WO2021253607A1

WO2021253607A1 - Transport trolley based on automated photography line for transparent root system cultivation containers

Info

Publication number: WO2021253607A1
Application number: PCT/CN2020/109510
Authority: WO
Inventors: 吴劼; 姜东�; 丁艳锋; 周国栋
Original assignee: 南京星土科技有限公司
Priority date: 2020-06-19
Filing date: 2020-08-17
Publication date: 2021-12-23
Also published as: CN111942833A

Abstract

A transport trolley based on an automated photography line for transparent root system cultivation containers, comprising a conveyance trolley (2), a travel rail (5) arranged between two rows of grouped photographing stations, and a transparent root system cultivation container buffer mechanism (3) arranged at one end of the travel rail (5). The conveyance trolley (2) moves along the travel rail (5) back and forth between the photographing stations (1) and the transparent root system cultivation container buffer mechanism (3). Transport of transparent root system cultivation containers between the transparent root system cultivation container buffer mechanism and the photographing stations is thus made possible. The overall system is based on the design principles of modularization and high efficiency, thus achieving the goal of automatic grasping and transporting of transparent root system cultivation containers, satisfying high-throughput and automated transport requirements, and improving transport efficiency. The conveyance trolley carries transparent root system cultivation containers along a travel rail, which is cheaper than conveyor belt transport.

Description

Transport trolley based on automatic photographing line of transparent root cultivation container

Technical field

The invention belongs to the technical field of plant cultivation, and particularly relates to a transport trolley based on a transparent root cultivation container photographing automatic line.

Background technique

The analysis of plant phenotypic parameters is closely related to breeding. The traditional phenotypic data acquisition is mainly carried out by manual measurement and software analysis after photographing. Manual measurement can obtain plant diameter, leaf length, leaf number and other indicators. After photographing, software analysis or leaf area meter can obtain plant leaf length, leaf width, leaf area, leaf inclination and other indicators. These measurements require a lot of time, the accuracy of the measurement results is low, the work is cumbersome, and the workload is large. These shortcomings greatly limit the efficiency of large-scale genetic breeding screening. In addition, these traditional methods used in China can only obtain part of the plant phenotype indicators, and the selection of excellent plant types can only be selected based on the experience of scientific researchers, and each person’s selection criteria are different, even very different, and there is no way. statistics. In view of the large amount of plant phenotypic data, the combination of phenotypic information is of great significance to the research of functional genomics, and it is necessary to rely on an accurate and scientific high-throughput plant phenotyping platform to complete the work.

In recent years, many academic institutions and companies have devoted themselves to the research and development of phenotyping platforms. At present, the aboveground phenotyping technology is relatively mature, most of which are based on the "Plant-to-Sensor" conveyor belt operation mode combined with the 360-degree imaging of the digital camera to collect the phenotypic information of the crop. Conveyor belt-based transportation is easy to achieve flux expansion, but its supporting equipment is costly, especially for super-large crop phenotype platforms, the cost of all configuration of the conveying system is extremely high. Therefore, it is necessary to develop a high-throughput, high-scalability, and low-cost plant handling system to meet the needs of high-throughput plant transportation.

technical problem

The present invention aims to provide a transport trolley capable of carrying out high-throughput and automatic transport of transparent root cultivation containers on a photographing automatic line.

Technical solutions

The specific technical scheme of the present invention is as follows.

... A transport trolley based on a transparent root cultivation container photographing automatic line, including a transport trolley, a walking guide rail arranged between two rows of photographing station groups, and a transparent root cultivation container buffer mechanism arranged at one end of the walking guide rail. The trolley moves back and forth between the photographing station group and the transparent root cultivation container buffer mechanism along the walking guide rail, and is used for the transportation of the transparent root cultivation container between the photographing station group and the transparent root cultivation container buffer mechanism.

Preferably, the transport trolley includes a trolley support, a workbench that is arranged on the trolley support and can move up and down along the trolley support, and the left and right sides of the workbench are provided with left grippers for grasping the transparent root cultivation container in the photographing station group. The workbench is equipped with a drive mechanism for driving the left and right grasping devices to move toward or away from each other synchronously.

Preferably, the left grasping device includes a left base plate, a left moving frame, and two left supporting claws. The left moving frame is installed on the side of the left base plate close to the center of the worktable, and the two left supporting claws are symmetrically arranged on the left base plate. The other side forms a horizontal movement pair with the left base plate. The left base plate is equipped with a left drive mechanism for driving the two left claws to move toward or away from each other synchronously.

