CN103597939A - Single cylinder-driven plugging-clamping-type aperture disk seedling transplanting paw - Google Patents
Single cylinder-driven plugging-clamping-type aperture disk seedling transplanting paw Download PDFInfo
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- CN103597939A CN103597939A CN201310494130.0A CN201310494130A CN103597939A CN 103597939 A CN103597939 A CN 103597939A CN 201310494130 A CN201310494130 A CN 201310494130A CN 103597939 A CN103597939 A CN 103597939A
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- seedling
- needle tubing
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Abstract
The invention discloses a single cylinder-driven plugging-clamping-type aperture disk seedling transplanting paw. The driving cylinder is mounted below an upper plate of a support; a cylinder rod is fixedly connected with one end of a screw thread push rod; a seedling needle installing plate is fixed to the screw thread push rod; four seedling needle fastening sliding parts are respectively fixed at the four side surfaces of the seedling needle installing plate; an intermediate pressing plate is separated from a needle pipe installing plate by a spring to form a sliding pair; one end of each of four needle pipe fastening rotating parts is mounted in a respective groove of the intermediate pressing plate to form a sliding pair with a cylindrical pin; the other end is mounted in a respective groove of the needle pipe installing plate to form a rotating pair; four seedling withdrawing needle pipes respectively pass through their respective needle pipe fastening rotating parts and are fixedly connected; the other end of each of four seedling picking needles passes through the respective seedling withdrawing needle pipe to form a sliding pair; the needle pipe installing plate is mounted on a lower plate of the support. The paw of the invention completes two actions of inserting and clamping within one extending stroke of the cylinder; the depth and the angle of the seedling picking needles inserting into pot seedlings can be adjusted conveniently; and the paw has strong adaptability to various crop kinds and various aperture disk specifications.
Description
Technical field
The present invention relates to agricultural machinery, especially relate to a kind of plugging clamp modus ponens cave dish seedling transplanting gripper of single air cylinder driven.
Background technology
Germination rate is high, seedling strain is neat, damage by disease and insect is few, growth cycle is short, be not subject to seasonal restrictions, be convenient to the plurality of advantages such as do mechanization operation because it has for point disk seedling growing technology, at present generally application on market.In point disk seedling growing process, be to the transplanting of filling the gaps with seedlings of the bad pot seedling of growing way or broadcast leakage, the hole, cave of not germinateing, pot seedling grows to certain phase also needs to carry out thin planting transplanting.Traditional manual transplanting operation, workman's labour intensity is large, and operating efficiency is not high.By comparison, mechanization transplanting equipment not only can alleviate workman's labour intensity, greatly improves operating efficiency, can also guarantee the uniformity of transplanting.
Transplanting paw is one of critical component of cave dish transplantation of seedlings equipment, must be able to realize stable getting seedling and hold seedling and effectively pot seedling release, and will have very strong adaptability to different crop varieties and different cave dish specifications.In addition the tender and lovely rapid wear of pot seedling, also has very high requirement to transplanting the seedling-damaging ratio of paw.At present domestic cave dish transplantation of seedlings is main still by manually completing, and forms huge contrast with the generally application of point disk seedling growing technology.The immature of transplantation of seedlings technology coiled in domestic cave, and reason is just that the design of end transplanting paw is unreasonable greatly, and seedling-damaging ratio is high, pawl is got the solution that the key issues such as release is unreliable, operating rate is low never obtain whole synthesis.External cave dish transplantation of seedlings technology is comparatively ripe, and the transplanting paw that it adopts can be divided into two kinds from moving in form substantially, plug-in and clamping type, and operating rate is very high, but has defect separately aspect stability.Transplant paw with clamping type and compare, plug-in is transplanted paw the reliability of pot seedling dispose procedure is improved a lot, but it is not enough to some extent with the stability of holding the seedling stage to get seedling.If plug and two actions of gripping are combined stiffly, phase in, can reduce operating rate over half, can not meet the needs of large-scale point disk seedling growing factory.In sum, design a efficient transplanting paw the popularization of mechanical transplantation technique is seemed to particularly important.
Summary of the invention
The object of the present invention is to provide a kind of plugging clamp modus ponens cave dish seedling transplanting gripper of single air cylinder driven, solve a key technology difficult problem for cave dish transplantation of seedlings equipment---transplant the design of paw, this paw adopts single air cylinder driven, in a rise of cylinder, complete and insert and two actions of gripping, there is higher operating rate, make to get seedling, hold seedling and pot seedling and discharge the reliability in stage and all obtained guarantee.
