CN207658723U - A kind of seedbed carrier - Google Patents
A kind of seedbed carrier Download PDFInfo
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- CN207658723U CN207658723U CN201721715973.9U CN201721715973U CN207658723U CN 207658723 U CN207658723 U CN 207658723U CN 201721715973 U CN201721715973 U CN 201721715973U CN 207658723 U CN207658723 U CN 207658723U
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Abstract
The utility model provides a kind of seedbed carrier, including：Controller, starting point move is sent to horizontal movement unit, the first height regulating command is sent to vertical shift unit, it when receiving seedbed and reaching signal, is sent to handling unit and loads instruction, after loading, terminal move is sent to horizontal movement unit, the second height regulating command is sent to vertical shift unit, when receiving terminal and reaching signal, unloading command is sent to handling unit；Horizontal movement unit is moved according to starting point move and terminal move, when reaching carrying terminal, sends out terminal arriving signal；Vertical shift unit, for according to the first height regulating command and according to the second height regulating command, adjusting the height of handling unit；Handling unit, for when monitoring that transmission seedbed reaches signal there are when seedbed, according to instruction and unloading command is loaded, carrying seedbed.The utility model can improve the working efficiency of seedbed carrying.
Description
Technical field
The utility model is related to field of mechanical technique, more particularly to a kind of seedbed carrier.
Background technology
With the fast development of social economy and modern agriculture, agriculture appropriate scale of operation, Virtual production, mechanization and from
The requirement of dynamicization degree is higher and higher.Traditional large area soil plantation, land utilization ratio are relatively low, it is difficult to realize higher machinery
Change and automates.Under the premise of this, the agricultural greenhouse of various mechanizations, automation is released successively all over the world, for planting
The products such as vegetables, flowers.Among these, especially most fast with seedbed cultivation and development.In the cultivating process of seedbed, need largely to carry
Work.Currently, the carrying in seedbed mainly realizes that working efficiency is relatively low by manually.
Utility model content
The utility model embodiment provides a kind of seedbed carrier, can improve the working efficiency of seedbed carrying.
The utility model embodiment provides a kind of seedbed carrier, including：
Controller is connected with horizontal movement unit, vertical shift unit and handling unit respectively；The vertical shift unit
It is fixed in the horizontal movement unit；The handling unit is connected with the vertical shift unit；
The controller, for sending starting point move to the horizontal movement unit, to the vertical shift unit
The first height regulating command is sent, when receiving the seedbed that the handling unit is sent and reaching signal, to the handling unit
It sends and loads instruction, after loading, terminal move is sent to the horizontal movement unit, to the vertical shift list
Member sends the second height regulating command, when receiving the terminal that the horizontal movement unit is sent and reaching signal, is removed to described
Transportation unit sends unloading command；
The horizontal movement unit, for according to the starting point move, carrying starting point being moved to, according to the terminal
Move is moved to carrying terminal, when being moved to the carrying terminal, sends out the terminal arriving signal；
The vertical shift unit, for according to the first height regulating command, the handling unit to be moved to dress
The handling unit is moved to the height of unloading by the height of load according to the second height regulating command；
The handling unit, for monitoring whether in real time there are seedbed to be handled, when monitoring that there are the seedlings to be handled
When bed, sends the seedbed to the controller and reach signal, instructed according to the loading, load the seedbed to be handled, root
According to the unloading command, the seedbed to be handled is unloaded.
Further,
The horizontal movement unit, including：It moves horizontally motor, move horizontally sensor and moving parts；
The starting point move includes：Starting point commencing signal and starting point end signal；
The terminal move includes：Terminal commencing signal and terminal end signal；
The controller, for sending the starting point commencing signal to the motor that moves horizontally, when receiving the water
When the arrival home signal that flat movable sensor is sent, the starting point end signal is sent to the motor that moves horizontally, is being filled
After load, the terminal commencing signal is sent to the motor that moves horizontally, is sent out when receiving the sensor that moves horizontally
When the terminal arriving signal come, the terminal end signal is sent to the motor that moves horizontally；
It is described to move horizontally motor, for when receiving the starting point commencing signal, starting and rotating forward, drive the movement
Component is moved to the carrying starting point, when receiving the starting point end signal, is stopped operating, and is opened receiving the terminal
When beginning signal, starts reversion, drive the moving parts to be moved to the carrying terminal, receiving the terminal end signal
When, it stops operating；
It is described to move horizontally sensor, for when the controller sends out the starting point commencing signal, monitoring in real time to be
It is no to reach the carrying starting point, when reaching the carrying starting point, the arrival home signal is sent to the controller, works as institute
It when stating controller and sending out the terminal commencing signal, monitors whether to reach the carrying terminal in real time, when reaching the carryings end
When point, sends the terminal to the controller and reach signal.
Further,
The vertical shift unit, including：Motor is promoted, lower position switch is declined and promotes upper limit position switch；
The first height regulating command, including：Decline commencing signal and declines end signal；
The second height regulating command, including：Rise commencing signal and rises end signal；
The controller, for the promotions motor transmission decline commencing signal, when receive it is described under fall
When the lower limit signal that limit switch is sent, the decline end signal is sent to the promotion motor, after loading, to
The promotion motor sends the rising commencing signal, when the upper limit signal for receiving the promotion upper limit position switch and sending
When, send the rising end signal to the promotion motor；
The promotion motor, for when receiving the decline commencing signal, starting reversion, driving the handling unit
It moves down, when receiving the decline end signal, stops operating, when receiving the rising commencing signal, start
It rotates forward, drives the handling unit to move up, when receiving the rising end signal, stop operating；
The decline lower position switch, for when the handling unit is moved to lower limit, being sent out to the controller
The lower limit signal；
The promotion upper limit position switch, for when the handling unit is moved to upper limit, being sent out to the controller
The upper limit signal.
