TWM566973U - Seedling tray pick-and-place device - Google Patents

Abstract

A seedling tray removing and unloading device is suitable for picking up a seedling tray on a conveyor. The seedling tray removing and unloading device comprises a moving machine table, a rotating arm, a lifting arm and a jaw assembly. The mobile machine is arranged on the conveyor, and the mobile machine can move along the extending direction of the conveyor. The rotating arm is rotatably disposed on the moving machine. The lifting arm is disposed on the rotating arm and is movably close to or away from the conveyor. The jaw assembly is disposed on the lifting arm for clamping the seedling tray.

Description

Seedling tray removal device

The utility model relates to a seedling tray removing and unloading device, in particular to a seedling tray removing device for automatically picking up and removing seedling trays.

At present, most of the rice planting process is to first plant the seeds of rice in a seedling tray for cultivation. After the seeds are grown to the seedlings, the seedlings are planted in the fields through a rice transplanter. In the operation of seedling cultivation, the seedling and emergence stage is the most labor-intensive and time-consuming process. The so-called seedling refers to the operation of transporting the seedling tray for rice seed sowing to the nursery field, and the emergence of the seedlings refers to the operation of collecting and transporting the seedling tray from the nursery.

Although in the current seedling and emergence operations, the conveyor has sent the seedling tray to the nursery, but part of the emergence and seeding operations still need to rely on manual methods to complete. For example, in the case of seeding operations, the seedling tray needs to rely on the operator to remove the seedling tray from the conveyor to the ground in a freehand manner. In the same way, in the seedling operation, the seedling tray also requires the operator to carry the seedling tray from the ground to the conveyor in a freehand manner. It can be seen that whether it is in the seedling or the seedling operation, it is necessary to repeatedly move or remove the seedling tray through the operator, so that the operator is easily tired and even causes work injury. Therefore, the industry is currently in urgent need of developing automated work machines to help seedlings and emergence operations.

The present invention provides a seedling tray removing and unloading device, which solves the problem in the prior art that whether the seedling tray is loaded or removed by the hand, which is easy to cause the operator to be tired or cause work injury, regardless of the seedling or the seedling operation. problem.

A seedling tray removing device disclosed in an embodiment of the present invention is adapted to take off a seedling tray on a conveyor. The seedling tray removing and unloading device comprises a moving machine table, a rotating arm, a lifting arm and a jaw assembly. The mobile machine is arranged on the conveyor, and the mobile machine can move along the extending direction of the conveyor. The rotating arm is rotatably disposed on the moving machine. The lifting arm is disposed on the rotating arm and is movably close to or away from the conveyor. The jaw assembly is disposed on the lifting arm for clamping the seedling tray.

According to the seedling disk removing and unloading device disclosed in the above embodiments, the jaw assemblies are respectively moved, rotated, and raised and lowered through the moving machine table, the rotating arm, and the lifting arm. Therefore, the seedling tray removal device can move the seedling tray placed on the conveyor to the ground or move the seedling tray placed on the ground to the conveyor. In this way, the seedling tray removal device replaces the process of moving the seedling tray up and down during the seedling and emergence operations, thereby reducing the chance of operator fatigue and work injury.

The above description of the present invention and the following description of the embodiments are intended to illustrate and explain the principles of the present invention and to provide a further explanation of the scope of the present application.

Please refer to Figure 1. 1 is a perspective view of a seedling tray removing device disposed on a conveyor according to a first embodiment of the present invention.

As shown in Fig. 1, the seedling tray removing device 1 of the present embodiment is applied, for example, to a nursery field of rice seedlings, and is adapted to take off a seedling tray 3 on a conveyor 2 (please refer to Fig. 6 for details). The seedling tray removing and unloading device 1 comprises two sliding rails 10, a moving machine table 20, four pressing rollers 30 (please refer to FIG. 2 for details), a displacement driver 4 (please refer to FIG. 2 for details), a rotating arm 40, A rotary drive 5 (please refer to FIG. 2 for a moment), a lift arm 50, a lift drive 6, a jaw assembly 60, a grip drive 7, and a guide assembly 70.

Next, please refer to Figure 2. Figure 2 is a partial cross-sectional view of Figure 1.

