CN103286780B - Grafting cave dish transplanting machinery hand end effector and grafting cave dish planting mechanism - Google Patents
Grafting cave dish transplanting machinery hand end effector and grafting cave dish planting mechanism Download PDFInfo
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- CN103286780B CN103286780B CN201310188547.4A CN201310188547A CN103286780B CN 103286780 B CN103286780 B CN 103286780B CN 201310188547 A CN201310188547 A CN 201310188547A CN 103286780 B CN103286780 B CN 103286780B
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Abstract
The invention provides a kind of grafting cave dish transplanting machinery hand end effector, comprise: terminal pad, gas pawl, connecting rod, Bo Tu mechanism and folder seedling block, gas pawl comprises cylinder, tracheae, cylinder linear motion guide and cleft hand, and cylinder one end is connected with terminal pad, and the other end connects cleft hand; Cylinder linear motion guide is connected with cylinder, and one end that cleft hand is connected with cylinder is connected with cylinder linear motion guide, and the other end of cleft hand is connected with connecting rod, and Bo Tu mechanism is connected with connecting rod with folder seedling block; Tracheae comprises air inlet pipe and escape pipe, and air inlet pipe is all connected with cylinder with one end of escape pipe.Present invention also offers corresponding grafting cave dish planting mechanism.Grafting cave of the present invention dish transplanting machinery hand end effector structures is compact, plant motion accurately, operating efficiency is high, and environmental protection.
Description
Technical field
The present invention relates to Agricultural Machinery Technology field, particularly, relate to a kind of grafting cave dish transplanting machinery hand end effector and grafting cave dish planting mechanism.
Background technology
At present, grafting cultivation has been the important measures that the melon-fruit-like vegetable protecting field such as cucumber, watermelon, tomato realize cultivation stable and high yields, high-quality.The country such as Japan, Holland, Korea S oneself generally adopt grafting cultivation technology, watermelon, the cucumber of 90%, the eggplant of 96% of Japan 100% all lean on grafting cultivation, Korea S almost 100% watermelon lean on grafting cultivation.Grafting cultivation technology have also been obtained in China and applies widely, and northern China such as the area such as Shandong, Hebei has defined large-scale vegetable grafting base, many places.Because vegetable grafting cultivation timeliness is very strong, the suitable grafting seedling age of grafting is very short, for ensureing the survival rate of grafting height of seedling, grafting work again refinement is carefully accurate, the rice shoot grafted also must return in time and plant, and the grafting in vegetable grafting base is planted be pressed for time, labour intensity is large, force the grafting person of planting to work all through the night, therefore, vegetable grafting base is in the urgent need to realizing vegetables automatic grafting planting technique.
Grafting adopts usually is abutted against, grafting, cleft grafting, amplexiforms and the method such as docking, and its grafting work can be completed automatically by grafting robot, but because of domestic without corresponding grafting transplant apparatus, the transplanting operation of grafting is still based on craft.Because manual transplanting grafting labour intensity is large, operation quality is difficult to ensure, and utilize grafting transplant robot not only can reduce labour intensity, boost productivity, ensure operation quality, the formation of batch production graft seedling growth system can also be promoted, therefore, plant with robot grafting and replace artificial grafting and plant and become very necessary.
Automatic grafting plants robot generally by conveying mechanism, carrying mechanism, rootstock seedling, scion seedling processing mechanism, and grafting mechanism and cave dish planting mechanism are formed.Grafting cave dish planting mechanism is the important component part of modern vegetable grafting nursery factory system, it is generally made up of manipulator, arm end effector, robot gantry, machine vision, planting hole dish and belt feeder, and wherein arm end effector comprises terminal pad, gas pawl, connecting rod, Bo Tu mechanism and folder seedling block etc.Grafting cave dish planting mechanism requires manipulator by the shoot transplanting equipment grafted in the cave dish of filling matrix, and is planted to exactly in Pan Ge cave, cave by grafting by certain cuttage degree of depth.
At present, China's industrialized agriculture relevant equipment development is at the early-stage, less to specializing in of dish transplanting machinery hand end effector aspect, cave.Cave dish transplanting machinery hand end effector is the equipment directly contacting manipulating object, due to grafting seedling can not be damaged in transplanting process, add that grafting is planted tenderness, the scrambling of manipulating object and the property complicated and changeable of environment, realize the automation that graft seedling growth is transplanted, the design problem of cave dish transplanting machinery hand end effector must be solved.The mechanism parameter of cave dish transplanting machinery hand end effector will have a strong impact on transplanting efficiency and survival rate, and its research and development all plays vital effect to the market value improving agricultural production efficiency and crops.
