CN102837320A - Pneumatic-type seedling feeding end actuator capable of adjusting direction of cotyledon of grafted seedling - Google Patents
Pneumatic-type seedling feeding end actuator capable of adjusting direction of cotyledon of grafted seedling Download PDFInfo
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- CN102837320A CN102837320A CN2012103257723A CN201210325772A CN102837320A CN 102837320 A CN102837320 A CN 102837320A CN 2012103257723 A CN2012103257723 A CN 2012103257723A CN 201210325772 A CN201210325772 A CN 201210325772A CN 102837320 A CN102837320 A CN 102837320A
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Abstract
The invention relates to a pneumatic-type seedling feeding end actuator capable of adjusting direction of a cotyledon of a grafted seedling, and aims at providing a seedling feeding actuator which has a function of automatically reclaiming the grafted seedlings in a tray and adjusting the direction of the cotyledon of the grafted seedling. The technical scheme of the invention is as follows: the pneumatic-type seedling feeding end actuator capable of adjusting the direction of the cotyledon of the grafted seedling comprises a pneumatic claw device and a propelling device, and the actuator also comprises a guide device; the propelling device is a two-rod air cylinder; the guide device comprises a guider, and two half arc guide plates of the guider are respectively positioned on two linked fingers on the upper side of the pneumatic claw device. The pneumatic-type seedling feeding end actuator is characterized in that the guide device also comprises two air pipes and two light sensation sensors, pipe orifices of the two air pipes are respectively arranged on the left side and the right side of the guider, the pipe orifices are horizontally arranged in the direction facing towards the front side of the guider, and the light sensation sensors and an electromagnetic valve of each air pipe are respectively connected with a controller of a fruit-vegetable grafting machine.
Description
Technical field
The present invention relates to a kind of device of vegetables and fruits grafting machine, specifically is to be used to shear and adjust seedling actuator on the pneumatic type of grafting cotyledon.
Background technology
Grafting is a kind of method of artificial nutrition breeding plant, promptly a kind of plant the branch or the bud grafting on the stem or root of another kind of plant, make two parts grow up to a complete plant.And in these two parts, usually the seedling of yielding positive results in fringe wood, the seedling of pricking absorption moisture nutrition in soil on stock.The seedling very thin of vegetables and fruits, the diameter of fringe wood generally has only 1 millimeter, and the diameter of stock also has only 3,4 millimeter; And the in good time phase of vegetable grafting is shorter; Generally have only several days time, so the operator need have higher technical level, with two seedling graftings quickly and accurately to together; Improving the survival rate of grafting, all the more so when carrying out large-scale grafting operation.
The grafting Robotics is a kind of new and high technology that integrates machinery, automatic control and facilities horticulture technology that occurs in the world in recent years.The grafting robot can be at the utmost point in the short time; With the otch grafting of stock and fringe wood is one; Not only avoided the loss of liquid in long oxidation of otch and the seedling; Can improve graft survival rate greatly, also improve operating efficiency simultaneously greatly, important meaning arranged for the large-scale production that promotes vegetable melon and fruit.
Grafting mechanization research and development is developed to full-automatic direction by semi-automatic grafting to certain phase gradually in the world at present.Wherein, how to realize melon section and cucurbitaceous plant in the cave dish automatic grafting, go up seedling and its cotyledon direction accurately adjusted, be the key that the full-automatic grafting of seedling is coiled in melon section cave, also be the advanced technology field of international research.
Summary of the invention
The objective of the invention is to overcome the deficiency in the above-mentioned background technology; Provide a kind of novel cotyledon direction the adjustable seedling actuator of going up, the seedling actuator should have grafting in the dish of cave is got the function of seedling and the function of adjusting the grafting cotyledon direction of getting automatically this on.