The right grasping device includes a right base plate, a right moving frame, and two right supporting claws. The right moving frame is installed on one side of the right base plate close to the center of the workbench, and the two right supporting claws are symmetrically arranged on the other side of the right base plate. And it forms a horizontal moving pair with the right base plate. The right base plate is equipped with a right drive mechanism for driving the two right pawls to move toward or away from each other synchronously.

Preferably, the left movable frame and the right movable frame are slidably connected to the sliding rails of the workbench, and when the left movable frame and the right movable frame move toward each other synchronously, the left movable frame slides into the right movable frame.

Preferably, a trolley roof is provided above the workbench, and a driving device is provided on the trolley roof. The output end of the driving device is connected with one end of a ball screw, and the ball screw is screwed with the worktable to form a ball screw pair. The other end of the screw rod is connected with the trolley support through a bearing, and a guide rod is arranged between the roof of the trolley and the trolley support.

Preferably, the workbench includes a guide rail base plate and a guide rail top plate in sequence from top to bottom, the left grabbing device and the right grabbing device are arranged on the guide rail base plate, and a reinforcing plate is arranged between the guide rail base plate and the guide rail top plate.

Preferably, a photoelectric switch is provided on the outer side of the sliding rail.

Beneficial effect

The invention realizes the transportation of the transparent root cultivation container between the transparent root cultivation container buffering mechanism and the photographing station group by reciprocating movement of the transport trolley between the photographing station group and the transparent root cultivation container buffer mechanism along the walking guide rails. The degree is high. The whole system is based on the modular and high-efficiency design concept, achieves the purpose of automatic grasping and transport of transparent root cultivation containers, meets the requirements of high-throughput and automated transport, and improves the efficiency of transport. The invention integrates the left grabbing device and the right grabbing device in the transport trolley, the system structure is light and concise, the transport trolley moves along the walking guide rails to transfer the transparent root cultivation container, and the cost is low compared with the transportation mode of the conveyor belt.

Description of the drawings

Fig. 1 is a schematic diagram of the structure of the automatic photographing line of the transparent root cultivation container of the present invention.

Fig. 2 is a schematic diagram of the structure of the transparent root cultivation container of the present invention.

Fig. 3 is a front view of Fig. 2.

Fig. 4 is a cross-sectional view of A-A in Fig. 3.

Fig. 5 is a schematic diagram of the structure of the transport trolley according to the present invention.

Fig. 6 is a schematic diagram of the structure of the transport trolley of the present invention after the roof of the trolley is removed.

Fig. 7 is a schematic diagram of the structure of the transparent root cultivation container buffer mechanism of the present invention.

Embodiments of the present invention

Hereinafter, the preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings in order to understand the purpose, features and advantages of the present invention more clearly. It should be understood that the embodiments shown in the drawings do not limit the scope of the present invention, but merely illustrate the essential spirit of the technical solution of the present invention. The parts not mentioned in the present invention are all the prior art.

Referring to Figure 1, the present invention provides a transport cart based on a transparent root cultivation container photographing automatic line, which includes a transport cart 2, a walking guide 5 arranged between two rows of photographing station groups 1, and is arranged at one end of the walking guide 5 The transparent root cultivation container buffer mechanism 3, the transport trolley 2 moves back and forth between the photographing station group 1 and the transparent root cultivation container buffer mechanism 3 along the walking guide 5, for the transparent root cultivation container 4 in the photographing station group 1 Transport with the transparent root cultivation container buffer mechanism 3, transport the transparent root cultivation container 4 on the transparent root cultivation container buffer mechanism 3 to the photographing station group 1 for taking pictures, and the transparent root cultivation container 4 after the photograph is taken Transport back to the transparent root cultivation container buffer mechanism 3.

Referring to Figure 7, the transparent root cultivation container buffer mechanism 3 includes a horizontal bracket 3-1, two vertical brackets 3-2 located on the same side of the horizontal bracket 3-1, two symmetrically arranged buffer racks for placing transparent root cultivation containers G and cache rack H, two vertical brackets 3-2 are respectively connected to the two ends of the horizontal bracket 3-1, one end of the cache rack G and the cache rack H are respectively rotatably connected to the vertical bracket 3-2 and the horizontal bracket The connection of 3-1 enables the buffer rack G and the buffer rack H to rotate between the vertical support 3-2 and the horizontal support 3-1; the rotating structure can adopt a rotating structure commonly used in the art. The top of the non-rotating end of the buffer rack G and the buffer rack H are both provided with two positioning seats 3-3 for placing the transparent root cultivation container 4. One end of the walking guide rail 5 extends into the area formed by the two vertical supports 3-2 and the horizontal support 3-1, and the transport cart 2 reciprocates along the walking guide rail 5 between the camera station group 1 and the transparent root cultivation container buffer mechanism 3 , When the buffer rack G and the buffer rack H are rotated to the vertical support 3-2, it is used for the movement of the transparent root cultivation container 4 between the photographing station group 1 and the buffer rack G and the buffer rack H.