The technical solution used in the present invention is as follows:
The present invention includes mounting bracket, three nuts, seedling pin installing plate, screw putter, bolt, spring, four move back seedling needle tubing, needle tubing installing plate, four fastening tumblers of needle tubing, middle pressing plate, four get seedling pin, four fastening sliding parts of seedling pin, drive cylinder, four cylinder slide blocks and eight short pins of sliding cylinder, drive cylinder be fixedly mounted on mounting bracket upper plate below, drive the cylinder rod of cylinder affixed with the screw putter one end being arranged in foursquare seedling pin installing plate down, seedling pin installing plate is fixed by the first nut and the second nut and screw putter, foursquare seedling pin installing plate Si Bian center has groove, cylinder slide block central shaft is inserted respectively separately in elongated slot in four one end of getting seedling pin, form revolute pair with cylinder slide block separately, four cylinder slide blocks are contained in respectively the cylindrical cavity of the fastening sliding part of seedling pin that respectively carries guide groove, and form sliding pair, four cylinder slide blocks are aimed at respectively the groove separately on seedling pin installing plate, and four fastening sliding parts of seedling pin are separately fixed at four sides of seedling pin installing plate, the parallel needle tubing installing plate top that is placed on of pressing plate in the middle of criss-cross, centre separates with spring, bolt and the 3rd nut by center are interconnected to form sliding pair, the two sides of four fastening tumblers of needle tubing all have intilted chute from top to bottom, one end of four fastening tumblers of needle tubing be contained in respectively criss-cross separately in the middle of in the groove of pressing plate, with separately in the middle of the short pin of sliding cylinder of pressing plate groove both sides along tip chute, form sliding pair, the other end of four fastening tumblers of needle tubing is contained in respectively in needle tubing installing plate groove separately, the other end of the fastening tumbler of needle tubing forms revolute pair with needle tubing installing plate respectively, four one end of moving back seedling needle tubing are respectively through affixed with the fastening tumbler of needle tubing separately after the fastening tumbler of needle tubing separately, four other ends of getting seedling pin are through moving back after seedling needle tubing separately, with move back separately seedling needle tubing and form sliding pair, needle tubing installing plate be fixedly mounted on mounting bracket lower plate above.
The beneficial effect that the present invention has is:
The present invention is for cave dish transplantation of seedlings system, and this transplanting paw is arranged in three-freedom mechanical arm, completes and get seedling, holds the action of seedling and release seedling alms bowl.This paw adopts single air cylinder driven, in a rise of cylinder, complete and insert and two actions of gripping, there is higher operating rate, make to get seedling, hold seedling and pot seedling and discharge the reliability in stage and all obtained guarantee, getting seedling pin, to insert the degree of depth and the angular adjustment of pot seedling convenient, and different crop varieties and different cave dish specifications are had to very strong adaptability, and less to the damage of pot seedling, compact overall structure can be used by multijaw in parallel simultaneously, further increases work efficiency.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention.
Fig. 2 is the stereochemical structure exploded perspective view of getting seedling pin installing plate and assembly thereof.
Fig. 3 is the stereochemical structure exploded perspective view of needle tubing installing plate and assembly thereof.