The two slide rails 10 are respectively disposed on opposite sides of the conveyor 2. The moving machine table 20 is disposed on the conveyor 2, and the moving machine table 20 is movable along the extending direction of the conveyor 2. In detail, the moving machine table 20 is slidably disposed on the two slide rails 10 and is movable in the extending direction of the conveyor 2 through the two slide rails 10. The mobile station 20 has a top plate 21 and two side plates 22. The opposite sides of the top plate 21 are connected to the two side plates 22. The two side panels 22 respectively correspond to the two sliding rails 10, and the top panel 21 is located on one side of the two side panels 22 away from the two sliding rails 10. Two of the pressing rollers 30 are disposed on one of the side plates 22 and abut against one of the sliding rails 10, and the other two pressing rollers 30 are disposed on the other side plate 22 and abut against the other sliding rail 10. The displacement driver 4 is disposed on the mobile station 20 for moving the mobile station 20 on the two slide rails 10. In the present embodiment, the displacement driver 4 is, for example, a motor, and the driving mode of the displacement driver 4 is, for example, transmitted through electric power, and the transmission between the displacement driver 4 and the moving machine table 20 is, for example, a transmission gear.

The rotating arm 40 is rotatably disposed on the top plate 21 of the moving machine table 20. That is, the rotating arm 40 is disposed above the moving machine table 20. The rotary actuator 5 is disposed on the moving table 20 and is used to rotate the rotating arm 40. In the present embodiment, the rotary actuator 5 is, for example, a motor, and the driving mode of the rotary actuator 5 is, for example, transmitted through electric power, and the transmission between the rotary actuator 5 and the rotary arm 40 is, for example, a transmission belt.

Next, referring to FIG. 1 , the lifting arm 50 is disposed on the rotating arm 40 and is movably close to or away from the conveyor 2 and the two sliding rails 10 . The lifting drive 6 is disposed on the rotating arm 40 for lifting the lifting arm 50. In the present embodiment, the lift drive 6 is, for example, a motor, and the drive mode of the lift drive 6 is, for example, transmitted through electric power, and the transmission between the lift drive 6 and the lift arm 50 is transmitted through, for example, a linear slide.

Next, please refer to Figure 1, Figure 3 and Figure 4. 3 is a perspective view of the jaw assembly of FIG. 1. Figure 4 is a side elevational view of Figure 3.

The jaw assembly 60 includes a connecting post 61, a buffering kit 62, a first clamping arm 63 and a second clamping arm 64. The buffering kit 62 includes a fixing plate 621, a movable plate 622, a plurality of guiding rods 623 and a plurality of elastic members 624. The opposite ends of the connecting post 61 are fixed to the lifting arm 50 and the fixing plate 621, respectively. One end of each of the guiding rods 623 is movably passed through the fixing plate 621, and the other end of each of the guiding rods 623 is fixed to the movable plate 622. The guiding rods 623 respectively pass through the elastic members 624, and the opposite ends of each elastic member 624 abut against the fixing plate 621 and the movable plate 622, respectively. The first clamping arm 63 and the second clamping arm 64 are movably disposed at opposite ends of the movable plate 622. The first clamp arm 63 and the second clamp arm 64 each have three hooks 631 and 641. The ends of the claws 631, 641 away from the movable plate 622 each have a corner structure 6311, 6411. The lower ends of the corner structures 6311, 6411 are bent at about 90 degrees, and the angle of the two sides is about 45 degrees.

In the present embodiment, the first clamp arm 63 and the second clamp arm 64 each have an arrangement of three hooks 631 and 641, which are not intended to limit the present invention. In other embodiments, the number of the claws of the first clamp arm and the claws of the second clamp arm can be adjusted according to actual needs.

