CN103053340A - Rotating seedling holder of grafting machine - Google Patents
Rotating seedling holder of grafting machine Download PDFInfo
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- CN103053340A CN103053340A CN2013100120761A CN201310012076A CN103053340A CN 103053340 A CN103053340 A CN 103053340A CN 2013100120761 A CN2013100120761 A CN 2013100120761A CN 201310012076 A CN201310012076 A CN 201310012076A CN 103053340 A CN103053340 A CN 103053340A
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Abstract
The invention relates to a rotating seedling holder of a grafting machine and aims to provide a device capable of continuously rotating after seedling holding so as to coordinate with other mechanisms to realize high-speed grafting. The technical scheme includes that the rotating seedling holder of the grafting machine comprises a plurality of clamping claw mechanisms used for clamping rootstocks. Each clamping claw mechanism comprises a horizontal bottom plate, two clamping arms and two connecting rods, wherein the horizontal bottom plate is fixed at the lower end of en end plate, the two clamping arms are rotatably hinged above the bottom plate and used for clamping the rootstocks, and two ends of the connecting rods are respectively rotatably hinged on clamping arm power arms and a push rod. The rotating seedling holder of the grafting machine is characterized by further comprising a fixed plate provided with a through hole, a double-column type rotating mechanism vertically mounted on the fixed plate, a plurality of clamping mechanisms driven by the double-column type rotating mechanism, and a cam for driving the clamping mechanism. The rotating seedling holder of the grafting machine has the advantages of simple structure and convenience in production.
Description
Technical field
The present invention relates to a kind of grafting fruits and vegetables machine, the seedling device is held in the rotation that specifically is applicable to the clamping grafting in a kind of grafting fruits and vegetables machine.
Background technology
Grafting robot is a kind of new and high technology that integrates machinery, automatic control and facilities horticulture technology that occurs in the world in recent years.Along with the development of present grafting robot technology, the efficient of seedling grafting has reached higher level on the individual plant.But the pneumatic means that is used at present the operation of driving clamping device still exists deficiency, mainly be that this device can not continuous rotation, only have a strain grafting to be in the operation station in the grafting process, other graftings must stop at the wait station, cause grafting manufacturing schedule and efficient to be difficult to further raising.
Summary of the invention
The objective of the invention is to overcome the deficiency in the above-mentioned background technology, provide a kind of rotation of grafting machine to hold the seedling device, this device should be able to carry out the continuous rotation operation cooperating other winding machine high speed grafting behind the clamping nursery stock, and has characteristics simple in structure and convenient for production.
Technical scheme of the present invention is: the seedling device is held in the rotation of grafting machine, comprise some clip claw mechanisms for the clamping stock, each clip claw mechanism comprises the horizonal base plate that is fixed on the end plate lower end, be hinged on the base plate top rotationally is hinged on respectively the connecting rod on clamping limb power arm and the push rod rotationally with two clamping limbs, the two ends that are used for the clamping stock; It is characterized in that: some clamping devices that the seedling device also comprises the fixed head that is shaped with through hole, is vertically mounted on queen post rotating mechanism on the fixed head, driven by the queen post rotating mechanism and the cam that drives these clamping devices are held in this rotation;
Described queen post rotating mechanism comprises from inside to outside the suit of coaxial sleeve successively and is rotatably positioned respectively central shaft and camshaft in sleeve; The upper end of described camshaft protrudes from the upper surface of sleeve and the bottom that through hole extends to fixed head is passed through in the lower surface of this camshaft; The upper and lower side of described central shaft protrudes from the upper and lower end face of camshaft;
Described queen post rotating mechanism drives some clamping devices by syndeton; This syndeton comprise an installing plate that is horizontally fixed on the central shaft top, several be radial be horizontally fixed on the described installing plate and respectively with described clamping device fixing connecting plate one by one;
Described cam level is fixed in the camshaft top, and the circumferential working face of cam is superposeed up and down by two top-surface cambers that be used for to promote the clamping device motion and lower surface camber and forms;
In the described clamping device, a guide plate is all fixed in each connecting plate outer, is shaped with drive link through hole and two sliding bar through holes that axis horizontal is arranged that two axis horizontal are arranged on this guide plate; Be fixed in the end plate inboard after one end level of overhead cam bar is passed through the drive link through hole, the other end is by being set on exert pressure the top-surface camber engagement with described cam of spring on its body of rod; Lower cam lever is positioned at the below of overhead cam bar, and one end successively level is fixed in the push rod inboard after passing through drive link through hole and end plate, and the other end is also by being set on exert pressure the lower surface camber engagement with described cam of spring on its body of rod; Two sliding bars that are fixed in the end plate inboard then can be positioned in the sliding bar through hole horizontally slidingly.