Summary of the invention
For defect of the prior art, in order to overcome the manual defect that efficiency is low, mechanization degree is low of planting of existing grafting, the object of this invention is to provide that a kind of positioning precision is high, efficiency of planting is high, stable working and meet grafting cave dish transplanting machinery hand end effector and the grafting cave dish planting mechanism of Modern Agricultural Machine requirement.
According to an aspect of the present invention, a kind of grafting cave is provided to coil transplanting machinery hand end effector, comprise: terminal pad, gas pawl, connecting rod, Bo Tu mechanism and folder seedling block, gas pawl comprises cylinder, tracheae, cylinder linear motion guide and cleft hand, cylinder one end is connected with terminal pad, and the other end connects cleft hand; Cylinder linear motion guide is connected with cylinder, and one end that cleft hand is connected with cylinder is connected with cylinder linear motion guide, and the other end of cleft hand is connected with connecting rod, and Bo Tu mechanism is connected with connecting rod with folder seedling block; Tracheae comprises air inlet pipe and escape pipe, and air inlet pipe is all connected with cylinder with one end of escape pipe.
Preferably, Bo Tu mechanism comprises left soil poking plate and right soil poking plate, and left soil poking plate and right soil poking plate stagger 4 millimeters up and down.
Preferably, left soil poking plate and right soil poking plate lower end are provided with notch.
Preferably, connecting rod is respectively with cleft hand, Bo Tu mechanism and press from both sides seedling block bolt and be connected.
According to another aspect of the present invention, a kind of grafting cave is provided to coil planting mechanism, comprise: manipulator, arm end effector, robot gantry, machine vision module, planting hole dish and belt feeder, manipulator one end is fixed on robot gantry, and the other end is connected with arm end effector; Belt feeder is disposed adjacent with robot gantry; Planting hole dish is arranged on belt feeder, machine vision module is connected to belt feeder side and is arranged on above planting hole dish, wherein, arm end effector comprises further: terminal pad, gas pawl, connecting rod, Bo Tu mechanism and folder seedling block, gas pawl comprises cylinder, tracheae, cylinder linear motion guide and cleft hand, terminal pad is connected with manipulator, and cylinder one end is connected with terminal pad, and the other end connects cleft hand; Cylinder linear motion guide is connected with cylinder, and one end that cleft hand is connected with cylinder is connected with cylinder linear motion guide, and the other end of cleft hand is connected with connecting rod, and Bo Tu mechanism is connected with connecting rod with folder seedling block; Tracheae comprises air inlet pipe and escape pipe, and air inlet pipe is all connected with cylinder with one end of escape pipe.
Preferably, Bo Tu mechanism comprises left soil poking plate and right soil poking plate, and left soil poking plate and right soil poking plate stagger 4 millimeters up and down.
Preferably, left soil poking plate and right soil poking plate lower end are provided with notch.
Preferably, connecting rod is respectively with cleft hand, Bo Tu mechanism and press from both sides seedling block bolt and be connected.
The course of work of grafting cave of the present invention dish transplanting machinery hand end effector comprises folder seedling, seedlings plugging, Song Miao, dial soil and from seedling etc., its detailed operation is: when the rice shoot grafted need send plant time, grafting is fallen to suitable position (making grafting growing point be positioned at the assigned address of manipulator crawl) by grafting machine, information is passed to grafting cave dish planting mechanism by grafting machine sensor-based system, and the manipulator of planting mechanism informs that end effector is carried out seedlings picking and prepared.When grafting falls, the folder seedling block of transplanting machinery hand end effector opens, and adjustment position is upwards caught and clamped the grafting that will fall, and completes folder seedling process.The manipulator of clamping grafting moves down, and moves quickly into the soil of filling substrate and accomplish fluently the dish top, cave in cave.Meanwhile, machine vision module image processing system fast by hole information transmission to manipulator, after manipulator path optimizing, to be moved quickly to above hole and to move down, accurately grafting being inserted in cave, complete seedlings plugging process.When grafting inserts in cave, arm end effector folder seedling block unclamps grafting, completes loose seedling process.When arm end effector folder seedling block unclamps grafting, left and right soil poking plate starts, to the grafting clawback substrate soil inserting cave, soil to be filled up cave, fixes grafting, completes and dials native process.After grafting is fixed by substrate soil, arm end effector moves suitable distance on the whole, then backed off after random cave dish, make arm end effector at no seedling injury, be not with when seedling and leave grafting, get back to grafting machine fast to fall seedling place, for seedlings picking is ready next time, to plant process with the whole-course automation completing grafting.
