CN102696322B - Pin type plug seedling transplanting end effector - Google Patents
Pin type plug seedling transplanting end effector Download PDFInfo
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- CN102696322B CN102696322B CN201210181312.8A CN201210181312A CN102696322B CN 102696322 B CN102696322 B CN 102696322B CN 201210181312 A CN201210181312 A CN 201210181312A CN 102696322 B CN102696322 B CN 102696322B
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- electromagnet
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Abstract
The invention discloses a pin type plug seedling transplanting end effector, which belongs to the field of agricultural machinery. The pin type plug seedling transplanting end effector consists of a shell back plate, an electromagnet, an electromagnet push rod, two horizontal in-groove slide blocks, two swing link slide blocks, two swing links, two slide bushings, two pins, two upper bolt and nuts and two lower bolts and nuts, wherein the electromagnet is electrified to drive the electromagnet push rod to extend out so as to drive the swing links to swing; and the pins extend out towards the diagonal lower side along a straight line determined by the fixed slide bushings through sliding of the swing link slide blocks so as to be plugged into plug holes to pick up a seedling. When a seedling heap is clamped by the pin type plug seedling transplanting end effector to reach a seedling placement position, the pin type plug seedling transplanting end effector descends to plant the seedling heap into soil, the electromagnet is powered off, and the spring in the electromagnet drives the electromagnet push rod to automatically reset, so that the two pins are driven to retract into the slide bushings in reverse directions, and the seedling heap is pressed by the bottom ends of the slide bushings; and thus, the seedling heap is prevented from being brought out again by friction force when the sliding pins retract to guarantee the quality of transplantation. The movement direction of the pins of the pin type plug seedling transplanting end effector is fixed, so that good force transfer characteristic is guaranteed, and the pins are inserted into the soil smoothly; the angle for inserting the pins into the soil and the clamping opening are adjustable, so that good universality is achieved; and thus, smooth insertion for picking up and placing the seedlings during transplantation of various plug seedlings is realized with a simple structure.
Description
Technical field
The present invention relates to agricultural mechanical field, particularly a kind of contact pin type Plug seedling transplants end effector.
Background technology
It is that full-automatic potted tray seedling transplanter and transplant robot directly insert in cavities and get seedling and complete the key device putting seedling that Plug seedling transplants end effector, becomes the emphasis of intelligence and full-automatic transplantation technical research both at home and abroad.The Plug seedling of exploitation such as Wang little Hai, Sun Guoxiang, Jiang Huanhuang, Zhou Ting, L.G. Kutz, W. C. Choi etc. transplant end effector (the little Hai of Wang etc. Plug seedling transplantation device and machine for pricking out hand wherein. publication number: CN101306532A; Sun Guoxiang etc. potted tray seedling transplanter end effector designs and virtual prototype analysis. agricultural mechanical journal, 2010,41(10): 48-53,47; Jiang Huanhuang etc. end effector. publication number: CN101569258A; Zhou Ting etc. the design of greenhouse potted tray seedling transplanter and simulation analysis. Machine Design and research, 2009,25(2): 121-124; L.G. Kutz, et al. Robotic Transplanting of Bedding Plants. Transactions of the ASAE, 1987,30 (3): 586-590; W. C. Choi, et al. Development of A Seedling Pick-up Device for Vegetable Transplanters. Transactions of the ASAE, 2002,45 (1): 13-19.) folding of finger is only realized by motor or air cylinder driven, even directly to be converted by industrial clamper, and burying of finger needs to be completed by mechanical arm etc.Tian Subo, Zhang Lihua, Yin Wenqing etc. exploitation Plug seedling transplant end effector (Tian Subo. a kind of plug seedling transplanting mechanical arm. Authorization Notice No.: CN201499444U; Zhang Lihua etc. pointer clamped-in style Plug seedling transplants pawl design. Agricultural University Of Shenyang's journal, 2010,04,41 (2): 235-237; Yin Wenqing etc. end effector of dry land potted tray seedling transplanter. publication number: CN101569257A) utilize single cylinder or motor to drive finger vertical motion to carry out getting seedling and the seedling that falls, the needs that when getting seedling to meet in the dish of interior cave, clamping seedling sticks together, finger is all designed to have certain radian and inclination angle, point simultaneously and produce certain distortion when burying and getting seedling, owing to there is angle between finger motion direction and finger tip direction, and along with finger this angle of distortion constantly become large, cause soil-entering resistance excessive.Meanwhile, its vertical structure of linear motion causes end effector own dimensions long.K. transplanting end effector (the K. C. Ting of the exploitation such as C. Ting, et al. Robotic Workcell for Transplanting of Seedlings Part II-End-effector Development. Transactions of the ASAE, 1990,33 (3): 1013-1017; K. C. Ting, et al. Workability and Productivity of Robotic Plug Transplanting Workcell. Vitro Cell. Dev. Biol.1992, swing 28:5-10) pointed by air cylinder driven realizes burying and clamping, the instability that the continuous change pointing angle after burying brings the increase of operation resistance to stick together with clamping seedling, simultaneously may cause seedling to stick together and gap between soil, seedling healthy growth is had a negative impact.Huang Shixin etc. exploitation four kinds of form end effectors by solenoid actuated (Huang Shixin etc. Seed seedling transplant do the Let Meter With performance evaluation that industry Clip holds tool. Farming industry Machine tool Learn prints, 1996,5(3): 51-65), what wherein sheet referred to that end effector realizes pointing by two electromagnet respectively burying and clamping, and drives more complicated and sheet to point strictly must to against edge, seedling cave to bury; The aciculiform of three kinds of forms refers to that end effector is driven by Single electromagnet, but finger or finger tip tilt, and also there is the problem that to there is angle between finger motion direction and finger tip direction and cause soil-entering resistance excessive.
