CN103039165A - Insertion and clamping end executor for transplanting pot seedlings - Google Patents
Insertion and clamping end executor for transplanting pot seedlings Download PDFInfo
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- CN103039165A CN103039165A CN2013100074335A CN201310007433A CN103039165A CN 103039165 A CN103039165 A CN 103039165A CN 2013100074335 A CN2013100074335 A CN 2013100074335A CN 201310007433 A CN201310007433 A CN 201310007433A CN 103039165 A CN103039165 A CN 103039165A
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Abstract
The invention discloses an insertion and clamping end executor for transplanting pot seedlings. The end executor comprises a seedling needle push execution component consisting of a seedling needle push air cylinder, a square moving pair force application plate, four slide blocks, four seedling needle fastening rotation members and four seedling needles, and a seedling needle guide clamping execution component consisting of a seedling clamping air cylinder, a convex air cylinder fixing plate, four fixable slide blocks, eight seedling tube fastening rotation members, a force application cross, a thrust lever, four Y-shaped connection blocks, an air cylinder stop block, four seedling needle tubes. The seedling needle guide clamping execution component of the insertion and clamping end executor adopts the four fixable slide blocks capable of adjusting assembling angles of the seedling needle tubes and the air cylinder stop block capable of adjusting swing angles of the seedling needle tubes to meet pot transplant requirements of tray seedlings in different sizes. The end executor is used for a pot seedling transplant system; a three-degree-of-freedom mechanical arm is mounted; movements of inserting a seedling pot, clamping the seedling pot, lifting, releasing the seedling pot, and separating the seedling needles are accomplished; and the different pot seedlings are clamped and separated in an automatic transplant task effectively.
Description
Technical field
The present invention relates to the transplanting machine in a kind of agricultural machinery, particularly relate to a kind of potted-seedling transplanting and insert the clamping type end effector.
Background technology
The point disk seedling growing technology has been made a fresh start, and extensively is received by the market.Peasant household directly gets pot seedling from the factory of growing seedlings and transplants production, is convenient to manage and obtain higher crop yield.Dish seedling in cave will hole, cave bad to the pot seedling growing way or broadcast leakage carries out healthy seedling and reseeds operation in cultivating process, and tradition adopts the labour at chamber operation, environment is abominable, production efficiency is not high, can address the above problem and adopt mechanization to move alms bowl equipment, and the uniformity of potted-seedling transplanting will be got well.
Move the end effector of direct in the alms bowl equipment and the effect of seedling alms bowl and must be able to realize stable crawl and effective release, and the adaptability to Different Crop kind and different size cave dish is eager to excel, the damage ratio of rice shoot is low, obviously pot seedling machinery is transplanted in the operation, and the end effector that development and Design is fit to the potted-seedling transplanting operation in greenhouse becomes a key technology.1987, the people such as Kutz have designed a kind of parallel clamping type end-effector, formed by 1 cylinder and 1 parallel clamping handgrip, only open and close up two states, matrix is applied the power that is approximately 4N, to guarantee to clamp matrix and don't injury crop, the adjacent seedling dish in 392 holes and 36 holes, can finish the transplanting of 36 seedlings in 3.3 minutes, survival rate reaches 96%; Nineteen ninety, the people such as Ting develop needle-like SNS clamper, and pin is driven by two moving air cylinders, and the angle of pin can be regulated with the different of rice shoot according to the cave dish with the position, moves the alms bowl job success ratio at 50%-95% from 600 holes to 48 hole seedling dishes.But these end effector functions also must be further perfect, particularly adapts to variety classes pot seedling and effective gripping release And Spread of Solute, affects the adaptability of end effector.
Summary of the invention
The object of the present invention is to provide a kind of potted-seedling transplanting to insert the clamping type end effector, this insertion clamping type end effector can be finished the action of inserting seedling alms bowl, clamping seedling alms bowl, lifting, release seedling alms bowl, the separation of seedling pin, realizes the automatic transplanting operation of pot seedling.
