CN103466261A - Hole tray conveying locating device for pot seedling transplanter - Google Patents
Hole tray conveying locating device for pot seedling transplanter Download PDFInfo
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- CN103466261A CN103466261A CN 201310407086 CN201310407086A CN103466261A CN 103466261 A CN103466261 A CN 103466261A CN 201310407086 CN201310407086 CN 201310407086 CN 201310407086 A CN201310407086 A CN 201310407086A CN 103466261 A CN103466261 A CN 103466261A
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Abstract
The invention provides a hole tray conveying locating device for a pot seedling transplanter. The pot seedling transplanter is provided with two hole tray conveying locating devices identical in structure, the two hole tray conveying locating devices are parallel to each other, conveying platforms are fixedly installed on a conveying table frame, a hole tray conveying guiding device is installed above the conveying platforms, hole trays are placed on the conveying platforms and between two conveying guide rails, horizontal conveying chain devices are installed on two sides of the conveying table frame, a plurality of hole tray push plates are installed on horizontal conveying chains at intervals of L1, a transmission chain device is installed on the outer side of the conveying table frame, and a Hall sensor is installed on one side of a transmission chain. When a servo motor drives the transmission chain to rotate for a round, the hole tray push plates on the horizontal conveying chains move a distance of L1, simultaneously the Hall sensor on one side of the transmission chain obtains induction signal once, and accordingly hole tray locating conveying is achieved. The hole tray conveying locating device is high in conveying locating precision, stable and reliable and is mainly applied to pot seedling transplantation.
Description
Technical field
Field, especially a kind of conveying and positioning device and method that is specifically designed to potted tray seedling transplanter are transplanted in the automation the invention belongs in industrialized agriculture.
Technical background
Hole plate seedling growth is a new industry; it is the Novel seedling raising technology that 20 century 70s grow up in the world; hole plate seedling growth is compared with the conventional seedbed system mode; there is this Di of the about Zi Yuan of Sheng Gong ﹑ Sheng Li ﹑ seedling Kuai ﹑ Jie ﹑ Cheng ﹑ efficiency Gao ﹑ and be convenient to the advantages such as management and protection agroecological environment, be mainly used in growing seedlings of Yan Cao ﹑ Hua Hui ﹑ vegetables and trees.In order to guarantee that crop has suitable space to promote it take root and grow, cave need to be coiled to pot seedling from compact disc to the transplanting between the lower density dish in the dish fry of cave, and the cave dish is to the transplanting between flowerpot.Although cave dish potted-seedling transplanting is very simple, needs a large amount of handwork, and continuous working is easily tired, and production efficiency is low, is difficult to realize the large tracts of land operation, has restricted the development of hole plate seedling growth technology.For this reason, dish pot seedling High-Speed Automatic transplanter in research cave seems particularly important, and it reduces labour intensity for raising labour productivity, and promotes that the development of hole plate seedling growth technology is significant.
The research of cave dish pot seedling automatic transplanting technology starts from eighties of last century eighties, mainly contain at present two kinds of implementations, a kind of is to coil pot seedling automatic transplanting with the cave of the artificial body of industrial machine, and another kind is the cave dish pot seedling automatic transplanting of exploitation independent machine electric system.1987, the people such as KUTZ studied the feasibility of transplanting robot based on Puma560.1992, the people such as KC.Ting studied based on the ADEPT-SCARA four-degree-of-freedom and have transplanted robot.The people such as Ryu in 1999 have designed the electromechanical appliance of a set of special use, have developed the transplanting robot.In March, 2010, the human hairs such as Qiu of Agricultural University Of Shenyang the beginning of spring understand the automatic transplanter of a kind of cave dish transplantation of seedlings.Simple in structure, convenient, but efficiency is lower, and precision is not high.
