CN103385056B - Pneumatic buffering transplanting and positioning mechanism for flower seedlings - Google Patents
Pneumatic buffering transplanting and positioning mechanism for flower seedlings Download PDFInfo
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- CN103385056B CN103385056B CN201310241959.XA CN201310241959A CN103385056B CN 103385056 B CN103385056 B CN 103385056B CN 201310241959 A CN201310241959 A CN 201310241959A CN 103385056 B CN103385056 B CN 103385056B
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Abstract
The invention relates to the technical field of agricultural intelligent equipment and discloses a pneumatic buffering transplanting and positioning mechanism for flower seedlings. The mechanism comprises parallely arranged gantry supports; a horizontal guide rail is arranged on each support crossbeam; two symmetric idle pulley fixing plates are mounted through horizontal slide blocks, and the inner side of each idle pulley fixing plate is connected with the vertical guide rail of each vertical plate through a vertical slide block; the lower part of the inner side of the vertical plate is connected with a crossbeam used for installation of a clamping paw; a synchronous draw gear composed of motors, synchronous belts, synchronous pulleys, synchronous wheel shafts, idle pulleys and tensioning wheels drives the vertical plates to horizontally move along the horizontal guide rails and vertically move along the vertical guide rails so as to drive the clamping paw mounted on the crossbeam to move, so positioning in the process of transplanting of seedlings is realized; the positioning mechanism has a compact structure and moves smoothly; furthermore, buffering air cylinders are arranged between the vertical plates and the idle pulley fixing plates, and through the buffering air cylinders, self-weight load of the vertical plates is offset, inertial impact is buffered, and driving load of the motors is reduced.
Description
Technical field
The present invention relates to agriculture intelligent equipment technology field, disclose a kind of pneumatic buffer flowers transplantation of seedlings detent mechanism.
Background technology
Along with the development of Development of China's Urbanization, the input of environmental greening in urban construction progressively increases.Parterre flower has good sight and ageing because of it, plays an important role, all have the huge market demand throughout the country in Festival celebration Festival and daily urban environment decoration.Current Chinese flower production equipment is supporting still perfect not, and working feature still based on manually, wherein coils to the performance of flowerpot transplanting link particularly outstanding pot flowers seedling by cave, urgently researches and develops seedling transplanter tool and realizes flower seed plantlet transplanting automated job.Since the nineties in 20th century, the country such as Holland, the U.S., Korea S have developed has the automation equipment that function is transplanted in seedling sorting, and has carried out industry application.The people such as domestic Qiu the beginning of spring, guilt pine are also for the research that vegetable pot seedling automatic transplanting is correlated with.
As shown in Figure 1, the schematic diagram of flower seedlings automatic transplanter, it is formed primarily of bracing frame 100, transplanting detent mechanism 103, retaining paw 104, seedling identification camera 105, cave dish conveyer belt 106 and flowerpot conveyer belt 107 and flowerpot material loading push rod 108.In operation process, cave dish 101 is positioned over cave dish conveyer belt 106, and flowerpot 102 is positioned on flowerpot conveyer belt 107, and cave dish 101 and flowerpot 102 are respectively with respective conveyor belt motion.Retaining paw 104 drives by transplanting detent mechanism 103, after seedling is picked up from cave dish 101, be promoted to the height of flowerpot 102, to each other apart from be adjusted to flowerpot 102 equidistantly after, be sent to after above flowerpot 102 and seedling inserted in flowerpot 102, finally be back to above cave dish 101, complete and once transplant work cycle.
At present, the zigzag tread patterns of the transplanting detent mechanism 103 of existing flowers seedling transplanter mainly contains two kinds of forms.Be that the motion of horizontal direction drives a Timing Belt by motor, utilize Timing Belt horizontal movement to draw and realize translational sideways movement; The motion of vertical direction, by motor rotary actuation chain, utilizes the traction that moves up and down between the non-region of engagement of chain to realize longitudinal translational movement.Another kind is a kind of intermittent motion mechanism of being engaged with tooth bar by partial gear, by power source drive just can realize retaining paw 104 comprise transfer, the seedling and discharge a whole set of motion flow process of seedling of choosing.
Seedling in automatic transplanting process, the requirement that demand fulfillment is efficient, steady and safe and reliable, thus the effect giving full play to automatic transplanter.Position by transplanting the retaining paw 104 of detent mechanism 103 to clamping seedling in transplanting process, motion is stably conducive to preventing seedling from coming off from paw, causes and transplants unsuccessfully.Adopt the type of drive that chain or rack-and-pinion vertically move transplanting detent mechanism 103 in transplanter described above, easily produce fluctuation in motion process and impact and velocity jump, stationarity is poor.Meanwhile, when detent mechanism drives and vertically moves, without pooling feature, conduct oneself with dignity caused velocity jump comparatively greatly by motion inertia and mechanism, be unfavorable for that transplanting operation efficiently carries out.