Described central shaft is rotatably positioned in the inner chamber of camshaft by bearing; Described camshaft is rotatably positioned in the inner chamber of sleeve by bearing.
The center of described cam is shaped with circular hole, and this circular hole is beneficial to central shaft greater than central shaft and passes through.
Described two sliding bars are arranged symmetrically in the both sides of overhead cam bar and lower cam lever; Described two sliding bar through holes are arranged symmetrically in the both sides of two drive link through holes.
Described overhead cam bar is shaped with the overhead cam bar collar for regulating spring pressure, and lower cam lever is shaped with the lower cam lever collar for regulating spring pressure.
The upper surface of described sleeve is provided with the sleeve end cap of an annular, and this sleeve end cap is threaded connection on the inner peripheral surface of sleeve upper end; The upper surface of described camshaft is provided with the camshaft end cap of an annular, and this camshaft end cap is threaded connection on the inner peripheral surface of camshaft upper end.
The invention has the beneficial effects as follows:
The present invention is by the continuous rotation operation of a plurality of clamping devices, a plurality of nursery stocks can be transported to respectively and get the seedling station, cut the cotyledon station, grafting station and return that planting distributes on the station carries out the grafting operation, overcome the shortcoming that pneumatic means can not continuous rotation, realize running up of device for grafting, effectively promoted the production efficiency of seedling grafting on the individual plant; And the present invention is relatively simple for structure, produces also more convenient.
Description of drawings
Fig. 1 is perspective view of the present invention.
Fig. 2 is the combining structure schematic diagram of fixed head among the present invention, queen post rotating mechanism, cam and installing plate.
Fig. 3 is the cross-sectional view of fixed head and queen post rotating mechanism among the present invention.
Fig. 4 is the perspective view of installing plate among the present invention.
Fig. 5 is the perspective view of cam of the present invention.
Fig. 6 is the perspective view of connecting plate among the present invention.
Fig. 7 is the perspective view of guide plate among the present invention.
Fig. 8 is the perspective view of clamping device among the present invention.
Fig. 9 is the schematic diagram of duty one of the present invention.
Figure 10 is the schematic diagram of duty two of the present invention.
Figure 11 is the schematic diagram of duty three of the present invention.
Embodiment
Below in conjunction with Figure of description, the invention will be further described, but the present invention is not limited to following examples.
As shown in Figure 1, the seedling device is held in the rotation of grafting machine, mainly comprise fixed head 1, be vertically mounted on queen post rotating mechanism on the fixed head, by the queen post rotating mechanism drive and be used for the crawl stock some clamping devices, drive the cam 5 of these clamping devices and the some syndetons that connect queen post rotating mechanism and some clamping devices.
This fixed head is shaped with through hole 1-2 and the annular groove 1-1 of coaxial surrounding outside through hole.
