CN102934555B - Two-finger four-pin automatic picking and placing device for plug seedling transplanting - Google Patents
Two-finger four-pin automatic picking and placing device for plug seedling transplanting Download PDFInfo
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- CN102934555B CN102934555B CN201210477010.5A CN201210477010A CN102934555B CN 102934555 B CN102934555 B CN 102934555B CN 201210477010 A CN201210477010 A CN 201210477010A CN 102934555 B CN102934555 B CN 102934555B
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Abstract
The invention discloses a two-finger four-pin automatic picking and placing device for plug seedling transplanting. The device comprises a mechanical cantilever sleeve 1, a mechanical finger frame 2, rubber fingers 4, a support rod 5 and a mechanical finger spacing block 9 which are fixedly connected in sequence along the direction of the same center line, wherein each mechanical finger comprises a mechanical finger joint 3, a micro-cylinder 6, a mechanical finger sleeve 7, a clamping pin spacing block 11 with a longitudinal spacing groove and a clamping pin 14 which can slide in the longitudinal spacing groove and is fixedly connected with a piston rod of the micro-cylinder 6; the upper ends of the mechanical finger joints 3 are symmetrically hinged on two sides of the mechanical finger frame 2; the mechanical finger sleeve 7 passes through the chute of the mechanical finger spacing block 9, and can move in the chute along the chute direction; the two mechanical fingers and the support rod are pre-tightened together through a tightening spring 8; and the tightening spring 8 is positioned on one side of the mechanical finger spacing block 9, far from the tail end of the mechanical finger, and is close to the mechanical finger sleeve 7. The device is low in cost and hardly damages seedlings, and can be used for automatic transplanting of plug seedlings with different specifications.
Description
Technical field
The present invention relates to a kind of automatic transplanting device for cave dish seedling, especially with the cave dish seedling of four gripping pins of two mechanical fingers, automatically transplant and pick and place seedling device.
Background technology
The factorial seedling growth of vegetables, flowers and other crops is the pioneer of modern agriculture, factory farming, has become the tap of modern vegetables, the industry of flowers and plants.Industrialization of seeds and seedlings has huge development potentiality, and automation is grown seedlings and transplanted seedlings and equips is the key technology equipment of nursery industry.The cave dish transplantation of seedlings technology starting of developed country early, Holland on production of flower in the greenhouse extensive use automatic transplanter for plug seedling (as the Pic-O-Mat PC series automatic transfer-machine of Visser Group etc.), completing cave dish seedling transplants to low-density cave dish or flowerpot automatically from high density cave dish, operating efficiency is high, and the agricultural production of China is in the process of modernization great development, but dish seedling in cave is planted, operation still be take and is manually transplanted as main, adopt artificial transplanting, transplanting efficiency is low, the amount of labour used is large, has seriously restricted agricultural modernization level.Concerning China, by Introduced From Abroad automatic transplanter, expensive, working service cost is high completely, and external transplanter is not suitable for China's national situation to the requirement of growing seedlings and coil in cave.Therefore, greatly develop China's transplanting hole tray seedling technology and there is Great significance, research and develop automatic transplanter for plug seedling simple in structure, cheap, stable performance very urgent.
In fact, the key technology difficult point that restriction cave dish seedling is transplanted is automatically the method and apparatus of automatic potted-seedling picking.At present, the cave such as China vegetables, flowers dish seedling generally adopts take meadow peat and grows seedlings as main seedling medium, the cave dish seedling alms bowl body fibre structure that this seedling medium is cultivated is poor, the gripping method adopting is improper, be easy to be caught broken cave dish seedling alms bowl body, reduce automatic seedling taking success rate, cannot meet production application.
