CN102948291A - Groove type cam unfolding and folding method of plurality of seedling taking tail end actuators - Google Patents
Groove type cam unfolding and folding method of plurality of seedling taking tail end actuators Download PDFInfo
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- CN102948291A CN102948291A CN2012104766684A CN201210476668A CN102948291A CN 102948291 A CN102948291 A CN 102948291A CN 2012104766684 A CN2012104766684 A CN 2012104766684A CN 201210476668 A CN201210476668 A CN 201210476668A CN 102948291 A CN102948291 A CN 102948291A
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Abstract
The invention relates to a groove type cam unfolding and folding method of a plurality of seedling taking tail end actuators. Sliding chutes adopted in the method are distributed on a cam unfolding and folding plate according to a certain rule, i.e. the sliding chutes are symmetrically distributed in the synchronous belt guide rail direction, the center lines of each sliding chute extend and are then gathered into one point O, the symmetrical axis of the sliding chute distribution is OA, the tangent value ratio of included angles between the center lines of each outward sliding chute from the symmetrical axis OA and the symmetrical axis OA is 1:3:5:7 to (2n-1), and n is one half of the number of the sliding chutes. Through the driving of one motor, the cam unfolding and folding plates of a plurality of sliding chutes glide for pushing the seedling taking tail end actuators to realize the unfolding and folding action for adapting to seedling taking steps and seedling placing steps of plug seedlings at different gaps. The method has the advantages that only one motive power is needed for driving, the structure is simple, the control is easy, and the method can be applied to a plug seedling automatic transplantation system containing a plurality of seedling taking tail end actuators.
Description
Technical field
The present invention relates to a kind ofly close method, the methods of especially utilizing grooved cam mechanism will a plurality ofly get the expansion of seedling end effector or close up for a plurality of exhibitions of getting the action of seedling end effector in the cave dish seedling automatic transferring.
Background technology
Since the eighties in 20th century, China's facilities horticulture has obtained unprecedented development, and the cultivated area of facilities vegetable has reached 3,300,000 hectares, gross area the first in the world, and the attached-greenhouse area ratio that wherein represents the facilities horticulture modernization level increases year by year.But industrialized agriculture is except green house framework and small-sized horticultural management machine, the main production link mechanization equipment of famine, and facilities horticulture per capita minimum areas only is equivalent to 1/4 ~ 1/5 of Holland.
At present, the factorial seedling growth of vegetable crop is the pioneer of modern agriculture, factory farming, has become the tap of modern vegetables industry.Industrialization of seeds and seedlings has huge development potentiality, and automation is grown seedlings and transplanted the key technology equipment that equipment is nursery industry.But the cave of China dish seedling is still take artificial transplanting as main, and transplanting efficiency is low, and the amount of labour used is large, has seriously restricted the industrialized agriculture great development.Therefore, develop automatical and efficient greenhouse automatic transplanter for plug seedling necessary, also very urgent.
In order to realize cave dish height of seedling effect transplanting, transplant on the machine and must configure a plurality of seedling end effectors of getting, multiple spot is got seedling and is planted seedling simultaneously under the drive of mobile platform.A plurality of to get that the seedling end effector the most simply configures be that install the cave fixed position, and this will limit the specification of cave dish, change a kind of cave dish and need to readjust the installation site of getting the seedling end effector, to the bad adaptability of cave dish.A plurality of seedling end effectors of getting also can disperse mobile each other, in order to get seedling and plant seedling for the cave dish of different specification size, but moving, each needs a power drive, the XT616 type transplanter of producing such as Australian Transplant Systems company, " a kind of cave dish seedling automatic transfer-machine " (application number: 200910187621.4) etc. of Agricultural University Of Shenyang, when the removable number of getting the seedling end effector is more, power-driven system is huge, increased the burden of mobile platform, and mobile control is complicated.For this reason, need that the simple and reliable suitable cave of research dish seedling is a plurality of to be got the exhibitions that the seedling end effector transplants and close method, only need simple the driving, can a plurality ofly get the seedling end effector and close up to coil from the high density cave and get seedling, launch backward low-density cave dish and plant seedling, perhaps launch backward flowerpot and plant seedling.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of a plurality of grooved cam exhibition of getting the seedling end effector and closes method, can automatically will get the expansion of seedling end effector or close up, the cave got seedling or to put seedling, to adapt to different specification size cave dish transplantation of seedlings demand, easy operating control.