The technical scheme that the present invention adopts is:
Seedling end effector on the pneumatic type that a kind of grafting cotyledon direction is adjustable comprises the gas jaw arrangement of operation, the propulsion plant that driving gas jaw arrangement seesaws are sheared and fetched to grafting, also comprises the guider that is used to regulate grafting cotyledon direction; Said propulsion plant is an a pair of bar cylinder; Said guider comprises a guider, and two and half arcuate guide sheets of this guider are positioned at respectively on two interlock fingers of said gas jaw arrangement upside; It is characterized in that: said guider also comprises through the 4th installing plate and is installed in the gas jaw arrangement two tracheaes on the interlock paw mount pad; And be installed in two light sensation sensors on the said pair of bar cylinder through Z-shaped installing plate; The mouth of pipe of two tracheaes lays respectively at the left and right sides of guider; The said mouth of pipe is horizontally disposed with towards the place ahead of guider, and the magnetic valve of said light sensation sensor and tracheae is connected with the controller of vegetables and fruits grafting machine respectively.
Said gas jaw arrangement comprises that one is fixed on the piston rod top of said pair of bar cylinder and grafting is carried out clamping and fetches the interlock gas pawl of operation through interlock paw mount pad, and the splayed configuration gas pawl that is fixed on below the said interlock gas pawl and grafting is sheared through the 3rd installing plate; Said interlock gas pawl comprises that one is fixed on the interlock gas pawl cylinder on said pair of bar cylinder piston rod top and by the movable claw of this air cylinder driven folder through second mount pad; In the said movable claw folder: certain-length is extended on the both sides up and down of interlock paw mount pad in parallel to each other forward; And the end two extensions is shaped on riser connection both sides up and down; Form I-shape construction, have in the middle of the said riser one the horizontally-guided bar is penetrated aperture; But the interlock finger of the hinged a pair of folding of difference on the both sides up and down of said interlock paw mount pad, the resistance arm of this interlock finger stretch out toward the place ahead respectively and are used for the clamping grafting; Other have one be positioned said interlock paw mount pad the king's font link between the both sides up and down, an end of each articulated two connecting rod on the both sides support of this link, the other end of each connecting rod are hinged with the power arm of an aforesaid interlock finger respectively again; The piston rod of said interlock gas pawl cylinder passed through the through hole at interlock paw mount pad middle part; The middle part of said king's font link is provided with a hole; Said horizontally-guided bar is connected with the piston rod of said interlock gas pawl cylinder after passing the hole of aperture on the said riser, king's font link successively; The front end of said horizontally-guided bar is shaped on the shaft shoulder; The diameter of aperture is beneficial to the horizontally-guided bar greater than the diameter of the shaft shoulder and is free to slide, and the hole of horizontally-guided bar and king's font link forms and is slidingly matched, and the shaft shoulder diameter of horizontally-guided bar is greater than the diameter of this hole; The junction of said king's font link and interlock paw mount pad also have respectively two corresponding and in establish the connecting hole of back-moving spring.
Said guider also comprises two arc blend stops; Two arc blend stops are between a pair of interlock finger of a pair of interlock finger of interlock paw mount pad upside and downside; Two arc blend stops are corresponding up and down; One end of upside arc blend stop is fixed on bottom surface of one of them interlock finger of the paw mount pad upside that links, and other end level is stretched out and pointed across another interlock of crossing the paw mount pad upside that links; One end of downside arc blend stop is fixed on the end face of one of them interlock finger of interlock paw mount pad downside; This interlock is pointed corresponding up and down with the interlock finger of aforementioned fixation upside arc blend stop, and the other end level of downside arc blend stop is stretched out and pointed across another interlock of crossing the paw mount pad downside that links.
Be shaped on a pair of cutting knife that carries out folding through said interlock gas pawl air cylinder driven on the said splayed configuration gas pawl.
Said pair of bar cylinder fixed through the installing plate at top and the outside installation shaft of a vertical direction.