The technical solution used in the present invention is as follows:
The present invention includes the seedling pin and promote execution unit and seedling pin guiding gripping execution unit; Wherein:
1) the seedling pin promotes execution unit: comprise that the seedling pin promotes cylinder, square moving sets force application board, four slide blocks, four fastening tumblers of seedling pin and four offspring pins; The seedling pin promotes cylinder and is positioned at the top of inserting the clamping type end effector, and be connected on the convex air cylinder fixed plate by cylinder rod down, the lower surface of seedling pin promotion cylinder up, be fixedly connected with lower surface, square moving sets force application board middle part, square moving sets force application board has elongated slot along the diagonal four direction, form sliding pair with separately slide block respectively, described each slide block forms revolute pair with separately the fastening tumbler of seedling pin by pin respectively, and it is fixing behind the fastening tumbler of seedling pin that the seedling pin runs through;
2) seedling pin guiding gripping execution unit: comprise folder seedling cylinder, convex air cylinder fixed plate, four fixedly slide block, eight fastening tumblers of seedling pipe, application of force cross, distance rod, four Y type contiguous blocks, cylinder limited block, four offspring needle tubings; Folder seedling cylinder is positioned at the bottom of inserting the clamping type end effector, folder seedling cylinder lower surface up, be fixedly connected with the large end of convex air cylinder fixed plate lower surface, the large end of convex air cylinder fixed plate has elongated slot along the diagonal four direction, four fixedly slide block be stuck in separately and regulate behind the installation site fixingly in the elongated slot, described each slide block forms revolute pair with the upper end fastening tumbler of seedling pipe separately by pin respectively; Folder seedling cylinder upper surface presss from both sides seedling cylinder cylinder rod and is connected with the distance rod concentric down, and described distance rod passes from top to bottom the cylinder limited block and application of force cross is screwed; Have groove in the middle of four arms of application of force cross, each groove forms revolute pair with Y type contiguous block microcephaly separately by pin respectively, each Y type contiguous block major part and the lower end separately fastening tumbler of seedling pipe form revolute pair by pin, four offspring needle tubings pass respectively separately up and down two fastening tumblers of seedling pipe and are screwed, the seedling pin passes the fastening tumbler of seedling pin and seedling needle tubing from top to bottom, and seedling pin middle part forms sliding pair with the seedling needle tubing.
The beneficial effect that the present invention has is:
The present invention is used for the potted-seedling transplanting system, three-freedom mechanical arm is loaded onto this insertion clamping type end effector, finish the action of inserting seedling alms bowl, clamping seedling alms bowl, lifting, release seedling alms bowl, the separation of seedling pin, realize that the effective gripping in automatic transplanting operation of variety classes pot seedling separates with stable, improves the potted-seedling transplanting success rate.
Description of drawings
Fig. 1 is perspective view of the present invention.
Fig. 2 is the perspective view that the seedling pin promotes execution unit.
Fig. 3 is the perspective view of seedling pin guiding gripping execution unit.
Fig. 4 is fixing slide block structure schematic diagram.
Fig. 5 is the air cylinder fixed plate structural representation.
Fig. 6 is application of force cross structure schematic diagram.
Fig. 7 is the alms bowl operation course of action schematic diagram that moves of the present invention.
Among the figure: 1, the seedling pin promotes execution unit, and 2, seedling pin guiding gripping execution unit, 3, the seedling pin promotes cylinder, 4, folder seedling cylinder, 5, the convex air cylinder fixed plate, 6, the moving sets force application board, 7, the fastening tumbler of seedling pin, 8, slide block, 9, the seedling pin, 10, the fastening tumbler of seedling pipe, 11, fixing slide block, 12, the cylinder limited block, 13, application of force cross, 14, distance rod, 15, Y type contiguous block, 16, the seedling needle tubing.
