the two angle irons in the first angle iron group or the two angle irons in the second angle iron group are positioned at the inner side of the corresponding transportation and storage mechanism, the distance between the two opposite angle irons in the first angle iron group or the two angle irons in the second angle iron group is smaller than the length of the seedling tray).

As shown in fig. 7, the seedling tray transport vehicle 3 includes a take-up tray transport vehicle and a discharge tray transport vehicle; the coiling transport vehicle comprises a guide rail 4, transport wheels 25, a transport frame 26, a support frame 27 and an electric slide rail 28; the four corners of the bottom end of the transport frame 26 are hinged with transport wheels 25; an electric slide rail 28 is fixed at the bottom position inside the transportation frame 26; the support frame 27 is arranged in the transportation frame 26 and is fixed with a sliding block on the electric sliding rail 28; the support frame 27 is provided with a plurality of rod groups which are integrally formed and are distributed up and down at equal intervals; the rod group consists of two support rods which are horizontally arranged at intervals, and the interval between the two support rods is smaller than the interval between the two transportation and storage mechanisms; the guide rail 4 is provided with two vertical setting, and every guide rail 4 can be dismantled fixedly with a row of supporting rod of arranging from top to bottom, and the corresponding bracing piece of support when being used for receiving a set transport vechicle to transport seedling dish when guide rail 4 is not dismantled prevents that the bracing piece from damaging. Compared with the pallet truck, the pallet truck has the advantages that the distance between two adjacent rod groups of the pallet truck is equal to the length of one chain link of the chain 23, the distance between two adjacent rod groups of the pallet truck is equal to the length of two chain links of the chain 23, and other structures are completely consistent.

The first driving motor, the second driving motor 37, the third driving motor, the fourth driving motor in the crawler travelling mechanism 9, the hub motor for driving the transport wheels 25 and the fifth driving motor of the electric sliding rail 28 in the coiling transport vehicle and the coiling transport vehicle are controlled by a controller, and the signal output end of the travel switch is connected with the controller.

As a preferred embodiment, as shown in fig. 4, the tray 10 includes a blocking rod 42 and a blocking block 43, a threaded hole 41 is formed at the upper end of the blocking rod 42, the blocking rod 42 is fixed to the frame through a bolt and the threaded hole, and the blocking block 43 is fixed to the lower end of the blocking rod 42.

As a preferred embodiment, the main shaft is supported on the transport vehicle parking frame 39 by means of bearing blocks one 6 and the driven pulleys are supported on the respective guard plates 33 by means of bearing blocks two.

As a preferred embodiment, a plurality of carrier rollers 35 are arranged in the middle of the frame, the carrier rollers 35 and the bracket 40 form a revolute pair for supporting two conveyor belts, and the bracket 40 is fixed with the frame.

More preferably, a second protective housing 36 is fixed between the two conveyor belts in the middle of the frame, the upper end surface of the second protective housing 36 is lower than the two conveyor belts, each carrier roller 35 is disposed in the inner cavity of the second protective housing 36, and the second protective housing 36 is used for protecting each carrier roller 35 to prevent impurities such as soil carried by the seedling tray from affecting the normal operation of the belt transmission mechanism 34.

As a preferred embodiment, the rotation shaft 22 is supported on the storage frame 19 by means of bearing blocks three 20.

As a preferred embodiment, the tripod 21 is fixed to each connection of the storage frame 19, and the tripod 21 is used to increase the stability of the storage frame 19.

As a preferred embodiment, as shown in fig. 8, a plurality of grooves 31 are formed on the guide rail 4, the number of the grooves is equal to the number of a row of support rods arranged up and down, and each support rod in the row of support rods arranged up and down is embedded into a corresponding groove 31; one end of the guide rail 4 is provided with an inclined surface 32, and the other end is provided with an integrally formed connecting convex strip 30; the rear end of the transport vehicle parking frame 39 is hinged with two connecting ports 38; the connecting ribs are used for being embedded into the connecting ports 38 of the transport vehicle parking frame 39 when the guide rail 4 is fixed with the transport vehicle parking frame 39.