Summary of the invention
(1) technical problem that will solve
The object of this invention is to provide one to realize detent mechanism and vertically move and claim stably to plant detent mechanism; And further realization underspeeds sudden change impact effect and improves transplanting operating efficiency.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides pneumatic buffer flowers transplantation of seedlings detent mechanism, it comprises:
Two gantry supports be arranged in parallel, the rack beam relative inner of described gantry support is respectively equipped with horizontal guide rail;
Two risers be arranged in parallel, the opposing outside of described riser is respectively equipped with longitudinal rail;
Crossbeam, described riser is linked together by described crossbeam, and described crossbeam is for installing retaining paw;
Two idle pulley fixed heads, the outside of described idle pulley fixed head is provided with cross sliding clock, is provided with longitudinal sliding block inside it; Described cross sliding clock and described horizontal guide rail are slidably connected; Described longitudinal sliding block and described longitudinal rail are slidably connected;
Synchronous drive device, described synchronous drive device comprises two motors, two Timing Belts, four synchronous pulleys, two synchronous wheel shafts, eight idle pulleys and two regulating wheels, described synchronous pulley is installed on synchronous wheel shaft both sides, described rack beam is fixed on by bearing block in each described synchronous wheel shaft two ends, and described synchronous wheel shaft is connected with described motor respectively; Described regulating wheel is arranged on the outer upper of described riser respectively; Four described idle pulleys installed by each described idle pulley fixed head, and described idle pulley is installed on the corner of described idle pulley fixed head; Timing Belt described in every bar engages with two described synchronous pulleys and a regulating wheel, and is wound in inside four described idle pulleys, and the outer lower portion of described riser is fixed at its two ends.
Wherein, described transplanting detent mechanism also comprises two symmetrically arranged lift buffer devices, and each described lift buffer device comprises cylinder, constant voltage source of the gas, cylinder mounting plate and cylinder supports block; Described cylinder comprises cylinder body and piston; The cylinder body of described cylinder is fixed on described riser by described cylinder mounting plate; Described cylinder supports block is fixed on described idle pulley fixed head, the rod end of described piston and described cylinder supports block top press contacts; Described constant voltage source of the gas comprises air compressor, pressure-reducing valve, overflow valve, pipeline and bypass line, and the outlet of described air compressor is connected with cylinder body by pipeline; Described pressure-reducing valve is located on pipeline; Described bypass line is located on the pipeline between described pressure-reducing valve and described cylinder body, and described overflow valve is located in bypass line.
Preferably, described cylinder is spring retraction type single-acting cylinder.
Wherein, described source of the gas loop also comprises Pressure gauge and silencer, and described Pressure gauge is located on the pipeline between described pressure-reducing valve and cylinder body; Described silencer is arranged in described bypass line.
Wherein, described Timing Belt is fixed on the outer lower portion of described riser by Timing Belt pressing plate.
Wherein, described synchronous wheel shaft is connected by shaft joint with described motor.
Wherein, described idle pulley is installed on described idle pulley fixed head by idler shaft; One end of described idler shaft is fixed on described idle pulley fixed head, and described idle pulley is arranged on described idler shaft by bearing, and the other end of described idler shaft carries out axial location by nut to idle pulley.