Further,
The handling unit, including：Drive module, detection switch and conveying robot；
The detection switch described waits removing for detecting whether in real time there are the seedbed to be handled when monitoring to exist
When transporting seedbed, sends the seedbed to the controller and reach signal；
The controller, for when receiving the seedbed that the detection switch is sent and reaching signal, to the drive
Dynamic model block sends loadings instruction, when the terminal that the reception horizontal movement unit is sent reaches signal, to described
Drive module sends the unloading command；
The drive module, for when receiving the loading instruction, driving the handling machinery hands movement, utilizing institute
It states the conveying robot loading seedbed to be handled and drives the handling machinery hands movement when receiving the unloading command,
The seedbed to be handled is unloaded using the conveying robot.
Further,
The drive module, including：Carry motor and release electromagnet；
The carrying motor, for when receiving the loading instruction, driving the handling machinery hands movement so that institute
Conveying robot stretching is stated, the seedbed to be handled is caught using the conveying robot, when receiving the unloading command,
Drive the handling machinery hands movement so that the conveying robot stretches out, when triggering the release electromagnet startup so that
The conveying robot is opened, and is realized and is unloaded the seedbed to be handled.
Further,
The handling unit, further comprises hoistable platform；
The hoistable platform is connected with the vertical shift unit；
The carrying motor, the release electromagnet, the detection switch and the conveying robot are arranged in the liter
It drops on platform；
The vertical shift unit, for according to the first height regulating command, the hoistable platform to be moved to dress
The hoistable platform is moved to the height of unloading by the height of load according to the second height regulating command.
Further,
The detection switch includes：First detection sub switch and the second detection sub switch；
The first detection sub switch and the second detection sub switch are separately positioned on the hoistable platform；
The controller is further used for when receiving the Load Signal that the first detection sub switch is sent, to institute
It states and carries motor transmission return instruction, when receiving the stop signal that the second detection sub switch is sent, to the carrying
Motor sends halt instruction, when receiving the unloader signal that the first detection sub switch is sent, to the release electromagnet
It sends and starts order, start the release electromagnet；
The carrying motor, for when receiving the loading instruction, starting and rotating forward, the conveying robot is driven to exist
To the nose motion of the hoistable platform on the hoistable platform so that the conveying robot stretches out, when the handling machinery
When hand triggering described first detects sub switch, the seedbed to be handled is caught using the conveying robot, it is described receiving
When return instruction, start reversion, the conveying robot is driven to be transported to the rear end of the hoistable platform on the hoistable platform
It is dynamic, it when receiving the halt instruction, stops operating, when receiving the unloading command, starts and rotate forward, removed described in drive
Manipulator is transported on the hoistable platform to the nose motion of the hoistable platform so that the conveying robot stretches out；
The first detection sub switch, when being used to be triggered by the conveying robot in loading process, to the control
Device sends the Load Signal, when being triggered by the conveying robot in uninstall process, is unloaded to described in controller transmission
Information carrying number；
The second detection sub switch, in the conveying robot to the process of the rear end motion of the hoistable platform
In, when being triggered by the conveying robot, stop signal is sent to the controller.
Further,
The horizontal movement unit further comprises：Levelling bench；
It is described to move horizontally motor, described move horizontally sensor and the moving parts is fixed on the levelling bench
On, the vertical shift unit is fixed on the levelling bench.
Further,
The vertical shift unit further comprises：Vertical motion stage；
The promotion motor, the decline lower position switch and the promotion upper limit position switch are arranged in the vertical motion stage
On；
The handling unit is connected with the vertical motion stage；
The promotion motor, for when receiving the decline commencing signal, starting reversion, driving the handling unit
It moves down on the vertical motion stage, when receiving the decline end signal, stops operating, receiving the rising
When commencing signal, start and rotate forward, the handling unit is driven to be moved up in the vertical motion stage, is receiving the rising knot
When beam signal, stop operating.
Further,
The moving parts includes wheel；
The wheel is matched with predetermined trajectory；
The wheel moves under the drive for moving horizontally motor on the predetermined trajectory.
In the utility model embodiment, controller can moved horizontally with controlled level mobile unit, and controller can be with
Vertical shift unit vertical shift is controlled, controller can control handling unit and be loaded and unloading operation, in controller
Under control, the automatic transporting in seedbed to be handled may be implemented, participated in without artificial, improve the working efficiency of seedbed carrying.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is this
Some embodiments of utility model, for those of ordinary skill in the art, without creative efforts, also
It can be obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of schematic diagram for seedbed carrier that one embodiment of the utility model provides；
Fig. 2 is the schematic diagram for another seedbed carrier that one embodiment of the utility model provides；
Fig. 3 is the schematic diagram for another seedbed carrier that one embodiment of the utility model provides；
Fig. 4 is the schematic diagram for another seedbed carrier that one embodiment of the utility model provides；
Fig. 5 is that one embodiment of the utility model provides also a kind of schematic diagram of seedbed carrier.