The clamping driver 7 is disposed on the lifting arm 50 for driving the first clamping arm 63 and the second clamping arm 64 to be close to or away from each other. In the present embodiment, the clamping driver 7 is, for example, a motor, and the driving mode of the clamping driver 7 is transmitted, for example, by oil pressure, and the transmission between the clamping driver 7 and the first clamping arm 63 and the second clamping arm 64 is, for example, Through the connecting rod. In detail, the jaw assembly 60 further includes a two-link assembly 65. The two linkage assemblies 65 each include a connecting plate 651, a linkage rod 652, a linkage plate 653, a hydraulic cylinder 654, and a push rod 655. The two interlocking components 65 are the same components, so only one of the interlocking components 65 will be described below. The opposite ends of the linkage rod 652 are respectively fixed to the connecting plate 651 and the linking plate 653. The hydraulic cylinder 654 is disposed on the movable plate 622. One end of the push rod 655 is movably coupled to the hydraulic cylinder 654, and the other end of the push rod 655 is fixed to the interlocking plate 653. In the present embodiment, the two interlocking plates 653 are located between the two connecting plates 651, and the first clamping arms 63 are connected to one of the connecting plates 651, and the second clamping arms 64 are connected to the other connecting plates 651. The clamping actuator 7 can respectively drive the two push rods 655 through the two hydraulic cylinders 654, so that the two pushing rods 655 respectively drive the two linking plates 653 to be close to or away from each other, and the first clamping arms 63 and the second clamping arms 64 respectively As the two linkage plates 653 move.

In the present embodiment, the driving manners of the displacement driver 4, the rotary driver 5, the elevation driver 6, and the clamp driver 7 are merely illustrative, but are not limited thereto. In other embodiments, the driving manner of each driver can be adjusted according to actual needs. For example, the displacement drive, the rotary drive, and the lift drive can be driven by air pressure or oil pressure, and the drive mode of the clamp drive can be changed to air pressure or electric power.

In addition, the transmission mode between the displacement driver 4 and the mobile machine 20 is merely illustrative, but is not limited thereto. In other embodiments, the transmission mode between the displacement drive and the mobile machine can be adjusted according to actual needs. For example, the transmission between the displacement drive and the mobile machine can be the same as the transmission between the rotary drive and the rotary arm, the transmission between the lift drive and the lift arm, or between the clamp drive and the clamp arm. transfer method. That is, the displacement drive moves the moving machine through a belt, a linear slide or a connecting rod. In addition, the displacement drive can also move the moving table through a chain, a sprocket, a coupling or a ball screw. Similarly, the transmission mode between the rotary drive and the rotating arm, the transmission mode between the lifting drive and the lifting arm, and the transmission mode between the clamping driver and the two clamping arms can also be adjusted according to actual needs, and therefore will not be described again.

Next, please refer to FIG. 5. FIG. 5 is a partial perspective view of FIG.

The guiding assembly 70 includes a connecting frame 71, a two guiding positive piece 72 and two guiding positive blocks 73. The connecting frame 71 is movably disposed on the moving machine table 20, and the two guiding positive plates 72 are respectively connected to opposite sides of the connecting frame 71 and extend away from the moving machine table 20. The two guiding positive blocks 73 respectively protrude from the side of the two guiding positives 72 adjacent to the connecting frame 71, and the two guiding positive blocks 73 collectively surround a positioning space S. The two guiding positive film 72 is used to guide the positive seedling tray 3, and guide the seedling tray 3 (Fig. 6) into the positioning space S to cause the seedling tray 3 to be guided by the second guiding block 73.

Next, please refer to FIG. 1 , FIG. 3 and FIG. 5 again. The seedling tray removing device 1 further includes a plurality of first proximity sensing members 80, a second proximity sensing member 90, two stop plates 100, 110, two displacement limit switches 120, 130, a first rotation limit switch 140, and a The second rotation limit switch 150, the three first lift limit switches 160, 170, 180 and a second lift limit switch 190 are respectively illustrated in the following drawings.

As shown in FIG. 1 and FIG. 5, the first proximity sensing members 80 are disposed on one of the sliding rails 10 and are arranged along the extending direction of the sliding rail 10. The second proximity sensing member 90 is disposed on one of the side plates 22 of the mobile machine 20 and is used to sense the first proximity sensing members 80. In detail, during the movement of the mobile station 20 on the two slide rails 10, when the second proximity sensor 90 senses any of the first proximity sensors 80, the displacement driver 4 (shown in FIG. 2) is immediately The operation stops, and the mobile machine 20 has a plurality of removal positions on the two slide rails 10.