This queen post rotating mechanism comprises from inside to outside the suit of coaxial sleeve successively and is rotatably positioned respectively central shaft 2-6 and camshaft 2-4 in sleeve 2-1; Sleeve is installed on the fixed head by bolt; Camshaft is rotatably positioned in the inner chamber of sleeve (camshaft is installed in rotation in the barrel bore by clutch shaft bearing 2-8, and camshaft is installed in rotation on the groove of fixed head by the second bearing 2-9) by bearing; The upper end of camshaft protrudes from the upper surface of sleeve and the bottom that through hole extends to fixed head is passed through in the lower surface of this camshaft; The sleeve end cap 2-3 of an annular is also established in the upper surface of sleeve, and this socket end lid closes the annular opening of camshaft outer circumference surface and the inner peripheral surface formation of sleeve upper end, and is threaded connection on the inner peripheral surface of sleeve upper end; Central shaft is rotatably positioned in camshaft (central shaft is installed in rotation in the camshaft inner chamber by clutch shaft bearing 2-8 and the second bearing 2-9) by bearing; The upper and lower end face of central shaft protrudes from the upper and lower end face of camshaft; The upper surface of camshaft is provided with the camshaft end cap 2-2 of an annular, and this camshaft end cap closes the annular opening of camshaft outer circumference surface and the inner peripheral surface formation of camshaft upper end, and is threaded connection on the inner peripheral surface of camshaft upper end.
This syndeton comprises that one is fixed on the installing plate 6 on central shaft top, the some connecting plate 4 of radial level above installing plate that be; Each clamping device and connecting plate are fixing one by one.
This cam level is fixed in the camshaft top, and cam center is shaped with circular hole 5-3, and this circular hole is beneficial to central shaft greater than central shaft and passes through, and the circumferential working face of cam comprises top-surface camber 5-1 and the lower surface camber 5-2 of up and down stack; Top-surface camber and lower surface camber are used for promoting the clamping device motion.
4 of clamping device operated by rotary motion, the connecting plate in the syndeton also correspondence arrange 4.
This clamping device comprises clip claw mechanism, and this clip claw mechanism comprises the horizonal base plate 3-5 that is fixed on end plate 3-1 lower end, be hinged on the base plate top rotationally is hinged on respectively two connecting rod 3-3 on clamping limb power arm and the push rod 3-2 rotationally with two clamping limb 3-4, the two ends that are used for the clamping stock; This clip claw mechanism is prior art.
This clamping device also comprises guide plate 3, two sliding bar 3-6, overhead cam bar 3-7 and lower cam lever 3-8; The overhead cam bar is shaped with the overhead cam bar collar 3-7-1 for regulating spring 7 pressure, and lower cam lever also is shaped with for being shaped with respectively hold-down screw in the lower cam lever collar 3-8-1(overhead cam bar collar of regulating spring 7 pressure and the lower cam lever collar; Tightening hold-down screw can be fastened on the collar of overhead cam bar on the overhead cam bar, perhaps lower cam lever collar is fastened on the lower cam lever; Changing the fixed position of collar on cam lever is the pressure on top surface of adjustable springs); Outer and in the vertical direction that guide plate is fixed on connecting plate extend; Be shaped with drive link through hole 4-1 and two sliding bar through hole 4-2 that axis horizontal is arranged that two axis horizontal are arranged on each guide plate; Two sliding bar through holes are arranged symmetrically in the both sides of two drive link through holes; One end level of overhead cam bar is fixed in end plate inboard (the end plate medial surface is to the queen post rotating mechanism) after passing through the drive link through hole, and the other end is exerted pressure and meshed with top-surface camber by being set on spring on its body of rod; Lower cam lever is positioned at the below of overhead cam bar, and one end successively level is fixed in push rod inboard (the push rod medial surface is to the queen post rotating mechanism) after passing through drive link through hole and end plate, and the other end is also exerted pressure and meshed with lower surface camber by being set on spring on its body of rod; It is inboard and be arranged symmetrically in the both sides of overhead cam bar and lower cam lever that two sliding bar 3-6 are fixed in end plate, also can be positioned horizontally slidingly in the sliding bar through hole simultaneously.
