CN103563532A - Automatic seedling taking manipulator for plug seeding transplanter - Google Patents
Automatic seedling taking manipulator for plug seeding transplanter Download PDFInfo
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- CN103563532A CN103563532A CN201310595017.1A CN201310595017A CN103563532A CN 103563532 A CN103563532 A CN 103563532A CN 201310595017 A CN201310595017 A CN 201310595017A CN 103563532 A CN103563532 A CN 103563532A
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Abstract
The invention provides an automatic seedling taking manipulator for a plug seedling transplanter. The automatic seedling taking manipulator comprises a seedling taking manipulator and a seedling taking end effector (7), the integral structure is a Cartesian motion system, the seedling taking end effector (7) is driven by a motor (4-7) to shift back and forth along an X-axis in an X-Y plane to align with a hole to be prepared to take a seedling and align with a flowerpot to be prepared to plant the seedling, different air suction and air exhaust modes of the upper end and the lower end of a rodless cylinder (5) drive the seedling taking end effector (7) to slide up and down along a Y-axis in the X-Y plane to take the seedling from a hole dish (1) and plant the seedling in the flowerpot (8). The automatic seedling taking manipulator can replace hand labor of a man, the seedling is taken out from a hole of a source dish and transplanted in a target growing dish or the flowerpot, the integral structure is simple, the performance is reliable, and the automatic seedling taking manipulator is applicable to automatically transplanting the plug seedlings of different specifications.
Description
Technical field
The invention belongs to industrialized agriculture technical field, specifically, relate to greenhouse potted tray seedling transplanter tool, particularly in a kind of always source tray hole, automatically take out seedling and be transplanted on target growth dish or flowerpot is planted gets seedling device.
Background technology
Vegetables, flowers and other crops seedling raising and transplanting are a kind of useful specialized hothouse production pattern (people such as Ting, 1992) already.Cave dish seedling technology, after 20 century 70s occur, just demonstrates powerful vitality.Since entering 21 century, this technology has been widely used in one, in the production of biennial herb flowers and perennial flowers, also on many vegetable crops and some economic crops such as tobacco, rape, obtain large-area applying simultaneously.China has tentatively set up industrial breeding technique system, more than only the annual production of vegetables commercial seedling just reaches more than 800 hundred million strains.
At present, the facilities horticulture developed countries such as Holland have been widely used transplanter and have carried out seedling replanting operation, as the special-purpose transplanter of XT616 type tea tree cave dish seedling of the Pic-O-Mat PC-21 type greenhouse automatic transplanter for plug seedling of Dutch Fei Suo company, Australian Translate Systems company, but transplant at home operation, be labor intensive, mainly by craft, complete.Along with rural laborer's shortage and the labour cost day by day increasing, domestic plantation family particularly factory farming is more and more obvious down to unmanned serious hope to seedling replanting machineryization, automation.