As shown in FIG. 1, the two stop plates 100, 110 are respectively disposed at opposite ends of one of the slide rails 10, and the first proximity sensing members 80 are located between the two stop plates 100, 110. The two displacement limit switches 120 and 130 are respectively disposed on opposite sides of one of the side plates 22 of the moving machine table 20, and respectively correspond to the two stop plates 100 and 110. The two displacement limit switches 120, 130 are respectively configured to be triggered by the stop of the stop plates 100, 110 to stop the operation of the displacement drive 4 (shown in FIG. 2).

As shown in FIG. 5, the first rotation limit switch 140 and the second rotation limit switch 150 are disposed on the top plate 21 of the moving machine table 20, and are respectively located on adjacent sides of the rotating arm 40. The rotating arm 40 has a blocking piece 41. The first rotation limit switch 140 and the second rotation limit switch 150 are used to be triggered by the stop piece 41 of the rotating arm 40 to stop the operation of the rotary drive 5 (shown in FIG. 2).

As shown in FIG. 1 , the three first lifting limit switches 160 , 170 , 180 are disposed on the rotating arm 40 , and the first lifting limit switch 180 is adjacent to the moving machine 20 compared to the two first lifting limit switches 160 , 170 , and the first A lift limit switch 170 is located between the two first lift limit switches 160, 180. The lifting arm 50 has an upper paddle 51 and a lower paddle 52. The lower paddle 52 is located between the upper paddle 51 and the moving table 20. The first lifting limit switch 160 is configured to be triggered by the paddle 51 above the lifting arm 50 to stop the operation of the lifting and lowering drive 6, and the second first lifting limit switches 170 and 180 are used to be triggered by the paddle 52 of the lifting arm 50. The operation of the lift drive 6 is stopped.

As shown in FIG. 3, the second lifting limit switch 190 is disposed on one side of the fixing plate 621 away from the movable plate 622, and is configured to be triggered by the first clamping arm 63 and the second clamping arm 64 to stop the lifting and lowering drive 6 (see FIG. 1). The operation shown). In detail, the first clamping arm 63 and the second clamping arm 64 can move the movable plate 622 toward the fixed plate 621, and one of the guiding rods 623 triggers the second lifting limit switch 190.

According to the experience of practice, in the process of planting rice, the seedling tray 3 with rice seeds must be placed in the nursery for cultivation. In general, the step of placing the seedling tray 3 in the nursery field is a so-called seeding operation, and the step of removing the seedling tray 3 from the nursery field is a so-called seedling operation. Hereinafter, the operation process of the seedling tray removing and unloading device 1 of the present embodiment in the seedling operation will be described first. Please refer to FIG. 6 first. Figure 6 is a side elevational view of the guiding assembly of Figure 1 guiding the seedling tray.

As shown in Fig. 6, when the seedling operation is performed, the seedling tray 3 is placed on the conveyor 2 to transport the seedling tray 3 with the aid of the conveyor 2. When the seedling tray 3 is moved by the conveyor 2 to the guiding assembly 70 along the direction D1, the seedling tray 3 will be guided and guided by the second guiding film 72 first, and the seedling tray 3 enters the positioning space S (eg Figure 5) is again guided by the second positive block 73. At this time, the operation of the conveyor 2 causes the seedling tray 3 to press against the connecting frame 71, so that the connecting frame 71 moves toward the moving machine table 20 to trigger a sensor (not shown) to know that the seedling tray 3 is already positioned.

Next, please refer to Figure 7. Figure 7 is a side elevational view of the lift arm of Figure 6 after it has been lowered. After the seedling tray 3 is positioned, the lifting drive 6 lowers the lifting arm 50 in the direction D2. When the lower blade 52 of the lifting arm 50 touches the first lifting limit switch 170, the lifting drive 6 stops operating. At this time, the grip driver 7 is activated and transmitted through the two hydraulic cylinders 654 to drive the reverse movement of the two push rods 655 in the direction D3 and the direction D3, respectively. The moving two push rods 655 respectively push the two linking plates 653, and the first clamping arms 63 and the second clamping arms 64 are brought close to each other through the two linking rods 652, so that the first clamping arms 63 and the second clamping arms 64 are clamped. Seedling tray 3.