Further, referring to FIGS. 2 to 4, the transparent root cultivation container 4 includes a cultivation base 4-4, a cultivation container body, a light-shielding cover 4-2, and a light-shielding cover. The cultivation container body includes a transparent inner tube 4-8, a transparent outer tube 4-7, and a transparent top cover 4-6. The transparent outer tube 4-7 is open up and down, and the transparent inner tube 4-8 and the transparent outer tube 4-7 are mutually Nested and fixed on the cultivation base 4-4, the transparent top cover 4-6 is set on the top of the transparent inner tube 4-8, and the root ring-shaped cultivation space is formed between the transparent inner tube 4-8 and the transparent outer tube 4-7. A light-shielding cover 4-2 is set above the root ring-shaped cultivation space, and a central hole (not shown in the figure) communicating with the inner cavity of the transparent inner tube 4-8 is also opened on the cultivation base 4-4. The cultivation base 4-4 There is a water box 4-5 below. When in use, soil is filled in the root ring-shaped cultivation space, and seeds are sown at a depth of 3 to 4 cm in the soil, and the crop roots grow in the soil. The shading hood is arranged between the shading cover 4-2 and the cultivation base 4-4. The shading hood includes a left shading hood 4-3 and a right shading hood 4-1 which are detachably connected, and a left shading hood 4-3 and a right shading hood 4 -1 forms a hollow rectangular structure, and the cultivation container body is arranged in the cavity. Pull the left lens hood 4-3 and the right lens hood 4-1 strongly to separate the left lens hood 4-3 and the right lens hood 4-1, and the left lens hood 4-3 and the right lens hood 4-1 are close The left lens hood 4-3 and the right lens hood 4-1 can be snapped together when squeezed hard. When it is necessary to image the root system of the plant in the cultivation container, simply disassemble the left and right hoods. After imaging, snap the left hood 4-3 and the right hood 4-1 together. .

Preferably, the cultivation base 4-4 is provided with a through hole (not shown in the figure) communicating with the annular cultivation space of the root system to facilitate the seepage of excess water from the bottom of the transparent outer tube 4-7 and the transparent inner tube 4-8. Avoid stagnant water at the bottom of the cultivation container; the excess water seeping from the bottom of the transparent outer tube 4-7 and the transparent inner tube 4-8 flows out and enters the water receiving box 4-5 to avoid soiling the ground.

Further, referring to Figures 5 to 6, the transport trolley 2 includes a trolley support 2-1, a workbench that is arranged on the trolley support 2-1 and can move up and down along the trolley support 2-1. The left and right sides of the workbench are provided with For the left grasping device E and right grasping device F for grasping the transparent root cultivation container 4, a drive mechanism for driving the left grasping device E and the right grasping device F to move toward or away from each other synchronously is installed on the workbench ( Not shown in the figure). The driving mechanism is preferably a motor. The motor drives the left grabbing device E and the right grabbing device F to move toward each other or back to move synchronously, so that the left grabbing device E and the right grabbing device F are retracted and extended at the same time. The transparent root cultivation container 4 in the photographing station group 1 can be clamped or put down at the same time, or the buffer rack G and the buffer rack H can be rotated to the vertical support 3-2, and the transparent root system on the buffer rack G and the buffer rack H can be cultivated The container 4 can be clamped or put down at the same time, which improves work efficiency and saves time and cost.