The invention has the beneficial effects as follows: the last seedling actuator that cotyledon direction provided by the invention is adjustable, realize that through location and extracting, the splayed configuration gas pawl of movable claw folder realization grafting the stem of grafting separates and the adjustment of guider realization grafting cotyledon direction; Wherein the operation principle of guider is: after splayed configuration gas pawl is cut off the stem of grafting, grafting will fall downwards, and the cotyledon of grafting slides on the curved surfaces of guider in the process of falling; Thereby drive the unitary rotation of grafting, two then bar cylinders retract, the sequencing when passing through photoelectric sensor through obtaining cotyledon; Obtain cotyledon direction attitude, control is blown again, and an initiatively thrust is provided; Make the grafting active rotation; Quicken the speed of the adjustment of cotyledon, make to overcome cotyledon not enough problem of the anglec of rotation on half arcuate guide sheet smoothly, realize accurate cotyledon direction adjustment; This guide structure is simple and result of use is obvious, can accurately adjust the direction of cotyledon, also can not cause damage to the tender grafting of children; The present invention gets seedling and the cotyledon direction of adjustment grafting automatically automatically through accomplishing with upper type, and is not only simple in structure but also effect is obvious, and for follow-up grafting is provided to the wooden platform of stock platform and fringe got ready, so the present invention produces a desired effect fully.
Description of drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is the perspective view of gas jaw arrangement among the present invention.
Fig. 3 is the perspective view of interlock paw installing plate among the present invention.
Fig. 4 is the perspective view of king's font link among the present invention.
Fig. 5 is the sectional structure sketch map of king's font link of the present invention.
Fig. 6 is the structural representation of linkage among the present invention.
Fig. 7 is the perspective view of half arcuate guide sheet among the present invention.
Fig. 8 is the perspective view of guider among the present invention.
Fig. 9 is the schematic perspective view of the 4th installing plate among the present invention.
Figure 10 is the main TV structure sketch map of interlock finger among the present invention.
Figure 11 is the structural representation of semicircle camber baffle plate among the present invention.
Figure 12 is the structure principle chart of interlock gas pawl among the present invention.
Figure 13 is the structural representation of horizontally-guided bar among the present invention.
Figure 14 is that the gas jaw arrangement is fixed and the perspective view when shearing grafting among the present invention.
Figure 15 is the structure principle chart of splayed configuration gas pawl among the present invention.
Figure 16 is the adjusted perspective view of grafting cotyledon among the present invention.
Figure 17 is one of air blowing principle schematic of the present invention.
Figure 18 is two of an air blowing principle schematic of the present invention.
Figure 19 is three of an air blowing principle schematic of the present invention.
The specific embodiment
As shown in Figure 1, seedling end effector on the pneumatic type that a kind of grafting cotyledon direction is adjustable comprises gas jaw arrangement, propulsion plant and guider.
Propulsion plant is an a pair of bar cylinder 4, can drive the gas jaw arrangement and seesaw.The top of two bar cylinders is fixed with an installing plate 2, and the outside installation shaft 1 of a vertical direction is installed on this installing plate.The present invention can be installed on the mechanical arm of the various automatic upward seedling supporting with it through this outside installation shaft, thereby realizes full automatic grafting.
Operation is mainly sheared and fetch to the gas jaw arrangement to grafting; This gas jaw arrangement comprises interlock gas pawl and splayed configuration gas pawl 9; This interlock gas pawl is fixed on the piston rod top of two bar cylinders through interlock paw mount pad 13-2; This splayed configuration gas pawl is fixed on the below of interlock gas pawl through the 3rd installing plate 8.
As shown in Figure 2, this interlock gas pawl mainly positions and fetches operation to grafting, comprises that one is fixed on the interlock gas pawl cylinder 13-1 on two bar cylinder piston rod tops and by the movable claw folder of this air cylinder driven through second mount pad 7;
As shown in Figure 2, this movable claw folder comprises that king's font link 13-6, two distiches start to refer to 13-4 (shown in figure 10) and four connecting rod 13-14; Certain-length is extended on the both sides up and down of said interlock paw mount pad in parallel to each other forward; And the end two extensions is shaped on riser 13-7 connection both sides up and down; Form I-shape construction; But the interlock finger 13-4 of the hinged a pair of folding of difference on the both sides up and down of said interlock paw mount pad, the resistance arm 13-15 of this interlock finger stretch out toward the place ahead respectively and are used for clamping grafting 14; Other have one be positioned said interlock paw mount pad the king's font link 13-6 between the both sides up and down; The both sides support 13-13 of this link goes up the end of each articulated two connecting rod 13-14, and the other end of each connecting rod is hinged with the power arm 13-16 of an aforesaid interlock finger respectively again; The piston rod of said interlock gas pawl cylinder passed through the through hole 13-11 at interlock paw mount pad middle part.