Cave disk-transporting device registration device and method are the important component parts of cave dish pot seedling transplanter, present stage, cave dish pot seedling transplanter feedway adopted the band transmission more, sensor localization, as the magnificent patent of invention that waits people's application of high state in 2010, name is called the automated potted seedling transplanter in greenhouse, and application number is 201010194836.1.The band transmission easily produces slip, affects the precision that pot seedling is carried, and practical application kind problem is a lot.For this situation, the present invention proposes a kind of reliable paintpot dish seedling conveying and positioning device and method.
Summary of the invention
The object of the present invention is to provide a kind of conveying and positioning device for cave dish potted-seedling transplanting, to improve cave dish transplantation of seedlings operation quality.
In order to solve above technical matters, the technical solution adopted in the present invention is as follows:
A kind of pot seedling transplanter cave dish conveying and positioning device, comprise conveying platform frame (1), delivery platform (15), cave dish input detecting sensor (2), cave dish transportation guide device, horizontal feed chain apparatus, transmission chain device, it is characterized in that:
Described delivery platform (15) is fixedly mounted in conveying platform frame (1) two side stand, and cave dish input detecting sensor (2) is arranged on conveying platform frame (1) outboard support entrance, and the cave dish is placed on delivery platform (15);
Described cave dish transportation guide device is comprised of inboard cave dish conveying (7), cave, outside dish conveying (8), crossbeam (6), overarm brace (11); Crossbeam (6) is arranged in parallel along cave dish throughput direction, and the number of crossbeam (6) has 2 at least; Each crossbeam (6) is supported by overarm brace (11); Each crossbeam (6) is provided with chute (12), movable sliding block (10) is housed in chute (12), inboard cave dish conveying (7) and cave, outside dish conveying (8) connect with slide block (10) respectively, inboard cave is coiled conveying (7) and is equated with cave dish width with the width between cave, outside dish conveying (8), and conveying (7) is coiled in inboard cave, cave, outside dish conveying (8) upper surface is concordant with the cave panel surface;
Described horizontal feed chain apparatus is by horizontal conveying chain (9), sprocket wheel A (18), sprocket wheel B(24), cave dish push pedal (5) forms, horizontal conveying chain (9), sprocket wheel A (18), sprocket wheel B(24) be arranged on respectively the both sides of conveying platform frame (1), cave dish push pedal (5) is by equidistant L
1evenly be arranged on conveying platform frame (1) both sides conveyer chains (9) upper, the spacing distance L between cave dish push pedal (5)
1be greater than the length of cave dish;
Described transmission chain device is by messenger chain (13), sprocket wheel C (22), sprocket wheel D(23), servomotor (20), Hall element sensing chip (16), Hall element (17) form, package unit is arranged on the outside of conveying platform frame (1); Sprocket wheel C(22) and the drive sprocket A(18 in carrier chain device) the coaxial installation; Drive sprocket D(23 in servomotor (20) and transmission chain device) coaxial installation; It is upper that Hall element sensing chip (16) is arranged on messenger chain (13), and position is adjustable; Hall element (17) is arranged on conveying platform frame (1) outside, corresponding with Hall element sensing chip (16), but does not contact;
Described transmission chain device middle sprocket D(23) and sprocket wheel C(22) transmitting ratio is 1:1, carrier chain device middle sprocket A(18) and sprocket wheel B(24) transmitting ratio is 1:1;
Described horizontal feed chain apparatus middle sprocket A(18), radius R sprocket wheel B(24)
1, transmission chain device middle sprocket C (22), sprocket wheel D(23) radius R
2, cave dish push pedal spacing distance L
1, messenger chain (13) total length L
2meet following relation:
According to above-mentioned relation, there is the every rotation of messenger chain (13) a week between horizontal conveying chain (9) and messenger chain (13), cave on horizontal conveying chain (9) dish push pedal (5) the cave dish push pedal spacing distance L that passes by
1technical characterictic;
A cave dish pot seedling transplanter is provided with two cover cave dish conveying and positioning devices, two covering device structures are identical, be arranged in parallel, wherein upper placement of delivery platform (15) in the dish conveying and positioning device of a set of cave supplies seedling dish (4), the upper dish (3) that plants seedlings of placing of delivery platform (15) in the dish conveying and positioning device of another set of cave.