... Further, referring to Figures 5 to 6, the left grasping device E includes a left base plate 2-18, a left moving frame 2-17, and two left claws 2-19. The left moving frame 2-17 is mounted on the left base plate 2- 18 One side close to the center of the workbench, two left pawls 2-19 are symmetrically arranged on the other side of the left base 2-18 and form a horizontal movement pair with the left base 2-18. The left base 2-18 is installed for driving The left driving mechanism 2-12 for the two left pawls 2-19 to move towards each other or back to move synchronously. The right gripping device F includes the right base plate 2-15, the right moving frame 2-16, and two right claws 2-14. The right moving frame 2-16 is installed on the right base plate 2-15 near the center of the workbench. The right pawl 2-14 is symmetrically arranged on the other side of the right base plate 2-15 and forms a horizontal movement pair with the right base plate 2-15. The right base plate 2-15 is installed to drive the two right pawls 2-14 to face each other synchronously. Right drive mechanism for movement or back movement 2-11. The left driving mechanism 2-12 and the right driving mechanism 2-11 are preferably air cylinders. The air cylinder drives the two left pawls 2-19 or the two right pawls 2-14 to move toward each other or back to each other synchronously, so as to realize a transparent root cultivation container 4's gripping or putting down.

Further, referring to Figures 5 to 6, there are slide rails 2-20 parallel to each other on the worktable, the drive screw 2-21 is arranged in the middle of the slide rail 2-20 and parallel to it, and the slider (not shown in the figure) Out) pass through the sliding rail 2-20, the left movable frame 2-17 and the right movable frame 2-16 are slidably connected to the sliding rail 2-20 of the workbench through a sliding block (not shown in the figure); The drive screw 2-21 is a positive and negative screw, the positive and negative screw 2-21 is connected with the output shaft of the motor (not shown in the figure), and the left moving frame 2-17 and the right moving frame 2-16 pass through respectively The first nut fixing seat 2-22 and the second nut fixing seat 2-13 are connected with the positive and negative threaded screws 2-21. When working, the motor drives the positive and negative screw 2-21 to rotate, and the positive and negative screw 2-21 drives the slider to move linearly on the slide rail 2-20, thereby driving the left moving frame 2-17 and the right moving frame 2 -16 Synchronous movement towards each other or back movement. When the left mobile frame 2-17 and the right mobile frame 2-16 move towards each other synchronously, the left mobile frame 2-17 moves into the right mobile frame 2-16, which saves space and makes the structure more compact.

Further, referring to Figures 5 to 6, there is a trolley roof plate 2-7 above the workbench, and a drive device 2-5 is provided on the trolley roof plate 2-7. The drive device 2-5 is preferably a geared motor, and a geared motor 2- 5 Install on the motor support 2-6, the output end of the geared motor 2-5 is connected with one end of the ball screw 2-3, the ball screw 2-3 is screwed with the worktable to form a ball screw pair, the ball screw The other end of 2-3 is connected to the trolley support 2-1 through the bearing 2-2. There are guide rods 2-10 between the roof plate 2-7 and the trolley support 2-1. There are four guide rods 2-10. The up and down movement of the worktable is guided, and the reduction motor 2-5 drives the ball screw 2-3 to rotate, thereby driving the up and down movement of the worktable. Improve the response speed and stability of the worktable when moving up and down, and significantly reduce production and maintenance costs.

Further, referring to Figures 5 to 6, the workbench includes a guide rail base plate 2-8 and a guide rail top plate 2-4 from top to bottom. The left grabbing device E and the right grabbing device F are arranged on the guide rail base plate 2-8. There is a reinforcing plate 2-9 between the guide rail base plate 2-8 and the guide rail top plate 2-4; it is used to ensure the rigidity and strength of the workbench.

Further, a photoelectric switch (not shown in the figure) is provided on the outer side of the sliding rail 2-20 for detecting the movement trajectory of the left grabbing device E and the right grabbing device F. A photoelectric switch (not shown in the figure) is provided on the outside of the slide rail 2-20 to detect the movement trajectory of the left grabbing device E and the right grabbing device F.

Refer to Figure 1 for a detailed description of the working process of the present invention. In Figure 1, the cache station II and the cache station IV correspond to the two positioning seats on the cache rack G, and the cache station I and the cache station III correspond to the cache rack. The two positioning seats on H; take the photo-taking station group as an example, the specific working process is as follows.

first step.

The buffer rack G is located on the vertical support 3-2, the buffer rack H is rotated to the horizontal support 3-1, and the transparent root cultivation container to be photographed is placed on the buffer station I by a manipulator; then the buffer rack H is rotated to the vertical To the bracket 3-2. Rotate the buffer rack G to the horizontal support 3-1, use the manipulator to place the transparent root cultivation container to be photographed on the buffer station II, and rotate the buffer rack G to the vertical support 3-2 to complete the buffer rack G and the buffer Loading of frame H.

The second step.