Like Fig. 3, Fig. 4, shown in Figure 5; Have an aperture 13-8 in the middle of the riser on the said interlock paw mount pad; The middle part of said king's font link also is provided with hole 13-9, is connected with the piston rod of said interlock gas pawl cylinder after having a horizontally-guided bar 13-3 to pass the hole of aperture on the said riser, king's font link successively.As shown in Figure 6; The front end of said horizontally-guided bar is shaped on shaft shoulder 13-3-1 (diameter at shaft shoulder position is greater than other positions); The diameter of aperture is beneficial to the horizontally-guided bar greater than the diameter of the shaft shoulder and is free to slide (this horizontally-guided pole pair king font link guiding); The hole of horizontally-guided bar and king's font link forms and is slidingly matched, and the shaft shoulder diameter of horizontally-guided bar is greater than hole diameter, therefore when the piston rod of interlock paw cylinder drives the horizontally-guided bar towards after-contraction; King's font link can move under the effect of the shaft shoulder backward together, spurs two distiches through connecting rod 13-13 and starts to refer to open.As shown in Figure 6; The junction of said king's font link and interlock paw mount pad also have respectively two corresponding and in establish the connecting hole 13-12 of back-moving spring 13-10; Said back-moving spring connects king's font link and interlock paw mount pad, and king's font link is bestowed the closed power that resets; When the piston rod of interlock gas pawl cylinder stretched out forward, the shaft shoulder no longer applied pressure backward to king's font link, and back-moving spring 13-10 promotes king's font link and resets forward, thereby made the interlock finger closed.
Splayed configuration gas pawl can be sheared grafting, and this splayed configuration gas pawl is outsourcing device, and is shown in figure 15, mainly comprises splayed configuration gas pawl cylinder 9-2, a pair of splayed configuration gas pawl connecting rod 9-4 and cutting knife 9-3; Cutting knife is installed on the splayed configuration gas pawl through cutting knife installing plate 9-1; Splayed configuration gas pawl cylinder is fixed on the below of interlock gas pawl cylinder through the 3rd installing plate; The piston rod of splayed configuration gas pawl cylinder is hinged on respectively on two power arms of cutting knife through two splayed configuration gas pawl connecting rods, and cutting knife is hinged on the cylinder block of splayed configuration gas pawl cylinder through fulcrum 9-5; Splayed configuration gas pawl air cylinder driven cutting knife carries out folding.The driving tracheae of splayed configuration gas pawl cylinder is communicated with extraneous magnetic valve, unifies control.
Said guider comprises curved baffle 13-5 that a guider, two be installed in two distiches up and down respectively and start to refer to, is installed on two light sensation sensors 12 on two bar cylinders and is installed on two tracheaes 5 (magnetic valve of light sensation sensor and tracheae is connected with the controller of vegetables and fruits grafting machine) on the interlock paw mount pad through the 4th installing plate 11 through Z-shaped installing plate 3.
The cotyledon direction of guider scalable grafting, guider comprise two folded half arcuate guide sheets 10.Each half arcuate guide sheet (as shown in Figure 7) is that a bottom surface is semi-annular shape and vertically up stretches, is shaped in the middle of the bottom sheet semi-cylindrical of a semicircle orifice, and the umbo of this plates upper surface and both sides are toward having a down dip; The guider that this double arcuate guide sheet formed is the torus that a upper surface has two projections; This torus upper surface also forms two downward depressions simultaneously; The line direction of these two depressions is the adjusted direction of grafting cotyledon, and this direction is identical with the flexible direction of two bar cylinders usually; Described two and half arcuate guide sheets are separately fixed at the end faces of two fingers that link of interlock paw mount pad upside, and when two interlock finger closures of interlock paw mount pad upside, this double arcuate guide sheet just can carry out guiding work to grafting.