When cam rotates, overhead cam bar and lower cam lever can be along with the fluctuating of the circumferential working face of cam horizontal axis movement, and then promote the flexible or folding of clip claw mechanism in the clamping device; Wherein, epirelief wheel column control clip claw mechanism stretches the folding of lower cam lever control clip claw mechanism.
Mainly be divided into four stations when working when of the present invention stock is processed, be respectively and get the seedling station, cut cotyledon station, grafting station and return the cultivation station.Represent to get that seedling station, B represent to cut the cotyledon station, C represents that grafting station, D represent back to plant station such as Fig. 9, Figure 10 and shown in Figure 11: A; Clip claw mechanism a correspondence is got seedling station A, and clip claw mechanism b correspondence is cut cotyledon station B, the corresponding grafting station of clip claw mechanism c C, and corresponding the returning of clip claw mechanism d planted station D.
Job step of the present invention is as follows:
One, original state; As shown in Figure 9, clip claw mechanism a is in punctured position and clamping limb is opened, clip claw mechanism b and clip claw mechanism c all is in extended position and clamping limb is closed, and clip claw mechanism d is in punctured position and clamping limb is closed.
Two, camshaft starts; External power supply (for example motor) drive cam shaft dextrorotation turn 90 degrees (it is static that central shaft then keeps), also corresponding rotation and change the overhead cam bar and the position of lower cam lever of cam, thus drive the clamping device operation; As shown in figure 10:
Clip claw mechanism a stretches out forward and the clamping limb closure, and clamping limb is being got gripping stock on the seedling station A;
Clip claw mechanism b do not change (still be in extended position and clamping limb is closed); Cut a cutting mechanism (not being described in detail) that arranges in addition on the cotyledon station B, wiping out the cotyledon that is positioned at the upper stock of clamping limb b;
Clip claw mechanism c inwardly shrinks, but clamping limb still is closed condition; A grafting mechanism (not being described in detail) that arranges in addition on grafting station C carries out scion to being positioned at the upper stock of clamping limb c;
Clip claw mechanism d still opens for contraction state but clamping limb; Returning clamping limb release stock on the cultivation station D, finish back cultivation.
Three, camshaft and central shaft start; External power supply drives central shaft and camshaft is rotated counterclockwise 90 degree simultaneously, and each clamping device is rotated counterclockwise to next adjacent station; As shown in figure 11:
Clip claw mechanism a moves to a strain stock of new crawl and cuts cotyledon station B, prepares the excision cotyledon;
The stock that clip claw mechanism b will excise cotyledon moves to grafting station C, prepares to carry out scion;
The stock that clip claw mechanism c will finish grafting moves to back cultivation station D, prepares back to plant;
Clip claw mechanism d forwards to and gets seedling station A, prepares the stock of the new strain of crawl.
Four, circulation two, three steps are until finish the grafting operation.
Clip claw mechanism a is at first getting gripping stock on the seedling station A, then excises cotyledon cutting cotyledon station B, also carries out scion at grafting station C, plants station D and finishes the return load rear clip-claw a of mechanism and get back to again and get seedling station A and enter the next round circulation returning at last.
Therefore, a strain stock is the successively respectively processing by each station in the present invention, just can finish scion after being rotated counterclockwise for 3/4ths weeks, has realized seedling grafting on the individual plant of greater efficiency, has effectively promoted production efficiency.
In addition, the present invention also needs the scion device to cooperate in use; And the scion device only has three stations when clamping fringe wood, is respectively: get the seedling station, cut cotyledon station and grafting station; Therefore, the present invention is carried out simple refit, four clamping devices are reduced to three clamping devices after, the present invention can realize the function of clamping fringe wood.