On the basis of the advanced transplantation technique of study foreign and successful experience, in conjunction with China's national situation and actual needs, carried out greenhouse transplanter correlation technique research, obtained initial achievements.The people such as 2003 Nian， China Taiwan Lu's diamond stones have developed vapour-pressure type capable of regulating potted tray seedling transplanter.This machine is comprised of transplanter body, control assembly (PLC) and Pneumatic pressure power source 3 parts, transplanting machine hand possesses folder seedling, puts the several functions such as seedling, transplanting and town soil, shortcoming is: job stabilization is poor, quality is transplanted in impact, automaticity is lower, need artificial feeding seedling dish, and transplanting efficiency is not high.The strong beautiful intelligent people such as grade of 2005 Nian， China Agricultural University has designed a kind of romaine lettuce automatic transplanter.Transplanter is mainly comprised of close stand disk carrying mechanism, seedling thinning disk carrying mechanism, the mechanism of transplanting seedlings.Fill the close stand dish of transplanted seedling and empty seedling thinning dish is placed on respectively close stand dish conveyer belt and above seedling thinning dish conveyer belt, by sensor, cave dish is positioned, the mechanism of then transplanting seedlings transplants.But this eedle is to " dark pond kickboard planting technology " design, and applicable variety is single, versatility is poor, and intelligent degree is low, fails to be promoted.The people such as 2009 Qiu of Nian， Agricultural University Of Shenyang the beginning of spring have designed a kind of automatic transplanter (publication number: 101663972B).This transplanting function completes different size cave disc floret grass and seedling is coiled from compact disc to low-density dish in vegetables cave or the container of planting is transplanted automatically, and has designed corresponding control system and seedling claw.By driven by servomotor slide rail and chain transmission, drive seedling claw level and vertical motion, seedling claw adopts clamped-in style structure, once can transplant four seedlings.Through repetition test, this design can realize cave dish transplantation of seedlings, dependable performance, and transplanting efficiency can reach 2000 strain seedling per hour, than manual speed of transplanting, doubles.But in production and application, have no Related product report.The people such as 2009 Zhou Ting of Nian， Agricultural University Of Nanjing, the little Hai of Wang have designed a kind of transplanter that is applicable to the dish transplantation of seedlings of many specifications cave.The hardware of transplanter is mainly comprised of transplanting machine hand, framework and seedling dish induction system.The horizontal movement of transplanting machine hand end effector, lifting and promptly loosening up have been driven by 3 stepper motors respectively.Utilize trajectory planning to determine the kinetic characteristic of transplanting machine hand end effector, and with ADAMS software emulation, analyzed the reasonability of mechanism design, but research rests in conceptual design.2012, the rare equality people of Jiangsu University's hair proposes a kind of two finger four needle pliering clips and gets seedling-growing method (application number: 201210476721.0), and develop and get accordingly seedling end effector (application number: 201210477010.5), it is reliable that this gets seedling flexible design, at folder seedling, get seedling, put aspect seedling and have outstanding innovation, but also have device automatically to complete, do not get seedling work.
In a word, the cave automatic transplantation technique of dish seedling of China is still in the exploratory stage, do not put into production practices, be necessary the relatively simple reliable potted tray seedling transplanter automatic seedling taking device of performance of further research structure, to replace people's hand labour, automatically complete the seedling operation of shifting out and plant from the dish of cave.
Summary of the invention
The object of the present invention is to provide a kind of potted tray seedling transplanter automatic seedling taking manipulator, in conjunction with existing two finger four pin cave dish seedlings, automatically transplant and pick and place seedling end effector, provide structure relatively simply always source tray take out seedling and be transplanted on target growth dish or device that flowerpot is planted, to realize the automatical and efficient transplanting operation of cave dish seedling.
In order to solve above technical problem, the concrete technical scheme that the present invention adopts is as follows.
An automatic seedling taking manipulator, comprises and gets seedling mechanical arm and get seedling end effector (7), it is characterized in that: the described seedling mechanical arm of getting comprises straight line module (4), Rodless cylinder (5) and support (3);
Described straight line module (4) is Timing Belt structure, comprises motor (4-7), shaft coupling (4-8), rotating shaft I (4-9), rotating shaft II (4-2), Timing Belt (4-3), driving pulley (4-10), driven pulley (4-1), slide block I (4-6), line slide rail (4-5), support (4-4); The output shaft tight joint of one end of shaft coupling (4-8) and motor (4-7), rotating shaft I (4-9) tight joint of the other end of shaft coupling (4-8) and driving pulley (4-10); Motor (4-7) is vertically mounted on an end of support (4-4); Driving pulley (4-10) forms revolute pair by rotating shaft I (4-9) and support (4-4), and driven pulley forms revolute pair at another end of support (4-4) by rotating shaft II (4-2) and support (4-4); In the middle of Timing Belt (4-3), be provided with opening, walk around on driving pulley (4-10) for one of Timing Belt (4-3), driven pulley (4-1) is walked around in other end, the two ends of Timing Belt (4-3) middle opening and slide block I (4-6) tight joint; Driving pulley (4-10) is under the driving of motor (4-7), Timing Belt (4-3) by tensioning drives driven pulley (4-1), thereby slide block I (4-6) is moved left and right along X-axis line with its installed surface and the parallel plane mode of XY;
Described Rodless cylinder (5) is fixed in along center line symmetry on the installed surface of slide block I (4-9) of straight line module (4), and the slide block II (6) on Rodless cylinder (5) can be slided along Y-axis line direction in XY plane;
The described seedling mechanical arm of getting is fastened on support (3), the cave dish seedling (2) that cave dish (1) induction system transportation is arranged in cave dish (1) supplies seedling in XZ plane along z axis, flowerpot (8) induction system transportation flowerpot (8) supplies basin along z axis in XZ plane, thereby form, gets Descartes's kinematic system that seedling end effector (7) is carried along Z-axis direction in XZ plane along X, Y-motion and cave dish (1), flowerpot (8) in XY plane.