Said guider also comprises two arc blend stop 13-5; Two arc blend stops are between a pair of interlock finger of a pair of interlock finger of interlock paw mount pad upside and downside; Two arc blend stops are corresponding up and down; One end of upside arc blend stop is fixed on bottom surface of one of them interlock finger of the paw mount pad upside that links, and other end level is stretched out and pointed across another interlock of crossing the paw mount pad upside that links; One end of downside arc blend stop is fixed on the end face of one of them interlock finger of interlock paw mount pad downside; This interlock is pointed corresponding up and down with the interlock finger of aforementioned fixation upside arc blend stop, and the other end level of downside arc blend stop is stretched out and pointed across another interlock of crossing the paw mount pad downside that links.Described two camber baffle plates can keep the linearity of grafting vertical direction.When cylinder 13-1 shrink to grasp, interlock finger 13-4 and semicircle camber baffle plate 13-5 acting in conjunction made grafting that linearity preferably arranged, and for the guiding of cotyledon provides good rotation condition, more helped the cotyledon direction and adjusted smoothly.
Since about half arcuate guide sheet exist two summit 10-1 and half arcuate guide sheet and grafting to have frictional force; Constitute the guiding dead point; In order further accurately to adjust the cotyledon direction; The mouth of pipe of said two tracheaes lays respectively at the left and right sides of guider, and the mouth of pipe is towards guider horizontal arrangement forward.When two bar cylinders retract, the sequencing when obtaining cotyledon through photoelectric sensor obtains cotyledon direction attitude; Blow through tracheae; With blowing out the aperture of gas from the 4th installing plate, make cotyledon rotate to ideal position smoothly, overcome the steering angle deficiency.
The course of work of the present invention is following: at first two bar cylinders start, and promote that gas jaw arrangement (gas pawl and splayed configuration gas pawl promptly link) moves forward and near grafting; The interlock gas pawl cylinder on the gas pawl of linking then promotes the horizontally-guided bar and advances, and back-moving spring applies pressure forward to king's font link, and king's font link promotes two distiches through connecting rod and starts to refer to closed, makes the cotyledon of grafting be positioned at the top of guider; The splayed configuration gas pawl cylinder of splayed configuration gas pawl also promotes the cutting knife closure and cuts off the root of grafting simultaneously; Splayed gas pawl opens then; Outside installation shaft is along with external machinery rises; Grafting is freely fallen on the half arcuate guide sheet by the gravity effect, and slides to two to lower recess down along upper surface rotation, but since about two summits of half arcuate guide sheet existence and half arcuate guide sheet and grafting have frictional force; Constitute the guiding dead point, cotyledon stops ultra recess downwards and slides; Two bar cylinders retract; Sequencing when passing through photoelectric sensor through obtaining cotyledon (if two cotyledons are stuck in the guider, having sequencing during then through photoelectric sensor) obtains cotyledon direction attitude; Blow through the control tracheae at last; Make cotyledon rotate to ideal position smoothly, overcome the steering angle deficiency, thereby rotation slides to the adjustment that cotyledon is accomplished in the precalculated position down smoothly.
Usually, there are three kinds of guiding dead point states shown in Figure 17-19 in the cotyledon of grafting, below recommends two kinds of air blowing methods to come it is adjusted (but being not limited to following two kinds of methods).
Method one: shown in figure 17; Cotyledon one 14-1 of grafting is positioned at the front side of guider summit 10-1; Cotyledon two 14-2 are positioned at the rear side on guider summit, when two bar cylinders when the direction of arrow is withdrawn, because cotyledon two is shorter with the distance of light sensation sensor; Therefore cotyledon two is detected by the light sensation sensor earlier, and cotyledon one is detected subsequently; This moment, the controller control of vegetables and fruits grafting machine was blown near the tracheae of cotyledon one, reached ideal position after grafting counterclockwise (is reference with direction shown in Figure 17) rotates to an angle;
Shown in figure 18; Cotyledon one is detected by the light sensation sensor earlier during this state; Cotyledon two is detected subsequently, and this moment, the controller control of vegetables and fruits grafting machine was blown near the tracheae of cotyledon two, reached ideal position after grafting clockwise (is reference with direction shown in Figure 180) rotates to an angle;
Shown in figure 19, cotyledon one just in time is positioned on two summits with cotyledon two, and two cotyledons almost were detected simultaneously when two bar cylinders bounced back, and arbitrary tracheae was blown and all could this moment.