Embodiment
The invention will be further described below in conjunction with drawings and Examples.
Such as Fig. 1, Fig. 2, shown in Figure 3, the present invention includes the seedling pin and promote execution unit 1 and seedling pin guiding gripping execution unit 2; Wherein:
Such as Fig. 1, Fig. 2, shown in Figure 5, the seedling pin promotes execution unit 1: comprise that the seedling pin promotes cylinder 3, square moving sets force application board 6, four slide blocks 8, four fastening tumblers 7 of seedling pin and four offspring pins 9; The seedling pin promotes cylinder 3 and is positioned at the top of inserting the clamping type end effector, and be connected on the convex air cylinder fixed plate 5 by cylinder rod down, the lower surface of seedling pin promotion cylinder 3 up, be fixedly connected with by four screws with lower surface, square moving sets force application board 6 middle part, square moving sets force application board 6 has elongated slot along the diagonal four direction, form sliding pairs with separately slide block 8 respectively, described each slide block forms revolute pair with the fastening tumbler 7 of seedling pin separately by pin respectively, and seedling pin 9 runs through fastening tumbler 7 rear the fixing of seedling pin and fastens by jackscrew.
Such as Fig. 1, Fig. 3, Fig. 4, Fig. 5, shown in Figure 6, seedling pin guiding gripping execution unit 2: comprise folder seedling cylinder 4, convex air cylinder fixed plate 5, four fixedly slide block 11, eight fastening tumblers 10 of seedling pipe, application of force cross 13, distance rod 14, four Y type contiguous blocks 15, cylinder limited block 12, four offspring needle tubings 16; Folder seedling cylinder 4 is positioned at the bottom of inserting the clamping type end effector, folder seedling cylinder 4 lower surfaces up, be fixedly connected with by four screws with convex air cylinder fixed plate 5 large end lower surfaces, convex air cylinder fixed plate 5 large ends have elongated slot along the diagonal four direction, four fixedly slide block 11 be stuck in separately and regulate behind the installation site in the elongated slot and be screwed, small end convex piece in convex air cylinder fixed plate 5 has a hole that is connected with three-freedom mechanical arm, and described each slide block forms revolute pair with the fastening tumbler 10 of upper end seedling pipe separately by pin respectively; Folder seedling cylinder 4 upper surfaces press from both sides seedling cylinder 4 cylinder rods and are connected with distance rod 14 concentrics down, and described distance rod passes from top to bottom cylinder limited block 12 and application of force cross 13 is screwed; Have groove in the middle of 13 4 arms of application of force cross, each groove forms revolute pair with Y type contiguous block 15 microcephalies separately by pin respectively, each Y type contiguous block 15 major part and the lower end separately fastening tumbler 10 of seedling pipe form revolute pair by pin, four offspring needle tubings 16 pass respectively separately up and down two fastening tumblers 10 of seedling pipe and are screwed, seedling pin 9 passes the fastening tumbler 7 of seedling pin and seedling needle tubing 16 from top to bottom, and seedling pin 9 middle parts and seedling needle tubing 16 form sliding pair.
Specific works process of the present invention is as follows:
Three-freedom mechanical arm moves to the top of transplanting the transplanting pot seedling pit hole of coiling in the cave with the insertion clamping type end effector of installing, and shown in Fig. 7 (a), drops near seedling alms bowl position, shown in Fig. 7 (b); Connect the source of the gas that pneumatic seedling pin promotes cylinder 3 pipelines, seedling pin promotion this moment cylinder 3 cylinder rods become contraction state, make and promote seedling pin promotion execution unit 2 declines that cylinder 3 drives, the centripetal side of the elongated slot proximal most position of slide block 8 medial surfaces and moving sets force application board 6, seedling pin 9 moves down along seedling needle tubing 16, seedling pin 9 needle points insert the seedling alms bowl, shown in Fig. 7 (c).