Specific implementation mode
It is new below in conjunction with this practicality to keep the purpose, technical scheme and advantage of the utility model embodiment clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments, based on the implementation in the utility model
Example, the every other embodiment that those of ordinary skill in the art are obtained without making creative work all belong to
In the range of the utility model protection.
As shown in Figure 1, the utility model embodiment provides a kind of seedbed carrier, including：
Controller 101 is connected with horizontal movement unit 102, vertical shift unit 103 and handling unit 104 respectively；It is described
Vertical shift unit 103 is fixed in the horizontal movement unit 102；The handling unit 104 and the vertical shift unit
103 are connected；
The controller 101, for sending starting point move to the horizontal movement unit 102, to the vertical shifting
Moving cell 103 sends the first height regulating command, when receiving the seedbed that the handling unit 104 is sent and reaching signal, to
The handling unit 104, which is sent, loads instruction, after loading, sends terminal movement to the horizontal movement unit 102 and refers to
It enables, sends the second height regulating command to the vertical shift unit 103, sent when receiving the horizontal movement unit 102
Terminal when reaching signal, send unloading command to the handling unit 104；
The horizontal movement unit 102, for according to the starting point move, carrying starting point being moved to, according to described
Terminal move is moved to carrying terminal, when being moved to the carrying terminal, sends out the terminal arriving signal；
The vertical shift unit 103, for according to the first height regulating command, the handling unit to be moved to
The handling unit 104 is moved to the height of unloading by the height of loading according to the second height regulating command；
The handling unit 104, for monitoring whether in real time there are seedbed to be handled, when monitoring that there are described to be handled
It when seedbed, sends the seedbed to the controller 101 and reaches signal, instructed according to the loading, load the seedling to be handled
Bed unloads the seedbed to be handled according to the unloading command.
In the utility model embodiment, controller can moved horizontally with controlled level mobile unit, and controller can be with
Vertical shift unit vertical shift is controlled, controller can control handling unit and be loaded and unloading operation, in controller
Under control, the automatic transporting in seedbed to be handled may be implemented, participated in without artificial, improve the working efficiency of seedbed carrying.
In the utility model embodiment, vertical shift unit is fixed in horizontal movement unit, handling unit with it is vertical
Mobile unit is connected, and vertical shift unit moves in the horizontal direction with horizontal movement unit, and handling unit is also with level
Mobile unit moves in the horizontal direction, and handling unit moves under the driving of vertical shift unit in vertical direction.Pass through water
Translation moving cell can adjust the position of handling unit in the horizontal direction, and handling unit can be adjusted by vertical shift unit
Position in the vertical direction so that handling unit can be more flexible, can more easily carry seedbed.
Based on seedbed carrier shown in FIG. 1, as shown in Fig. 2, in one embodiment of the utility model, it is described to move horizontally
Unit 102, including：It moves horizontally motor 1021, move horizontally sensor 1022 and moving parts 1023；
The starting point move includes：Starting point commencing signal and starting point end signal；
The terminal move includes：Terminal commencing signal and terminal end signal；
The controller 101, for sending the starting point commencing signal to the motor 1021 that moves horizontally, when receiving
It is described when moving horizontally the arrival home signal that sensor 1022 is sent, send the starting point to the motor 1021 that moves horizontally
End signal sends the terminal commencing signal after loading to the motor 1021 that moves horizontally, described when receiving
When moving horizontally the terminal arriving signal that sensor 1022 is sent, to it is described move horizontally motor 1021 and send the terminal terminate
Signal；
It is described to move horizontally motor 1021, for when receiving the starting point commencing signal, starting and rotating forward, described in drive
Moving parts 1023 is moved to the carrying starting point, when receiving the starting point end signal, is stopped operating, receiving
When stating terminal commencing signal, starts reversion, the moving parts 1023 is driven to be moved to the carrying terminal, it is described receiving
When terminal end signal, stop operating；
It is described to move horizontally sensor 1022, for when the controller 101 sends out the starting point commencing signal, in real time
It monitors whether to reach the carrying starting point, when reaching the carrying starting point, the arrival starting point is sent to the controller 101
Signal monitors whether to reach the carrying terminal in real time when the controller 101 sends out the terminal commencing signal, when to
When up to the carrying terminal, sends the terminal to the controller 101 and reach signal.
In the utility model embodiment, the rotation for moving horizontally motor drives moving parts movement, wherein moves horizontally
Motor rotates under the control of the controller.The position of seedbed carrier can be detected by moving horizontally sensor, and position is believed
Breath be sent to controller so that controller according to the location information come the rotation of controlled level mobile motor.Move horizontally motor
It rotates forward so that moving parts moves horizontally motor reversal and make phase negative side of the moving parts to first direction to first direction movement
To movement.Moving parts can be run with wheel, wheel on predetermined trajectory.For example, the both ends of track are A points respectively
With B points, if moving horizontally motor and rotating forward moving parts is moved to A points, it moves horizontally motor reversal and to move
Component is moved to B points.
In one embodiment of the utility model, the horizontal movement unit further comprises：Levelling bench；
It is described to move horizontally motor, described move horizontally sensor and the moving parts is fixed on the levelling bench
On, the vertical shift unit is fixed on the levelling bench.
In one embodiment of the utility model, the moving parts includes wheel；
The wheel is matched with predetermined trajectory；
The wheel moves under the drive for moving horizontally motor on the predetermined trajectory.