Therefore, domestic and international existing Plug seedling is transplanted end effector and be there is the problems such as drive and transmission is complicated, cost is high, operation resistance is large, its finger inclination angle and clamping dimension not easily adjust simultaneously, and requirement is transplanted in the automation that cannot adapt to different cave dish specification and Different Crop rice shoot.
Summary of the invention
Transplanting the deficiency of end effector in order to overcome existing Plug seedling, the invention provides a kind of contact pin type Plug seedling and transplanting end effector, smooth and easy the burying realizing the transplanting of all kinds of Plug seedling with simple structure is got seedling and puts seedling.
The technical solution adopted for the present invention to solve the technical problems is: comprise housing backboard, electromagnet, electromagnet push-rod, two level trough inner slides, two oscillating block slider, two forks, two sliding sleeves, two contact pins, two upper bolt and nuts and two lower bolt and nuts.Electromagnet energising makes electromagnet push-rod stretch out, thus drives fork to swing.By the slip of oscillating block slider, contact pin is oliquely downward stretched out along the fixing determined straight line of sliding sleeve, insert in the disk hole of cave and carry out getting seedling.When this contact pin type Plug seedling transplant end effector clamping seedling stick together arrival put seedling position time, contact pin type Plug seedling is transplanted and to be about to seedling under end effector and to stick together during cultivation buries, electromagnet power-off, the built-in spring of electromagnet makes electromagnet push-rod automatically reset, thus drive in two contact pins retraction in the other direction sliding sleeve, sliding sleeve bottom is pushed down seedling and is sticked together, thus to be sticked together by seedling by frictional force when avoiding sliding pin to retract and again take out of, ensure that the quality of transplanting.
Housing backboard has orthodrome groove, small arc-shaped groove, orthodrome groove, small arc-shaped groove are all symmetrical, and the together circle center of orthodrome groove and small arc-shaped groove is positioned at the below of housing backboard center line; Sliding sleeve has connection groove; Described electromagnet is fixed on housing backboard, and during energising, electromagnet push-rod stretches out in electromagnet; Level trough inner slide is installed in the horizontal groove of housing backboard, level trough inner slide and fork hinged, fork and electromagnet push-rod hinged; Oscillating block slider is installed on fork and fork slides relatively, contact pin and oscillating block slider hinged; Upper bolt and nut is tightened by the connection groove of sliding sleeve and orthodrome groove, and lower bolt and nut is tightened by the connection groove of sliding sleeve and small arc-shaped groove, thus is fixed on housing backboard by sliding sleeve.
The invention has the beneficial effects as follows, the contact pin direction of motion immobilizes, and ensure that good force-transfer characteristic, makes smooth of burying.Contact pin angle of penetration is adjustable with clamping aperture, has good versatility.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is that contact pin type Plug seedling transplants end effector schematic front view.
Fig. 2 is housing back board structure schematic diagram.
Fig. 3 is shift sleeve structure schematic diagram.
1. housing backboard, 2. electromagnet, 3. electromagnet push-rods, 4. level trough inner slide, 5. oscillating block slider in figure, 6. fork, 7. sliding sleeve, 8. contact pin, 9. go up bolt and nut, 10. descends bolt and nut, 11. horizontal grooves, 12. orthodrome grooves, 13. small arc-shaped grooves, 14. connect groove.
Embodiment
As shown in Figure 1, this contact pin type Plug seedling transplanting end effector is made up of housing backboard 1, electromagnet 2, the upper bolt and nut 9 of electromagnet push-rod 3, two level trough inner slides 4, two oscillating block slider 5, two forks 6, two sliding sleeves 7, two contact pins 8, two and two lower bolt and nuts 10.