Compared with prior art, the present invention has following beneficial effect:
(1) gas pawl of the present invention selects cylinder to be used as power, can the adjustment operating rate of more convenient and quicker, and cylinder has higher reliability and longer service life, and its responsiveness is generally less than 1M/S, compared with hydraulic cylinder and pneumoelectric cylinder speed faster;
(2) reliability of system can be raised the efficiency, be improved to arm end effector of the present invention to a great extent, and can afford redress to error by the instruction of manipulator, improves the accuracy rate of seedling planting;
(3) end effector basic structure of the present invention is compact, and motion is accurately, easily manufactured, and equipment dependability is high, stable working, conveniently replaced quick-wear part, long service life;
(4) owing to adopting the pneumatics of energy-conserving and environment-protective, make arm end effector of the present invention better can adapt to Modern Manufacturing Technology, meet the trend to greenization future development and trend.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the structural representation of grafting cave provided by the invention dish planting mechanism;
Fig. 2 is the structural representation of grafting cave provided by the invention dish transplanting machinery hand end effector;
Fig. 3 is the folder seedling working state schematic representation of grafting cave provided by the invention dish transplanting machinery hand end effector;
Fig. 4 is the loose seedling working state schematic representation of grafting cave provided by the invention dish transplanting machinery hand end effector;
Fig. 5 is group native working state schematic representation of grafting cave provided by the invention dish transplanting machinery hand end effector;
Fig. 6 be grafting cave provided by the invention dish transplanting machinery hand end effector from seedling working state schematic representation.
In figure: 1 be grafting, 2 be arm end effector, 3 be manipulator, 4 be robot gantry, 5 be planting hole dish, 6 for machine vision module, 7 is belt feeder, 8 be terminal pad, 9 be cylinder, 10 be tracheae, 11 be cylinder linear motion guide, 12 be cleft hand, 13 be connecting rod, 14 for right soil poking plate, 15 be that left soil poking plate, 16 is for pressing from both sides seedling block.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
During the dish transplanting machinery manual task of cave, an end effector being used for the task that directly fulfils assignment must be installed, also referred to as robot hand in the end of mechanical arm wrist.The simple tool that the paw system of robot is just equivalent to the hand of people, pin and uses, it will choose corresponding Grasp Modes according to the situations such as the material of captured body surface, temperature, shape and size and the different task that will complete.Because cave dish transplanting machinery hand end effector is direct and plant physical environmental exposure, the termination problem of usual operating error often also appears on end effector, therefore, the design of cave dish transplanting machinery hand end effector is for extremely important reduction error and cycle period.
The grafting cave dish transplanting machinery hand end effector of the present invention's design utilizes multi-joint manipulator, by multi-sensor information fusion Real-time Obtaining, perception working environment and grafting information, guarantee under the prerequisite not damaging grafting, complete and to transfer grafting from grafting machine, and by the control of manipulator, fast grafting is transplanted to and specifies cave dish, realize grafting cave and coil the whole-process automatic equalization of planting.
The grafting cave dish planting mechanism of the present invention's design is made up of manipulator, arm end effector, robot gantry, machine vision module, planting hole dish and belt feeder, wherein arm end effector comprises terminal pad, gas pawl, connecting rod, Bo Tu mechanism and folder seedling block etc., and gas pawl comprises again cylinder, tracheae, cylinder linear motion guide and cleft hand.
Above-mentioned manipulator one end is fixed on robot gantry, and the other end is connected with arm end effector by terminal pad; Robot gantry is near belt feeder; Planting hole dish to be arranged on belt feeder and to be positioned at below the machine vision module that is fixed on belt feeder; Cylinder one end is connected with terminal pad, and the other end is connected with cleft hand; Tracheae has two, air inlet, one give vent to anger, two tracheae one end and cylinders, the other end is connected with magnetic switch, and magnetic switch is connected with air pump again; Bo Tu mechanism is made up of left soil poking plate and right soil poking plate; Cleft hand one end is connected with cylinder linear motion guide, and the other end is connected with connecting rod; Connecting rod is respectively with cleft hand, Bo Tu mechanism with press from both sides seedling block bolt and be connected.
