CN102960105A - Groove type cam folding and unfolding device for multiple seedling-taking end effectors - Google Patents
Groove type cam folding and unfolding device for multiple seedling-taking end effectors Download PDFInfo
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- CN102960105A CN102960105A CN2012104804281A CN201210480428A CN102960105A CN 102960105 A CN102960105 A CN 102960105A CN 2012104804281 A CN2012104804281 A CN 2012104804281A CN 201210480428 A CN201210480428 A CN 201210480428A CN 102960105 A CN102960105 A CN 102960105A
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- seedling
- chute
- installing rack
- exhibition
- plywood
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- 239000012636 effector Substances 0.000 title claims abstract description 35
- 239000011120 plywood Substances 0.000 claims description 29
- 238000009434 installation Methods 0.000 abstract description 2
- 230000001360 synchronised effect Effects 0.000 abstract 1
- 241000196324 Embryophyta Species 0.000 description 3
- 238000003898 horticulture Methods 0.000 description 3
- 235000013311 vegetables Nutrition 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000019994 cava Nutrition 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 238000002054 transplantation Methods 0.000 description 1
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- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
- Transplanting Machines (AREA)
Abstract
本发明涉及一种多个取苗末端执行器的槽型凸轮展合装置，由展合板、同步带导轨、直线导轨、方型滑块、旋转轴、伺服电机、横梁、安装架组成，其特征是通过展合板的滑移推动多个取苗末端执行器安装架展开或合拢，从而实现取苗末端执行器分散或聚集取苗和放苗，满足不同规格尺寸穴盘苗自动移栽。本发明的特点在于展合板上开有一定规律的倾斜角度的滑槽，利用滑槽相对滑移推动取苗末端执行器展开或合拢，只需一个动力驱动，结构简单，控制容易，可应用于含有多个取苗末端执行器的穴盘苗自动移栽系统。
The invention relates to a trough-type cam spreading device for a plurality of seedling-taking end effectors, which is composed of a spreading plate, a synchronous belt guide rail, a linear guide rail, a square slider, a rotating shaft, a servo motor, a beam, and a mounting frame. It pushes multiple seedling-taking end effector installation frames to expand or close through the sliding of the expansion board, so that the seedling-taking end effectors can be dispersed or gathered to take seedlings and put seedlings, and meet the automatic transplanting of plug seedlings of different specifications and sizes. The present invention is characterized in that there is a chute with a certain regular inclination angle on the unfolding plate, and the relative sliding of the chute is used to push the seedling-taking end effector to expand or close. Only one power drive is required, the structure is simple, the control is easy, and it can be applied to An automatic transplanting system for plug seedlings with multiple seedling-taking end effectors.
Description
Technical field
The present invention relates to a kind ofly for a plurality of exhibition locking devices of getting the action of seedling end effector in the cave dish seedling automatic transferring, refer in particular to the devices that utilize grooved cam mechanism will a plurality ofly get the expansion of seedling end effector or close up.
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, it is necessary to develop automatical and efficient greenhouse automatic transplanter for plug seedling, also very urgent.
In order to realize cave dish height of seedling effect transplanting, transplant on the machine and must dispose 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 the simplest configuration of seedling end effector be that install the cave fixed position, and this will limit the specification of cave dish, changes 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 TransplantSystems 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 development dish seedling is a plurality of gets the exhibition locking devices that the seedling end effector is transplanted, 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 locking device of getting the seedling end effector, can automatically with getting the expansion of seedling end effector or closing up, the cave got seedling or to put seedling, adapt to the dish transplantation of seedlings of different specification size cave, simple and reliable for structure, easy operating.
In order to solve above technical problem, the technical solution used in the present invention is as follows:
A kind of a plurality of grooved cam exhibition locking device of getting the seedling end effector, by line slideway 13, square slide block 14, installing rack 11, installing rack 12, the crossbeam 15 affixed with described installing rack 12 bottoms consists of, and characterized by further comprising: installing rack 3 and 10, Timing Belt guide rail 1 and 8 with square slide block 2 and 7, section bar 4, the affixed exhibition plywood 6 of chute that described section bar 4 is installed and has the angle of inclination of certain rule along the edge, thereby be assemblied in and drive described Timing Belt guide rail 1 and 8 on the main shaft of servomotor 9 and spur the rotating shaft 5 that described square slide block 2 and 7 drives described exhibition plywood 6 motions, described exhibition plywood 6, be assemblied in the push rod of the installing rack 12 that can slidably reciprocate at described line slideway 13 in each described exhibition plywood 6 chute, what be installed on described crossbeam 15 two ends gets the seedling end effector; By described installing rack 3 and 10 affixed described square slide blocks 2 and 7 and described section bar 4; Described square slide block 14 is disposed at described installing rack 12 both sides, described installing rack 12 is installed on the described line slideway 13 by described square slide block 14.
The angle of inclination chute of described certain rule is symmetrical along described Timing Belt guide rail 1 and 8 directions at described exhibition plywood 6, 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 symmetrical described chute number.