As shown in Figure 2, housing backboard 1 has horizontal groove 11, and have orthodrome groove 12, small arc-shaped groove 13.Horizontal groove 11, orthodrome groove 12, small arc-shaped groove 13 are all symmetrical, and orthodrome groove 12 is positioned at the below of housing backboard 1 center line with the together circle center of small arc-shaped groove 13.
As shown in Figure 3, sliding sleeve 7 has connection groove 14.
Electromagnet 2 is fixed on housing backboard 1, and during energising, electromagnet push-rod 3 stretches out in electromagnet 2.Level trough inner slide 4 is installed in the horizontal groove 11 of housing backboard 1, and level trough inner slide 4 is hinged with fork 6, and fork 6 is hinged with electromagnet push-rod 3.Oscillating block slider 5 is installed on fork 6 and fork 6 slides relatively, and contact pin 8 is hinged with oscillating block slider 5.Upper bolt and nut 9 is tightened by the connection groove 14 of sliding sleeve 7 and orthodrome groove 12, and lower bolt and nut 10 is tightened by the connection groove 14 of sliding sleeve 7 and small arc-shaped groove 13, thus is fixed on housing backboard 1 by sliding sleeve 7.
When transplanting operation, electromagnet 2 is energized, and electromagnet push-rod 3 stretches out in electromagnet 2, thus drives left side fork 6 clockwise oscillation, and the symmetrical counter-clockwise swing of right side fork 6.Due to sliding sleeve 7 relatively housing backboard 1 fix, thus determine contact pin 8 can only along the determined fixing rectilinear motion of sliding sleeve 7, thus the slip swinging by oscillating block slider 5 of fork 6 drives contact pin 8 oliquely downward to stretch out, and inserts in the disk hole of cave and carries out getting seedling.When this contact pin type Plug seedling transplant end effector clamping seedling stick together arrival put seedling position time, contact pin type Plug seedling is transplanted and to be about to seedling under end effector and to stick together during cultivation buries, electromagnet 2 power-off, the built-in spring of electromagnet 2 makes electromagnet push-rod 3 automatically reset, thus drives in two contact pins 8 retraction in the other direction sliding sleeves 7.Now, because housing backboard 1 is motionless, sliding sleeve 7 bottom is pushed down seedling and is sticked together, thus to be sticked together by seedling by frictional force when avoiding sliding pin 6 to retract and again take out of, ensure that the quality of transplanting.For Different Crop rice shoot and different cave dish specification, upper bolt and nut 9 and lower bolt and nut 10 can be unclamped, and respectively by upper bolt and nut 9 in orthodrome groove 12 and connect groove 14 and move, lower bolt and nut 10 is tightened behind mobile relevant position again at small arc-shaped groove 13 and connecting in groove 14, freely to adjust contact pin 8 angle of inclination and clamping aperture, thus there is good versatility.
Claims (1)
1. a contact pin type Plug seedling transplants end effector, it is characterized in that, comprise housing backboard (1), electromagnet (2), electromagnet push-rod (3), two level trough inner slides (4), two oscillating block slider (5), two forks (6), two sliding sleeves (7), two contact pins (8), two upper bolt and nuts (9) and two lower bolt and nuts (10); Described housing backboard (1) has orthodrome groove (12), small arc-shaped groove (13), orthodrome groove (12), small arc-shaped groove (13) are all symmetrical, and orthodrome groove (12) and the together circle center of small arc-shaped groove (13) are positioned on the extended portion line of the vertical center line of housing backboard (1); Sliding sleeve (7) has and connects groove (14); Described electromagnet (2) is fixed on housing backboard (1), and during energising, electromagnet push-rod (3) stretches out in electromagnet (2); Level trough inner slide (4) is installed in the horizontal groove (11) of housing backboard (1), and level trough inner slide (4) is hinged with fork (6), and fork (6) is hinged with electromagnet push-rod (3); Oscillating block slider (5) is installed on fork (6) and goes up and fork (6) slip relatively, and contact pin (8) is hinged with oscillating block slider (5); Upper bolt and nut (9) is tightened by the connection groove (14) of sliding sleeve (7) and orthodrome groove (12), lower bolt and nut (10) is tightened by the connection groove (14) of sliding sleeve (7) and small arc-shaped groove (13), thus is fixed on housing backboard (1) by sliding sleeve (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210181312.8A CN102696322B (en) | 2012-06-05 | 2012-06-05 | Pin type plug seedling transplanting end effector |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210181312.8A CN102696322B (en) | 2012-06-05 | 2012-06-05 | Pin type plug seedling transplanting end effector |
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| CN102696322A CN102696322A (en) | 2012-10-03 |
| CN102696322B true CN102696322B (en) | 2015-02-04 |
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| CN201210181312.8A Expired - Fee Related CN102696322B (en) | 2012-06-05 | 2012-06-05 | Pin type plug seedling transplanting end effector |
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