The invention discloses a disc collecting method of a rotary seedling disc collecting and releasing mechanism, which comprises the following steps:

step one, the controller controls the output shaft of the driving motor IV in the crawler belt travelling mechanism 9 to rotate positively, so that the crawler belt travelling mechanism 9 drives the frame to move forwards; meanwhile, the controller controls the output shaft of the second driving motor 37 to reversely rotate, and the output shaft of the second driving motor 37 drives the two driving pulleys to synchronously reversely rotate, so that the two conveyor belts are conveyed backwards; the controller controls the output shaft of the first driving motor to rotate reversely, the output shaft of the first driving motor drives the corresponding rotating shaft 14 to rotate reversely, so that the corresponding rotating plate 12 and the gear protection shell 17 are driven to rotate reversely together, and the other rotating plate 12 and the other gear protection shell 17 are driven to rotate reversely synchronously through the two seedling tray supporting plates 16; when the two rotating plates 12 synchronously rotate reversely, each sun wheel is static, each intermediate wheel 13 is meshed with the corresponding sun wheel while rotating reversely along with the corresponding rotating plate 12, and rotates reversely relative to the rotating plate 12, and each planet wheel is reversely rotated along with the corresponding rotating plate 12, meshed with the corresponding intermediate wheel and rotates positively relative to the rotating plate 12, so that each seedling tray supporting plate 16 rotates positively relative to each rotating plate 12 while rotating reversely along with each rotating plate 12, and the two seedling tray supporting plates 16 are kept horizontal all the time.

Step two, when the crawler belt travelling mechanism 9 drives the frame to move forwards, one seedling tray supporting plate 16 scoops up the seedling tray 11 from the lowest point, the seedling tray supporting plate 16 scooping up the seedling tray 11 rotates along with the rotating plate 12 and drives the seedling tray 11 to rotate from the lowest point to the highest point, then the tray collecting and releasing mechanism 1 drives the seedling tray 11 to continue to rotate, when two ends of the seedling tray 11 are contacted with two conveying belts, the seedling tray 11 is lifted by the two conveying belts, the seedling tray supporting plate 16 is separated from the seedling tray 11 along with the rotation of the rotating plate 12 and rotates towards the lowest point, and the seedling tray 11 moves towards the direction of the storage frame 19 along with the two conveying belts.

And thirdly, when the seedling tray 11 is conveyed between the two conveying and storing mechanisms and touches the travel switch, the controller controls the driving motors of the two conveying and storing mechanisms to rotate in three positive directions, so that each chain transmission mechanism synchronously works, further the angle irons in the angle iron groups II on the inner sides of the two conveying and storing mechanisms are driven to move from bottom to top (the angle irons on the inner sides of the conveying and storing mechanisms are higher than the position of the transmission belt initially), after the angle irons of the angle iron groups II move upwards by the distance of two chain link lengths, the controller controls the driving motors to stop working, and meanwhile, the two ends of the seedling tray are contacted with the two opposite angle irons in the angle iron groups II, and the seedling tray is lifted up and moves upwards by the distance of the two chain link lengths, as shown in fig. 9.

And step four, repeating the step two and the step three, when the seedling tray is fully filled on the two angle iron groups two, the controller controls the driving motor one, the driving motor two 37 and the driving motor four to stop working, then the two guide rails 4 on the coiling transport vehicle are disassembled, the two guide rails 4 are obliquely arranged and fixed with the transport vehicle parking frame 39, then the controller controls the hub motor of each transport wheel 25 to rotate positively, and the hub motor drives the transport wheels 25 to drive the transport frame 26, the support frame 27 and the electric slide rail 28 to move onto the transport vehicle parking frame 39 along the guide rail surfaces 29 of the two guide rails 4.