The present invention has beneficial effect.Finish a plurality of caves dish seedling by the grooved cam mechanism with certain regularity of distribution and get the seedling end effector and launch or close up, only need a power drive, simple in structure, control easily, cost is low.
Description of drawings
Below in conjunction with accompanying drawing the specific embodiment of the present invention is described in further detail.
Fig. 1 is overall structure front view of the present invention.
Fig. 2 is overall structure axonometric drawing of the present invention.
Fig. 3 is exhibition plywood plane.
As shown in Figure 1, 2, number in the figure represents respectively: 1. Timing Belt guide rail 8. Timing Belt guide rails 2. square slide blocks 7. square slide blocks 14. square slide blocks 3. installing racks 10. installing racks 11. installing racks 12. installing racks 4. section bars 5. rotating shafts 6. are opened up plywood 9. servomotors 13. line slideways 15. crossbeams 16. seedling claws.
Embodiment
As shown in Figure 1, overall structure of the present invention is comprised of exhibition plywood, Timing Belt guide rail, line slideway, square slide block, rotating shaft, servomotor, crossbeam, installing rack.Wherein the concrete layout of each kinematic pair and parts is as follows: exhibition plywood 6 is installed section bar 4 along the edge, by installing rack 3,10 are fixed in Timing Belt guide rail 1,8 square slide block 2, on 7, assembling rotating shaft 5 on the main shaft of servomotor 9, drive Timing Belt guide rail 1,8, thereby pulling square slide block 2,7 drive 6 motions of exhibition plywood, have the chute of differing tilt angles on the exhibition plywood 6, the push rod of assembling installing rack 12 in each chute, installing rack 12 both sides configuration square slide block 14, be installed on the line slideway 13 by square slide block 14, installing rack 12 can slidably reciprocate at line slideway 13, the affixed crossbeam 15 in installing rack 12 bottoms, crossbeam 15 two ends are installed and are got the seedling end effector, launch to get seedling end effector mechanism thereby consist of the cam that contains a plurality of sliding groove structures.
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.Exhibition plywood 6 is flat boards that have certain rule angle of inclination chute, for uniformly-spaced launching or close up the exhibition plywood 6 of getting the seedling end effector, as has the uniformly-spaced exhibition plywood of 6 chutes, and 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 closing up when getting the seedling end effector, satisfy " the axis of symmetry OA outwards center line of each described chute is 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 symmetrical described chute number " rule.In addition n=3, its angular relationship satisfies: tan ∠ BOA:tan ∠ COA:tan ∠ DOA=1:3:5.
This course of work of getting seedling end effector development mechanism is: according to the specification of cave dish, number, angle of inclination and the length of getting the expansion of seedling end effector or the number that closes up and the definite exhibition of exhibition plywood 6 slipping space plywood 6 chutes, for uniformly-spaced launching or closing up the exhibition plywood of getting the seedling end effector, each chute center line is the odd number ratio with the angle tangent value of line of symmetry, beginning its ratio from line of symmetry is 1:3:5:7 ... (2n-1), n is half of symmetrical described chute number.When exhibition plywood 6 moved towards convergent point O direction, exhibition plywood 6 was pushed installing rack 12 open, thereby launched 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 12, gets the seedling end effector thereby close up, shown in Fig. 2 b.
Claims (2)
1. a plurality of grooved cams of getting the seedling end effector are opened up locking device, by line slideway (13), square slide block (14), installing rack (11), installing rack (12), the crossbeam (15) affixed with described installing rack (12) bottom consists of, and characterized by further comprising: installing rack (3,10), with square slide block (2,7) Timing Belt guide rail (1,8), section bar (4), the affixed exhibition plywood (6) of chute that described section bar (4) is installed and has the angle of inclination of certain rule along the edge, be assemblied on the main shaft of servomotor (9) and can drive described Timing Belt guide rail (1,8) thus spur described square slide block (2,7) drive the rotating shaft (5) that described exhibition plywood (6) moves, described exhibition plywood (6), be assemblied in the push rod of the installing rack (12) that can slidably reciprocate in described line slideway (13) in each described exhibition plywood (6) chute, what be installed on described crossbeam (15) two ends gets the seedling end effector; By the affixed described square slide block of described installing rack (3,10) (2,7) and described section bar (4); Described square slide block (14) is disposed at described installing rack (12) both sides, described installing rack (12) is installed on the described line slideway (13) by described square slide block (14).