Particularly, as shown in Figure 1, grafting planting mechanism of the present invention mainly comprises a kind of grafting cave dish planting mechanism, comprise: manipulator 3, arm end effector 2, robot gantry 4, machine vision module 6, planting hole dish 5 and belt feeder 7, manipulator 3 one end is fixed on robot gantry 4, and the other end is connected with arm end effector 2; Belt feeder 7 is disposed adjacent with robot gantry 4; Planting hole dish 5 is arranged on belt feeder 7, and machine vision module 6 is fixedly attached to belt feeder 7 side and is arranged on above planting hole dish 5.
As shown in Figure 2, arm end effector 2 comprises: terminal pad 8, gas pawl, connecting rod 13, Bo Tu mechanism and folder seedling block 16, gas pawl comprises cylinder 9, tracheae 10, cylinder linear motion guide 11 and cleft hand 12, and cylinder 9 one end is connected with terminal pad 8, and the other end connects cleft hand 12; Cylinder linear motion guide 11 is connected with cylinder 9, and one end that cleft hand 12 is connected with cylinder 9 is connected with cylinder linear motion guide 11, and the other end of cleft hand 12 is connected with connecting rod 13, and Bo Tu mechanism is connected with connecting rod 13 with folder seedling block 16; Tracheae 10 comprises air inlet pipe and escape pipe, and air inlet pipe is all connected with cylinder 9 with one end of escape pipe, and the other end connects air pump by magnetic switch.
Further, connecting rod 13 is respectively with cleft hand 12, Bo Tu mechanism with press from both sides seedling block 16 and be bolted.
Further, Bo Tu mechanism is made up of right soil poking plate 14 and left soil poking plate 15, and for avoiding mutually interfering during the work of left and right soil poking plate, left soil poking plate and right soil poking plate stagger the distance of 4 millimeters up and down, and soil poking plate lower end all has notch, soil poking plate is facilitated to insert in substrate soil.
The course of work of grafting cave provided by the invention dish transplanting machinery hand end effector comprises folder seedling, seedlings plugging, Song Miao, dial soil and from seedling etc., its detailed operation is: when the rice shoot grafted need send plant time, grafting is fallen to suitable position (making grafting growing point be positioned at the assigned address of manipulator crawl) by grafting machine, information is passed to transplanting machinery hand by grafting machine sensor-based system, and transplanting machinery hand informs that end effector is carried out seedlings picking and prepared.When grafting falls, the folder seedling block of transplanting machinery hand end effector opens, and adjustment position is upwards caught and clamped the grafting that will fall, and complete folder seedling process, its duty as shown in Figure 3.The transplanting machinery subordinate of clamping grafting moves, and moves quickly into the soil of filling substrate and accomplish fluently the dish top, cave in cave.Meanwhile, machine vision module image processing system fast by hole information transmission to transplanting machinery hand, after transplanting machinery hand path optimizing, to be moved quickly to above hole and to move down, accurately grafting being inserted in cave, complete seedlings plugging process.When grafting inserts in cave, arm end effector folder seedling block unclamps grafting, and complete loose seedling process, its duty as shown in Figure 4.When arm end effector folder seedling block unclamps grafting, left and right soil poking plate starts, to the grafting clawback substrate soil inserting cave, soil to be filled up cave, fixes grafting, and complete and dial native process, its duty as shown in Figure 5.After grafting is fixed by substrate soil, arm end effector moves suitable distance on the whole, then backed off after random cave dish, make arm end effector at no seedling injury, be not with when seedling and leave grafting, get back to grafting machine fast to fall seedling place, for seedlings picking is ready next time, to plant process with the whole-course automation completing grafting, arm end effector from seedling duty as shown in Figure 6.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (6)
1. a grafting cave dish transplanting machinery hand end effector, it is characterized in that, comprise: terminal pad, gas pawl, connecting rod, Bo Tu mechanism and folder seedling block, described gas pawl comprises cylinder, tracheae, cylinder linear motion guide and cleft hand, described cylinder one end is connected with described terminal pad, and the other end connects described cleft hand; Described cylinder linear motion guide is connected with described cylinder, one end that described cleft hand is connected with described cylinder is connected with described cylinder linear motion guide, the other end of described cleft hand is connected with described connecting rod, and described Bo Tu mechanism is connected with described connecting rod with folder seedling block; Described tracheae comprises air inlet pipe and escape pipe, and described air inlet pipe is all connected with described cylinder with one end of escape pipe; Wherein:
Described Bo Tu mechanism comprises left soil poking plate and right soil poking plate, and described left soil poking plate and right soil poking plate stagger 4 millimeters up and down.
