CN102934556A - Automatic picking and placing method for plug seedling transplanting - Google Patents

Abstract

The invention relates to an automatic picking and placing method for plug seedling transplanting, which realizes seedling picking and placing by adopting a mechanical mode and telescopically pinching and releasing a plug seedling pot by four pins (four clamp pins). The method comprises the following four steps that: a traction brake cable releases four clamp pins; the four pins respectively extend out four open mechanical fingers (four fingers) under the action of torsion spring force, so that the four pins are inserted into the plug seedling pot; the plug seedling pot is tightly pinched by the four fingers through tightening of a tightening spring and is pulled out from the plug, so that the seedlings are picked; and the four fingers are pushed away by utilizing a cam feed mechanism and return back to the four pins at the same time under the action of the traction brake cable so as to depart from the plug seedling pot, and seedlings are placed down. The automatic picking and placing method has the characteristics that open and close of the four mechanical fingers and telescopic actions of the four clamp pins are realized by means of mechanical motion completely to complete automatic seedling picking and placing with low cost, high flexibility, high seedling picking success rate and high protection to seedlings, and can be applied to the field of plug seedling transplanting.

Description

A kind of cave dish seedling is automatically transplanted and is picked and placeed seedling-growing method

Technical field

The present invention relates to automatic transplanter for plug seedling tool field, refer in particular to a kind of seedling-growing method that picks and places that is applied to the automatic transplanting of point disk seedling growing.

Background technology

Industrial hole plate seedling growth is the pioneer of modern agriculture, factory farming, has become the tap of modern vegetables and flowers industry, and supporting seedling transplanting technique equipment also can't satisfy the Industrialization of seeds and seedlings great development with it.Although China has developed the various vegetables potted tray seedling transplanters such as jaw clamping type, chain-clip type, flexible disk formula, suppending cup type, seedling guide tube type, but these transplanters rest on half mechanical work level, need to be equipped with suitable manpower and manually get the operations such as seedling, throwing seedling, just accomplished laborsaving but saving of labor not, the research of automatic transplanter for plug seedling is in trying to explore.

At present, domestic scholars mainly concentrates in the research and development of seedling picking mechanism the research of automatic transplanter, get the seedling track according to getting seedling requirement planning, designed seedling picking mechanism satisfies slotting cave and gets the seedling requirement, non-circular gear planetary gear system transplanting mechanism (application number: 201110270973.3 such as Institutes Of Technology Of Zhejiang's research and development, 201110270977.1,201010104378.8), rotary oscillating type transplanting device (the application number: 201110342232.1) of Jiangsu University's research and development, turnover pneumatic seedling taking device (the application number: 201110180467.5) etc. of Agricultural University Of Nanjing's research and development, but these researchs are in laboratory stage, not yet arrive and produce practicality.In fact, utilize the flexible cave of the automatical and efficient gripping of rigid member dish seedling, it is hard and soft many bluk recombinations mechanism, designing requirement to seedling picking mechanism upper transplanting end effector is very strict, even if get the seedling position otherwise arrive, because the gripping mode is improper can to make also that to get the seedling success rate very low, can't satisfy the production actual needs.

Cave dish seedling automatic transfer-machine extensively adopts pneumatic or electric-depressed mode of closing to get seedling in the external facility, such as Dutch Pic-O-Mat PC series automatic transfer-machine, Italian Transplanter RW series transplanter etc., be four gripping pins on the structure, insert cave dish seedling alms bowl body by the gripping pin and get seedling, get seedling speed and get aspect the seedling quality performance good, but need to be equipped with air compressor machine, magnetic valve, other pneumatic control components etc., complex structure, system cost is large, is difficult to be applied on the dry crop automatic transfer-machine.For dry land potted tray seedling automatic transferring, generally adopt cam to promote two seedling pin gripping cave dish seedlings, this seedling mode of getting is had relatively high expectations to seedling raising process.In addition, the plug seedling substrate of China mixes the auxiliary materials such as vermiculite, perlite mainly take meadow peat as main, and the cave of cultivating dish seedling alms bowl body pliability is poor, and two pin clampings easily are caught broken.For this reason, can use for reference the structure that cave dish seedling automatic transfer-machine is got the seedling end effector in the facility, adopt mechanical system to realize that four pins clutch gripping cave dish seedling alms bowl body, satisfy China's cave dish seedling automatic transferring requirement.

Summary of the invention

The purpose of this invention is to provide automatic transplanting of a kind of cave dish seedling and pick and place seedling-growing method, rely on mechanical movement fully, and utilize four pin grippings and discharge cave dish seedling, in simplified structure, reduction system cost, reduce and get the success rate that the seedling process is got seedling to loss and the raising of seedling.