Connect the source of the gas of folder seedling cylinder 4 pipelines, press from both sides seedling cylinder 4 cylinder rods and become contraction state this moment, drive distance rod 14 and on cylinder limited block 12 and application of force cross 13 move up, cylinder limited block 12 contacts limit thrust bar 14 with folder seedling cylinder 4 upper surfaces and moves upward, seedling needle tubing 16 is change gripping angle under the dragging of application of force cross 13 and Y type contiguous block, seedling needle tubing 16 drives seedling pin 9 needle points and clamps the seedling alms bowl apart from seedling alms bowl center proximal most position, shown in Fig. 7 (d).
Three-freedom mechanical arm drives insertion clamping type end effector and moves up, and clamping pot seedling and left transplanting cave dish, shown in Fig. 7 (e), and mobile to purpose cave dish.Behind the top, hole that moves to the purpose cave dish that will move the alms bowl operation, three-freedom mechanical arm drives insertion clamping type end effector and moves downward, the pot seedling that will move the alms bowl operation by four seedling pin 9 clampings and enter the purpose cave and circle or whirl in the air in the cave, shown in Fig. 7 (f).
Connect the source of the gas of folder seedling cylinder 4 pipelines, press from both sides seedling cylinder 4 cylinder rods and become the state of stretching out this moment, drive distance rod 14 and on cylinder limited block 12 and application of force cross 13 move down, seedling needle tubing 16 changes the gripping angle under the promotion of application of force cross 13 and Y type contiguous block, seedling needle tubing 16 drives seedling pin 9 and discharges the seedling alms bowl, shown in Fig. 7 (g).
Connect the source of the gas that pneumatic seedling pin promotes cylinder 3 pipelines, seedling pin promotion this moment cylinder 3 cylinder rods become the state of stretching out, make and promote seedling pin promotion execution unit 2 risings that cylinder 3 drives, the centripetal side of the elongated slot highest distance position of slide block 8 medial surfaces and moving sets force application board 6, seedling pin 9 moves up along seedling needle tubing 16, seedling pin 9 leaves the seedling alms bowl, shown in Fig. 7 (h), three-freedom mechanical arm drives insertion clamping type end effector and leaves purpose cave dish, shown in Fig. 7 (i), finish the transplanting operation of a pot seedling.
By adjusting the slide block fixed 11 and cylinder limited block 12 positions of inserting on the clamping type end effector, can change the angle of inclination of seedling needle tubing 16, finally change angle and position that seedling pin 9 thrusts the seedling alms bowl, satisfy the need of production of different caves dish and Different Crop.
The present invention also can become the application of force cross application of force tripod, corresponding uniform three seedling needle tubings and three seedling pins, and three fixedly slide block and three slide blocks are opened the moving sets force application board assembled formation of three uniform grooves, and three are got seedling pin phase difference is that 120 degree angles are arranged.
Above-mentioned embodiment is used for the present invention that explains, rather than limits the invention, and in the protection domain of spirit of the present invention and claim, any modification and change to the present invention makes all fall into protection scope of the present invention.