Based on seedbed carrier shown in FIG. 1, as shown in figure 3, in one embodiment of the utility model, the vertical shift
Unit 103, including：Motor 1031 is promoted, lower position switch 1032 is declined and promotes upper limit position switch 1033；
The first height regulating command, including：Decline commencing signal and declines end signal；
The second height regulating command, including：Rise commencing signal and rises end signal；
The controller 101, it is described when receiving for sending the decline commencing signal to the promotion motor 1031
When declining the lower limit signal that lower position switch 1032 is sent, the decline end signal is sent to the promotion motor 1031,
After loading, the rising commencing signal is sent to the promotion motor 1031, is opened when receiving the promotion upper limit
When closing the upper limit signal that 1033 send, the rising end signal is sent to the promotion motor 1031；
The promotion motor 1031, for when receiving the decline commencing signal, starting reversion, driving the carrying
Unit 104 moves down, and when receiving the decline end signal, stops operating, and is receiving the rising commencing signal
When, start and rotate forward, drives the handling unit 104 to move up, when receiving the rising end signal, stop operating；
The decline lower position switch 1032, for when the handling unit 104 is moved to lower limit, to the control
Device 101 sends out the lower limit signal；
The promotion upper limit position switch 1033, for when the handling unit 104 is moved to upper limit, to the control
Device 101 sends out the upper limit signal.
In the utility model embodiment, handling unit is limited by declining lower position switch and promoting upper limit position switch
Position, handling unit can only move between lower limit and upper limit in the vertical direction.Declining lower position switch can pacify
At lower limit, when handling unit reaches lower limit, decline lower position switch can be triggered, declines lower position switch and sends out down
Limit signal promotes upper limit position switch and may be mounted at upper limit, when handling unit reaches upper limit, can trigger in promotion
Limit switch promotes upper limit position switch and sends out upper limit signal.
In one embodiment of the utility model, the vertical shift unit further comprises：Vertical motion stage；
The promotion motor, the decline lower position switch and the promotion upper limit position switch are arranged in the vertical motion stage
On；
The handling unit is connected with the vertical motion stage；
The promotion motor, for when receiving the decline commencing signal, starting reversion, driving the handling unit
It moves down on the vertical motion stage, when receiving the decline end signal, stops operating, receiving the rising
When commencing signal, start and rotate forward, the handling unit is driven to be moved up in the vertical motion stage, is receiving the rising knot
When beam signal, stop operating.
In the utility model embodiment, under the drive for promoting motor, handling unit can move on vertical motion stage,
Upper limit and lower limit are located on vertical motion stage.Vertical rail can be provided on the vertical motion stage, handling unit can be along
Vertical rail moves.
Based on seedbed carrier shown in FIG. 1, as shown in figure 4, in one embodiment of the utility model, the handling unit
104, including：Drive module 1041, detection switch 1042 and conveying robot 1043；
The detection switch 1042, it is described when monitoring to exist for being detected whether in real time there are the seedbed to be handled
When seedbed to be handled, sends the seedbed to the controller 101 and reach signal；
The controller 101, for when receiving the seedbed that the detection switch 1042 is sent and reaching signal, to
The drive module 1041 sends the loading instruction, reaches signal when receiving the terminal that the horizontal movement unit is sent
When, send the unloading command to the drive module 1041；
The drive module 1041, for when receiving the loading instruction, the conveying robot 1043 being driven to transport
It is dynamic, it loads the seedbed to be handled using the conveying robot 1043 and is removed described in driving when receiving the unloading command
It transports manipulator 1043 to move, the seedbed to be handled is unloaded using the conveying robot 1043.
In the utility model embodiment, detection switch can be detected whether with seedbed cooperation there are seedbed to be handled,
Such as：Signal emission module is provided on seedbed, when detection switch receives the signal that signal emission module is sent out, determination is deposited
In seedbed to be handled.Conveying robot can be coordinated to complete to load and unload with seedbed, such as：Card is provided on seedbed
Slot, conveying robot are inserted into card slot i.e. movable seedbed, and conveying robot is extracted from card slot and unloading can be realized.
In one embodiment of the utility model, the drive module, including：Carry motor and release electromagnet；
The carrying motor, for when receiving the loading instruction, driving the handling machinery hands movement so that institute
Conveying robot stretching is stated, the seedbed to be handled is caught using the conveying robot, when receiving the unloading command,
Drive the handling machinery hands movement so that the conveying robot stretches out, when triggering the release electromagnet startup so that
The conveying robot is opened, and is realized and is unloaded the seedbed to be handled.
In the utility model embodiment, conveying robot moves under the driving for carrying motor, can be touched when moving to
When sending out the position of release electromagnet, release electromagnet is triggered, and release electromagnet starts so that conveying robot is opened, and will be waited for
Seedbed is carried to put down.
In one embodiment of the utility model, the handling unit further comprises hoistable platform；
The hoistable platform is connected with the vertical shift unit；
The carrying motor, the release electromagnet, the detection switch and the conveying robot are arranged in the liter
It drops on platform；
The vertical shift unit, for according to the first height regulating command, the hoistable platform to be moved to dress
The hoistable platform is moved to the height of unloading by the height of load according to the second height regulating command.
In the utility model embodiment, vertical shift unit can draw hoistable platform in vertical side by promoting motor
It moves up, and then drives the conveying robot movement on hoistable platform.