2. a kind of a plurality of grooved cams of getting the seedling end effector as claimed in claim 1 are opened up locking devices, it is characterized in that: the angle of inclination chute of described certain rule is along described Timing Belt guide rail (1 at described exhibition plywood (6), 8) direction is symmetrical, 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 symmetrical described chute number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210480428.1A CN102960105B (en) | 2012-11-22 | 2012-11-22 | Groove type cam folding and unfolding device for multiple seedling-taking end effectors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210480428.1A CN102960105B (en) | 2012-11-22 | 2012-11-22 | Groove type cam folding and unfolding device for multiple seedling-taking end effectors |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102960105A true CN102960105A (en) | 2013-03-13 |
| CN102960105B CN102960105B (en) | 2014-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210480428.1A Expired - Fee Related CN102960105B (en) | 2012-11-22 | 2012-11-22 | Groove type cam folding and unfolding device for multiple seedling-taking end effectors |
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| CN (1) | CN102960105B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102948291A (en) * | 2012-11-22 | 2013-03-06 | 江苏大学 | Groove type cam unfolding and folding method of plurality of seedling taking tail end actuators |
| CN103477768A (en) * | 2013-09-17 | 2014-01-01 | 北京工业大学 | Inclined plug-in seedling transplanting claw |
| CN103563532A (en) * | 2013-11-25 | 2014-02-12 | 江苏大学 | Automatic seedling taking manipulator for plug seeding transplanter |
| CN104322186A (en) * | 2014-09-28 | 2015-02-04 | 北京农业智能装备技术研究中心 | Seedling sorting and transplanting gripper apparatus |
| CN105103741A (en) * | 2015-08-05 | 2015-12-02 | 江苏大学 | Apparatus and method for automatically picking seedling and separate projection applied to multi-row planting |
| CN105265077A (en) * | 2014-06-03 | 2016-01-27 | 中国计量学院 | Plug seedling tranplanter seedling transplanting apparatus |
| CN105993329A (en) * | 2016-05-24 | 2016-10-12 | 范志豪 | Seedling transplanting and picking device |
| CN106358537A (en) * | 2016-10-20 | 2017-02-01 | 江苏大学 | Automatic transplanting machine for plug seedlings and control system thereof |
| WO2019148782A1 (en) * | 2018-02-02 | 2019-08-08 | 江苏大学 | Automatic transplanting machine for plug seedling, and control method therefor |
| CN113352249A (en) * | 2021-06-10 | 2021-09-07 | 东莞怡合达自动化股份有限公司 | Electric control cam type equal-division pitch-changing mechanism |
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| CN202310550U (en) * | 2011-11-03 | 2012-07-11 | 江苏大学 | Rotary swing-type seedling transplanting device for dry field potting seedling transplanter |
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| CN202406510U (en) * | 2011-11-03 | 2012-09-05 | 江苏大学 | End effector of plug transplanting device in dry land |
| CN102948291A (en) * | 2012-11-22 | 2013-03-06 | 江苏大学 | Groove type cam unfolding and folding method of plurality of seedling taking tail end actuators |
| CN202889936U (en) * | 2012-11-22 | 2013-04-24 | 江苏大学 | Trough type cam unfolding/folding device with plurality of seedling taking end-effectors |
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2012
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| SU436634A1 (en) * | 1971-01-18 | 1974-07-25 | И. Я. Гаркуша , А. И. Гаркуша | Planting Machine for Root Vegetables |
| US3799078A (en) * | 1972-04-19 | 1974-03-26 | J Trachet | Method for transplanting plants |
| NL8802151A (en) * | 1988-08-31 | 1990-03-16 | Visser S Gravendeel Holding | GRIPPING DEVICE WITH AUTOMATIC DISCHARGE. |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102948291B (en) * | 2012-11-22 | 2014-07-16 | 江苏大学 | Groove type cam unfolding and folding method of plurality of seedling taking tail end actuators |
| CN102948291A (en) * | 2012-11-22 | 2013-03-06 | 江苏大学 | Groove type cam unfolding and folding method of plurality of seedling taking tail end actuators |
| CN103477768B (en) * | 2013-09-17 | 2016-01-13 | 北京工业大学 | Inclined in type Plug seedling transplants paw |
| CN103477768A (en) * | 2013-09-17 | 2014-01-01 | 北京工业大学 | Inclined plug-in seedling transplanting claw |
| CN103563532A (en) * | 2013-11-25 | 2014-02-12 | 江苏大学 | Automatic seedling taking manipulator for plug seeding transplanter |
| CN105265077A (en) * | 2014-06-03 | 2016-01-27 | 中国计量学院 | Plug seedling tranplanter seedling transplanting apparatus |
| CN104322186A (en) * | 2014-09-28 | 2015-02-04 | 北京农业智能装备技术研究中心 | Seedling sorting and transplanting gripper apparatus |
| CN105103741A (en) * | 2015-08-05 | 2015-12-02 | 江苏大学 | Apparatus and method for automatically picking seedling and separate projection applied to multi-row planting |
| CN105993329A (en) * | 2016-05-24 | 2016-10-12 | 范志豪 | Seedling transplanting and picking device |
| CN106358537A (en) * | 2016-10-20 | 2017-02-01 | 江苏大学 | Automatic transplanting machine for plug seedlings and control system thereof |
| WO2019148782A1 (en) * | 2018-02-02 | 2019-08-08 | 江苏大学 | Automatic transplanting machine for plug seedling, and control method therefor |
| US11382259B2 (en) | 2018-02-02 | 2022-07-12 | Jiangsu University | Plug seedling automatic transplanting machine and its control method |
| CN113352249A (en) * | 2021-06-10 | 2021-09-07 | 东莞怡合达自动化股份有限公司 | Electric control cam type equal-division pitch-changing mechanism |
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