In this embodiment, the seedling tray 3 can be guided and positioned by the two guiding positives 72 and the two guiding positive blocks 73 to facilitate the clamping of the first clamping arm 63 and the second clamping arm 64. Further, in the process in which the first clamping arm 63 and the second clamping arm 64 hold the seedling tray 3, the corner structures 6311, 6411 (shown in FIG. 3) at the ends of the claws 631, 641 are inserted into the seedling tray 3. Inside the groove. Thereby, the corner structures 6311, 6411 of the claws 631, 641 can further guide the position of the seedling tray 3, so that the seedling tray 3 can be stably held by the first clamp arm 63 and the second clamp arm 64.

In addition, the arrangement of the first lift limit switch 170 is not intended to limit the present invention. In other embodiments, there may be no setting of the first lift limit switch, and the downstroke of the lift arm may be determined manually.

Next, please refer to FIG. 8. FIG. 8 is a schematic side view of the lifting arm of FIG. After the first clamp arm 63 and the second clamp arm 64 hold the seedling tray 3, the lift actuator 6 is activated to raise the lift arm 50 in the direction D4. When the paddle 51 on the lift arm 50 touches the first lift limit switch 160, the lift drive 6 stops operating. Thereby, the first lifting limit switch 160 prevents the lifting arm 50 from colliding with the upper edge of the rotating arm 40, so the first lifting limit switch 160 has a function of buffer protection.

In this embodiment, by the four pressing rollers 30 (shown in FIG. 2) respectively abutting the two sliding rails 10, the moving machine table 20 can be closely attached to the two sliding rails 10 to maintain the moving platform 20. Balanced, the first clamping arm 63 and the second clamping arm 64 can prevent the moving machine table 20, the rotating arm 40 and the lifting arm 50 from falling over due to the weight of the seedling tray 3 after the seedling tray 3 is clamped.

Next, please refer to FIG. 9 to FIG. 11. FIG. 9 is a schematic perspective view of the rotating arm of FIG. Figure 10 is a perspective view of the lifting arm of Figure 9 after it has been lowered. Figure 11 is a side elevational view of Figure 10. After the upper paddle 51 of the lift arm 50 touches the first lift limit switch 160, the rotary actuator 5 (shown in FIG. 2) is activated to rotate the rotary arm 40 in the direction D5. When the flap 41 of the rotary arm 40 touches the second rotation limit switch 150, the rotary actuator 5 stops operating, and the lift actuator 6 is activated to lower the lift arm 50 in the direction D2. After the paddle 52 has touched the first lift limit switch 180 under the lift arm 50, the operation of the lift drive 6 is stopped. At this time, the grip driver 7 is activated to let the first grip arm 63 and the second grip arm 64 release the seedling tray 3, so that the seedling tray 3 is placed on the ground of the nursery.

In the present embodiment, the rotation angle of the rotating arm 40 can be restricted by the arrangement of the first rotation limit switch 140 and the second rotation limit switch 150 on the adjacent side of the rotating arm 40. However, the positions of the first rotation limit switch 140 and the second rotation limit switch 150 are not intended to limit the present invention. In other embodiments, the first rotation limit switch and the second rotation limit switch can be located on opposite sides of the rotating arm.

Next, please refer to FIG. 11 and FIG. 12 together. FIG. 12 is a side view of the second limit switch of FIG. 11 triggered by the guiding rod. During the lowering of the lifting arm 50 in the direction D2, if the lower paddle 52 of the lifting arm 50 has not touched the first lifting limit switch 180, the first clamping arm 63 and the second clamping arm 64 have been pressed against the ground. In the case, the first clamp arm 63 and the second clamp arm 64 will move the movable plate 622 toward the fixed plate 621. At this time, the moving movable plate 622 not only compresses the elastic members 624, but also moves the guiding rods 623 together, so that one of the guiding rods 623 touches the second lifting limit switch 190 to stop the lifting drive 6 from operating. . Thereby, when the first clamp arm 63 and the second clamp arm 64 are pressed against the ground, the elevation drive 6 is then stopped to avoid damaging the first clamp arm 63 and the second clamp arm 64.