In one embodiment of the utility model, the detection switch includes：First detection sub switch and the second detection are opened
It closes；
The first detection sub switch and the second detection sub switch are separately positioned on the hoistable platform；
The controller is further used for when receiving the Load Signal that the first detection sub switch is sent, to institute
It states and carries motor transmission return instruction, when receiving the stop signal that the second detection sub switch is sent, to the carrying
Motor sends halt instruction, when receiving the unloader signal that the first detection sub switch is sent, to the release electromagnet
It sends and starts order, start the release electromagnet；
The carrying motor, for when receiving the loading instruction, starting and rotating forward, the conveying robot is driven to exist
To the nose motion of the hoistable platform on the hoistable platform so that the conveying robot stretches out, when the handling machinery
When hand triggering described first detects sub switch, the seedbed to be handled is caught using the conveying robot, it is described receiving
When return instruction, start reversion, the conveying robot is driven to be transported to the rear end of the hoistable platform on the hoistable platform
It is dynamic, it when receiving the halt instruction, stops operating, when receiving the unloading command, starts and rotate forward, removed described in drive
Manipulator is transported on the hoistable platform to the nose motion of the hoistable platform so that the conveying robot stretches out；
The first detection sub switch, when being used to be triggered by the conveying robot in loading process, to the control
Device sends the Load Signal, when being triggered by the conveying robot in uninstall process, is unloaded to described in controller transmission
Information carrying number；
The second detection sub switch, in the conveying robot to the process of the rear end motion of the hoistable platform
In, when being triggered by the conveying robot, stop signal is sent to the controller.
In the utility model embodiment, in loading process, by the Load Signal of the first detection sub switch, it can make
Conveying robot is obtained after catching seedbed to be handled, is retracted on the carrier of seedbed, the stopping for passing through the second detection sub switch is believed
Number so that conveying robot stops retracting.In uninstall process, by the unloader signal of the first detection sub switch, it can start
Release electromagnet so that conveying robot is threaded off, and unloading is completed.
In addition, in one embodiment of the utility model, after completing to unload, it can so that seedbed carrier various pieces are multiple
Position, specifically, can make horizontal movement unit be moved to carrying starting point, handling unit can be made to be moved to lower limit, complete
At reset.
As shown in figure 5, a kind of seedbed carrier that the utility model embodiment provides, including：
Controller 501, move horizontally motor 502, move horizontally sensor 503, moving parts 504, levelling bench 505,
Motor 506 is promoted, declines lower position switch 507, promotes upper limit position switch 508, vertical motion stage 509, carry motor 510, thread off
Electromagnet 511, detection switch 512, conveying robot 513 and hoistable platform 514.
Wherein, it moves horizontally motor 502, move horizontally sensor 503 and moving parts 504 is fixed on levelling bench 505
On, controller 501 and vertical motion stage 509 are also secured on levelling bench 505.It promotes motor 506, decline lower position switch 507
It is fixed on vertical motion stage 509 with upper limit position switch 508 is promoted, wherein promote the upper end that motor 506 is located at vertical motion stage 509.
Motor 510, release electromagnet 511, detection switch 512 and conveying robot 513 is carried to be arranged on hoistable platform 514, wherein
Detection switch 512 includes two parts, is separately positioned on the both ends of upgrading platform.Move horizontally the setting of sensor 503
Near moving parts 504.
In the utility model embodiment, seedbed carrier can also include power switch, by startup power supply switch come
For the various pieces power supply on the carrier of seedbed.
In addition, after startup power supply switch, seedbed carrier can be resetted automatically, and seedbed carrier is run to initial
Position, hoistable platform are reduced to extreme lower position, decline lower position switch and start.
In the utility model embodiment, which realizes signal and detects in real time, auto-action, automatic to transport
Row, automatically resets, and realizes unattended in work is carried in seedbed, runs at any time, Efficient Operation, and it is big to be suitable for all plantations
Carry work in seedbed in canopy.
It is as follows that the utility model embodiment provides a kind of course of work of seedbed carrier：
Controller sends starting point move to horizontal movement unit；
The horizontal movement unit is moved to carrying starting point according to the starting point move；
The controller sends the first height regulating command to vertical shift unit；
Handling unit is moved to the height of loading by the vertical shift unit according to the first height regulating command；
The handling unit monitors whether in real time there are seedbed to be handled, when monitoring there are when the seedbed to be handled,
Seedbed, which is sent, to the controller reaches signal；
The controller is when receiving the seedbed that the handling unit is sent and reaching signal, to the handling unit
It sends and loads instruction；
The handling unit is instructed according to the loading, loads the seedbed to be handled；
After loading, the controller sends terminal move to the horizontal movement unit；
The horizontal movement unit is moved to carrying terminal according to the terminal move, when being moved to the carrying
When terminal, terminal arriving signal is sent out；
After loading, the controller sends the second height regulating command to the vertical shift unit；
The handling unit is moved to the height of unloading by the vertical shift unit according to the second height regulating command
Degree；
The controller is when receiving the terminal that the horizontal movement unit is sent and reaching signal, to the handling unit
Send unloading command；
The handling unit unloads the seedbed to be handled according to the unloading command.