Control the transport trolley 2 to move along the walking guide 5 toward the transparent root cultivation container buffer mechanism 3 until it enters the area formed by the two vertical brackets 3-2 and the horizontal bracket 3-1; control the reduction motor 2-5 to drive the workbench up and down Move until the left gripping device E and right gripping device F of the worktable are located below the buffer station II and the buffer station I; at the same time control the cylinder 2-12 to drive the two left pawls 2-19 and the cylinder 2-11 Drive the two right claws 2-14 to move backwards synchronously; control the transport trolley 2 to move along the walking rail 5, and control the motor on the worktable to drive the positive and negative screw 2-21 to drive the left grabbing device E and the right grabbing The device F moves towards each other or backwards synchronously until the two left pawls 2-19 and the two right pawls 2-14 are respectively located on the buffer station II and the buffer station I. The transparent root cultivation container 4 cultivation base 4-4 Immediately below; control the reduction motor 2-5 to drive the worktable upward, and at the same time control the cylinder 2-12 to drive the two left claws 2-19, and the cylinder 2-11 to drive the two right claws 2-14 to move synchronously. Two left pawls 2-19 and two right pawls 2-14 respectively grip the cultivation base 4-4 of the transparent root cultivation container 4 on the buffer station II and the buffer station I; the motor drive on the control workbench The positive and negative screw 2-21 drives the left grabbing device E and the right grabbing device F to move towards each other synchronously, until the two left supporting claws 2-19, the two right supporting claws 2-14 and the transparent roots that are clamped by them are cultivated. The container is located on the workbench. Control the transport trolley 2 to move along the walking guide 5 toward the camera station group 1 until the two left pawls 2-19, the two right pawls 2-14 and the transparent root cultivation container clamped by them are located in one of the camera stations. Between the bit groups, control the geared motor 2-5 to drive the worktable to move up and down until the two left pawls 2-19, the two right pawls 2-14 and the transparent root cultivation container they clamped are located in the photographing station group Above the left and right stations; the motor on the control workbench drives the positive and negative screw 2-21 to drive the left grabbing device E and the right grabbing device F to move backwards synchronously, and at the same time control the transport trolley 2 to move along the walking rail 5 , Until the two left pawls 2-19 and the two right pawls 2-14 clamped the transparent root cultivation container are located directly above the left and right positions of the photographing station group; control the reduction motor 2-5 to drive work The table moves downwards, while controlling the cylinder 2-12 to drive the two left claws 2-19, and the cylinder 2-11 to drive the two right claws 2-14 to move back simultaneously, two left claws 2-19, two The right paws 2-14 respectively place the transparent root cultivation container on the left and right stations of the photographing station group at the same time; the left and right stations of the photographing station group respectively take pictures of the transparent root cultivation container above it.

When the transport trolley 2 transports the transparent root cultivation container 4 to the photographing station group 1, the buffer rack G and the buffer rack H are loaded with reference to the first step.

third step.

After the transparent root cultivation container is taken, control the geared motor 2-5 to drive the worktable to move up and down until the left grabbing device E and the right grabbing device F are located below the two left and right positions of the photographing station group; control the air cylinder 2-12 drives the two left claws 2-19, the cylinder 2-11 drives the two right claws 2-14 synchronous back movement; controls the motor on the workbench to drive the positive and negative screw 2-21 to drive the left grab The device E and the right grabbing device F move backwards synchronously, and at the same time control the transport trolley 2 to move along the walking rail 5 until the two left pawls 2-19 and the two right pawls 2-14 are respectively located on the left and right of the photographing station group The two stations are directly below the cultivation base 4-4 of the transparent root cultivation container; control the reduction motor 2-5 to drive the worktable upward, and at the same time control the cylinder 2-12 to drive the two left pawls 2-19 and the cylinder 2- 11 Drive the two right claws 2-14 to move towards each other synchronously, the two left claws 2-19 and the two right claws 2-14 respectively simultaneously clamp the transparent roots on the left and right positions of the photographing station group for cultivation Cultivation base 4-4 of the container; the motor on the control workbench drives the positive and negative screw 2-21 to drive the left grabbing device E and the right grabbing device F to move towards each other synchronously, until the two left pawls 2-19, two The two right pawls 2-14 and the transparent root cultivation container clamped by them are located on the workbench. Control the transport trolley 2 to move along the walking guide 5 toward the transparent root cultivation container buffer mechanism 3 until it enters the area formed by the two vertical brackets 3-2 and the horizontal bracket 3-1; control the reduction motor 2-5 to drive the workbench up and down Move until the two left claws 2-19, the two right claws 2-14 and the transparent root cultivation container clamped by the workbench are located above the buffer station IV and the buffer station III; The motor drives the positive and negative screw 2-21 to drive the left grabbing device E and the right grabbing device F to move backwards synchronously, and at the same time control the transport trolley 2 to move along the walking rail 5 until the two left pawls 2-19, two The cultivation base 4-4 of the transparent root cultivation container clamped by the right paw 2-14 are respectively located directly above the buffer station IV and the buffer station III; the deceleration motor 2-5 is controlled to drive the table to move downward, and the cylinder 2 is controlled at the same time -12 drives the two left claws 2-19 and the cylinder 2-11 drives the two right claws 2-14 to move backwards synchronously, the two left claws 2-19 and the two right claws 2-14 will be transparent respectively The root cultivation container cultivation base 4-4 is placed on the positioning seat 3-3.