In figure: 1, mounting bracket, the 2, first nut, 3, seedling pin installing plate, 4, screw putter, 5, bolt, 6, spring, 7, four are moved back seedling needle tubing, and 8, needle tubing installing plate, 9, four fastening tumblers of needle tubing, 10, middle pressing plate, gets seedling pin for 11, four, 12, four fastening sliding parts of seedling pin, 13, drive cylinder, 14, four cylinder slide blocks, the 15, second nut, 16, the 3rd nut, 17, eight short pins of sliding cylinder.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
As shown in Figure 1, Figure 2, Figure 3 shows, the present invention includes mounting bracket 1, three nuts 2,15,16, seedling pin installing plate 3, screw putter 4, bolt 5, spring 6, four move back seedling needle tubing 7, needle tubing installing plate 8, four fastening tumblers 9 of needle tubing, middle pressing plate 10, four get seedling pin 11, four fastening sliding parts 12 of seedling pin, drive cylinder 13, four cylinder slide blocks 14 and eight short pins 17 of sliding cylinder, drive cylinder 13 be fixedly mounted on mounting bracket 1 upper plate below, drive the cylinder rod of cylinder 13 affixed with screw putter 4 one end that are arranged in foursquare seedling pin installing plate 3 down, seedling pin installing plate 3 is fixing with screw putter 4 by the first nut 2 and the second nut 15, foursquare seedling pin installing plate 3 Si Bian centers have groove, cylinder slide block 14 central shafts are inserted respectively separately in elongated slot in four one end of getting seedling pin 11, form revolute pairs with cylinder slide block separately 14, four cylinder slide blocks 14 are contained in respectively the cylindrical cavity of the fastening sliding part 12 of seedling pin that respectively carries guide groove, and form sliding pair, four cylinder slide blocks 14 are aimed at respectively the groove separately on seedling pin installing plate 3, four fastening sliding parts 12 of seedling pin are separately fixed at 3 four sides of seedling pin installing plate, parallel needle tubing installing plate 8 tops that are placed on of pressing plate 10 in the middle of criss-cross, centre separates with spring 6, bolt 5 and the 3rd nut 16 by center are interconnected to form sliding pair, the two sides of four fastening tumblers 9 of needle tubing all have intilted chute from top to bottom, one end of four fastening tumblers 9 of needle tubing be contained in respectively criss-cross separately in the middle of in the groove of pressing plate 10, with separately in the middle of the short pin 17 of sliding cylinder of pressing plate 10 groove both sides along tip chute, form sliding pair, the other end of four fastening tumblers 9 of needle tubing is contained in respectively in needle tubing installing plate 8 groove separately, the other end of the fastening tumbler 9 of needle tubing forms revolute pair with needle tubing installing plate 8 respectively, four one end of moving back seedling needle tubing 7 are respectively through affixed with the fastening tumbler 9 of needle tubing separately after the fastening tumbler 9 of needle tubing separately, four other ends of getting seedling pin are through moving back after seedling needle tubing separately, with move back separately seedling needle tubing and form sliding pair, needle tubing installing plate 8 be fixedly mounted on mounting bracket 1 lower plate above.
The course of work of the present invention is as follows:
As Fig. 1, Fig. 2, shown in Fig. 3, be arranged on the plugging clamp modus ponens cave dish seedling transplanting gripper of the single air cylinder driven on three translation freedoms mechanical arm, move to the top, hole, seedling alms bowl cave of transplanting cave dish, drop to and approach seedling alms bowl position, connect the source of the gas that drives cylinder 13 pipelines, release downwards with the screw putter 4 that cylinder rod is affixed, seedling pin installing plate 3 declines, owing to getting the first primary dip of seedling pin 11, the top of getting seedling pin 11 with cylinder slide block 14 along seedling pin fixedly the guide groove of sliding part 12 to center, gather slip, getting seedling pin 11 moves down along moving back seedling needle tubing 7, insert in seedling alms bowl matrix.
Getting before 11 times slotting strokes of seedling pin finish, the bottom of screw putter 4 touches bolt 5, promote middle pressing plate 10 downward Compress Spring 6 together, simultaneously, the short pin 17 of sliding cylinder of pressing plate 10 ends is along the fixing chute down sliding of tumbler 9 of needle tubing, promotion is moved back seedling needle tubing 7 tops to inner rotary, thereby bottom inwardly clamps seedling alms bowl.
Transplanting paw moves up, clamp pot seedling and leaving transplanting cave dish, mobile to object cave dish, after above the hole that moves to the object cave dish that will move alms bowl operation, transplanting paw moves downward, and is clamping the pot seedling that will transplant operation and is entering object cave and circle or whirl in the air in cave.Connect the source of the gas that drives cylinder 13 pipelines, the now screw putter 4 upwards retraction affixed with cylinder rod, do not passing through middle pressing plate 10 Compress Springs 6, middle pressing plate 10 upwards resets under the effect of spring 6, simultaneously, the short pin 17 of sliding cylinder of pressing plate 10 ends is along the fixing chute upward sliding of tumbler 9 of needle tubing, promotion is moved back seedling needle tubing 7 tops and is inwardly rotated, thereby seedling alms bowl is outwards unclamped in bottom.
Seedling pin installing plate 3 rises simultaneously, owing to getting the first primary dip of seedling pin 11, the top of getting seedling pin 11 with cylinder slide block 14 along seedling pin fixedly the guide groove of sliding part 12 to external diffusion, slide, getting seedling pin 11 moves up along moving back seedling needle tubing 7, move back seedling needle tubing 7 and limit seedling alms bowl and move upward with getting seedling pin, get seedling pin 11 stable separated.