In one embodiment of the utility model, in the horizontal movement unit including moving horizontally motor, moving horizontally biography
Sensor and moving parts, the starting point move include starting point commencing signal and starting point end signal, and, the terminal moves
In the case that dynamic instruction includes terminal commencing signal and terminal end signal,
The controller sends starting point move to horizontal movement unit, and the horizontal movement unit is according to the starting point
Move is moved to carrying starting point, including：
The controller sends the starting point commencing signal to the motor that moves horizontally；
The motor that moves horizontally starts and rotates forward, drive the moving parts when receiving the starting point commencing signal
It is moved to the carrying starting point；
The sensor that moves horizontally monitors whether to reach in real time when the controller sends out the starting point commencing signal
The carrying starting point sends to the controller when reaching the carrying starting point and reaches home signal；
When the controller moves horizontally the arrival home signal that sensor is sent described in receiving, to the water
Flat mobile motor sends the starting point end signal；
The motor that moves horizontally stops operating when receiving the starting point end signal；
It is described after loading, the controller to the horizontal movement unit send terminal move, the water
Moving cell is translated according to the terminal move, carrying terminal is moved to, when being moved to the carrying terminal, sends out terminal
Arriving signal, including：
After loading, the controller sends the terminal commencing signal to the motor that moves horizontally；
The motor that moves horizontally when receiving the terminal commencing signal, start reversion, drive the moving parts to
The carrying terminal movement；
The sensor that moves horizontally monitors whether to reach in real time when the controller sends out the terminal commencing signal
The carrying terminal sends the terminal to the controller and reaches signal when reaching the carrying terminal；
When the controller moves horizontally the terminal arriving signal that sensor is sent described in receiving, to the water
Flat mobile motor sends the terminal end signal；
The motor that moves horizontally stops operating when receiving the terminal end signal.
Include promoting motor, decline lower position switch in the vertical shift unit in one embodiment of the utility model
With promotion upper limit position switch, the first height regulating command includes decline commencing signal and declines end signal, and, it is described
In the case that second height regulating command includes rising commencing signal and rises end signal,
The controller sends the first height regulating command to vertical shift unit, and the vertical shift unit is according to
Handling unit is moved to the height of loading by the first height regulating command, including：
The controller sends the decline commencing signal to the promotion motor；
The promotion motor starts reversion, drives the handling unit downward when receiving the decline commencing signal
It is mobile；
When the handling unit is moved to lower limit, the decline lower position switch sends out lower limit to the controller
Signal；
The controller is when receiving the lower limit signal that the decline lower position switch is sent, to the promotion
Motor sends the decline end signal；
The promotion motor stops operating when receiving the decline end signal；
The controller to the vertical shift unit send the second height regulating command, the vertical shift unit according to
The handling unit is moved to the height of unloading by the second height regulating command, including：
The controller sends the rising commencing signal to the promotion motor；
The promotion motor starts and rotates forward, drive the handling unit upward when receiving the rising commencing signal
It is mobile；
When the handling unit is moved to upper limit, the promotion upper limit position switch sends out upper limit to the controller
Signal；
The controller is when receiving the upper limit signal that the promotion upper limit position switch is sent, to the promotion
Motor, which is sent, rises end signal；
The promotion motor stops operating when receiving the rising end signal.
Include drive module, detection switch and handling machinery in the handling unit in one embodiment of the utility model
In the case of hand,
The handling unit monitors whether in real time there are seedbed to be handled, when monitoring there are when the seedbed to be handled,
Seedbed, which is sent, to the controller reaches signal, including：
The detection switch detects whether in real time there are the seedbed to be handled, when monitoring that there are the seedbeds to be handled
When, it sends the seedbed to the controller and reaches signal；
The controller is when receiving the seedbed that the handling unit is sent and reaching signal, to the handling unit
It sends and loads instruction, including：
The controller is when receiving the seedbed that the detection switch is sent and reaching signal, to the drive module
Send the loading instruction；
The handling unit is instructed according to the loading, loads the seedbed to be handled, including：
The drive module is driven the handling machinery hands movement, is removed using described when receiving the loading instruction
It transports manipulator and loads the seedbed to be handled；
The controller is when receiving the terminal that the horizontal movement unit is sent and reaching signal, to the handling unit
Unloading command is sent, including：
The controller is when the terminal that the reception horizontal movement unit is sent reaches signal, to the driving mould
Block sends the unloading command；
The handling unit unloads the seedbed to be handled according to the unloading command, including：
The drive module is driven the handling machinery hands movement, is removed using described when receiving the unloading command
It transports manipulator and unloads the seedbed to be handled.
The each embodiment of the utility model at least has the advantages that：
1, in the utility model embodiment, controller can moved horizontally with controlled level mobile unit, and controller can
To control vertical shift unit vertical shift, controller can control handling unit and be loaded and unloading operation, in controller
Control under, the automatic transporting in seedbed to be handled may be implemented, participated in without artificial, improve the working efficiency of seedbed carrying.
2, in the utility model embodiment, which realizes signal and detects in real time, auto-action, automatic to transport
Row, automatically resets, and realizes unattended in work is carried in seedbed, runs at any time, Efficient Operation, and it is big to be suitable for all plantations
Carry work in seedbed in canopy.
It should be noted that herein, such as first and second etc relational terms are used merely to an entity
Or operation is distinguished with another entity or operation, is existed without necessarily requiring or implying between these entities or operation
Any actual relationship or order.Moreover, the terms "include", "comprise" or its any other variant be intended to it is non-
It is exclusive to include, so that the process, method, article or equipment including a series of elements includes not only those elements,
But also include other elements that are not explicitly listed, or further include solid by this process, method, article or equipment
Some elements.In the absence of more restrictions, the element limited by sentence " including one ", is not arranged
Except there is also other identical factors in the process, method, article or apparatus that includes the element.