In the dish transportation guide device of cave, slide block (10) is fixed in chute (12) by screw (14), unclamp the screw (14) on slide block (10), slide block (10) can move in chute (12), slide block (10) is mobile at the inboard cave of mobile drive of chute (12) dish conveying (7), cave, outside dish conveying (8), thereby adjust the width between inboard cave dish conveying (7) and cave, outside dish conveying (8), to adapt to the cave dish of different in width.
The present invention has beneficial effect.The present invention adopts chain transmission, cave dish push pedal, conveying structure, and sensor detecting, realizes dish conveying location, cave, simple in structure, reliable and stable.With respect to tradition band drive transfer, not only delivery precision is high, and the strong adaptability that the different size cave is coiled, and has good practicality and economy.
The accompanying drawing explanation
Fig. 1 feedway general illustration;
Fig. 2 chain transmission schematic diagram;
Fig. 3 cave dish transportation guide device schematic diagram.
In figure: 1. stand 2. cave dish input detecting sensors 3. are planted seedlings dish 4. for the seedling dish 5. cave dish push pedal 6. inboard cave of crossbeam 7. dish conveying 8. cave, outside dish conveying 9. conveyer chain 10. slide block 11. overarm brace 12. chute 13. messenger chain 14. screw 15. delivery platform 16. sensing chip 17. Hall element 18. sprocket wheel A 19. axle 20. motor 21. transplanting mechanism working face 22. sprocket wheel C 23. sprocket wheel D 24. sprocket wheel B 25. seedling claws.
The specific embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail.
As shown in Figure 1, a cave dish pot seedling transplanter is provided with two cover cave dish conveying and positioning devices, two covering device structures are identical, be arranged in parallel, every cover cave dish conveying and positioning device is comprised of conveying platform frame 1, delivery platform 15, cave dish input detecting sensor 2, cave dish transportation guide device, horizontal feed chain apparatus, transmission chain device.Wherein, delivery platform 15 is fixedly mounted in 1 liang of side stand of conveying platform frame, cave dish input detecting sensor 2 is arranged on conveying platform frame 1 outboard support entrance, for seedling dish 4 and the dish 3 that plants seedlings, is placed on respectively on the delivery platform 15 in two cover cave arranged side by side dish conveying and positioning devices.
As shown in figures 1 and 3, dish transportation guide device in cave is comprised of inboard cave dish conveying 7, cave, outside dish conveying 8, crossbeam 6, overarm brace 11; Crossbeam 6 more than 2 is arranged in parallel along cave dish throughput direction, and crossbeam 6 is supported by overarm brace 11; Crossbeam 6 is provided with chute 12, movable sliding block 10 is housed in chute 12, inboard cave dish conveying 7 and cave, outside dish conveying 8 connect with slide block 10 respectively, slide block 10 is fixed in chute 12 by screw 14, unclamp the screw 14 on slide block 10, slide block 14 can be in the interior movement of chute 12, mobile drive inboard cave dish conveying 7, the outside cave dish conveying 8 of slide block 14 in chute 12 moves, thereby adjust the width between inboard cave dish conveying 7 and cave, outside dish conveying 8, to adapt to the cave dish of different in width.
As shown in Figure 2, the horizontal feed chain apparatus is comprised of conveyer chain 9, sprocket wheel A18, sprocket wheel B24, cave dish push pedal 5, conveyer chain 9, sprocket wheel A18, sprocket wheel B24 are arranged on respectively the both sides of conveying platform frame 1, cave dish push pedal 5 evenly is arranged on conveying platform frame 1 both sides conveyer chain 9 by equidistant L1, and the spacing distance L1 between the dish push pedal 5 of cave is greater than the length of cave dish.