As the core work parts of automatic potted-seedling picking mechanism, getting seedling end effector is the direct equipment of liberation hand labour, and by the manual seedling of getting of replacement, its work object is in the situation that trying one's best no seedling injury, by gripping in dish hole, Pan Miaocong cave, cave out.Cave, external greenhouse dish seedling automatic transfer-machine extensively adopts pneumatic four finger paws to get seedling, such as Dutch Pic-O-Mat PC series automatic transfer-machine, Italian Transplanter RW series transplanter etc., get seedling speed and get aspect seedling quality performance good, but complex structure, system cost is large.Foreign scholar Ting, K.C.et al., Ryu, the people such as K.H.et al. have in succession developed and have got seedling end effector, consider not injure seedling, avoid the factors such as plant leaf, make full use of pneumatics and sensor technology, from experimental study angle, proved feasibility and reliability that seedling is got in spininess clamping.China does not have the cave dish seedling automatic transfer-machine of independent research to be applied in production so far, although what the units such as Taiwan, Agricultural University Of Nanjing, Agricultural University Of Shenyang manufactured experimently out some similar four finger paws gets seedling end effector, simple in structure, but finger is fixing shaping, only utilize four gripping pins flexible realization in mechanical finger to get seedling, very flexible, is difficult to avoid hindering the generation of growth of cereal crop seedlings condition., digesting and assimilating on the basis of the external seedling end effector of first keeping forging ahead for this reason, needing further research to meet getting seedling-growing method and developing and get accordingly seedling end effector of China's transplanting hole tray seedling requirement, both simple in structure, guarantee to get again seedling flexibility.
Summary of the invention
Technical problem solved by the invention is to provide a kind of two finger four pin cave dish seedlings and automatically transplants and pick and place seedling device, adopting two swing mechanical fingers and four telescopic gripping pins to realize cave dish seedling gets seedling and puts seedling, by four gripping pins, stretch out and insert cave dish seedling alms bowl body mechanical finger and close up to clamp and get seedling, by mechanical finger, strut and loosen four gripping pins and retract and depart from caves dish seedling alms bowl bodies and put seedling, with get seedling system coordination and coordinate and realize the automatical and efficient transplanting of cave dish seedling, thereby guaranteeing to get seedling flexibility, simplified structure when not injuring seedling, reduces costs.
In order to solve above technical problem, the technical solution adopted in the present invention is as follows:
A kind of two finger four pin cave dish seedlings are automatically transplanted and are picked and placeed seedling device, by mechanical finger joint 3, support bar 5, minitype cylinder 6, mechanical finger sleeve 7, formed, it is characterized in that: described transplantation device is sequentially installed mechanical cantilever sleeve 1, the mechanical finger skeleton 2 affixed with described mechanical cantilever sleeve 1, rubber with the air bag finger 4 affixed with described mechanical finger skeleton 2, points 4 affixed support bars 5 with described rubber, is fixed on the mechanical finger limited block 9 with the edge chute vertical with centerline direction of described support bar 5 ends along same centerline direction; Mechanical finger by the mechanical finger joint 3 of sequentially installing, be fixed in described mechanical finger joint 3 minitype cylinder 6, be fixed in mechanical finger sleeve 7 that length on described minitype cylinder 6 surpasses described mechanical finger limited block 9, be fixed in the gripping pin limited block 11 with longitudinal spacing groove of described mechanical finger sleeve 7 and forming with the affixed fork-shaped gripping pin 14 of described minitype cylinder 6 piston rods of can sliding in described gripping pin limited block 11 groove; The mechanical finger joint 3 upper end symmetries of two described mechanical fingers are articulated with described mechanical finger skeleton 2 both sides; The chute that described mechanical finger sleeve 7 passes on described mechanical finger limited block 9, and can in chute, move along chute direction; Two described mechanical fingers and described support bar 5 be by tightening up together with spring 8 pretensions, described in tighten up spring 8 and be positioned at described mechanical finger limited block 9 away from a side of mechanical finger end and approach described mechanical finger sleeve 7.
According to the size of cave dish seedling, by adjusting the width of described mechanical finger limited block 18 draw-in grooves, change the folding degree of mechanical finger, to meet the cave dish transplantation of seedlings of the different specification sizes such as 72 caves, 128 caves.