By motor (4-7) drive get seedling end effector (7) in XY plane along X-axis line direction back and forth displacement to realize, aim at hole, cave and prepare to get seedling and aim at flowerpot and prepare to plant seedling, by the different air inlet in Rodless cylinder (5) top and bottom, exhaust mode, drive and get seedling end effector (7) and in XY plane, along Y-axis line, slide up and down to realize and from dish (1) hole, cave, cave, get seedling and to cultivation seedling in flowerpot (8).
The upper driving pulley (4-10) of described straight line module (4) is greater than the span of carrying two cave dishes with the spacing of driven pulley (4-1) centre of gyration, to be applicable to automatically to transplant seedling from high density cave dish, to low-density cave, coil, also be applicable to automatically transplant seedling to flowerpot from cave dish, the effective travel that described Rodless cylinder (5) top shoe II (6) slides up and down is greater than the seedling plant height of cave dish seedling (2), to meet, captures the cave dish seedling (2) that cave dish seedling (2) and transportation are taken out from seedling top.
The described seedling end effector (7) of getting is two finger four needle pliering clip structures, get the installation top of seedling end effector (7) and be close to slide block II (6) lower limb of Rodless cylinder (5) and be vertically fixed in the slide block II (6) of Rodless cylinder (5), getting seedling end effector (7) can be along with slide block II (6) be in the upper slip of Rodless cylinder (5).
operation principle of the present invention is: Electric Machine Control of the present invention and the action of each cylinder all adopt existing electric, pneumatics, and motor adopts point position control function, and each cylinder action adopts different solenoid directional control valves to control according to getting seedling job requirement.By motor (4-7) drive get seedling end effector (7) in XY plane along X-axis line back and forth displacement to realize, cave is reached seedling and basin is removed to plant seedling, by the different air inlet in Rodless cylinder (5) top and bottom, exhaust mode, drive and get seedling end effector (7) and in XY plane, along Y-axis line, slide up and down to realize and from dish (1) hole, cave, cave, get seedling and to cultivation seedling in flowerpot (8).
beneficial effect of the present inventionfor: of the present inventionly get seedling manipulator distributing rationally by mechanical, electric, pneumatics, can replace people's manual operations, from seedling culture hole plate, automatic taking-up seedling is transplanted in growth dish or flowerpot and plants, and overall structure is simple, dependable performance, has larger production practical value.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
Fig. 1 is overall structure schematic diagram of the present invention.
Fig. 2 is straight line modular structure schematic diagram of the present invention.
In figure: 1. cave is coiled 2. caves dishes seedling 3. support 4. straight line module 5. Rodless cylinder 6. slide block II 9. slide block I 7. and got seedling end effector 8. flowerpot 4-1. driven pulley 4-2. rotating shaft II 4-3. Timing Belt 4-4. support 4-5. line slide rail 4-6. slide block I 4-7. motor 4-8. shaft coupling 4-9. rotating shaft I 4-10. driving pulleys.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further details.