As shown in Figure 2, transmission chain device is comprised of messenger chain 13, sprocket wheel C22, sprocket wheel D23, servomotor 20, Hall element sensing chip 16, Hall element 17, and package unit is arranged on the outside of conveying platform frame 1; Drive sprocket A18 in sprocket wheel C22 and carrier chain device coaxially installs; In servomotor 20 and transmission chain device, drive sprocket D23 coaxially installs; Hall element sensing chip 16 is arranged on messenger chain 13, and Hall element 17 is arranged on conveying platform frame 1 outside, corresponding with Hall element sensing chip 16, but does not contact.
Transmission chain device middle sprocket D23 and sprocket wheel C22 transmitting ratio are 1:1, and carrier chain device middle sprocket A18 and sprocket wheel B24 transmitting ratio are 1:1; The radius R of horizontal feed chain apparatus middle sprocket A18, sprocket wheel B24
1, transmission chain device middle sprocket C22, sprocket wheel D23 radius R
2, cave dish push pedal 5 spacing distance L
1, messenger chain length L
2meet:
condition, according to this condition, servomotor 20 drives the every rotation of messenger chain 13 on transmission chain devices one week, drives cave dish push pedal on conveyer chain 9 and the conveyer chain 9 push pedal spacing distance L that went ahead
1, the Hall element sensing chip 16 on messenger chain 13 approaches once with Hall element 17 simultaneously, and Hall element 17 obtains induced signal one time.
The working process of cave of the present invention dish conveying and positioning device is as follows:
B. after adjusting to the initialization position when first group for seedling dish 4, the dish 3 that plants seedlings, keep conveyer chain 9 and messenger chain 13 motionless, manually adjust the position of two Hall element sensing chips 16 on two messenger chains 13 in transmission chain device, two Hall element sensing chips 16 are alignd with the inductive head of two Hall elements 17 respectively, and now conveyer chain 9 and messenger chain 13 present positions are defined as zero position;
C. after cave disk-transporting device zero position is determined, at first group of each dish push pedal 5 place, cave for seedling dish 4 and dish 3 back of planting seedlings, put into for seedling dish 4 and the dish 3 that plants seedlings successively, and each cave dish push pedal 5 is kept in touch respectively and for seedling dish 4, the dish 3 that plants seedlings, due to the every rotation of messenger chain 13 one week, conveyer chain 9 drove cave and coils the cave dish push pedal spacing distance L that passes by
1so the relative position of each cave dish is also definite;
D. start transplanter and get the seedling device, seedling claw 25 coils in 3 holes, first row cave from getting successively seedling for seedling dish 4 holes, first row cave, then seedling is implanted successively to plant seedlings;
E. when seedling claw 25 takes for seedling dish 4 one row caves dish seedling, controller starts for the servomotor 20 in seedling dish one side cave disk-transporting device, servomotor 20 is according to drive the sprocket wheel D23 on transmission chain device to rotate an angle for hole, 4 liang of caves of seedling dish centre distance, make to move forward hole, cave centre distance for seedling dish 4, then stop servomotor 20 and rotate, seedling claw 25 starts the seedling of getting of next row seedling; When seedling claw 25 is planted a row hole, cave of the dish 3 that completely plants seedlings, controller starts the servomotor 20 in the dish one side cave disk-transporting device that plants seedlings, servomotor 20 drives the sprocket wheel D23 on transmission chain device to rotate an angle according to dish hole, the 3 liang of caves centre distance of planting seedlings, the dish 3 that makes to plant seedlings moves forward hole, cave centre distance, then stop servomotor 20 and rotate, seedling claw 25 starts planting seedlings of hole, next row cave;
F. after in seedling claw 25 takes for seedling dish 4, seedling is coiled in all caves, controller drives the servomotor 20 for seedling disk-transporting device one side to rotate, drive thus the cave dish push pedal 5 on conveyer chain 9 to move forward, cave dish push pedal 5 promotes also moving forward for seedling dish 4 on delivery platform 15, until servomotor 20 drives the Hall element sensing chip 16 on messenger chain 13 again to align with the inductive head of Hall element 17, Hall element 17 obtains induced signal, and control servomotor 20 stops operating, just by next dish, the first row cave dish seedling for the seedling dish pushes in the working face 21 of transplanting mechanism seedling claw 25 in the now dish of the cave on conveyer chain 9 push pedal 5, what seedling