(3) beneficial effect
Pneumatic buffer flowers transplantation of seedlings detent mechanism provided by the invention, comprise the gantry support be arranged in parallel, rack beam arranges horizontal guide rail, by cross sliding clock, two symmetrical idle pulley fixed heads are installed, the inner side of idle pulley fixed head is connected with the longitudinal rail of riser by longitudinal sliding block, the lower inside of riser is connected with the crossbeam for installing retaining paw, pass through motor, Timing Belt, synchronous pulley, synchronous wheel shaft, the synchronizing tractor that idle pulley and regulating wheel are formed drives riser to move horizontally along horizontal guide rail and longitudinally guide rail vertically moves, thus drive the retaining paw be arranged on crossbeam to move, realize transplanting the location in seedling process, detent mechanism compact conformation, stable movement.Further, between riser and idle pulley fixed head, bounce cylinder is set, by bounce cylinder offset riser from heavy load, buffering inertia impact, reduce the driving load of motor, be conducive to improving control accuracy and transplanting efficiency, make to transplant action downwards simultaneously and there is buffering effect, prevent seedling from damaging.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of existing flower seedlings automatic transplanter;
Fig. 2 is the stereogram of pneumatic buffer flowers transplantation of seedlings detent mechanism of the present invention;
Fig. 3 is the synchronizing tractor figure of pneumatic buffer flowers transplantation of seedlings detent mechanism of the present invention;
Fig. 4 is the part A enlarged drawing of the stereogram of pneumatic buffer flowers transplantation of seedlings detent mechanism of the present invention;
Fig. 5 is the constant voltage cylinder schematic diagram of pneumatic buffer flowers transplantation of seedlings detent mechanism of the present invention;
In figure, 100: bracing frame; 101: cave is coiled; 102: flowerpot; 103: transplant detent mechanism; 104: retaining paw; 105: seedling identification camera; 106: cave dish conveyer belt; 107: flowerpot conveyer belt; 108: flowerpot material loading push rod; 1: gantry support; 1a: rack beam; 1b: support bar; 2: synchronous wheel shaft; 3: synchronous pulley; 4: motor; 5: bearing block; 6: horizontal guide rail; 7: riser; 8: cylinder; 9: idle pulley fixed head; 10: regulating wheel; 11: crossbeam; 12: Timing Belt; 13: Timing Belt pressing plate; 14: longitudinal rail; 15: cross sliding clock; 16: idle pulley; 17: cylinder body; 18: piston; 19: cylinder supports block; 20: cylinder mounting plate; 21: air compressor; 22 pressure-reducing valves; 23: Pressure gauge; 24: pipeline; 25: overflow valve; 26: silencer; 27: bypass line.
Detailed description of the invention
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following instance for illustration of the present invention, but is not used for limiting the scope of the invention.
In describing the invention, it should be noted that, term " on ", D score, "left", "right", " in " etc. instruction orientation or position relationship be based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as limitation of the present invention.In addition, term " inner side " is only for describing the relative side of two or more same parts, and " outside " is only for describing the opposing side of two or more same parts.
As shown in Figures 2 and 3, pneumatic buffer flowers transplantation of seedlings detent mechanism of the present invention, it comprises: two gantry supports be arranged in parallel 1, and the rack beam 1a relative inner of described gantry support 1 is respectively equipped with horizontal guide rail 6.Two risers be arranged in parallel 7, the opposing outside of described riser 7 is respectively equipped with longitudinal rail 14.Crossbeam 11, described riser 7 is linked together by described crossbeam 11, and described crossbeam 11 is for installing retaining paw; Two idle pulley fixed heads 9, the outside of described idle pulley fixed head 9 is provided with cross sliding clock 15, is provided with longitudinal sliding block (scheming not shown) inside it; Described cross sliding clock 15 is slidably connected with described horizontal guide rail 6.Described longitudinal sliding block and described longitudinal rail 14 are slidably connected.Synchronizing tractor, described synchronizing tractor comprises two motors, 4, two Timing Belts, 12, four synchronous pulleys, 3, two synchronous wheel shafts, 2, eight idle pulleys 16 and two regulating wheels 10, described synchronous pulley 3 is installed on synchronous wheel shaft 2 both sides, described rack beam 1a is fixed on by bearing block 5 in each described synchronous wheel shaft 2 two ends, described synchronous wheel shaft 2 is connected with described motor 4 respectively, is driven by described motor 4; Described regulating wheel 10 is arranged on the outer upper of described riser 7 respectively; Four described idle pulleys 16 installed by each described idle pulley fixed head 9, and described idle pulley 16 is installed on the corner of described idle pulley fixed head 9; Timing Belt 12 described in every bar engages with two described synchronous pulleys 3 and a regulating wheel 10, and is wound in inside four described idle pulleys 16, and the outer lower portion of described riser 7 is fixed at its two ends.
Whole detent mechanism by the support bar 1b of gantry support, above the conveyer belt being arranged on flower seedlings automatic transplanter.Except motor, transplant locating support symmetrically structure, ensure the uniformity of left and right sides motion.In transplanting process, need to drive the retaining paw be arranged on detent mechanism crossbeam to position by transplanting detent mechanism of the present invention.
Operationally, when detent mechanism needs to move horizontally, two motors 4 constant speed rotation in the same way, drive two groups of synchronous pulley 3 rotating in same directions, Timing Belt 12 and synchronous pulley 3 engagement rotation, two risers 7 are drawn at the two ends of Timing Belt 12, make crossbeam 11 two ends of installing retaining paw be subject to the draw of Timing Belt 12, thus along horizontal guide rail 6 horizontal movement.When detent mechanism needs to vertically move, two motor 4 constant speed sideway swivels inwards simultaneously, draw two risers 7 by Timing Belt 12 and synchronously move upward; When two motors 4 constant speed rotation laterally simultaneously, draw two risers 7 by Timing Belt 12 and synchronously move downward.The work of detent mechanism relies on synchronous pulley 3 to drive Timing Belt 12 to vertically move, and be not easy to produce fluctuation in motion process and impact and velocity jump, stationarity is good.