The present invention has obvious beneficial effect.Adopt two finger folding four pins to stretch and get seedling and put seedling, both imitated finger movement, make full use of again four pins and stablize gripping.The seedling device of getting of the present invention is comprised of two mechanical fingers, is arranged symmetrically on mechanical finger support, and two mechanical fingers are arranged on mechanical finger skeleton 2, forms finger-joint, can flexible rotating, improve the flexibility of getting seedling; The different draw-in groove sheet of the configurable dimensions length of mechanical finger limited block 9 in the present invention, with the folding degree of limit mechanical finger, meets the cave dish seedling gripping of different size size, has strengthened the flexibility of getting seedling device.Every mechanical finger activity, in the groove of mechanical finger limited block 9, guarantees to clutch crawl attitude; Two mechanical fingers fold by tightening up spring 8, and the grasp force of 14 pairs of cave dish seedling alms bowl bodies of gripping pin is mainly from tightening up spring 8, simple in structure.By gripping pin 14, insert alms bowl body and clutch crawl cave dish seedling, insertion point is little, and grasp force is symmetrical, and this is less to alms bowl body destructiveness, has greatly improved and has got seedling quality; Two open-shaped states of mechanical finger while getting seedling, once cave is put in place, two pairs of fork-shaped gripping pins stretch out reeve cave dish seedling alms bowl body and clutch to get seedling, have both guaranteed to get seedling success rate, reduce again the generation of hindering growth of cereal crop seedlings condition.The integrated joint Manipulator technology of transplantation device of the present invention, pneumatics, simple in structure, flexibility is high, the dish seedling gripping of suitable cave.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
Fig. 1 is overall structure sketch of the present invention.
Fig. 2 is mechanical finger support sketch.
Fig. 3 is mechanical finger structure sketch.
Fig. 4 is gripping needle construction sketch.
Number in the figure represents respectively: 1. mechanical cantilever sleeve 2. mechanical finger skeleton 3. mechanical finger joint 4. rubber are pointed 5. support bar 6. minitype cylinder 7. mechanical finger sleeves 8. and tightened up spring 9. mechanical finger limited block 10. lock-screw 11. gripping pin limited block 12. piston rod 13. grip slide 14. gripping pins
Embodiment
As shown in Figure 1, overall structure of the present invention is comprised of mechanical cantilever sleeve, mechanical finger skeleton, mechanical finger joint, rubber finger, minitype cylinder, manipulator limited block, mechanical finger sleeve, gripping pin, spring etc.Wherein the concrete layout of each kinematic pair and parts is as follows: mechanical cantilever sleeve 1 is arranged on to be got in seedling frame, can rotate and adjust its installation site, on mechanical cantilever sleeve 1, configure mechanical maniphalanx frame 2, be used for hanging two mechanical finger joints 3, every mechanical finger joint 3 connects by revolute pair with mechanical finger skeleton 2, make mechanical finger joint 2 rotation flexibly, rubber finger 4 is fixed on mechanical finger skeleton 2, the air bag of rubber finger 4 heads on two mechanical finger joints 3, an affixed double-acting miniature cylinder 6 on every mechanical finger joint 3, the end installation manipulator fingerstall cylinder 7 of minitype cylinder 6, two mechanical finger sleeves 7 are through mechanical finger limited block 9, tighten up spring 8 banding mechanical finger sleeves 7, the piston rod 12 of minitype cylinder 6 can be flexible in 7 li, mechanical finger sleeve, piston rod 12 is by grip slide 13 assembling gripping pins 14, gripping pin 14 slides in the locating hole of gripping pin limited block 11, lock-screw 10 is fixed in gripping pin limited block 11 on mechanical finger sleeve 7.
Mechanical finger support is the support component of installing, fix other parts, and its structure as shown in Figure 2.Mainly by mechanical cantilever sleeve 1, mechanical finger skeleton 2, rubber finger 4, support bar 5, mechanical finger limited block 9, formed, mechanical cantilever sleeve 1, mechanical finger skeleton 2, rubber finger 4, support bar 5, mechanical finger limited block 9 successively concentric are installed, firm supporting.