Method two: before two bar cylinders retraction, two tracheaes are once blown respectively, and so no matter what position cotyledon is in and all can receives thrust, finally adjusts to correct position.With state shown in Figure 17 is example; Before two bar cylinders retract, earlier cotyledon two is blown, owing to stopping of summit; The position of cotyledon two does not have too big variation; Then cotyledon one is blown, the two bar cylinders of withdrawal afterwards, the light sensation sensor carries out position probing again to judge whether grafting reaches ideal position;
Or earlier cotyledon one is blown, grafting turns to ideal position, and when cotyledon two being blown, cotyledon two has arrived ideal position again, and the position can not change, and the cylinder of withdrawing again afterwards gets final product.
Still need and be pointed out that; In said method one and the method two; The controller of the vegetables and fruits grafting machine that the gentle plumber of control light sensation sensor does is a conventional equipment, and its control procedure and operation principle do not describe in detail at this, can other conventional control module of outsourcing control yet.
Claims (5)
1. seedling end effector on the adjustable pneumatic type of a grafting cotyledon direction; Comprise the gas jaw arrangement of operation, the propulsion plant that driving gas jaw arrangement seesaws are sheared and fetched to grafting, also comprise the guider that is used to regulate grafting cotyledon direction; Said propulsion plant is an a pair of bar cylinder (4); Said guider comprises a guider, and two and half arcuate guide sheets (10) of this guider are positioned at two interlock fingers of said gas jaw arrangement upside respectively and go up (13-4); It is characterized in that: said guider also comprises through the 4th installing plate (11) and is installed in the gas jaw arrangement two tracheaes (5) on the interlock paw mount pad (13-2); And be installed in two the light sensation sensors (12) on the said pair of bar cylinder through Z-shaped installing plate (3); The mouth of pipe of two tracheaes lays respectively at the left and right sides of guider; The said mouth of pipe is horizontally disposed with towards the place ahead of guider, and the magnetic valve of said light sensation sensor and tracheae is connected with the controller of vegetables and fruits grafting machine respectively.
2. seedling end effector on the pneumatic type that a kind of grafting cotyledon direction according to claim 1 is adjustable; It is characterized in that: said gas jaw arrangement comprises that one is fixed on the piston rod top of said pair of bar cylinder and grafting is carried out clamping and fetches the interlock gas pawl of operation through interlock paw mount pad (13-2), and the splayed configuration gas pawl (9) that is fixed on below the said interlock gas pawl and grafting is sheared through the 3rd installing plate (8); Said interlock gas pawl comprises that one is fixed on the interlock gas pawl cylinder (13-1) on said pair of bar cylinder piston rod top and by the movable claw of this air cylinder driven folder through second mount pad (7); In the said movable claw folder: certain-length is extended on the both sides up and down of interlock paw mount pad in parallel to each other forward; And the end two extensions is shaped on a riser (13-7) connection both sides up and down; Form I-shape construction, have in the middle of the said riser one horizontally-guided bar (13-3) is penetrated aperture (13-8); But the interlock finger (13-4) of the hinged a pair of folding of difference on the both sides up and down of said interlock paw mount pad, the resistance arm (13-15) of this interlock finger stretch out toward the place ahead respectively and are used for the clamping grafting; Other have one be positioned said interlock paw mount pad the king's font link (13-6) between the both sides up and down; The both sides support (13-13) of this link is gone up an end of each articulated two connecting rod (13-14), and the other end of each connecting rod is hinged with the power arm (13-16) of an aforesaid interlock finger respectively again; The piston rod of said interlock gas pawl cylinder passed through the through hole (13-11) at interlock paw mount pad middle part; The middle part of said king's font link is provided with a hole (13-9); Said horizontally-guided bar is connected with the piston rod of said interlock gas pawl cylinder after passing the hole of aperture on the said riser, king's font link successively; The front end of said horizontally-guided bar is shaped on the shaft shoulder (13-3-1); The diameter of aperture is beneficial to the horizontally-guided bar greater than the diameter of the shaft shoulder and is free to slide; The hole of horizontally-guided bar and king's font link forms and is slidingly matched, and the shaft shoulder diameter of horizontally-guided bar is greater than the diameter of this hole; The junction of said king's font link and interlock paw mount pad also have respectively two corresponding and in establish the connecting hole (13-12) of back-moving spring (13-10).