By regulating the first nut 2 and the second nut 15 to control, get the degree of depth that seedling pin 11 inserts seedling alms bowl, by adjusting bolt 5 and the 3rd nut 16 Compress Springs, can control the first primary dip that moves back seedling needle tubing 7, thereby control, get the angle that seedling pin 11 inserts seedling alms bowl, reach the requirement that adapts to different cultivars crop and different size cave dish.
Claims (1)
1. seedling transplanting gripper is coiled in the plugging clamp modus ponens cave of a single air cylinder driven, it is characterized in that: comprise mounting bracket (1), three nuts (2,15,16), seedling pin installing plate (3), screw putter (4), bolt (5), spring (6), four move back seedling needle tubing, needle tubing installing plate (8), four fastening tumblers of needle tubing, middle pressing plate (10), four get seedling pin, four fastening sliding parts of seedling pin, drive cylinder (13), four cylinder slide blocks and eight short pins of sliding cylinder, drive cylinder (13) be fixedly mounted on mounting bracket (1) upper plate below, drive the cylinder rod of cylinder (13) affixed with screw putter (4) one end being arranged in foursquare seedling pin installing plate (3) down, seedling pin installing plate (3) is fixing with screw putter (4) by the first nut (2) and the second nut (15), foursquare seedling pin installing plate (3) Si Bian center has groove, cylinder slide block central shaft is inserted respectively separately in elongated slot in four one end of getting seedling pin, form revolute pair with cylinder slide block separately, four cylinder slide blocks are contained in respectively the cylindrical cavity of the fastening sliding part of seedling pin that respectively carries guide groove, and form sliding pair, four cylinder slide blocks are aimed at respectively the groove separately on seedling pin installing plate (3), four fastening sliding parts of seedling pin are separately fixed at (3) four sides of seedling pin installing plate, parallel needle tubing installing plate (8) top that is placed on of pressing plate (10) in the middle of criss-cross, centre separates with spring (6), bolt (5) and the 3rd nut (16) by center are interconnected to form sliding pair, the two sides of four fastening tumblers of needle tubing all have intilted chute from top to bottom, one end of four fastening tumblers of needle tubing be contained in respectively criss-cross separately in the middle of in the groove of pressing plate (10), with separately in the middle of the short pin of sliding cylinder of pressing plate (10) groove both sides along tip chute, form sliding pair, the other end of four fastening tumblers of needle tubing is contained in respectively in needle tubing installing plate (8) groove separately, the other end of the fastening tumbler of needle tubing forms revolute pair with needle tubing installing plate (8) respectively, four one end of moving back seedling needle tubing are respectively through affixed with the fastening tumbler of needle tubing separately after the fastening tumbler of needle tubing separately, four other ends of getting seedling pin are through moving back after seedling needle tubing separately, with move back separately seedling needle tubing and form sliding pair, needle tubing installing plate (8) be fixedly mounted on mounting bracket (1) lower plate above.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310494130.0A CN103597939B (en) | 2013-10-21 | 2013-10-21 | The plugging clamp modus ponens Plug seedling of single air cylinder driven transplants paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310494130.0A CN103597939B (en) | 2013-10-21 | 2013-10-21 | The plugging clamp modus ponens Plug seedling of single air cylinder driven transplants paw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103597939A true CN103597939A (en) | 2014-02-26 |
| CN103597939B CN103597939B (en) | 2015-08-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310494130.0A Expired - Fee Related CN103597939B (en) | 2013-10-21 | 2013-10-21 | The plugging clamp modus ponens Plug seedling of single air cylinder driven transplants paw |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103875341A (en) * | 2014-04-17 | 2014-06-25 | 南京农业大学 | End effector of transplanting machine |
| CN104782289A (en) * | 2015-04-23 | 2015-07-22 | 浙江大学 | End executor of potted vegetable seedling supply mechanical hand |