Fifthly, the controller controls the driving motors of the two transporting and storing mechanisms to rotate in three positive directions, so that the angle iron groups II of the two transporting and storing mechanisms and the seedling tray are driven to move upwards to the position between the two rod groups at the lowest position on the supporting frame 27 in height; then the controller controls the driving motor five of the electric slide rail 28 to rotate forward, so that the sliding block of the electric slide rail 28 drives the support frame 27 to move outwards between the two transportation and storage mechanisms, and a seedling tray is arranged above each rod group of the support frame 27; and then the controller controls the output shaft of the driving motor III to rotate reversely, and each chain transmission mechanism drives the two angle iron groups to move downwards until each seedling tray is placed on the corresponding rod group, and at the moment, each seedling tray is separated from the corresponding angle iron.

And step six, the controller controls the driving motor five of the electric slide rail 28 to rotate reversely, so that the sliding block of the electric slide rail 28 drives the supporting frame 27 and each seedling tray to move into the transportation frame 26, then the controller controls the hub motors to rotate reversely, the hub motors drive the transportation wheels 25 to drive the transportation frame 26, the supporting frame 27, the electric slide rail 28 and each seedling tray to move to the ground along the guide rails 4 from the transportation vehicle parking frame 39, then the two guide rails 4 are detached from the transportation vehicle parking frame 39 and fixed with corresponding supporting rods, finally the controller controls each hub motor to work, and the seedling trays are transported to a designated place by the tray collecting transportation vehicle, so that the tray collecting work of the seedling trays is completed.

The invention discloses a disc placing method of a rotary seedling disc collecting and placing mechanism, which comprises the following steps:

the first step, the two guide rails 4 on the tray-placing transport vehicle with seedling trays are disassembled, the two guide rails 4 are obliquely arranged and fixed with the transport vehicle parking frame 39, then the controller controls the wheel hub motor of each transport wheel 25 to rotate positively, and the wheel hub motor drives the transport wheels 25 to drive the transport vehicle frame 26, the support frame 27, the electric slide rail 28 and each seedling tray to move onto the transport vehicle parking frame 39 along the two guide rails 4.

The second step, the controller controls the driving motors of the two transport and storage mechanisms to rotate (both forward rotation and reverse rotation) to drive the angle iron groups I of the two transport and storage mechanisms to move to the inner side, and the rod group at the lowest position on the support frame 27 is positioned between the two angle irons at the lowest position in the angle iron groups I in height; then the controller controls the driving motor five of the electric slide rail 28 to rotate forward, so that the sliding block of the electric slide rail 28 drives the support frame 27 and each seedling tray to move outwards between the two transportation and storage mechanisms, and one seedling tray is arranged above each angle iron in the first angle iron group; then the controller controls the driving motors of the two transport and storage mechanisms to rotate in three positive directions, so that the angle iron groups of the two transport and storage mechanisms are driven to move upwards until each seedling tray is supported by each diagonal iron of the first two angle iron groups, and at the moment, each seedling tray is separated from the corresponding rod group, as shown in fig. 10 and 11.

And thirdly, the controller controls the output shaft of the driving motor five to rotate reversely, so that the sliding block of the electric sliding rail 28 drives the supporting frame 27 to move into the transportation frame 26, then the controller controls the output shaft of each wheel hub motor to rotate reversely, the output shaft of the wheel hub motor drives the transportation wheels 25 to drive the transportation frame 26, the supporting frame 27 and the electric sliding rail 28 to move to the ground along the two guide rails 4 from the transportation parking frame 39, and finally the two guide rails 4 are detached from the transportation parking frame 39 and fixed with corresponding supporting rods.