In order to solve above technical problem, the technical solution adopted in the present invention is as follows.
Method is closed in a kind of a plurality of grooved cam exhibition of getting the seedling end effector, it is characterized in that: by a motor-driven, the cam exhibition plywood slippage that will contain a plurality of chutes promotes a plurality of seedling end effectors of getting and launches and close up action, gets the seedling step and puts the seedling step with the cave dish seedling that adapts to different spacing; Described chute is distributed on the described cam exhibition plywood according to certain rules, namely symmetrical along described Timing Belt guide rail direction, the center line of each described chute converges 1 O after prolonging, it is OA that described chute is distributed symmetrically axis, from described axis of symmetry OA outwards the center line of each described chute be 1:3:5:7 with the ratio of the tangent value of described axis of symmetry OA angle successively: ... (2n-1), described n is half of described chute number.
Utilizing the slippage of exhibition plywood to promote a plurality of seedling end effectors of getting launches or closes up.
The present invention has beneficial effect.Finish a plurality of caves dish seedling by grooved cam mechanism and get the seedling end effector and launch or close up, only need a power drive, the low and operation of cost is easy to control.
Description of drawings
Below in conjunction with accompanying drawing the specific embodiment of the present invention is described in further detail.
Fig. 1 is exhibition plywood plane.
Fig. 2 is overall structure axonometric drawing of the present invention.
Number in the figure represents respectively: 1. Timing Belt guide rail 8. Timing Belt guide rails 2. square slide blocks 7. square slide blocks 3. installing racks 11. installing racks 4. section bars 5. rotating shafts 6. are opened up plywood 9. servomotors 13. line slideways 15. crossbeams 16. seedling claws.
Embodiment
The exhibition plywood is the critical component of getting seedling end effector development mechanism, finishes and gets the expansion of seedling end effector or close up action.The exhibition plywood is a flat board that has the differing tilt angles chute, and for uniformly-spaced launching or close up the exhibition plywood of getting the seedling end effector, such as the uniformly-spaced exhibition plywood that has 6 chutes, its structure as shown in Figure 3.The center line of each chute converges 1 O after prolonging, and OB, OC, OD and OB ', OC ', OD ' be along OA line left-right symmetry, i.e. ∠ BOA=∠ B'OA, ∠ COA=∠ C ' OA, ∠ DOA=∠ D ' OA.When uniformly-spaced launching or close up when getting the seedling end effector, its angular relationship satisfies: tan ∠ BOA:tan ∠ COA:tan ∠ DOA=1:3:5, namely each chute center line is the odd number ratio with the angle tangent value of line of symmetry.By a motor-driven, the cam exhibition plywood slippage that will contain 6 chutes is got the expansion of seedling end effector and is closed up action to promote simultaneously 6, get the seedling step and put the seedling step with the cave dish seedling that adapts to different spacing: when exhibition plywood 6 moves towards convergent point O direction, exhibition plywood 6 is pushed installing rack 11 open, thereby launch to get the seedling end effector, shown in Fig. 2 (a).Disperse direction when moving when exhibition plywood 6 towards convergent point O, exhibition plywood 6 folds installing rack 11, gets the seedling end effector thereby close up, shown in Fig. 2 (b).
Exhibition plywood of the present invention can design the chute of difformity size, realize uniformly-spaced, unequal interval, hole, interval, a plurality of holes, interval etc., the shape by chute and the slippage promotion of exhibition plywood are measured to control a plurality of caves dish seedling and are got the exhibition of seedling end effector and close degree.