The seedling manipulator of getting of the present invention, comprises and gets seedling mechanical arm and get seedling end effector 7, it is characterized in that: the described seedling mechanical arm of getting comprises straight line module 4, Rodless cylinder 5 and support 3;
Described straight line module 4 is Timing Belt structure, comprise motor 4-7, shaft coupling 4-8, rotating shaft I 4-9, rotating shaft II 4-2, Timing Belt 4-3, driving pulley 4-10, driven pulley 4-1, slide block I 4-6, line slide rail 4-5, support 4-4 etc., motor 4-7 is vertically mounted on end of horizontal stand 4-4; The output shaft tight joint of one end of shaft coupling 4-8 and motor 4-7, the rotating shaft I 4-9 tight joint of the other end of shaft coupling 4-8 and driving pulley 4-10; Driving pulley 4-10 forms revolute pair by rotating shaft I 4-9 and support 4-4, and driven pulley forms revolute pair at another end of horizontal stand 4-4 4-1 by rotating shaft II 4-2 and support 4-4; In the middle of Timing Belt 4-3, be provided with opening, walk around driving pulley 4-10 above for one of Timing Belt 4-3, driven pulley 4-1 is walked around in other end, the two ends of Timing Belt 4-3 middle opening and slide block I 4-6 tight joint; Driving pulley 4-10, under the driving of motor 4-7, by the Timing Belt 4-3 driving driven pulley 4-1 of tensioning, thereby makes slide block I 4-6 move left and right along X-axis line with its installed surface and the parallel plane mode of XY;
Described Rodless cylinder 5 is fixed in along center line symmetry on the installed surface of slide block I 4-9 of straight line module 4, and the slide block II 6 on Rodless cylinder 5 can be slided along Y-axis line direction in XY plane;
The described seedling end effector 7 (application number: 201210477010.5) be two finger four needle pliering clips structures, with it, top be installed and be close to the slide block II 6 lower limb modes of Rodless cylinder 5 and be vertically fixed in the slide block II 6 of Rodless cylinder 5 of getting;
The described seedling mechanical arm of getting is fastened on support 3, the cave dish seedling 2 that coil in 1 induction system transportation cave dish 1 in cave supplies seedling along z axis in XZ plane, flowerpot 8 induction system transportation flowerpots 8 supply basin along z axis in XZ plane, thereby form, get Descartes's kinematic system that seedling end effector 7 is carried along Z-axis direction in XZ plane along X, Y-motion and cave dish 1, flowerpot 8 in XY plane.
As shown in Figure 1,
128 Tomato Plug transplantation of seedlings to the flowerpot of take is example, the whole seedling course of work of getting is as follows:
(1), while getting seedling, the cave dish seedling 2 that will transplant in cave dish 1 is transported to respectively the operating position of getting seedling end effector 7 with the flowerpot 8 of populated cultivating soil.
(2) motor 4-7 running, the straight line module that drives Timing Belt 4-3 structure arrives with the Rodless cylinder 5 that is arranged on being equipped with on slide block I 4-6 and gets seedling end effector 7 dish seedling 2 tops, cave that will transplant.
(3) Rodless cylinder 5 upper end air inlet lower end exhausts, slide block II 6 is glided, so the seedling end effector 7 of getting being fixed in slide block II 6 goes to the long 1 Kong Zhong cave, cave of coiling in cave of crawl to coil seedling 2 from 2. extremely 1. coil 1 direction along vertical cave, get action that seedling end effector 7 captures caves dish seedlings 2 and be and stretch out the root that gripping pin inserts cave dish seedling 2 and stick together, tighten up the root that gripping pin pinches cave dish seedling 2 and stick together.
(4) getting seedling end effector 7 successfully captures after the cave dish seedling 2 that will transplant, Rodless cylinder 5 lower end air inlet upper end exhausts, make slide block II 6 increase, so be fixed in, in slide block II 6, get seedling end effector 7 from 1. to 2. coiling 1 direction and take out long 1 Kong Zhong cave, the cave dish seedling 2 that coils in cave along deviating from cave.