| CN104919955A (en) * | 2015-06-23 | 2015-09-23 | 浙江理工大学 | Stepping clamping and seedling pushing end actuator for pot seedlings in greenhouses |
| CN105881529A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Manipulator assembly of industrial robot |
| CN105881513A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with mechanical gripper on paired small arms |
| CN105881514A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with manipulator assembly on paired small arms |
| CN105945990A (en) * | 2016-05-28 | 2016-09-21 | 东莞市联洲知识产权运营管理有限公司 | Robot of which forearm is provided with swinging extension arm |
| CN107637237A (en) * | 2017-09-18 | 2018-01-30 | 江苏大学 | One kind hugs seedling and takes end effector and method |
| CN109479470A (en) * | 2019-01-24 | 2019-03-19 | 内蒙古工业大学 | A kind of seedling picking mechanism of pot seedling transplanter |
| CN110371722A (en) * | 2019-07-27 | 2019-10-25 | 中山德美运动制品有限公司 | It is a kind of for grabbing the device of cloth |
| CN112075172A (en) * | 2020-08-31 | 2020-12-15 | 中国农业大学 | Plug seedling taking device and working method thereof |
| CN113412962A (en) * | 2021-08-09 | 2021-09-21 | 配天机器人技术有限公司 | Robot paw and oblique needle movement device thereof |
| CN114600603A (en) * | 2022-04-13 | 2022-06-10 | 南京信息职业技术学院 | Seedling tray seedling transplanting electric control mechanical claw and control method thereof |
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| CN103039165A (en) * | 2013-01-09 | 2013-04-17 | 浙江大学 | Insertion and clamping end executor for transplanting pot seedlings |
| CN203537813U (en) * | 2013-10-21 | 2014-04-16 | 浙江大学 | Insertion and extraction clamping type potting seedling transplanting gripper driven by single air cylinder |
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| JPH09201115A (en) * | 1996-01-26 | 1997-08-05 | Kubota Corp | Seedling-taking device of transplanter |
| JPH1014330A (en) * | 1996-07-08 | 1998-01-20 | Yanmar Agricult Equip Co Ltd | Device for taking out seedling in vegetable transplanter |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103875341A (en) * | 2014-04-17 | 2014-06-25 | 南京农业大学 | End effector of transplanting machine |
| CN104782289A (en) * | 2015-04-23 | 2015-07-22 | 浙江大学 | End executor of potted vegetable seedling supply mechanical hand |
| CN104782289B (en) * | 2015-04-23 | 2016-08-24 | 浙江大学 | Bowl vegetable seedling is filled the gaps with seedlings arm end effector |
| CN104919955B (en) * | 2015-06-23 | 2017-01-11 | 浙江理工大学 | Stepping clamping and seedling pushing end actuator for pot seedlings in greenhouses |
| CN104919955A (en) * | 2015-06-23 | 2015-09-23 | 浙江理工大学 | Stepping clamping and seedling pushing end actuator for pot seedlings in greenhouses |
| CN105881529A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Manipulator assembly of industrial robot |
| CN105881514A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with manipulator assembly on paired small arms |
| CN105945990A (en) * | 2016-05-28 | 2016-09-21 | 东莞市联洲知识产权运营管理有限公司 | Robot of which forearm is provided with swinging extension arm |
| CN105881513A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with mechanical gripper on paired small arms |
| CN105881514B (en) * | 2016-05-28 | 2017-10-27 | 北京中航科电测控技术股份有限公司 | The robot of mechanical arm assembly is arranged with a pair of forearms |
| CN105881529B (en) * | 2016-05-28 | 2017-11-10 | 深圳商巨智能设备股份有限公司 | A kind of mechanical arm assembly of industrial robot |
| CN105945990B (en) * | 2016-05-28 | 2018-08-17 | 郭依婷 | A kind of forearm is equipped with the robot of swing adjutage |
| CN107637237A (en) * | 2017-09-18 | 2018-01-30 | 江苏大学 | One kind hugs seedling and takes end effector and method |
| CN109479470A (en) * | 2019-01-24 | 2019-03-19 | 内蒙古工业大学 | A kind of seedling picking mechanism of pot seedling transplanter |
| CN110371722A (en) * | 2019-07-27 | 2019-10-25 | 中山德美运动制品有限公司 | It is a kind of for grabbing the device of cloth |
| CN112075172A (en) * | 2020-08-31 | 2020-12-15 | 中国农业大学 | Plug seedling taking device and working method thereof |
| CN113412962A (en) * | 2021-08-09 | 2021-09-21 | 配天机器人技术有限公司 | Robot paw and oblique needle movement device thereof |
| CN114600603A (en) * | 2022-04-13 | 2022-06-10 | 南京信息职业技术学院 | Seedling tray seedling transplanting electric control mechanical claw and control method thereof |
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Granted publication date: 20150812 Termination date: 20191021 |