Further, as shown in Figures 4 and 5, described transplanting detent mechanism also comprises two symmetrically arranged lift buffer devices, and each described lift buffer device comprises cylinder 8, constant voltage source of the gas, cylinder mounting plate 20 and cylinder supports block 19; Described cylinder 8 comprises cylinder body 17 and piston 18; The cylinder body 17 of described cylinder 8 is fixed on described riser 7 by described cylinder mounting plate 20; Described cylinder supports block 19 is with on described idle pulley fixed head 9, described constant voltage source of the gas comprises air compressor 21, pressure-reducing valve 22, Pressure gauge 23, pipeline 24 overflow valve 25, silencer 26 and bypass line 27, and the outlet of described air compressor 21 is connected with cylinder body 17 by pipeline 24; Described pressure-reducing valve 22 is established on the tubes 24; Described Pressure gauge 23 and bypass line 27 are located on the pipeline 24 between described pressure-reducing valve 22 and described cylinder body 17, and described overflow valve 25 and silencer 26 are located in bypass line 27.
The air pressure that air compressor 21 exports inputs in cylinder 8 after the pressure that pressure-reducing valve 22 is depressurized to setting, and overflow valve 25 in parallel in bypass line 27 is for ensureing cushioning supportive cylinder interior constant pressure, and its oil pressure relief is consistent with the pressure that pressure-reducing valve 22 is arranged.When detent mechanism needs to vertically move, two motor 4 constant speed sideway swivels inwards simultaneously, draw two risers 7 by Timing Belt 12 synchronously to move upward, the rod end of the piston 18 of cylinder 8 be subject to cylinder supports block 19 pressure less time, piston stretches out under constant pressure effect, top air cylinder back-up block 19, plays supplemental support effect; When two motors 4 constant speed rotation laterally simultaneously, draw two risers 7 by Timing Belt 12 and synchronously move downward, when the rod end of the piston 18 of cylinder 8 is under pressure larger, in cylinder 8, gas is discharged by overflow valve 25, cylinders retract, plays buffer damping effect.
Lift buffer device has pooling feature, is conducive to realizing stable movement effects, and the sudden change that underspeeds is impacted, and reduces error, improves mechanical transplanting efficiency further.The cushioning supportive cylinder of constant voltage effect can be offset from heavy load, extenuates inertia impact, reduces the driving load of motor, is conducive to improving control accuracy and transplanting efficiency, and the action that simultaneously makes to plant downwards has buffering effect, prevents seedling from damaging.
Preferably, described cylinder 8 selects spring retraction type single-acting cylinder.
Further, Timing Belt 12 is fixed on the outer lower portion of described riser by Timing Belt pressing plate 13.Described synchronous wheel shaft 2 is connected by shaft joint with described motor 4.
Further, described idle pulley 16 is installed on described idle pulley fixed head 9 by idler shaft; One end of described idler shaft is fixed on described idle pulley fixed head 9, and described idle pulley 16 is arranged on described idler shaft by bearing, and the other end of described idler shaft carries out axial location by nut to idle pulley 16.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. a pneumatic buffer flowers transplantation of seedlings detent mechanism, it is characterized in that, it comprises:
Two gantry supports be arranged in parallel, the rack beam relative inner of described gantry support is respectively equipped with horizontal guide rail;
Two risers be arranged in parallel, the opposing outside of described riser is respectively equipped with longitudinal rail;
Crossbeam, described riser is linked together by described crossbeam, and described crossbeam is for installing retaining paw;
Two idle pulley fixed heads, the outside of described idle pulley fixed head is provided with cross sliding clock, is provided with longitudinal sliding block inside it; Described cross sliding clock and described horizontal guide rail are slidably connected; Described longitudinal sliding block and described longitudinal rail are slidably connected;
Synchronous drive device, described synchronous drive device comprises two motors, two Timing Belts, four synchronous pulleys, two synchronous wheel shafts, eight idle pulleys and two regulating wheels, described synchronous pulley is installed on synchronous wheel shaft both sides, described rack beam is fixed on by bearing block in each described synchronous wheel shaft two ends, and described synchronous wheel shaft is connected with described motor respectively; Described regulating wheel is arranged on the outer upper of described riser respectively; Four described idle pulleys installed by each described idle pulley fixed head, and described idle pulley is installed on the corner of described idle pulley fixed head; Timing Belt described in every bar engages with two described synchronous pulleys and a regulating wheel, and is wound in inside four described idle pulleys, and the outer lower portion of described riser is fixed at its two ends.