Claims (1)
1. a potted-seedling transplanting inserts the clamping type end effector, it is characterized in that: comprise that the seedling pin promotes execution unit (1) and seedling pin guiding gripping execution unit (2); Wherein:
1) the seedling pin promotes execution unit (1): comprise that the seedling pin promotes cylinder (3), square moving sets force application board (6), four slide blocks (8), four fastening tumblers of seedling pin (7) and four offspring pins (9); The seedling pin promotes cylinder (3) and is positioned at the top of inserting the clamping type end effector, and be connected on the convex air cylinder fixed plate (5) by cylinder rod down, the lower surface of seedling pin promotion cylinder (3) up, be fixedly connected with lower surface, square moving sets force application board (6) middle part, square moving sets force application board (6) has elongated slot along the diagonal four direction, form sliding pair with separately slide block (8) respectively, described each slide block forms revolute pair with separately the fastening tumbler of seedling pin (7) by pin respectively, and it is fixing behind the fastening tumbler of seedling pin (7) that seedling pin (9) runs through;
2) seedling pin guiding gripping execution unit (2): comprise folder seedling cylinder (4), convex air cylinder fixed plate (5), four fixedly slide block (11), eight fastening tumblers of seedling pipe (10), application of force cross (13), distance rod (14), four Y type contiguous blocks (15), cylinder limited block (12), four offspring needle tubings (16); Folder seedling cylinder (4) is positioned at the bottom of inserting the clamping type end effector, folder seedling cylinder (4) lower surface up, hold greatly the lower surface to be fixedly connected with convex air cylinder fixed plate (5), the large end of convex air cylinder fixed plate (5) has elongated slot along the diagonal four direction, four fixedly slide block (11) be stuck in separately and regulate behind the installation site fixingly in the elongated slot, described each slide block forms revolute pair with the upper end fastening tumbler of seedling pipe separately by pin respectively; Folder seedling cylinder (4) upper surface presss from both sides seedling cylinder (4) cylinder rod and is connected with distance rod (14) concentric down, and described distance rod passes from top to bottom cylinder limited block (12) and application of force cross (13) is screwed; Have groove in the middle of (13) four arms of application of force cross, each groove forms revolute pair with Y type contiguous block (15) microcephaly separately by pin respectively, each Y type contiguous block (15) major part and the lower end separately fastening tumbler of seedling pipe form revolute pair by pin, four offspring needle tubings (16) pass respectively separately up and down two fastening tumblers of seedling pipe and are screwed, seedling pin (9) passes the fastening tumbler of seedling pin (7) and seedling needle tubing (16) from top to bottom, and seedling pin (9) middle part forms sliding pair with seedling needle tubing (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310007433.5A CN103039165B (en) | 2013-01-09 | 2013-01-09 | Insertion and clamping end executor for transplanting pot seedlings |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310007433.5A CN103039165B (en) | 2013-01-09 | 2013-01-09 | Insertion and clamping end executor for transplanting pot seedlings |
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| Publication Number | Publication Date |
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| CN103039165A true CN103039165A (en) | 2013-04-17 |
| CN103039165B CN103039165B (en) | 2014-09-03 |
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| CN201310007433.5A Expired - Fee Related CN103039165B (en) | 2013-01-09 | 2013-01-09 | Insertion and clamping end executor for transplanting pot seedlings |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103270838A (en) * | 2013-05-04 | 2013-09-04 | 曹伟鹏 | Hole seedling transplanting paw adaptive to hole trays with different models |
| CN103597939A (en) * | 2013-10-21 | 2014-02-26 | 浙江大学 | Single cylinder-driven plugging-clamping-type aperture disk seedling transplanting paw |