the fourth step.

Refer to the second step to transport the transparent root cultivation containers to be photographed on the buffer rack G and the buffer rack H to the photographing station group 1 for photographing.

the fifth step.

Rotate the buffer rack H to the horizontal support 3-1, use a manipulator to remove the transparent root cultivation container that has been photographed on the buffer station III, and then place the transparent root cultivation container to be photographed on the buffer station I, and place the buffer rack H rotate to the vertical support 3-2. Rotate the buffer rack G to the horizontal support 3-1, and use a manipulator to remove the transparent root cultivation container that has been photographed on the buffer station IV, and then place the transparent root cultivation container to be photographed on the buffer station II, and place the buffer rack G rotate to the vertical support 3-2.

This cycle runs.

The present invention is only described with the above-mentioned embodiments, and the structure, installation position and connection of each component can be changed. On the basis of the technical solution of the present invention, any improvements or equivalent changes made to individual components based on the principles of the present invention should not be excluded from the protection scope of the present invention.

Claims

A transport trolley based on a transparent root cultivation container photographing automatic line, which is characterized in that it comprises a transport trolley, a walking guide rail arranged between two rows of photographing station groups, and a transparent root cultivation container buffer mechanism arranged at one end of the walking guide rail. The transport trolley moves back and forth between the photographing station group and the transparent root cultivation container buffer mechanism along the walking rails, and is used for the transportation of the transparent root cultivation container between the photographing station group and the transparent root cultivation container buffer mechanism.
The transfer trolley according to claim 1, characterized in that the transport trolley comprises a trolley support, a work platform which is arranged on the trolley support and can move up and down along the trolley support, and the left and right sides of the work platform are provided for grabbing and taking pictures. The left grasping device and the right grasping device of the transparent root cultivation container in the workstation group are equipped with a driving mechanism for driving the left grasping device and the right grasping device to move toward or away from each other synchronously.
The transfer trolley according to claim 2, wherein the left grasping device comprises a left base plate, a left moving frame, and two left supporting claws, and the left moving frame is installed on the side of the left base plate close to the center of the worktable. The two left pawls are symmetrically arranged on the other side of the left base plate and form a horizontal movement pair with the left base plate. The left base plate is equipped with a left driving mechanism for driving the two left pawls to move toward or away from each other synchronously;

The right grasping device includes a right base plate, a right moving frame, and two right supporting claws. The right moving frame is installed on one side of the right base plate close to the center of the workbench, and the two right supporting claws are symmetrically arranged on the other side of the right base plate. And it forms a horizontal moving pair with the right base plate. The right base plate is equipped with a right drive mechanism for driving the two right pawls to move toward or away from each other synchronously.
The transfer trolley according to claim 3, wherein the left and right moving frames are slidably connected to the sliding rails of the workbench, and when the left and right moving frames move in synchronization with each other, the left moving frame is slid to Move right inside the rack.
The transfer cart according to claim 2, characterized in that a cart roof is provided above the workbench, a driving device is arranged on the cart roof, the output end of the driving device is connected with one end of the ball screw, and the ball screw is connected with The workbench is screwed to form a ball screw pair, the other end of the ball screw is connected to the trolley support through a bearing, and a guide rod is arranged between the top plate of the trolley and the trolley support.
The transfer trolley according to any one of claims 2 to 5, wherein the workbench comprises a guide rail base plate and a guide rail top plate in sequence from top to bottom, and the left gripping device and the right gripping device are arranged on the guide rail base plate, A reinforcement plate is arranged between the guide rail base plate and the guide rail top plate.
The transfer trolley according to claim 1, wherein a photoelectric switch is provided on the outer side of the sliding rail.