The fourth step, the controller controls the output shaft of the driving motor IV in the crawler belt travelling mechanism 9 to rotate reversely, so that the crawler belt travelling mechanism 9 drives the frame and the seedling tray to move backwards, and simultaneously controls the output shaft of the driving motor II 37 to rotate positively, and the output shaft of the driving motor II 37 drives the two driving belt wheels to rotate positively synchronously, so that the two conveying belts are conveyed forwards; the controller controls the output shaft of the first driving motor to rotate positively, the output shaft of the first driving motor drives the corresponding rotating shaft 14 to rotate positively, so that the corresponding rotating plate 12 and the gear protection shell 17 are driven to rotate positively together, and the other rotating plate 12 and the other gear protection shell 17 are driven to rotate positively synchronously through the two seedling tray supporting plates 16; when the two rotating plates 12 rotate synchronously and positively, each sun wheel is static, each intermediate wheel 13 is meshed with the corresponding sun wheel while rotating positively along with the corresponding rotating plate 12 and rotates positively relative to the rotating plate 12, and each planet wheel is meshed with the corresponding intermediate wheel while rotating positively along with the corresponding rotating plate 12 and rotates reversely relative to the rotating plate 12, so that each seedling tray supporting plate 16 rotates positively along with each rotating plate 12 and rotates reversely relative to each rotating plate 12, and further the two seedling tray supporting plates 16 are kept horizontal all the time.

And fifthly, the controller controls the driving motors of the two transportation and storage mechanisms to rotate reversely, so that the first two angle iron groups of the two transportation and storage mechanisms and each seedling tray are driven to move downwards until one seedling tray is separated from the corresponding angle iron, at the moment, the seedling trays fall onto the two conveying belts, and then the two conveying belts drive the seedling trays to be conveyed towards the direction of the tray collecting and releasing mechanism 1.

Sixthly, when the empty seedling tray supporting plate 16 positioned at the lowest position rotates to the upper end face to be level with the two conveying belts, one seedling tray is conveyed to the upper part of the seedling tray supporting plate 16, and meanwhile, the seedling tray supporting plate 16 supports the seedling tray along with the rotation of the rotating plate 12, and the seedling tray is separated from the two conveying belts; then the seedling tray supporting plate 16 carries the seedling tray to rotate to the highest point and to rotate to the lowest point; when the two ends of the seedling tray touch the two tray discharging rods 10, the two tray discharging rods 10 stop the seedling tray from moving together with the seedling tray supporting plate 16, and the seedling tray is separated from the seedling tray supporting plate 16 along with the continuous rotation of the rotating plate 12 and finally placed on the ground.

And seventh, repeating the fifth and sixth steps until all the seedling trays on the first two-angle iron group are placed on the ground, and controlling the first driving motor, the second driving motor 37 and the fourth driving motor to stop working by the controller to finish the tray discharging work of the seedling trays.

Claims (10)

1. The utility model provides a rotatory seedling dish receive and releases dish mechanism, includes frame, seedling dish memory mechanism and crawler belt running gear, its characterized in that: the seedling tray conveying device also comprises a tray folding and unfolding mechanism, a seedling tray conveying vehicle and a seedling tray conveying mechanism; a retractable tray mechanism is arranged at a notch formed in the front end of the frame, a seedling tray storage mechanism and a seedling tray conveying mechanism are arranged on the upper surface of the frame, and the lower surface of the frame is connected with a crawler belt travelling mechanism through a connecting frame; the tray folding and unfolding mechanism comprises a rotating device and a seedling tray supporting plate; the rotating device comprises a gear train, a rotating rod, a rotating shaft, a hollow shaft and a first protective shell; a first protective shell is fixed on the rotating rod, and a gear train is arranged in an inner cavity of the first protective shell; the gear train comprises a sun gear, an intermediate gear and a planet gear; one end of the hollow shaft penetrates through a round hole formed in the first protective shell to be fixed with the sun gear, a revolute pair is formed by the hollow shaft and the first protective shell, and the other end of the hollow shaft is fixed with the frame; one end of the rotating shaft passes through a central hole of the hollow shaft and a round hole formed in the sun gear to be fixed with the rotating rod, and the other end of the rotating shaft and the frame form a rotating pair; two intermediate wheels are hinged on the rotating rod at intervals, and the two intermediate wheels are meshed with the sun wheel; the connecting shafts fixed on the two planetary gears respectively pass through a round hole formed on the rotating rod to form a revolute pair with the rotating rod, and the two planetary gears are respectively meshed with the two intermediate gears; the two rotating devices are symmetrically arranged, and each two opposite connecting shafts in the two rotating devices are respectively fixed with two ends of a seedling tray supporting plate; a first driving motor is fixed on the frame, and an output shaft of the first driving motor is fixed with a rotating shaft of any rotating device; the lower surface of the frame is fixed with a tray bar on two sides of the notch; the length of the seedling tray supporting plate is smaller than the distance between the two rotating rods, the two tray placing rods are positioned on the outer sides of the two rotating rods, and the seedling tray supporting plate is flush with the bottommost part of the crawler travelling mechanism when being positioned at the lowest point;