(5) motor 4-7 running drive Timing Belt 4-3 be arranged on slide block I 4-6 upper with Rodless cylinder 5 affixed get seedling end effector 7 above the flowerpot 8 that 2. will transplant to cave dish seedling 2 arrival of 3. taking out along the transportation of X-axis line in XY plane.
(6) Rodless cylinder 5 upper end air inlet lower end exhausts, slide block II 6 is glided, so be fixed in and get seedling end effector 7 from 3. to 4. going to discharge the cave dish seedling 2 the taking out operation of planting along vertical flowerpot 8 directions in slide block II 6, get action that seedling end effector 7 discharges caves dish seedlings 2 and be the root that gripping pin loosens cave dish seedling 2 and stick together, thereby gripping pin retraction departs from the root of cave dish seedling 2, stick together.
(7) getting seedling end effector 7 successfully discharges after the cave dish seedling 2 taking out, Rodless cylinder 5 lower end air inlet upper end exhausts, make slide block II 6 increase, so be fixed in slide block II 6 get seedling end effector 7 from 4. to 3. along the plant height that deviates from flowerpot 8 directions and be promoted to cave dish seedling 2, the cave dish seedling 2 of taking-up is planted in flowerpot 8.
(8) motor 4-7 running drives Timing Belt 4-3 to arrive with the Rodless cylinder 5 that is arranged on being equipped with on slide block I 4-6 and gets seedling end effector 7 dish seedling 2 tops, cave that again will transplant and proceeds to get transplantation of seedlings work.
Getting seedling operation cycle for one is,
While getting seedling, the Rodless cylinder 5 of getting seedling mechanical arm puts down gets seedling end effector 7; Getting seedling end effector 7 stretches out the root that gripping pin inserts cave dish seedling 2 and sticks together; Getting seedling end effector 7 tightens up the root that gripping pin pinches cave dish seedling 2 and sticks together; Thereby the Rodless cylinder 5 of getting seedling mechanical arm is mentioned and is got seedling end effector 7 and take out the cave dish seedling 2 that will transplant;
Thereby the motor 4-7 that gets seedling mechanical arm drives 4 drives of straight line module to get seedling end effector 7 and takes seedling to planting point;
While putting seedling, the Rodless cylinder 5 of getting seedling mechanical arm puts down gets seedling end effector 7; Getting seedling end effector 7 opens the root that gripping pin loosens cave dish seedling 2 and sticks together; Thereby the root of getting seedling end effector 7 retraction gripping pins disengaging cave dish seedlings 2 sticks together; Thereby the Rodless cylinder 5 of getting seedling mechanical arm is mentioned and is got seedling end effector 7 and plant the cave dish seedling 2 that will transplant in target flowerpot 8.
Cave dish seedling 2 in 128 cave dishes 1, utilizes the single seedling end effector 7 of getting to carry out transplanting work, and according to cave dish 1 and flowerpot 8 layouts in Fig. 1,2, needing to get for 8 times seedling could be transplanted to 8 li, 8 flowerpots by whole row cave dish seedling 2.After whole row's 8 strain cave dish seedlings 2 have been transplanted, cave pitch of holes of 1 feeding is coiled in cave, carries out a next row cave dish seedling 2 and transplants, and flowerpot 8 is constantly supplied to the planting point of getting seedling end effector 10 intermittence.
Other seedling that employing cave dish is cultivated from 72 caves, 50 caves etc. are transplanted to flowerpot automatically, or from high density cave dish, automatically transplanting seedling coils to low-density cave, with reference to described in embodiment above, operate, need to set number of times and spacing, the Kong Duixue hole, cave of the displacement of hole, cave and transplant.