After the seedling tray 3 is moved from the conveyor 2 to the ground of the nursery, the jaw assembly 60 then returns to the position shown in Figure 1, and the displacement drive 4 is activated to move the mobile station 20. During the movement of the mobile machine 20, when the second proximity sensor 90 senses one of the first proximity sensors 80, the displacement driver 4 stops operating and stops the mobile station 20. At this time, the moving machine table 20 is located at the next removal position, and the rotating arm 40, the lifting arm 50, and the jaw assembly 60 perform the above-described removal operation.

After the seedling tray 3 at each of the removal positions is placed in the nursery field, the moving machine table 20 is moved to one end of the slide rail 10, and the stop plate 110 triggers the displacement limit switch 130, and the displacement drive 4 is stopped. . At this time, it means that the seedling trays 3 have been moved from the conveyor 2 to the ground of the nursery field and are arranged one line, so that the conveyor 2 can be traversed by a distance, and the moving machine table 20 can be moved to stop the shutter 100 The seedling tray removal device 1 can continue to move the other seedling trays 3 from the conveyor 2 to the ground and arrange them into another row. In this way, after the seedling tray removing and unloading device 1 completes the arrangement of the row of seedling trays 3, the moving machine table 20 can perform the operation of the next row without returning to the origin, so that the efficiency of the seedling operation can be increased.

In general, the emergence operation is the reverse operation of the seeding operation, so the following will briefly describe the emergence operation.

First, as shown in FIG. 10, the rotary actuator 5 (shown in FIG. 2) first rotates the rotary arm 40, and then the elevation drive 6 lowers the lift arm 50 to place the first clamp arm 63 and the second clamp arm 64 close to each other. Seedling tray on the ground of the nursery. Next, the grip driver 7 drives the first clamp arm 63 and the second clamp arm 64 to grip the seedling tray 3. After the seedling tray 3 is gripped, the lift drive 6 is activated to raise the lift arm 50 such that the lift arm 50 is in the position of FIG. Next, the rotary actuator 5 is activated to rotate the rotary arm 40, so that the rotary arm 40 is rotated to the position as shown in FIG. Then, the lift driver 6 is activated to lower the lift arm 50 so that the first clamp arm 63 and the second clamp arm 64 are lowered and positioned at the position shown in FIG. Next, the grip driver 7 drives the first grip arm 63 and the second grip arm 64 away from each other such that the seedling tray 3 is placed on the conveyor 2. Next, the jaw assembly 60 returns to the position shown in FIG. 1, and the displacement drive 4 drives the moving table 20 to move to continue moving the seedling tray 3 from the ground to the conveyor 2. After all the seedling trays 3 of this row are clamped to the conveyor 2, the conveyor 2 can be traversed by a distance, and then the moving machine table 20 is moved in the reverse direction to perform the next line of work.

In the present embodiment, the positions of the two stop plates 100, 110 and the two displacement limit switches 120, 130 are not intended to limit the present invention. In other embodiments, the setting positions of the two stop flaps and the two displacement limit switches can be mutually adjusted. That is, the two stop baffles can be modified to be disposed on one side of the moving machine, and the two displacement limit switches can be respectively disposed on opposite sides of one of the slide rails. Similarly, in other embodiments, the positions of the flap and the rotary limit switch can be mutually adjusted, and the positions of the upper pick, the lower pick and the lift limit switch can be mutually adjusted.

In addition, the above two displacement limit switches 120, 130, the first rotation limit switch 140, the second rotation limit switch 150, the first lifting limit switches 160, 170, 180 and the second lifting limit switch 190 are all touch switches. , but not limited to this. In other embodiments, these switches can be changed to inductive switches, such as proximity switches.

In this embodiment, the moving machine 20 can be moved on the two slide rails 10, the rotating arm 40 is rotatably disposed on the moving machine table 20, and the lifting arm 50 is movably moved closer to or away from the conveyor 2, so that the seedlings are made The disk take-up device 1 has three degrees of freedom, but is not limited thereto. In other embodiments, the seedling tray removal device 1 may have a degree of freedom greater than three. For example, the lift arm can be rotated parallel to an axis of the direction in which the slide rail extends, and the lift arm can pitch and pivot, and the lift arm can move along another axis parallel to the pitch pivot axis.