The seedling tray conveying mechanism comprises a transport vehicle parking frame, a guard plate and a belt transmission mechanism, wherein the transport vehicle parking frame comprises a stop plate and a transport vehicle parking frame; two guard plates arranged at intervals are vertically fixed at the front end of the frame and positioned at two sides of the notch; the transport vehicle parking frame is fixed at the rear end of the frame, and one end, close to the middle part of the frame, of the transport vehicle parking frame is opened; the belt transmission mechanism is provided with two belt transmission mechanisms which are arranged at intervals; the driven pulleys of the two belt transmission mechanisms and the two guard plates respectively form a revolute pair, the driving pulleys of the two belt transmission mechanisms are fixed with a main shaft, the main shaft and a parking frame of the transport vehicle form the revolute pair, and the upper belt surfaces of the conveyor belts of the two belt transmission mechanisms are level; a stop plate is fixed at one end of the transport vehicle parking frame, which is provided with an opening, and the distance between the lower end of the stop plate and the two conveyor belts is smaller than the height of the seedling tray; a travel switch is fixed on the stop plate; the driving motor II fixed on the frame drives the main shaft to rotate, and the two rotating rods are positioned between the two conveyor belts;

the seedling disc storage mechanism comprises a storage frame and a transportation storage mechanism, and the transportation storage mechanism comprises a chain transmission mechanism, a first angle iron group and a second angle iron group; the storage frame is fixed in the middle of the rack, the two chain transmission mechanisms are vertically arranged at intervals, the driving chain wheels in the two chain transmission mechanisms are fixed through a rotating shaft, and the rotating shaft is driven to rotate by a driving motor three fixed on the rack; driven chain wheels in the two chain transmission mechanisms are fixed through another rotating shaft; the two rotating shafts and the storage frame form a revolute pair; the first angle iron set and the second angle iron set are composed of a plurality of angle irons which are equidistantly arranged, and two ends of each angle iron are respectively fixed with chains in the two chain transmission mechanisms; two transportation and storage mechanisms which are symmetrically arranged are arranged on the storage frame and are positioned on the outer sides of the two conveyor belts; the distance between two adjacent angle irons in the angle iron group I is equal to the length of one chain link of the chain, and the distance between two adjacent angle irons in the angle iron group II is equal to the length of two chain links;

The seedling tray transport vehicle comprises a tray collecting transport vehicle and a tray discharging transport vehicle; the coiling transport vehicle comprises a guide rail, transport wheels, a transport vehicle frame, a support frame and an electric slide rail; the four corners of the bottom end of the transport frame are hinged with transport wheels; an electric sliding rail is fixed at the bottom position inside the transportation frame; the support frame is arranged in the transportation frame and is fixed with the sliding block on the electric sliding rail; the support frame is provided with a plurality of rod groups which are integrally formed and are distributed up and down at equal intervals; the rod group consists of two support rods which are horizontally arranged at intervals, and the interval between the two support rods is smaller than the interval between the two transportation and storage mechanisms; the guide rails are provided with two guide rails which are vertically arranged, and each guide rail is detachably fixed with a row of support rods which are arranged up and down; compared with the pallet truck, the pallet truck has the advantages that the distance between two adjacent rod groups of the pallet truck is equal to the length of one chain link of the chain, the distance between two adjacent rod groups of the pallet truck is equal to the length of two chain links of the chain, and other structures are completely consistent.