2. pneumatic buffer flowers transplantation of seedlings detent mechanism as claimed in claim 1, it is characterized in that, described transplanting detent mechanism also comprises two symmetrically arranged lift buffer devices, and each described lift buffer device comprises cylinder, constant voltage source of the gas, cylinder mounting plate and cylinder supports block; Described cylinder comprises cylinder body and piston; The cylinder body of described cylinder is fixed on described riser by described cylinder mounting plate; Described cylinder supports block is fixed on described idle pulley fixed head, the rod end of described piston and described cylinder supports block top press contacts; Described constant voltage source of the gas comprises air compressor, pressure-reducing valve, overflow valve, pipeline and bypass line, and the outlet of described air compressor is connected with cylinder body by pipeline; Described pressure-reducing valve is located on pipeline; Described bypass line is located on the pipeline between described pressure-reducing valve and described cylinder body, and described overflow valve is located in bypass line.
3. pneumatic buffer flowers transplantation of seedlings detent mechanism as claimed in claim 2, it is characterized in that, described cylinder is spring retraction type single-acting cylinder.
4. pneumatic buffer flowers transplantation of seedlings detent mechanism as claimed in claim 2, it is characterized in that, described constant voltage source of the gas also comprises Pressure gauge and silencer, and described Pressure gauge is located on the pipeline between described pressure-reducing valve and cylinder body; Described silencer is arranged in described bypass line.
5. the pneumatic buffer flowers transplantation of seedlings detent mechanism as described in any one of Claims 1-4, it is characterized in that, described Timing Belt is fixed on the outer lower portion of described riser by Timing Belt pressing plate.
6. the pneumatic buffer flowers transplantation of seedlings detent mechanism as described in any one of Claims 1-4, it is characterized in that, described synchronous wheel shaft is connected by shaft joint with described motor.
7. the pneumatic buffer flowers transplantation of seedlings detent mechanism as described in any one of Claims 1-4, is characterized in that, described idle pulley is installed on described idle pulley fixed head by idler shaft; One end of described idler shaft is fixed on described idle pulley fixed head, and described idle pulley is arranged on described idler shaft by bearing, and the other end of described idler shaft carries out axial location by nut to idle pulley.
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| CN201310241959.XA CN103385056B (en) | 2013-06-18 | 2013-06-18 | Pneumatic buffering transplanting and positioning mechanism for flower seedlings |
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| CN201310241959.XA CN103385056B (en) | 2013-06-18 | 2013-06-18 | Pneumatic buffering transplanting and positioning mechanism for flower seedlings |
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| CN103385056B true CN103385056B (en) | 2015-04-29 |
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| CN103636333B (en) * | 2013-12-18 | 2016-04-20 | 中国农业大学 | Seedling intelligence sorting transplanter |
| CN104285565B (en) * | 2014-09-12 | 2016-03-02 | 中国农业大学 | The automatic plant feed unit of root pruning and grafting seedling and method of work thereof |
| 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 |
| CN104350971B (en) * | 2014-10-23 | 2017-03-08 | 嘉兴职业技术学院 | A kind of soil recovering mechanism of flowers transplanter |
| CN104798516A (en) * | 2015-05-08 | 2015-07-29 | 江苏大学 | Lifting method and lifting device for multi-terminal actuating mechanism of tray seedling transplanting machine in greenhouse |
| CN106612806B (en) * | 2017-01-14 | 2019-01-25 | 重庆珍西农业科技集团有限公司 | A kind of plant seedlings transplant robot |
| CN106941791A (en) * | 2017-04-28 | 2017-07-14 | 河南科技大学 | A kind of remote-controllable formula Multi-functional tillage pipe device |
| CN109496507A (en) * | 2018-12-03 | 2019-03-22 | 李佳奇 | A kind of rice transplanter pneumatic antomation seedling-transplanting device |
| CN110583421B (en) * | 2019-08-31 | 2021-08-06 | 海南自贸区兰花谷共享农庄股份有限公司 | Agricultural nursery stock is cultivated and uses quantitative transplanting device |
| CN112293004B (en) * | 2020-11-10 | 2022-02-22 | 六安市辉煌农业股份有限公司 | Automatic seedling taking equipment of transplanter |
| CN117191425A (en) * | 2023-11-02 | 2023-12-08 | 湖南大学 | Vehicle moving load loading device suitable for indoor model test |
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