Mechanical finger is the critical component of getting seedling device, completes folding holding action, and its structure as shown in Figure 3.Mainly by mechanical finger joint 3, minitype cylinder 6, mechanical finger sleeve 7, lock-screw 10, gripping pin limited block 11, formed.On every mechanical finger, affixed double-acting miniature cylinder 6 afterbodys in mechanical finger joint 3, the piston rod 12 affixed mechanical finger sleeves 7 in end of minitype cylinder 6, the nested gripping pin of mechanical finger sleeve 7 end limited block 11.Two little leg supports of gripping pin limited block 11 forks, two shank frame fork amplitudes are 14mm.In each little leg support, stretch out a foot plate, gripping pin 14 is through the hole slot on gripping pin limited block 11 foot plates, and gripping pin 14 can shuttle back and forth in hole slot.
Gripping needle part direct effect cave dish seedling, the structural relation of gripping pin is to getting seedling quality, and its structure is as shown in Figure 4.Mainly by piston rod 12, grip slide 13, gripping pin 14, formed.The diameter of each gripping pin 14 is 1.8mm, is fork type assembling, and at grade, axis is parallel for gripping pin 14 and piston rod 12, and two gripping needle tip distances are 10mm, thereby forms fork type gripping pin.
The transplantation device of inventing is comprised of two mechanical fingers, is arranged symmetrically on mechanical finger support.Two mechanical fingers are arranged on mechanical finger skeleton 2, form finger-joint, can flexible rotating.Every mechanical finger activity, in the groove of mechanical finger limited block 9, guarantees to clutch crawl attitude.Two mechanical fingers fold by tightening up spring 8, and the grasp force of 14 pairs of cave dish seedling alms bowl bodies of gripping pin is mainly from tightening up spring 8.By gripping pin 14, insert alms bowl body and clutch crawl cave dish seedling, insertion point is little, and grasp force is symmetrical, and this is less to alms bowl body destructiveness, greatly mentions and gets seedling quality.
The different draw-in groove sheet of the configurable dimensions length of mechanical finger limited block 9 in the present invention, with the folding degree of limit mechanical finger, meets the cave dish seedling gripping of different size size.
The transplantation device course of work of the present invention is: according to size, the seedling state of cave dish seedling adjust manipulator to cave attitude and folding degree, when getting seedling device two open-shaped states of mechanical finger when seedling action is got in execution, once cave is put in place, two pairs of fork type gripping pins stretch out gripping pin limited block 11 and from seedling both sides, inject alms bowl body crawl cave dish seedling, simultaneously rubber finger 4 venting, two mechanical fingers are clutched cave dish seedling alms bowl body tightening up under spring 8 effects.When manipulator is put seedling, 4 inflations of rubber finger, strut two mechanical fingers, make the open-shaped state of mechanical finger, 11 li of while two pairs of fork type gripping pin indentation gripping pin limited blocks, thus reach the object that discharges cave dish seedling.
Claims (2)
1. finger four pin cave dish seedlings are automatically transplanted and are picked and placeed seedling device, by mechanical finger joint (3), support bar (5), minitype cylinder (6), mechanical finger sleeve (7) forms, it is characterized in that: described transplantation device is sequentially installed mechanical cantilever sleeve (1) along same centerline direction, the mechanical finger skeleton (2) affixed with described mechanical cantilever sleeve (1), rubber with the air bag finger (4) affixed with described mechanical finger skeleton (2), the support bar (5) affixed with described rubber finger (4), be fixed on the mechanical finger limited block (9) with the chute along vertical with centerline direction of described support bar (5) end, mechanical finger by the mechanical finger joint (3) of sequentially installing, the minitype cylinder (6) that is fixed in described mechanical finger joint (3), be fixed in the mechanical finger sleeve (7) that length on described minitype cylinder (6) surpasses described mechanical finger limited block (9), fork-shaped gripping pin (14) formation affixed with described minitype cylinder (6) piston rod that is fixed in the gripping pin limited block (11) with longitudinal spacing groove of described mechanical finger sleeve (7) and can slides in described gripping pin limited block (11) groove, upper end, mechanical finger joint (3) symmetry of two described mechanical fingers is articulated with described mechanical finger skeleton (2) both sides, described mechanical finger sleeve (7) passes the chute on described mechanical finger limited block (9), and can in chute, move along chute direction, two described mechanical fingers and described support bar (5) be by tightening up together with spring (8) pretension, described in tighten up spring (8) and be positioned at described mechanical finger limited block (9) away from a side of mechanical finger end and approach described mechanical finger sleeve (7).