2. The rotary seedling tray retracting mechanism according to claim 1, wherein: the tray discharging rod comprises a stop rod and a stop block, a threaded hole is formed in the upper end of the stop rod, the stop rod is fixed with the frame through a bolt and the threaded hole, and the stop block is fixed at the lower end of the stop rod.

3. The rotary seedling tray retracting mechanism according to claim 1, wherein: the main shaft is supported on the parking frame of the transport vehicle through a first bearing seat, and the driven belt wheel is supported on the corresponding guard plate through a second bearing seat.

4. The rotary seedling tray retracting mechanism according to claim 1, wherein: the middle part of the frame is provided with a plurality of carrier rollers, the carrier rollers and the bracket form a revolute pair, and the bracket is fixed with the frame.

5. The rotary seedling tray retracting mechanism according to claim 4, wherein: the middle part of the frame is positioned between the two conveyor belts, a second protective shell is fixed between the two conveyor belts, the upper end face of the second protective shell is lower than the two conveyor belts, and each carrier roller is arranged in the inner cavity of the second protective shell.

6. The rotary seedling tray retracting mechanism according to claim 1, wherein: the rotating shaft is supported on the storage frame through a bearing seat III.

7. The rotary seedling tray retracting mechanism according to claim 1, wherein: and the triangular brackets are fixed at the joints of the storage frames.

8. The rotary seedling tray retracting mechanism according to claim 1, wherein: the guide rail is provided with a plurality of grooves which are distributed at intervals and have the same number as that of a row of supporting rods distributed up and down, and each supporting rod in the row of supporting rods distributed up and down is embedded into a corresponding groove; one end of the guide rail is provided with an inclined plane, and the other end of the guide rail is provided with an integrally formed connecting convex strip; the rear end of the transport vehicle parking frame is hinged with two connectors.

9. A disc collecting method of a rotary seedling disc collecting and releasing mechanism according to any one of claims 1 to 8, characterized in that: the method comprises the following steps:

step one, the controller controls the output shaft of a driving motor IV in the crawler travelling mechanism to rotate positively, so that the crawler travelling mechanism drives the frame to move forwards; meanwhile, the controller controls the output shaft of the second driving motor to reversely rotate, and the output shaft of the second driving motor drives the two driving pulleys to synchronously reversely rotate, so that the two conveyor belts are conveyed backwards; the controller controls the output shaft of the first driving motor to rotate reversely, and the output shaft of the first driving motor drives the corresponding rotating shaft to rotate reversely, so that the corresponding rotating plate and the gear protection shell are driven to rotate reversely together, and the other rotating plate and the other gear protection shell are driven to rotate reversely synchronously through the two seedling tray supporting plates; when the two rotating plates synchronously rotate reversely, each sun wheel is static, each intermediate wheel is meshed with the corresponding sun wheel while rotating reversely along with the corresponding rotating plate and rotates reversely relative to the rotating plate, and each planet wheel is reversely rotated along with the corresponding rotating plate, meshed with the corresponding intermediate wheel and rotates positively relative to the rotating plate, so that each seedling tray supporting plate rotates positively relative to each rotating plate while rotating reversely along with each rotating plate, and the two seedling tray supporting plates are kept horizontal all the time;