Claims (1)
1. method is closed in a plurality of grooved cam exhibitions of getting the seedling end effector, it is characterized in that: by a motor-driven, the cam exhibition plywood slippage that will contain a plurality of chutes promotes a plurality of seedling end effectors of getting and launches and close up action, gets the seedling step and puts the seedling step with the cave dish seedling that adapts to different spacing; Described chute is distributed on the described cam exhibition plywood according to certain rules, namely symmetrical along described Timing Belt guide rail direction, the center line of each described chute converges 1 O after prolonging, it is OA that described chute is distributed symmetrically axis, from described axis of symmetry OA outwards the center line of each described chute be 1:3:5:7 with the ratio of the tangent value of described axis of symmetry OA angle successively: ... (2n-1), described n is half of described chute number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210476668.4A CN102948291B (en) | 2012-11-22 | 2012-11-22 | Groove type cam unfolding and folding method of plurality of seedling taking tail end actuators |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210476668.4A CN102948291B (en) | 2012-11-22 | 2012-11-22 | Groove type cam unfolding and folding method of plurality of seedling taking tail end actuators |
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| Publication Number | Publication Date |
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| CN102948291A true CN102948291A (en) | 2013-03-06 |
| CN102948291B CN102948291B (en) | 2014-07-16 |
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| CN201210476668.4A Active CN102948291B (en) | 2012-11-22 | 2012-11-22 | Groove type cam unfolding and folding method of plurality of seedling taking tail end actuators |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102960105A (en) * | 2012-11-22 | 2013-03-13 | 江苏大学 | Groove type cam folding and unfolding device for multiple seedling-taking end effectors |
| CN115136816A (en) * | 2022-06-28 | 2022-10-04 | 南京信息职业技术学院 | Equidistant expanding device |
Citations (6)
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| JP2005295965A (en) * | 2004-04-16 | 2005-10-27 | Yanmar Co Ltd | Transplanter |
| CN101663972A (en) * | 2009-09-25 | 2010-03-10 | 沈阳农业大学 | Automatic transplanter for plug seedling |
| CN202269169U (en) * | 2011-10-10 | 2012-06-13 | 广州实凯机电科技有限公司 | Greenhouse seedling transplanter |
| CN202310550U (en) * | 2011-11-03 | 2012-07-11 | 江苏大学 | Rotary swing-type seedling transplanting device for dry field potting seedling transplanter |
| CN202406510U (en) * | 2011-11-03 | 2012-09-05 | 江苏大学 | End effector of plug transplanting device in dry land |
| CN102960105A (en) * | 2012-11-22 | 2013-03-13 | 江苏大学 | Groove type cam folding and unfolding device for multiple seedling-taking end effectors |
-
2012
- 2012-11-22 CN CN201210476668.4A patent/CN102948291B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005295965A (en) * | 2004-04-16 | 2005-10-27 | Yanmar Co Ltd | Transplanter |
| CN101663972A (en) * | 2009-09-25 | 2010-03-10 | 沈阳农业大学 | Automatic transplanter for plug seedling |
| CN202269169U (en) * | 2011-10-10 | 2012-06-13 | 广州实凯机电科技有限公司 | Greenhouse seedling transplanter |
| CN202310550U (en) * | 2011-11-03 | 2012-07-11 | 江苏大学 | Rotary swing-type seedling transplanting device for dry field potting seedling transplanter |
| CN202406510U (en) * | 2011-11-03 | 2012-09-05 | 江苏大学 | End effector of plug transplanting device in dry land |
| CN102960105A (en) * | 2012-11-22 | 2013-03-13 | 江苏大学 | Groove type cam folding and unfolding device for multiple seedling-taking end effectors |
Non-Patent Citations (2)
| Title |
|---|
| 刘凯等: "2YZ-2000型秧苗移栽机关键部件的开发研究", 《中国农业工程学会2011年学术年会论文集》, 22 October 2011 (2011-10-22) * |
| 毛罕平: "穴盘苗自动移栽机的结构设计及运动仿真分析", 《2010国际农业工程大会论文集》, 31 December 2010 (2010-12-31) * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102960105A (en) * | 2012-11-22 | 2013-03-13 | 江苏大学 | Groove type cam folding and unfolding device for multiple seedling-taking end effectors |
| CN115136816A (en) * | 2022-06-28 | 2022-10-04 | 南京信息职业技术学院 | Equidistant expanding device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102948291B (en) | 2014-07-16 |
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