claw started next dish cave dish seedling gets the seedling operation, after in seedling claw 25 will plant seedlings dish 3, seedling is coiled in implantation cave, hole, all caves, controller drives the servomotor 20 of disk-transporting device one side of planting seedlings to rotate, drive thus the cave dish push pedal 9 on conveyer chain 9 to move forward, the dish 3 that plants seedlings that cave dish push pedal 5 promotes on delivery platform 15 also moves forward, until servomotor 20 drives the Hall element sensing chip 16 on messenger chain 13 again to align with the inductive head of Hall element 17, Hall element 17 obtains induced signal, and control servomotor 20 stops operating, just next dish the is planted seedlings dish hole, first row cave of dish 3 of the now cave on conveyer chain 9 dish push pedal 5 pushes in the working face 21 of transplanting mechanism seedling claw 25, seedling claw starts dish 3 the operation of planting seedlings of planting seedlings of next dish,
G. the whole dish often completed once for seedling dish 4 or the dish 3 that plants seedlings is fed forward, and just in the entrance of pot seedling transplanter two cave disk-transporting devices, inserts respectively one for seedling dish 4 or the dish 3 that plants seedlings, and the cave disk-transporting device repeats d, e, f step, realizes the cycle operation of transplanter.
Claims (3)
1. a pot seedling transplanter cave dish conveying and positioning device, comprise conveying platform frame (1), delivery platform (15), cave dish input detecting sensor (2), cave dish transportation guide device, horizontal feed chain apparatus, transmission chain device, it is characterized in that:
Described delivery platform (15) is fixedly mounted in conveying platform frame (1) two side stand, and cave dish input detecting sensor (2) is arranged on conveying platform frame (1) outboard support entrance, and the cave dish is placed on delivery platform (15);
Described cave dish transportation guide device is comprised of inboard cave dish conveying (7), cave, outside dish conveying (8), crossbeam (6), overarm brace (11); Crossbeam (6) is arranged in parallel along cave dish throughput direction, and the number of crossbeam (6) has 2 at least; Each crossbeam (6) is supported by overarm brace (11); Each crossbeam (6) is provided with chute (12), movable sliding block (10) is housed in chute (12), inboard cave dish conveying (7) and cave, outside dish conveying (8) connect with slide block (10) respectively, inboard cave is coiled conveying (7) and is equated with cave dish width with the width between cave, outside dish conveying (8), and conveying (7) is coiled in inboard cave, cave, outside dish conveying (8) upper surface is concordant with the cave panel surface;
Described horizontal feed chain apparatus is by horizontal conveying chain (9), sprocket wheel A (18), sprocket wheel B(24), cave dish push pedal (5) forms, horizontal conveying chain (9), sprocket wheel A (18), sprocket wheel B(24) be arranged on respectively the both sides of conveying platform frame (1), cave dish push pedal (5) is by equidistant L
1evenly be arranged on conveying platform frame (1) both sides conveyer chains (9) upper, the spacing distance L between cave dish push pedal (5)
1be greater than the length of cave dish;
Described transmission chain device is by messenger chain (13), sprocket wheel C (22), sprocket wheel D(23), servomotor (20), Hall element sensing chip (16), Hall element (17) form, package unit is arranged on the outside of conveying platform frame (1); Sprocket wheel C(22) and the drive sprocket A(18 in carrier chain device) the coaxial installation; Drive sprocket D(23 in servomotor (20) and transmission chain device) coaxial installation; It is upper that Hall element sensing chip (16) is arranged on messenger chain (13), and position is adjustable; Hall element (17) is arranged on conveying platform frame (1) outside, corresponding with Hall element sensing chip (16), but does not contact;
Described transmission chain device middle sprocket D(23) and sprocket wheel C(22) transmitting ratio is 1:1, carrier chain device middle sprocket A(18) and sprocket wheel B(24) transmitting ratio is 1:1;
Described horizontal feed chain apparatus middle sprocket A(18), radius R sprocket wheel B(24)
1, transmission chain device middle sprocket C (22), sprocket wheel D(23) radius R
2, cave dish push pedal spacing distance L
1, messenger chain (13) total length L
2meet following relation:
According to above-mentioned relation, there is the every rotation of messenger chain (13) a week between horizontal conveying chain (9) and messenger chain (13), cave on horizontal conveying chain (9) dish push pedal (5) the cave dish push pedal spacing distance L that passes by
1technical characterictic.
