CN102960105B - 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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- CN102960105B CN102960105B CN201210480428.1A CN201210480428A CN102960105B CN 102960105 B CN102960105 B CN 102960105B CN 201210480428 A CN201210480428 A CN 201210480428A CN 102960105 B CN102960105 B CN 102960105B
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- installing rack
- slide block
- chute
- seedling
- square slide
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Abstract
The invention relates to a groove type cam folding and unfolding device for multiple seedling-taking end effectors. The device consists of a folding and unfolding plate, a synchronous belt guide rail, a linear guide rail, a square slide block, a rotating shaft, a servo motor, a beam and a mounting rack, and is characterized in that the mounting rack of the multiple seedling-taking end effectors is pushed to be folded or unfolded through slippage of the folding and unfolding plate, so that the seedling-taking end effectors take and put the seedlings in a dispersing or gathering mode, and plug seedlings with different specifications and sizes are automatically transplanted. The groove type cam folding and unfolding device has the characteristics that a chute with a certain regular inclined angle is formed on the folding and unfolding plate, the seedling-taking end effectors are pushed to be unfolded or folded by utilizing the relative slippage of the chute, only one power driver is required, and the groove type cam folding and unfolding device for multiple seedling-taking end effectors is simple in structure and easy to control and can be applied to an automatic plug seedling transplanting system comprising the 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 cave dish seedling automatic transferring, refer in particular to and utilize grooved cam mechanism to get by a plurality of the devices that seedling end effector launches or closes 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, and gross area the first in the world wherein represents that the attached-greenhouse area ratio of 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, facilities horticulture per capita minimum areas is only 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 dish seedling in the cave of China still be take and is manually transplanted as main, and transplanting efficiency is low, and the amount of labour used is large, has seriously restricted 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, transplant, transplant on machine and must configure a plurality of seedling end effectors of getting, under the drive of mobile platform, multiple spot is got seedling and is planted seedling simultaneously.A plurality of to get that seedling end effector the most simply configures be that install 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 seedling end effector, the bad adaptability to cave dish.A plurality of seedling end effectors of getting also can disperse mobile each other, 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 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 seedling end effector is more, power-driven system is huge, increased the burden of mobile platform, and the mobile complexity of controlling.For this reason, need to develop that simple and reliable applicable cave dish seedling is a plurality of gets the exhibition locking devices that seedling end effector is transplanted, only need simple driving, can a plurality ofly get seedling end effector and close up from high density cave and coil and get seedling, launch backward low-density cave dish and plant seedling, or launch backward flowerpot and plant seedling.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of a plurality of grooved cam exhibition locking device of getting seedling end effector, can automatically by getting seedling end effector, launch or close up, cave got to 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 seedling end effector, by line slideway 13, square slide block C14, installing rack C11, installing rack D12, the crossbeam 15 affixed with described installing rack D12 bottom forms, characterized by further comprising: installing rack A3 and installing rack B10, Timing Belt guide rail A1 and Timing Belt guide rail B8 with square slide block A2 and square slide block B 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 edge, thereby be assemblied in the rotating shaft 5 that can drive described Timing Belt guide rail A1 and Timing Belt guide rail B8 to pull described square slide block A2 and square slide block B 7 to drive described exhibition plywood 6 to move on the main shaft of servomotor 9, described exhibition plywood 6, be assemblied in the push rod of opening up the installing rack D12 that can slidably reciprocate in plywood 6 chutes described in each on described line slideway 13, what be installed on described crossbeam 15 two ends gets seedling end effector, by described installing rack A3 and the affixed described square slide block A2 of installing rack B10 and square slide block B 7 and described section bar 4, described square slide block C14 is disposed at described installing rack D12 both sides, described installing rack D12 is arranged on described line slideway 13 by described square slide block C14.
The angle of inclination chute of described certain rule is symmetrical along described Timing Belt guide rail A1 and Timing Belt guide rail B8 direction on described exhibition plywood 6, described in each, the center line of chute converges 1 O after extending, it is OA that described chute is distributed symmetrically axis, from described axis of symmetry OA outwards described in each center line of 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.By the grooved cam mechanism with certain regularity of distribution, complete a plurality of caves dish seedling and get the expansion of seedling end effector or close up, only need a power drive, simple in structure, to control easily, cost is low.
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 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 A8. Timing Belt guide rail B2. square slide block A7. square slide block B 14. square slide block C3. installing rack A10. installing rack B11. installing rack C12. installing rack D4. section bar 5. rotating shafts 6. are opened up plywood 9. servomotor 13. line slideway 15. crossbeam 16. seedling claws
Embodiment
As shown in Figure 1, overall structure of the present invention forms by opening up 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 edge, by installing rack A3, installing rack B10 is fixed in Timing Belt guide rail A1, the square slide block A2 of Timing Belt guide rail B8, in square slide block B 7, on the main shaft of servomotor 9, assemble rotating shaft 5, drive Timing Belt guide rail A1, Timing Belt guide rail B8, thereby pull square slide block A2, square slide block B 7 drives 6 motions of exhibition plywood, on exhibition plywood 6, have the chute of differing tilt angles, the push rod of assembling installing rack D12 in each chute, installing rack D12 both sides configuration square slide block C14, by square slide block C14, be installed on line slideway 13, installing rack D12 can slidably reciprocate on line slideway 13, the affixed crossbeam 15 in installing rack D12 bottom, crossbeam 15 two ends are installed and are got seedling end effector, thereby form the cam that contains a plurality of sliding groove structures and launch Qu Miao end effector mechanism.