3. seedling end effector on the pneumatic type that a kind of grafting cotyledon direction according to claim 1 and 2 is adjustable; It is characterized in that: said guider also comprises two arc blend stops (13-5); Two arc blend stops are between a pair of interlock finger of a pair of interlock finger of interlock paw mount pad upside and downside; Two arc blend stops are corresponding up and down; One end of upside arc blend stop is fixed on bottom surface of one of them interlock finger of the paw mount pad upside that links, and other end level is stretched out and pointed across another interlock of crossing the paw mount pad upside that links; One end of downside arc blend stop is fixed on the end face of one of them interlock finger of interlock paw mount pad downside; This interlock is pointed corresponding up and down with the interlock finger of aforementioned fixation upside arc blend stop, and the other end level of downside arc blend stop is stretched out and pointed across another interlock of crossing the paw mount pad downside that links.
4. seedling end effector on the pneumatic type that a kind of grafting cotyledon direction according to claim 3 is adjustable is characterized in that: be shaped on a pair of cutting knife (9-3) that carries out folding through said interlock gas pawl air cylinder driven on the said splayed configuration gas pawl.
5. seedling end effector on the pneumatic type that a kind of grafting cotyledon direction according to claim 4 is adjustable is characterized in that: said pair of bar cylinder is fixing with the outside installation shaft (1) of a vertical direction through the installing plate (2) at top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210325772.3A CN102837320B (en) | 2012-09-05 | 2012-09-05 | Pneumatic-type seedling feeding end actuator capable of adjusting direction of cotyledon of grafted seedling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210325772.3A CN102837320B (en) | 2012-09-05 | 2012-09-05 | Pneumatic-type seedling feeding end actuator capable of adjusting direction of cotyledon of grafted seedling |
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| Publication Number | Publication Date |
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| CN102837320A true CN102837320A (en) | 2012-12-26 |
| CN102837320B CN102837320B (en) | 2015-04-01 |
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| CN201210325772.3A Expired - Fee Related CN102837320B (en) | 2012-09-05 | 2012-09-05 | Pneumatic-type seedling feeding end actuator capable of adjusting direction of cotyledon of grafted seedling |
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| CN103053341A (en) * | 2013-01-11 | 2013-04-24 | 浙江理工大学 | Row type seed-leaf-direction-adjustable seedling feeding device |
| CN108243764A (en) * | 2017-12-29 | 2018-07-06 | 李嘉炜 | A kind of green city builds Special Automatic trimming transplanting arbustum equipment |
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| US20070283862A1 (en) * | 2006-05-12 | 2007-12-13 | Iseki & Co., Ltd. | Grafted seedling producing apparatus |
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| CN103053341A (en) * | 2013-01-11 | 2013-04-24 | 浙江理工大学 | Row type seed-leaf-direction-adjustable seedling feeding device |
| CN103053341B (en) * | 2013-01-11 | 2014-03-12 | 浙江理工大学 | Row type seed-leaf-direction-adjustable seedling feeding device |
| CN108243764A (en) * | 2017-12-29 | 2018-07-06 | 李嘉炜 | A kind of green city builds Special Automatic trimming transplanting arbustum equipment |
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