Secondly, when the crawler belt travelling mechanism drives the frame to move forwards, one seedling tray supporting plate scoops up the seedling tray from the lowest point, the seedling tray supporting plate scooping up the seedling tray rotates along with the rotating plate and drives the seedling tray to rotate from the lowest point to the highest point, then the tray collecting and releasing mechanism drives the seedling tray to continue rotating, when two ends of the seedling tray are contacted with the two conveying belts, the seedling tray is supported by the two conveying belts, the seedling tray supporting plate is separated from the seedling tray along with the rotation of the rotating plate and rotates towards the lowest point, and the seedling tray moves towards the storage frame along with the two conveying belts;

when the seedling tray is conveyed between the two conveying and storing mechanisms and touches the travel switch, the controller controls the driving motors of the two conveying and storing mechanisms to rotate in the three positive directions, so that each chain transmission mechanism synchronously works, further the angle irons in the angle iron groups II on the inner sides of the two conveying and storing mechanisms are driven to move from bottom to top, when the angle irons in the angle iron groups II move upwards by the distance of the two chain link lengths, the controller controls the driving motors to stop working, and meanwhile, the two ends of the seedling tray are contacted with the two opposite angle irons in the angle iron groups II, and the seedling tray is lifted and moves upwards by the distance of the two chain link lengths;

Step four, repeating the step two and the step three, when the seedling tray is fully filled on the two angle iron groups II, the controller controls the driving motor I, the driving motor II and the driving motor IV to stop working, then the two guide rails on the coiling transport vehicle are disassembled, the two guide rails are obliquely arranged and fixed with the transport vehicle parking frame, then the controller controls the hub motor of each transport wheel to rotate positively, and the hub motor drives the transport wheels to drive the transport vehicle frame, the support frame and the electric slide rail to move onto the transport vehicle parking frame along the guide surfaces of the two guide rails;

fifthly, the controller controls the driving motors of the two transporting and storing mechanisms to rotate in three positive directions, so that the angle iron groups II of the two transporting and storing mechanisms and the seedling tray are driven to move upwards to the position between the two rod groups at the lowest positions of the two angle iron groups II in height; the controller controls the driving motor of the electric slide rail to rotate in five directions, so that the sliding block of the electric slide rail drives the support frame to move outwards between the two transportation and storage mechanisms, and a seedling tray is arranged above each rod group of the support frame; then the controller controls the output shaft of the driving motor III to rotate reversely, and each chain transmission mechanism drives the two angle iron groups to move downwards until each seedling tray is placed on the corresponding rod group, and at the moment, each seedling tray is separated from the corresponding angle iron;

And step six, the controller controls the driving motor five of the electric slide rail to reversely rotate, so that the sliding block of the electric slide rail drives the supporting frame and each seedling tray to move into the transportation frame, then the controller controls the hub motors to reversely rotate, the hub motors drive the transportation wheels to drive the transportation frame, the supporting frame, the electric slide rail and each seedling tray to move to the ground along the guide rails from the transportation vehicle parking frame, then the two guide rails are detached from the transportation vehicle parking frame and fixed with the corresponding supporting rods, finally the controller controls the hub motors to work, and the seedling trays are transported to the appointed place by the tray collecting transportation vehicle, so that tray collecting work of the seedling trays is completed.

10. A tray discharging method of a rotary seedling tray retractable tray mechanism according to any one of claims 1 to 8, characterized in that: the method comprises the following steps:

the method comprises the steps that firstly, two guide rails on a tray-placing transport vehicle with seedling trays are detached, the two guide rails are obliquely arranged and fixed with a transport vehicle parking frame, then a controller controls a hub motor of each transport wheel to rotate positively, and the hub motor drives the transport wheels to drive a transport vehicle frame, a support frame, an electric slide rail and each seedling tray to move onto the transport vehicle parking frame along the two guide rails;