Exhibition plywood is the critical component of getting seedling end effector development mechanism, completes 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 closing up the exhibition plywood 6 of getting 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 extending, and OB, OC, OD and OB ', OC ', OD ' are symmetrical along OA line, i.e. ∠ BOA=∠ B'OA, ∠ COA=∠ C'OA, ∠ DOA=∠ D'OA.When uniformly-spaced launching or closing up while getting seedling end effector, meet " axis of symmetry OA outwards described in each center line of 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 " rule.In addition n=3, its angular relationship meets: tan ∠ BOA:tan ∠ COA:tan ∠ DOA=1:3:5.
This course of work of getting seedling end effector development mechanism is: the specification coiling according to cave, number, angle of inclination and the length of getting the expansion of seedling end effector or the number closing 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 seedling end effector, each chute center line is odd number ratio with the angle tangent value of line of symmetry, from line of symmetry, starting its ratio is 1:3:5:7 ... (2n-1), n is half of symmetrical described chute number.When exhibition plywood 6 moves towards convergent point O direction, exhibition plywood 6 is pushed installing rack D12 open, thereby launches to get seedling end effector, as shown in Figure 2 a.When exhibition plywood 6, towards convergent point O, disperse direction while moving, exhibition plywood 6 folds installing rack D12, gets seedling end effector, as shown in Figure 2 b thereby close up.
Exhibition plywood 6 of the present invention can design the chute of difformity size, realizes uniformly-spaced, unequal interval, Yi Ge hole, interval, a plurality of holes, interval etc., and its expansion degree depends on the shape of chute and the slippage promotion amount of exhibition plywood 6.
Claims (2)
1. a plurality of grooved cams of getting seedling end effector are opened up locking devices, by line slideway (13), square slide block C (14), installing rack C (11), installing rack D (12), the crossbeam (15) affixed with described installing rack D (12) bottom forms, and characterized by further comprising: installing rack A (3) and installing rack B (10), Timing Belt guide rail A (1) and Timing Belt guide rail B (8) with square slide block A (2) and square slide block B (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 edge, be assemblied on the main shaft of servomotor (9), can drive described Timing Belt guide rail A (1) and Timing Belt guide rail B (8) thus pull described square slide block A (2) and square slide block B (7) drives the rotating shaft (5) of described exhibition plywood (6) motion, described exhibition plywood (6), be assemblied in the push rod of opening up the installing rack D (12) that can slidably reciprocate in plywood (6) chute described in each on described line slideway (13), what be installed on described crossbeam (15) two ends gets seedling end effector, by described installing rack A (3) and the affixed described square slide block A of installing rack B (10) (2) and square slide block B (7) and described section bar (4), described square slide block C (14) is disposed at described installing rack D (12) both sides, described installing rack D (12) is arranged on described line slideway (13) by described square slide block C (14).
2. a kind of a plurality of grooved cams of getting 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 symmetrical along described Timing Belt guide rail A (1) and Timing Belt guide rail B (8) direction on described exhibition plywood (6), described in each, the center line of chute converges 1 O after extending, it is OA that described chute is distributed symmetrically axis, from described axis of symmetry OA outwards described in each center line of 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.
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| 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 |
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| 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 |
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| CN102960105A CN102960105A (en) | 2013-03-13 |
| CN102960105B true CN102960105B (en) | 2014-08-27 |
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Families Citing this family (10)
| 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 |
| CN103477768B (en) * | 2013-09-17 | 2016-01-13 | 北京工业大学 | Inclined in type Plug seedling transplants paw |
| 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 |
| CN104322186B (en) * | 2014-09-28 | 2016-04-27 | 北京农业智能装备技术研究中心 | Paw device is transplanted in rice shoot sorting |
| CN105103741B (en) * | 2015-08-05 | 2017-03-01 | 江苏大学 | A kind of it is applied to the automatic seedling taking that multirow plants and divides throwing apparatus and method |
| CN105993329A (en) * | 2016-05-24 | 2016-10-12 | 范志豪 | Seedling transplanting and picking device |
| CN106358537B (en) * | 2016-10-20 | 2018-11-06 | 江苏大学 | A kind of automatic transplanter for plug seedling and its control system |
| 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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| CN2426269Y (en) * | 2000-05-16 | 2001-04-11 | 王继斌 | Telescopic hand transplanter for rice with soil-block |
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| 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 |
| 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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