2. a kind of two finger four pin cave dish seedlings as claimed in claim 1 are automatically transplanted and are picked and placeed seedling device, it is characterized in that: according to the size of cave dish seedling, by adjusting the width of described mechanical finger limited block (18) draw-in groove, change the folding degree of mechanical finger, to meet the cave dish transplantation of seedlings of 72 caves, 128 cave different specification sizes.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210477010.5A CN102934555B (en) | 2012-11-22 | 2012-11-22 | Two-finger four-pin automatic picking and placing device for plug seedling transplanting |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210477010.5A CN102934555B (en) | 2012-11-22 | 2012-11-22 | Two-finger four-pin automatic picking and placing device for plug seedling transplanting |
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| Publication Number | Publication Date |
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| CN102934555A CN102934555A (en) | 2013-02-20 |
| CN102934555B true CN102934555B (en) | 2014-07-30 |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103563532A (en) * | 2013-11-25 | 2014-02-12 | 江苏大学 | Automatic seedling taking manipulator for plug seeding transplanter |
| CN104280335B (en) * | 2014-10-20 | 2016-08-24 | 江苏大学 | A kind of Plug seedling folder alms bowl disk stripping mechanical property testing device |
| CN104686014B (en) * | 2015-03-20 | 2016-09-07 | 江苏大学 | A kind of punching is planted seedling integral type Plug seedling and is transplanted end effector and control method |
| CN104904387B (en) * | 2015-05-14 | 2016-11-30 | 农业部南京农业机械化研究所 | A kind of vegetable transplanting machine seedling taking clamp |
| CN105869187B (en) * | 2016-04-12 | 2018-08-10 | 江苏大学 | Plug seedling grasping structures derogatory behaviour detection method based on Micro-CT and device |
| CN105993329A (en) * | 2016-05-24 | 2016-10-12 | 范志豪 | Seedling transplanting and picking device |
| CN106068842B (en) * | 2016-06-30 | 2018-04-17 | 江苏大学 | A kind of adaptive clamp device of Plug seedling strength and method |
| JP6830338B2 (en) * | 2016-10-20 | 2021-02-17 | ヤンマーパワーテクノロジー株式会社 | Rice transplanter |
| CN110419307B (en) * | 2019-08-29 | 2020-11-10 | 马鞍山市安工大智能装备技术研究院有限公司 | Automatic seedling transplanting machine for plug seedlings |
| CN112936331B (en) | 2021-03-17 | 2022-04-26 | 江苏大学 | Adjustable seedling-taking end effector for automatic transplanting of plug seedlings |
| CN113875369A (en) * | 2021-11-23 | 2022-01-04 | 石河子大学 | Pneumatic type multi-claw plug seedling grabbing device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3956031B2 (en) * | 1997-06-20 | 2007-08-08 | 井関農機株式会社 | Ambulatory seedling transplanter |
| JP2002262616A (en) * | 2001-03-06 | 2002-09-17 | Iseki & Co Ltd | Seedling transplanter |
| CN2805336Y (en) * | 2005-05-19 | 2006-08-16 | 张�诚 | Quick-speed transplanter |
| CN2867826Y (en) * | 2005-12-04 | 2007-02-14 | 蒋远发 | Portable rice transplanter |
| CN202889935U (en) * | 2012-11-22 | 2013-04-24 | 江苏大学 | Automatic transplanting and seedling picking-placing device for plug seeding with two fingers and four needles |
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