The second step, the controller controls the driving motors of the two transporting and storing mechanisms to rotate, so that the angle iron groups I of the two transporting and storing mechanisms are driven to move to the inner side, and the rod group at the lowest position on the supporting frame is positioned between the two angle irons at the lowest position in the angle iron groups I in height; then the controller controls the driving motor of the electric slide rail to rotate in five directions, so that the sliding block of the electric slide rail drives the support frame and each seedling tray to move outwards between the two transportation and storage mechanisms, and one seedling tray is arranged above each angle iron in the first angle iron group; then the controller controls the driving motors of the two transport and storage mechanisms to rotate in three positive directions to drive the angle iron groups of the two transport and storage mechanisms to move upwards until each seedling tray is supported by each diagonal iron of the first two angle iron groups, and at the moment, each seedling tray is separated from the corresponding rod group;

thirdly, the controller controls the output shaft of the driving motor five to rotate reversely, so that the sliding block of the electric sliding rail drives the supporting frame to move into the transportation frame, then the controller controls the output shaft of each wheel hub motor to rotate reversely, the output shaft of the wheel hub motor drives the transportation wheels to drive the transportation frame, the supporting frame and the electric sliding rail to move to the ground along the two guide rails from the transportation vehicle parking frame, and finally the two guide rails are detached from the transportation vehicle parking frame and fixed with corresponding supporting rods;

The fourth step, the controller controls the output shaft of the driving motor IV in the crawler travelling mechanism to rotate reversely, so that the crawler travelling mechanism drives the frame and the seedling tray to move backwards, and simultaneously controls the output shaft of the driving motor II to rotate positively, and the output shaft of the driving motor II drives the two driving belt wheels to rotate positively synchronously, so that the two conveying belts are conveyed forwards; the controller controls the output shaft of the first driving motor to rotate positively, and the output shaft of the first driving motor drives the corresponding rotating shaft to rotate positively, so that the corresponding rotating plate and the gear protection shell are driven to rotate positively together, and the other rotating plate and the other gear protection shell are driven to rotate positively synchronously through the two seedling tray supporting plates; when the two rotating plates synchronously rotate forward, each sun wheel is static, each intermediate wheel rotates forward along with the corresponding rotating plate and is meshed with the corresponding sun wheel, and rotates forward relative to the rotating plate, and each planet wheel rotates forward along with the corresponding rotating plate, is meshed with the corresponding intermediate wheel and rotates reversely relative to the rotating plate, so that each seedling tray supporting plate rotates forward along with each rotating plate and rotates reversely relative to each rotating plate, and further the two seedling tray supporting plates always keep horizontal;

fifthly, the controller controls the driving motors of the two transporting and storing mechanisms to reversely rotate, so that the angle iron groups I of the two transporting and storing mechanisms and the seedling trays are driven to move downwards until one seedling tray is separated from the corresponding angle iron, at the moment, the seedling tray falls onto the two conveying belts, and then the two conveying belts drive the seedling tray to be conveyed towards the direction of the tray collecting and releasing mechanism;

Sixthly, when the empty seedling tray supporting plate positioned at the lowest position rotates to the upper end face to be level with the two conveying belts, one seedling tray is conveyed to the upper part of the seedling tray supporting plate, and meanwhile, the seedling tray supporting plate supports the seedling tray along with the rotation of the rotating plate, and the seedling tray is separated from the two conveying belts; then the seedling tray supporting plate carries the seedling tray to rotate to the highest point and to rotate to the lowest point; when two ends of the seedling tray touch two tray discharging rods, the two tray discharging rods block the seedling tray to move together with the seedling tray supporting plate, and the seedling tray is separated from the seedling tray supporting plate along with the continuous rotation of the rotating plate and finally placed on the ground;

and seventhly, repeating the fifth step and the sixth step until the seedling trays on the first two-angle iron group are all placed on the ground, and controlling the first driving motor, the second driving motor and the fourth driving motor to stop working by the controller to finish the tray discharging work of the seedling trays.

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