Claims (4)
1. a potted tray seedling transplanter automatic seedling taking manipulator, comprises and gets seedling mechanical arm and get seedling end effector (7), it is characterized in that: the described seedling mechanical arm of getting comprises straight line module (4), Rodless cylinder (5) and support (3);
Described straight line module (4) is Timing Belt structure, comprises motor (4-7), shaft coupling (4-8), rotating shaft I (4-9), rotating shaft II (4-2), Timing Belt (4-3), driving pulley (4-10), driven pulley (4-1), slide block I (4-6), line slide rail (4-5), support (4-4); The output shaft tight joint of one end of shaft coupling (4-8) and motor (4-7), rotating shaft I (4-9) tight joint of the other end of shaft coupling (4-8) and driving pulley (4-10); Motor (4-7) is vertically mounted on an end of support (4-4); Driving pulley (4-10) forms revolute pair by rotating shaft I (4-9) and support (4-4), and driven pulley forms revolute pair at another end of support (4-4) by rotating shaft II (4-2) and support (4-4); In the middle of Timing Belt (4-3), be provided with opening, walk around on driving pulley (4-10) for one of Timing Belt (4-3), driven pulley (4-1) is walked around in other end, the two ends of Timing Belt (4-3) middle opening and slide block I (4-6) tight joint; Driving pulley (4-10) is under the driving of motor (4-7), Timing Belt (4-3) by tensioning drives driven pulley (4-1), thereby slide block I (4-6) is moved left and right along X-axis line with its installed surface and the parallel plane mode of XY;
Described Rodless cylinder (5) is fixed in along center line symmetry on the installed surface of slide block I (4-9) of straight line module (4), and the slide block II (6) on Rodless cylinder (5) can be slided along Y-axis line direction in XY plane;
The described seedling mechanical arm of getting is fastened on support (3), the cave dish seedling (2) that cave dish (1) induction system transportation is arranged in cave dish (1) supplies seedling in XZ plane along z axis, flowerpot (8) induction system transportation flowerpot (8) supplies basin along z axis in XZ plane, thereby form, gets Descartes's kinematic system that seedling end effector (7) is carried along Z-axis direction in XZ plane along X, Y-motion and cave dish (1), flowerpot (8) in XY plane.
2. a kind of potted tray seedling transplanter automatic seedling taking manipulator as claimed in claim 1, it is characterized in that: by motor (4-7) drive get seedling end effector (7) in XY plane along X-axis line direction back and forth displacement to realize, aim at hole, cave and prepare to get seedling and aim at flowerpot and prepare to plant seedling, by the different air inlet in Rodless cylinder (5) top and bottom, exhaust mode, drive and get seedling end effector (7) and in XY plane, along Y-axis line, slide up and down to realize and from dish (1) hole, cave, cave, get seedling and to cultivation seedling in flowerpot (8).
3. a kind of potted tray seedling transplanter automatic seedling taking manipulator as claimed in claim 1, it is characterized in that: the upper driving pulley (4-10) of described straight line module (4) is greater than the span of carrying two cave dishes with the spacing of driven pulley (4-1) centre of gyration, to be applicable to automatically to transplant seedling from high density cave dish, to low-density cave, coil, also be applicable to automatically transplant seedling to flowerpot from cave dish, the effective travel that described Rodless cylinder (5) top shoe II (6) slides up and down is greater than the seedling plant height of cave dish seedling (2), to meet, from seedling top, capture the cave dish seedling (2) that cave dish seedling (2) and transportation are taken out.
4. a kind of potted tray seedling transplanter automatic seedling taking manipulator as claimed in claim 1, it is characterized in that: described in to get seedling end effector (7) be two finger four needle pliering clips structures, get the installation top of seedling end effector (7) and be close to slide block II (6) lower limb of Rodless cylinder (5) and be vertically fixed in the slide block II (6) of Rodless cylinder (5), getting seedling end effector (7) can be along with slide block II (6) be in the upper slip of Rodless cylinder (5).
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| CN201310595017.1A CN103563532A (en) | 2013-11-25 | 2013-11-25 | Automatic seedling taking manipulator for plug seeding transplanter |
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