According to the seedling tray removing and unloading device disclosed in the above embodiment, the jaw assembly is moved, rotated and lifted by the moving machine table, the rotating arm and the lifting arm, respectively. Therefore, the seedling tray removal device can move the seedling tray placed on the conveyor to the ground or move the seedling tray placed on the ground to the conveyor. In this way, the seedling tray removal device replaces the process of moving the seedling tray up and down during the seedling and emergence operations, thereby reducing the chance of operator fatigue and work injury.

Although the present invention has been described above in terms of the preferred embodiments thereof, it is not intended to limit the present invention, and it is intended that those skilled in the art can make some modifications and refinements without departing from the spirit and scope of the present invention. The scope of the new patent protection shall be subject to the definition of the scope of the patent application attached to this specification.

1‧‧‧ seedling tray removal device
2‧‧‧Conveyor
3‧‧‧ seedling tray
4‧‧‧displacement drive
5‧‧‧Rotary drive
6‧‧‧ Lifting drive
7‧‧‧Clamp drive
10‧‧‧Slide rails
20‧‧‧Mobile machine
21‧‧‧ top board
22‧‧‧ side panels
30‧‧‧Forcing the wheel
40‧‧‧Rotating arm
41‧‧‧Block
50‧‧‧ lifting arm
51‧‧‧Upper
52‧‧‧draw
60‧‧‧ jaw assembly
61‧‧‧Connecting column
62‧‧‧ buffer kit
621‧‧‧ fixed plate
622‧‧‧ activity board
623‧‧‧ Guide rod
624‧‧‧Flexible parts
63‧‧‧First clamp arm
64‧‧‧Second clamp arm
631, 641‧‧‧ claws
6311, 6411‧‧‧ lead angle structure
65‧‧‧ linkage components
651‧‧‧Connecting plate
652‧‧‧ linkage rod
653‧‧‧ linkage board
654‧‧‧Hydraulic cylinder
655‧‧‧Pushing rod
70‧‧‧Conducting components
71‧‧‧Connecting frame
72‧‧‧ guided film
73‧‧‧正正块
80‧‧‧First proximity sensor
90‧‧‧Second proximity sensor
100, 110‧‧‧ stop baffle
120, 130‧‧‧ Displacement limit switch
140‧‧‧First rotary limit switch
150‧‧‧Second rotary limit switch
160, 170, 180‧‧‧ first lifting limit switch
190‧‧‧Second lift limit switch
S‧‧‧Location space
Directions D1, D2, D3, D4, D5‧‧

1 is a perspective view of a seedling tray removing device disposed on a conveyor according to a first embodiment of the present invention. Figure 2 is a partial cross-sectional view of Figure 1. 3 is a perspective view of the jaw assembly of FIG. 1. Figure 4 is a side elevational view of Figure 3. Figure 5 is a partial perspective view of Figure 1. Figure 6 is a side elevational view of the guiding assembly of Figure 1 guiding the seedling tray. Figure 7 is a side elevational view of the lift arm of Figure 6 after it has been lowered. Figure 8 is a side elevational view of the lifting arm of Figure 7 after it has been raised. Figure 9 is a perspective view of the rotating arm of Figure 8 after rotation. Figure 10 is a perspective view of the lifting arm of Figure 9 after it has been lowered. Figure 11 is a side elevational view of Figure 10. Figure 12 is a side elevational view of the second limit switch of Figure 11 triggered by a guide rod.