2. the pot seedling transplanter conveying and positioning device is coiled in a kind of cave according to claim 1, it is characterized in that: a cave dish pot seedling transplanter is provided with two cover cave dish conveying and positioning devices, two covering device structures are identical, be arranged in parallel, wherein upper placement of delivery platform (15) in the dish conveying and positioning device of a set of cave supplies seedling dish (4), the upper dish (3) that plants seedlings of placing of delivery platform (15) in the dish conveying and positioning device of another set of cave.
3. the pot seedling transplanter conveying and positioning device is coiled in a kind of cave according to claim 1, it is characterized in that: in the dish transportation guide device of cave, slide block (10) is fixed in chute (12) by screw (14), unclamp the screw (14) on slide block (10), slide block (10) can move in chute (12), slide block (10) is mobile at the inboard cave of mobile drive of chute (12) dish conveying (7), cave, outside dish conveying (8), thereby adjust the width between inboard cave dish conveying (7) and cave, outside dish conveying (8), to adapt to the cave dish of different in width.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310407086.5A CN103466261B (en) | 2013-09-10 | 2013-09-10 | A kind of pot seedling transplanter cave dish conveying and positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310407086.5A CN103466261B (en) | 2013-09-10 | 2013-09-10 | A kind of pot seedling transplanter cave dish conveying and positioning device |
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| CN103466261A true CN103466261A (en) | 2013-12-25 |
| CN103466261B CN103466261B (en) | 2015-08-19 |
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|---|---|---|---|
| CN201310407086.5A Expired - Fee Related CN103466261B (en) | 2013-09-10 | 2013-09-10 | A kind of pot seedling transplanter cave dish conveying and positioning device |
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| CN110386436A (en) * | 2019-07-12 | 2019-10-29 | 东莞恩茁智能科技有限公司 | Feeding device and sabot equipment with the feeding device |
| CN110386436B (en) * | 2019-07-12 | 2021-08-10 | 东莞恩茁智能科技有限公司 | Tray loading equipment |
| CN110342215B (en) * | 2019-07-12 | 2021-08-10 | 东莞恩茁智能科技有限公司 | Tray loading equipment |
| CN110342216B (en) * | 2019-07-12 | 2021-08-10 | 东莞恩茁智能科技有限公司 | Tray loading equipment |
| CN110386402A (en) * | 2019-07-12 | 2019-10-29 | 东莞恩茁智能科技有限公司 | Feeding mechanism and sabot equipment with the feeding mechanism |
| CN110342215A (en) * | 2019-07-12 | 2019-10-18 | 东莞恩茁智能科技有限公司 | Sabot equipment |
| CN110342217A (en) * | 2019-07-12 | 2019-10-18 | 东莞恩茁智能科技有限公司 | Sabot equipment |
| CN110419307A (en) * | 2019-08-29 | 2019-11-08 | 马鞍山市安工大智能装备技术研究院有限公司 | A kind of Plug seedling is transplanted seedlings machine automatically |
| CN110419307B (en) * | 2019-08-29 | 2020-11-10 | 马鞍山市安工大智能装备技术研究院有限公司 | Automatic seedling transplanting machine for plug seedlings |
| CN111232567A (en) * | 2020-02-12 | 2020-06-05 | 广东博智林机器人有限公司 | Material conveying device |
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| CN103466261B (en) | 2015-08-19 |
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