| CN103875341A (en) * | 2014-04-17 | 2014-06-25 | 南京农业大学 | End effector of transplanting machine |
| CN104552327A (en) * | 2014-12-25 | 2015-04-29 | 浙江理工大学 | Inferior pot seedling removing and transplanting packaged type clamping end executor |
| CN104704967A (en) * | 2014-06-06 | 2015-06-17 | 中国计量学院 | Seedling picking claw for automatic plug-seedling transplanting machine |
| CN104782289A (en) * | 2015-04-23 | 2015-07-22 | 浙江大学 | End executor of potted vegetable seedling supply mechanical hand |
| CN105265077A (en) * | 2014-06-03 | 2016-01-27 | 中国计量学院 | Plug seedling tranplanter seedling transplanting apparatus |
| CN105660019A (en) * | 2016-01-19 | 2016-06-15 | 东北农业大学 | Three-needle clamping mechanism for transplanting pot seedlings in dry lands |
| CN107182399A (en) * | 2017-07-03 | 2017-09-22 | 浙江理工大学 | Pick transplantation of seedlings end effector in greenhouse |
| CN107852919A (en) * | 2017-12-20 | 2018-03-30 | 山东农业大学 | A kind of method that the seedling taking seedling launching mechanism and its seedling taking of pot seedling transplanter throw seedling |
| CN108124652A (en) * | 2017-12-27 | 2018-06-08 | 浙江理工大学 | A kind of greenhouse Plug seedling picks shovel manipulator of filling the gaps with seedlings |
| WO2018191121A1 (en) * | 2017-04-13 | 2018-10-18 | C.R. Bard, Inc. | Needle-orienting systems, devices, and methods thereof |
| CN109197058A (en) * | 2017-06-30 | 2019-01-15 | 石河子大学 | A kind of three bar separated entire row end effectors |
| CN109479470A (en) * | 2019-01-24 | 2019-03-19 | 内蒙古工业大学 | A kind of seedling picking mechanism of pot seedling transplanter |
| CN111819972A (en) * | 2020-08-31 | 2020-10-27 | 成都理工大学 | Full-automatic single-pendulum seedling taking transplanter |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103270838B (en) * | 2013-05-04 | 2015-05-20 | 曹伟鹏 | Hole seedling transplanting paw adaptive to hole trays with different models |
| CN103270838A (en) * | 2013-05-04 | 2013-09-04 | 曹伟鹏 | Hole seedling transplanting paw adaptive to hole trays with different models |
| CN103597939A (en) * | 2013-10-21 | 2014-02-26 | 浙江大学 | Single cylinder-driven plugging-clamping-type aperture disk seedling transplanting paw |
| CN103875341A (en) * | 2014-04-17 | 2014-06-25 | 南京农业大学 | End effector of transplanting machine |
| CN105265077A (en) * | 2014-06-03 | 2016-01-27 | 中国计量学院 | Plug seedling tranplanter seedling transplanting apparatus |
| CN104704967A (en) * | 2014-06-06 | 2015-06-17 | 中国计量学院 | Seedling picking claw for automatic plug-seedling transplanting machine |
| CN104552327A (en) * | 2014-12-25 | 2015-04-29 | 浙江理工大学 | Inferior pot seedling removing and transplanting packaged type clamping end executor |
| CN104782289B (en) * | 2015-04-23 | 2016-08-24 | 浙江大学 | Bowl vegetable seedling is filled the gaps with seedlings arm end effector |
| CN104782289A (en) * | 2015-04-23 | 2015-07-22 | 浙江大学 | End executor of potted vegetable seedling supply mechanical hand |
| CN105660019A (en) * | 2016-01-19 | 2016-06-15 | 东北农业大学 | Three-needle clamping mechanism for transplanting pot seedlings in dry lands |
| WO2018191121A1 (en) * | 2017-04-13 | 2018-10-18 | C.R. Bard, Inc. | Needle-orienting systems, devices, and methods thereof |
| CN109197058A (en) * | 2017-06-30 | 2019-01-15 | 石河子大学 | A kind of three bar separated entire row end effectors |
| CN107182399A (en) * | 2017-07-03 | 2017-09-22 | 浙江理工大学 | Pick transplantation of seedlings end effector in greenhouse |
| CN107852919A (en) * | 2017-12-20 | 2018-03-30 | 山东农业大学 | A kind of method that the seedling taking seedling launching mechanism and its seedling taking of pot seedling transplanter throw seedling |
| CN108124652A (en) * | 2017-12-27 | 2018-06-08 | 浙江理工大学 | A kind of greenhouse Plug seedling picks shovel manipulator of filling the gaps with seedlings |
| CN109479470A (en) * | 2019-01-24 | 2019-03-19 | 内蒙古工业大学 | A kind of seedling picking mechanism of pot seedling transplanter |
| CN111819972A (en) * | 2020-08-31 | 2020-10-27 | 成都理工大学 | Full-automatic single-pendulum seedling taking transplanter |
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Granted publication date: 20140903 Termination date: 20200109 |