Finally, it should be noted that：The above is only the preferred embodiment of the present invention, is merely to illustrate this practicality
Novel technical solution, is not intended to limit the scope of protection of the utility model.It is all the spirit and principles of the utility model it
Interior done any modification, equivalent substitution, improvement and etc., are all contained in the scope of protection of the utility model.
Claims (10)
1. a kind of seedbed carrier, which is characterized in that including：
Controller is connected with horizontal movement unit, vertical shift unit and handling unit respectively；The vertical shift unit is fixed
In the horizontal movement unit；The handling unit is connected with the vertical shift unit；
The controller is sent for sending starting point move to the horizontal movement unit to the vertical shift unit
First height regulating command is sent when receiving the seedbed that the handling unit is sent and reaching signal to the handling unit
Instruction is loaded, after loading, terminal move is sent to the horizontal movement unit, is sent out to the vertical shift unit
The second height regulating command is sent, it is single to the carrying when receiving the terminal that the horizontal movement unit is sent and reaching signal
Member sends unloading command；
The horizontal movement unit is moved for according to the starting point move, being moved to carrying starting point according to the terminal
Instruction, is moved to carrying terminal, when being moved to the carrying terminal, sends out the terminal arriving signal；
The vertical shift unit, for according to the first height regulating command, the handling unit to be moved to loading
Highly, according to the second height regulating command, the handling unit is moved to the height of unloading；
The handling unit, for monitoring whether in real time there are seedbed to be handled, when monitoring there are when the seedbed to be handled,
The seedbed is sent to the controller and reaches signal, is instructed according to the loading, the seedbed to be handled is loaded, according to described
Unloading command unloads the seedbed to be handled.
2. seedbed carrier according to claim 1, which is characterized in that
The horizontal movement unit, including：It moves horizontally motor, move horizontally sensor and moving parts；
The starting point move includes：Starting point commencing signal and starting point end signal；
The terminal move includes：Terminal commencing signal and terminal end signal；
The controller is moved for sending the starting point commencing signal to the motor that moves horizontally when receiving the level
When the arrival home signal that dynamic sensor is sent, the starting point end signal is sent to the motor that moves horizontally, is being loaded
Bi Hou sends the terminal commencing signal to the motor that moves horizontally, and described moves horizontally what sensor was sent when receiving
When terminal arriving signal, the terminal end signal is sent to the motor that moves horizontally；
It is described to move horizontally motor, for when receiving the starting point commencing signal, starting and rotating forward, drive the moving parts
It is moved to the carrying starting point, when receiving the starting point end signal, stops operating, start letter receiving the terminal
Number when, start reversion, drive the moving parts to be moved to the carrying terminal, when receiving the terminal end signal,
It stops operating；
It is described to move horizontally sensor, for when the controller sends out the starting point commencing signal, monitoring whether in real time
Up to the carrying starting point, when reaching the carrying starting point, the arrival home signal is sent to the controller, when the control
When device processed sends out the terminal commencing signal, monitor whether to reach the carrying terminal in real time, when reaching the carrying terminal,
The terminal, which is sent, to the controller reaches signal.
3. seedbed carrier according to claim 1, which is characterized in that
The vertical shift unit, including：Motor is promoted, lower position switch is declined and promotes upper limit position switch；
The first height regulating command, including：Decline commencing signal and declines end signal；
The second height regulating command, including：Rise commencing signal and rises end signal；
The controller, for the promotions motor transmission decline commencing signal, when receiving the decline lower limit
When switching the lower limit signal sent, to the promotions motor transmission decline end signal, after loading, to described
It promotes motor and sends the rising commencing signal, when receiving the upper limit signal that the promotion upper limit position switch is sent, to
The promotion motor sends the rising end signal；
The promotion motor, for when receiving the decline commencing signal, starting reversion, driving the handling unit downward
It is mobile, it when receiving the decline end signal, stops operating, when receiving the rising commencing signal, starts and rotate forward,
It drives the handling unit to move up, when receiving the rising end signal, stops operating；
The decline lower position switch, for when the handling unit is moved to lower limit, being sent out to the controller described
Lower limit signal；
The promotion upper limit position switch, for when the handling unit is moved to upper limit, being sent out to the controller described
Upper limit signal.
4. seedbed carrier according to claim 1, which is characterized in that
The handling unit, including：Drive module, detection switch and conveying robot；
The detection switch, for detecting whether in real time there are the seedbed to be handled, when monitoring that there are the seedlings to be handled
When bed, sends the seedbed to the controller and reach signal；
The controller, for when receiving the seedbed that the detection switch is sent and reaching signal, to the driving mould
Block sends the loading instruction, when the terminal that the reception horizontal movement unit is sent reaches signal, to the driving
Module sends the unloading command；
The drive module, for when receiving the loading instruction, driving the handling machinery hands movement, being removed using described
Fortune manipulator loads the seedbed to be handled and drives the handling machinery hands movement when receiving the unloading command, utilizes
The conveying robot unloads the seedbed to be handled.