The technical solution adopted in the present invention is:

A kind of cave dish seedling is automatically transplanted and is picked and placeed seedling-growing method, it is characterized in that, described method may further comprise the steps for adopting mechanical system, flexible the clutching with loose acupuncture plate seedling alms bowl body of four pins (four gripping pins) to realize getting seedling and put seedling:

The first step: the traction brake cable loosens four gripping pins;

Second step: by the effect of extension spring power, four pins stretch out respectively four mechanical fingers (four fingers) that open, and realize injecting cave dish seedling alms bowl body;

The 3rd goes on foot: tighten up by the lock ring spring and pull away the cave dish after described four fingers are clutched described cave dish seedling alms bowl body, realize getting seedling;

The 4th step: utilize Cam feed machine to push described four fingers open, described four pins are drawing described four fingers of retracting simultaneously under the brake cable effect simultaneously, use it to break away from cave dish seedling alms bowl body, realize putting seedling.

The present invention has beneficial effect.This cave dish seedling automatically transplant get the seedling end effector have four can movable mechanical finger, utilize traction brake cable tractive to realize the expanding-contracting action of gripping pin in four mechanical fingers, four open-shaped attitudes of mechanical finger when getting the seedling action, in case to getting the seedling position, four gripping pins stretch out and inject cave dish seedling body, meanwhile four mechanical fingers fold crawl cave dish seedling, have both guaranteed to get the seedling success rate, reduce again the generation of hindering growth of cereal crop seedlings condition; Do not adopt pneumatic mode, need not the parts such as distribution pump, air valve, but realize fingers opening-closing by Cam feed machine and spring, transplant action and realize by mechanical system fully, method is simple in structure, and cost is low.The present invention has obvious beneficial effect: the success rate that cost is low, flexibility is high, get seedling is high, and seedling protects.

Below in conjunction with accompanying drawing embodiments of the invention are described in further detail.

Description of drawings

Fig. 1 prepares to get seedling figure.

Fig. 2 is that the gripping pin inserts cave dish seedling alms bowl body figure.

Fig. 3 clutches cave dish seedling alms bowl body; Take out cave dish seedling figure.

Fig. 4 is that Cam feed machine backs down four mechanical finger figure.

Fig. 5 is put seedling figure after the gripping pin is retracted.

Number in the figure represents respectively: 1. coil in dish seedling 10. caves, installing plate 2. Cam feed machines 3. rotating shafts 4. mechanical fingers, 5. lock ring springs, 6. traction brake cables, 7. extension springs, 8. gripping pins, 9. caves.

Embodiment

As shown in Figure 1, according to the size of cave dish seedling and seedling attitude adjust get the seedling end effector to cave attitude and folding degree, get the seedling device and aim at the hole, cave, open four fingers, prepare to get seedling; As shown in Figure 2, traction brake cable 6 loosens, and hauls four gripping pins 8 by extension spring 7 and stretches out mechanical finger 4, inserts cave dish seedling 9 alms bowl bodies; As shown in Figure 3, Cam feed machine 2 withdraws from and heads on four mechanical fingers 4, and lock ring spring 5 tightens up four fingers 3 are mediated around the shaft, thereby makes four gripping pins 8 clutch cave dish seedling 9 alms bowl bodies; The seedling picking mechanism drive is got the seedling device and is realized getting the seedling step from 10 li taking-ups of dish caves, cave dish seedlings 9; As shown in Figure 4, Cam feed machine 2 backs down four mechanical fingers 4, and as shown in Figure 5, traction brake cable 6 hauls 4 li of gripping pin 8 indentation mechanical fingers, and cave dish seedling 9 breaks away from clamping and realizes putting the seedling step.

Claims (1)

1. a cave dish seedling is automatically transplanted and is picked and placeed seedling-growing method, it is characterized in that, described method realizes getting seedling and puts seedling for adopting mechanical system, the flexible gripping of four pins (four gripping pins) and discharging cave dish seedling alms bowl body, may further comprise the steps:

The first step: the traction brake cable loosens four gripping pins;

Second step: by the effect of extension spring power, four pins stretch out respectively four mechanical fingers (four fingers) that open, and realize injecting cave dish seedling alms bowl body;

The 3rd goes on foot: tighten up by the lock ring spring and pull away the cave dish after described four fingers are clutched described cave dish seedling alms bowl body, realize getting seedling;

The 4th step: utilize Cam feed machine to push described four fingers open, described four pins are drawing described four fingers of retracting simultaneously under the brake cable effect simultaneously, use it to break away from cave dish seedling alms bowl body, realize putting seedling.

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