Claims (6)
1. the seedling device is held in the rotation of grafting machine, comprise some clip claw mechanisms for the clamping stock, each clip claw mechanism comprises the horizonal base plate (3-5) that is fixed on end plate (3-1) lower end, be hinged on the base plate top rotationally is hinged on respectively connecting rod (3-3) on clamping limb power arm and the push rod (3-2) rotationally with two clamping limbs (3-4), the two ends that are used for the clamping stock; It is characterized in that: some clamping devices that the seedling device also comprises the fixed head (1) that is shaped with through hole (1-2), is vertically mounted on queen post rotating mechanism on the fixed head, driven by the queen post rotating mechanism and the cam (5) that drives these clamping devices are held in this rotation;
Described queen post rotating mechanism comprises from inside to outside the suit of coaxial sleeve successively and is rotatably positioned respectively central shaft (2-6) and camshaft (2-4) in sleeve (2-1); The upper end of described camshaft protrudes from the upper surface of sleeve and the bottom that through hole extends to fixed head is passed through in the lower surface of this camshaft; The upper and lower side of described central shaft protrudes from the upper and lower end face of camshaft;
Described queen post rotating mechanism drives some clamping devices by syndeton; This syndeton comprise an installing plate (6) that is horizontally fixed on the central shaft top, several be radial be horizontally fixed on the described installing plate and respectively with described clamping device fixing connecting plate (4) one by one;
Described cam level is fixed in the camshaft top, and the circumferential working face of cam is superposeed up and down by two top-surface cambers (5-1) that be used for to promote the clamping device motion and lower surface camber (5-2) and forms;
In the described clamping device, a guide plate (3) is all fixed in each connecting plate outer, is shaped with drive link through hole (4-1) and two sliding bar through holes (4-2) that axis horizontal is arranged that two axis horizontal are arranged on this guide plate; Be fixed in the end plate inboard after one end level of overhead cam bar (3-7) is passed through the drive link through hole, the other end is by being set on exert pressure the top-surface camber engagement with described cam of spring on its body of rod; Lower cam lever is positioned at the below of overhead cam bar, and one end successively level is fixed in the push rod inboard after passing through drive link through hole and end plate, and the other end is also by being set on exert pressure the lower surface camber engagement with described cam of spring on its body of rod; Two sliding bars (3-6) that are fixed in the end plate inboard then can be positioned in the sliding bar through hole horizontally slidingly.
2. the seedling device is held in the rotation of grafting machine according to claim 1, it is characterized in that: described central shaft is rotatably positioned in the inner chamber of camshaft by bearing; Described camshaft is rotatably positioned in the inner chamber of sleeve by bearing.
3. the seedling device is held in the rotation of grafting machine according to claim 2, it is characterized in that: the center of described cam is shaped with circular hole (5-3), and this circular hole is beneficial to central shaft greater than central shaft and passes through.
4. the seedling device is held in the rotation of grafting machine according to claim 3, it is characterized in that: described two sliding bars are arranged symmetrically in the both sides of overhead cam bar and lower cam lever; Described two sliding bar through holes are arranged symmetrically in the both sides of two drive link through holes.
5. the seedling device is held in the rotation of grafting machine according to claim 4, it is characterized in that: described overhead cam bar is shaped with the overhead cam bar collar (3-7-1) for regulating spring pressure, and lower cam lever is shaped with the lower cam lever collar (3-8-1) for regulating spring pressure.