5. seedbed carrier according to claim 4, which is characterized in that
The drive module, including：Carry motor and release electromagnet；
The carrying motor, for when receiving the loading instruction, driving the handling machinery hands movement so that described to remove
Arm expanding is transported, the seedbed to be handled is caught using the conveying robot, when receiving the unloading command, is driven
The handling machinery hands movement so that the conveying robot stretches out, when triggering the release electromagnet startup so that described
Conveying robot is opened, and is realized and is unloaded the seedbed to be handled.
6. seedbed carrier according to claim 5, which is characterized in that
The handling unit, further comprises hoistable platform；
The hoistable platform is connected with the vertical shift unit；
The carrying motor, the release electromagnet, the detection switch and conveying robot setting are flat in the lifting
On platform；
The vertical shift unit, for according to the first height regulating command, the hoistable platform to be moved to loading
Highly, according to the second height regulating command, the hoistable platform is moved to the height of unloading.
7. seedbed carrier according to claim 6, which is characterized in that
The detection switch includes：First detection sub switch and the second detection sub switch；
The first detection sub switch and the second detection sub switch are separately positioned on the hoistable platform；
The controller is further used for, when receiving the Load Signal that the first detection sub switch is sent, removing to described
It transports motor and sends return instruction, when receiving the stop signal that the second detection sub switch is sent, to the carrying motor
Halt instruction is sent, when receiving the unloader signal that the first detection sub switch is sent, is sent to the release electromagnet
Start order, starts the release electromagnet；
The carrying motor, for when receiving the loading instruction, starting and rotating forward, drive the conveying robot described
To the nose motion of the hoistable platform on hoistable platform so that the conveying robot stretches out, when the conveying robot touches
Send out described first detection sub switch when, catch the seedbed to be handled using the conveying robot, receiving the return
When instruction, start reversion, drives the conveying robot on the hoistable platform to the rear end motion of the hoistable platform,
It when receiving the halt instruction, stops operating, when receiving the unloading command, starts and rotate forward, drive the carrying implement
Tool hand is on the hoistable platform to the nose motion of the hoistable platform so that the conveying robot stretches out；
The first detection sub switch, for when being triggered by the conveying robot in loading process, being sent out to the controller
The Load Signal is sent, when being triggered by the conveying robot in uninstall process, information carrying is unloaded to described in controller transmission
Number；
The second detection sub switch, is used for during rear end motion of the conveying robot to the hoistable platform,
When being triggered by the conveying robot, stop signal is sent to the controller.
8. seedbed carrier according to claim 2, which is characterized in that
The horizontal movement unit further comprises：Levelling bench；
It is described to move horizontally motor, described move horizontally sensor and the moving parts is fixed on the levelling bench, institute
Vertical shift unit is stated to be fixed on the levelling bench.
9. seedbed carrier according to claim 3, which is characterized in that
The vertical shift unit further comprises：Vertical motion stage；
The promotion motor, the decline lower position switch and the promotion upper limit position switch are arranged on the vertical motion stage；
The handling unit is connected with the vertical motion stage；
The promotion motor, for when receiving the decline commencing signal, starting reversion, driving the handling unit in institute
It states and is moved down on vertical motion stage, when receiving the decline end signal, stopped operating, started receiving the rising
When signal, start and rotate forward, the handling unit is driven to be moved up in the vertical motion stage, terminates letter receiving the rising
Number when, stop operating.
10. seedbed carrier according to claim 2, which is characterized in that
The moving parts includes wheel；
The wheel is matched with predetermined trajectory；
The wheel moves under the drive for moving horizontally motor on the predetermined trajectory.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721715973.9U CN207658723U (en) | 2017-12-11 | 2017-12-11 | A kind of seedbed carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721715973.9U CN207658723U (en) | 2017-12-11 | 2017-12-11 | A kind of seedbed carrier |
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| Publication Number | Publication Date |
|---|---|
| CN207658723U true CN207658723U (en) | 2018-07-27 |
Family
ID=62940162
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721715973.9U Expired - Fee Related CN207658723U (en) | 2017-12-11 | 2017-12-11 | A kind of seedbed carrier |
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| Country | Link |
|---|---|
| CN (1) | CN207658723U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107804714A (en) * | 2017-12-11 | 2018-03-16 | 北京搏思农业科技有限公司 | A kind of seedbed carrier and a kind of seedbed method for carrying |
| CN109319404A (en) * | 2018-11-14 | 2019-02-12 | 上海摩天农业科技有限公司 | Plant growth module mobile mechanism |
-
2017
- 2017-12-11 CN CN201721715973.9U patent/CN207658723U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107804714A (en) * | 2017-12-11 | 2018-03-16 | 北京搏思农业科技有限公司 | A kind of seedbed carrier and a kind of seedbed method for carrying |
| CN107804714B (en) * | 2017-12-11 | 2023-08-25 | 京鹍(北京)农业科技有限公司 | Seedbed carrying vehicle and seedbed carrying method |
| CN109319404A (en) * | 2018-11-14 | 2019-02-12 | 上海摩天农业科技有限公司 | Plant growth module mobile mechanism |
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181212 Address after: 101111 Beijing Tongzhou District Zhongguancun science and Technology Park Tongzhou yuan Guang mechanical and electrical integration industrial base 10 Jiaxing Road, C4 block. Patentee after: Beijing Yueji Industry Co., Ltd. Address before: Room D101A-129, B-2 Floor, Dongsheng Science Park, Xixiaokou Road, 66 Zhongguancun, Haidian District, Beijing, 100192 Patentee before: Beijing ideal agricultural technology Co., Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180727 Termination date: 20201211 |