2. grafting cave according to claim 1 dish transplanting machinery hand end effector, it is characterized in that, described left soil poking plate and right soil poking plate lower end are provided with notch.
3. grafting cave according to claim 1 dish transplanting machinery hand end effector, is characterized in that, described connecting rod is respectively with described cleft hand, Bo Tu mechanism and press from both sides seedling block bolt and be connected.
4. a grafting cave dish planting mechanism, it is characterized in that, comprise: manipulator, arm end effector, robot gantry, machine vision module, planting hole dish and belt feeder, described manipulator one end is fixed on robot gantry, and the other end is connected with described arm end effector; Described belt feeder is disposed adjacent with described robot gantry; Described planting hole dish is arranged on described belt feeder, described machine vision module is connected to described belt feeder side and is arranged on above described planting hole dish, wherein, described arm end effector comprises further: terminal pad, gas pawl, connecting rod, Bo Tu mechanism and folder seedling block, described gas pawl comprises cylinder, tracheae, cylinder linear motion guide and cleft hand, described terminal pad is connected with described manipulator, and described cylinder one end is connected with described terminal pad, and the other end connects described cleft hand; Described cylinder linear motion guide is connected with described cylinder, one end that described cleft hand is connected with described cylinder is connected with described cylinder linear motion guide, the other end of described cleft hand is connected with described connecting rod, and described Bo Tu mechanism is connected with described connecting rod with folder seedling block; Described tracheae comprises air inlet pipe and escape pipe, and described air inlet pipe is all connected with described cylinder with one end of escape pipe, and further, described Bo Tu mechanism comprises left soil poking plate and right soil poking plate, and described left soil poking plate and right soil poking plate stagger 4 millimeters up and down.
5. grafting cave according to claim 4 dish planting mechanism, it is characterized in that, described left soil poking plate and right soil poking plate lower end are provided with notch.
6. grafting cave according to claim 4 dish planting mechanism, is characterized in that, described connecting rod is respectively with described cleft hand, Bo Tu mechanism and press from both sides seedling block bolt and be connected.
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| CN201310188547.4A CN103286780B (en) | 2013-05-20 | 2013-05-20 | Grafting cave dish transplanting machinery hand end effector and grafting cave dish planting mechanism |
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| CN201310188547.4A CN103286780B (en) | 2013-05-20 | 2013-05-20 | Grafting cave dish transplanting machinery hand end effector and grafting cave dish planting mechanism |
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| CN103286780B true CN103286780B (en) | 2015-10-14 |
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| CN103461010B (en) * | 2013-09-18 | 2014-11-12 | 浙江理工大学 | Grated seedling locating and clamping device |
| CN103507079A (en) * | 2013-09-29 | 2014-01-15 | 马万里 | Robot end effector |
| CN104247601B (en) * | 2014-09-17 | 2016-07-06 | 上海交通大学 | Grafting hole tray transplanting machinery hands end effector and accordingly planting mechanism and method |
| CN104429249B (en) * | 2014-10-20 | 2016-02-24 | 浙江理工大学 | A kind of grafting returns cultivation end effector |
| CN106961884A (en) * | 2017-05-11 | 2017-07-21 | 新疆农业大学 | A kind of automatic planting machine of sacsaoul |
| CN109874471A (en) * | 2019-04-12 | 2019-06-14 | 华北水利水电大学 | A kind of rice seedling transplanter lubrication selects seedling integrated device |
| CN115517089A (en) * | 2022-02-20 | 2022-12-27 | 聊城大学 | Pure pneumatic control system of seedling grafting robot |
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| CN1078847A (en) * | 1992-05-17 | 1993-12-01 | 吉林工业大学 | Fully automatic seedling transplanter |
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