Claims (10)

A seedling tray removing device adapted to take off a seedling tray on a conveyor, comprising: a moving machine platform for being disposed on the conveyor, and the moving machine table is movable along the extending direction of the conveyor a rotating arm rotatably disposed on the moving machine; a lifting arm disposed on the rotating arm and movably adjacent to or away from the conveyor: and a jaw assembly disposed on the lifting arm for clamping Put the seedling tray. The seedling tray removing and unloading device of claim 1, further comprising a displacement drive, a rotary drive, a lifting drive and a clamping drive, wherein the displacement drive is configured to move the mobile machine, the rotary drive To rotate the rotating arm, the lifting drive is used to lift and lower the lifting arm, and the clamping driver is used to drive the clamping device to clamp the seedling tray. The seedling tray removing device according to claim 2, wherein the transmission between the displacement drive and the moving machine, the transmission between the rotary drive and the rotating arm, the lifting drive and the lifting arm The transmission between the drive and the clamping drive and the jaw assembly is transmitted through a connecting rod, a chain, a sprocket, a gear, a coupling, a belt, a ball screw or a linear slide. The seedling tray removing device according to claim 2, further comprising two first lifting limit switches, the two first lifting limit switches and the rotating arm, wherein one of the first lifting limit switches is located at another Between the first lifting limit switch and the moving machine, the two first lifting limit switches are configured to be triggered by the lifting arm to stop the operation of the lifting drive. The seedling tray removing device according to claim 4, further comprising a second lifting limit switch disposed on the jaw assembly for being triggered by the jaw assembly to stop the The operation of the lift drive. The seedling tray removing device according to claim 5, wherein the jaw assembly comprises a connecting post, a buffering sleeve, a first clamping arm and a second clamping arm, wherein the opposite ends of the connecting column are respectively Connecting the lifting arm and the buffering sleeve, the first clamping arm and the second clamping arm are movably disposed on the buffering sleeve, wherein the clamping actuator is configured to bring the first clamping arm and the second clamping arm closer to each other Or remotely, the second lifting limit switch is disposed in the buffering sleeve for being triggered by the first clamping arm and the second clamping arm to stop the operation of the lifting driver. The seedling tray removing device according to claim 6, wherein the buffering kit comprises a fixing plate, a movable plate, a plurality of guiding rods and a plurality of elastic members, wherein the connecting column is fixed to the fixing plate, and each One end of the guiding rod is movably disposed through the fixing plate, and the other end of each guiding rod is fixed to the movable plate, and the guiding rods respectively penetrate the elastic members, and each of the elastic members The second clamping limit switch is disposed on a side of the fixing plate away from the movable plate, and the first clamping arm and the second clamping arm are respectively disposed on the fixing plate and the movable plate. The first clamping arm and the second clamping arm can move the movable plate relative to the fixed plate, and one of the guiding rods triggers the second lifting limit switch. The seedling tray removing device according to claim 7, wherein the first clamping arm and the second clamping arm each have three hooks, and each of the hooks has a lead angle away from one end of the movable panel. Structures, the lead angle structures are used to guide the seedling tray. The seedling tray removing device according to claim 1, further comprising a guiding component, wherein the guiding component comprises a connecting frame, a two guiding positive piece and a two guiding positive block, wherein the connecting frame is movably disposed on the Moving the machine table, and the two guiding positive pieces are respectively connected to opposite sides of the connecting frame and extending away from the moving machine table, and the two guiding positive blocks respectively protrude from the side of the two guiding positive pieces adjacent to the connecting frame The two guiding positive blocks collectively surround a positioning space, and the two guiding positive sheets are used to guide the seedling tray into the positioning space, so that the seedling tray is guided by the two guiding positive blocks. The seedling tray removing and unloading device described in claim 1 further includes two sliding rails, four pressing rollers, a plurality of first proximity sensing members, a second proximity sensing member, two stop plates, and two displacement limits. a switch, the two slide rails are respectively disposed on opposite sides of the conveyor, the mobile machine platform is provided with the two slide rails, and the mobile machine platform has opposite two side panels, and the two side panels respectively correspond to the two slide rails. The two tensioning rollers are disposed on one of the side plates and abut against one of the sliding rails, and the two pressing rollers are disposed on the other side panel and abut the other of the sliding rails, and the first proximity sensing members are And the second proximity sensing member is disposed on one of the side plates of the moving machine to sense the first proximity sensing members, and the second proximity sensing member is disposed on the one side of the sliding rail. The stop plates are respectively disposed at opposite ends of one of the side rails, and the first proximity sensing members are respectively disposed between the two stop plates, and the two displacement limit switches are respectively disposed on opposite sides of one of the side plates. And corresponding to the two stop baffles, the two stop baffles Do not use to trigger the two displacement limit switch.