6. the seedling device is held in the rotation of grafting machine according to claim 5, it is characterized in that: the upper surface of described sleeve is provided with the sleeve end cap (2-3) of an annular, and this sleeve end cap is threaded connection on the inner peripheral surface of sleeve upper end; The upper surface of described camshaft is provided with the camshaft end cap (2-2) of an annular, and this camshaft end cap is threaded connection on the inner peripheral surface of camshaft upper end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310012076.1A CN103053340B (en) | 2013-01-11 | 2013-01-11 | Rotating seedling holder of grafting machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310012076.1A CN103053340B (en) | 2013-01-11 | 2013-01-11 | Rotating seedling holder of grafting machine |
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| Publication Number | Publication Date |
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| CN103053340A true CN103053340A (en) | 2013-04-24 |
| CN103053340B CN103053340B (en) | 2014-04-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310012076.1A Expired - Fee Related CN103053340B (en) | 2013-01-11 | 2013-01-11 | Rotating seedling holder of grafting machine |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103461009A (en) * | 2013-09-18 | 2013-12-25 | 浙江理工大学 | Indirect drive rotating clamp holder |
| CN103621323A (en) * | 2013-12-09 | 2014-03-12 | 浙江理工大学 | Rotary seedling holding device for automatic plate change type grafting machine |
| CN107344364A (en) * | 2017-09-04 | 2017-11-14 | 武汉申安智能系统股份有限公司 | A kind of frock clamp shifted in order for culture dish batch |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04190718A (en) * | 1990-11-27 | 1992-07-09 | Seibutsukei Tokutei Sangyo Gijutsu Kenkyu Suishin Kiko | Method for delivering grafting seedling for grafting apparatus |
| JP2008187964A (en) * | 2007-02-06 | 2008-08-21 | Iseki & Co Ltd | Grafted seedling producing apparatus |
| EP2044832A1 (en) * | 2007-10-03 | 2009-04-08 | B. Rombouts Beheer B.V. | Branch carrier |
| CN201995367U (en) * | 2011-01-21 | 2011-10-05 | 北京农业智能装备技术研究中心 | Grafting machine |
| CN102823438A (en) * | 2012-09-14 | 2012-12-19 | 中国农业大学 | Automatic grafting machine |
| CN203120532U (en) * | 2013-01-11 | 2013-08-14 | 浙江理工大学 | Rotary seedling holder of grafting machine |
-
2013
- 2013-01-11 CN CN201310012076.1A patent/CN103053340B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04190718A (en) * | 1990-11-27 | 1992-07-09 | Seibutsukei Tokutei Sangyo Gijutsu Kenkyu Suishin Kiko | Method for delivering grafting seedling for grafting apparatus |
| JP2008187964A (en) * | 2007-02-06 | 2008-08-21 | Iseki & Co Ltd | Grafted seedling producing apparatus |
| EP2044832A1 (en) * | 2007-10-03 | 2009-04-08 | B. Rombouts Beheer B.V. | Branch carrier |
| CN201995367U (en) * | 2011-01-21 | 2011-10-05 | 北京农业智能装备技术研究中心 | Grafting machine |
| CN102823438A (en) * | 2012-09-14 | 2012-12-19 | 中国农业大学 | Automatic grafting machine |
| CN203120532U (en) * | 2013-01-11 | 2013-08-14 | 浙江理工大学 | Rotary seedling holder of grafting machine |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103461009A (en) * | 2013-09-18 | 2013-12-25 | 浙江理工大学 | Indirect drive rotating clamp holder |
| CN103461009B (en) * | 2013-09-18 | 2014-11-12 | 浙江理工大学 | Indirect drive rotating clamp holder |
| CN103621323A (en) * | 2013-12-09 | 2014-03-12 | 浙江理工大学 | Rotary seedling holding device for automatic plate change type grafting machine |
| CN103621323B (en) * | 2013-12-09 | 2015-01-21 | 浙江理工大学 | Rotary seedling holding device for automatic plate change type grafting machine |
| CN107344364A (en) * | 2017-09-04 | 2017-11-14 | 武汉申安智能系统股份有限公司 | A kind of frock clamp shifted in order for culture dish batch |
| CN107344364B (en) * | 2017-09-04 | 2023-12-19 | 武汉申安智能系统股份有限公司 | Tool clamp for batch orderly transfer of culture dishes |
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| CN103053340B (en) | 2014-04-23 |
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Granted publication date: 20140423 Termination date: 20170111 |