CN104429249A - Replanting end executor for grafted seedling - Google Patents
Replanting end executor for grafted seedling Download PDFInfo
- Publication number
- CN104429249A CN104429249A CN201410559171.8A CN201410559171A CN104429249A CN 104429249 A CN104429249 A CN 104429249A CN 201410559171 A CN201410559171 A CN 201410559171A CN 104429249 A CN104429249 A CN 104429249A
- Authority
- CN
- China
- Prior art keywords
- jaw
- clamping
- hinged
- supporting plate
- connecting rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Manipulator (AREA)
- Hydroponics (AREA)
Abstract
The invention relates to a replanting end executor for a grafted seedling, and aims at providing an end executor which has characteristics of compact structure, high working efficiency and low production cost. According to the technical scheme, the replanting end executor for the grafted seedling comprises a clamping jaw for clamping the grafted seedling and is characterized by also comprising a clamping planting mechanism and a compaction mechanism; the clamping planting mechanism comprises the clamping jaw which is hinged to a supporting plate and can move in a horizontal plane, a horizontal air cylinder for driving the clamping jaw to open and close and a vertical air cylinder for driving the supporting plate and the clamping jaw to make vertical movement; the compaction mechanism comprises a compaction block which is positioned on an installation frame through a vertical guide rail pair and a link mechanism which is used for transferring the power of the horizontal air cylinder to the compaction block, the vertical guide rail pair consists of a vertical slide rail which is installed on the installation frame and a slide rod which is matched with the vertical slide rail in a sliding manner, and the compaction block is fixed at the bottom of the slide rod.
Description
Technical field
The present invention relates to a kind of leaf vegetables grafting machinery, specifically a kind of can realize grafting clamping, plant into suppression three actions return cultivation end effector.
Background technology
Leaf vegetables grafting after grafting, is returning cultivation in matrix process, need complete by clamping, planting into suppression three operational motions; And time cultivation end effector of existing leaf vegetables grafting machine, the clamping carried out, plant into being performed respectively by multiple mechanism or multiple power source (3) with suppression three actions, not only structure is comparatively loose, manufacturing cost is higher, and operating efficiency is lower, and structure is compact not.
Summary of the invention
Technical problem to be solved by this invention is the deficiency overcoming above-mentioned background technology, and provide the improvement of a kind of leaf vegetables grafting machinery end effector, this end effector should have compact conformation, feature that operating efficiency is high, and cost of manufacture is lower.
The technical solution used in the present invention is as follows:
A kind of grafting returns cultivation end effector, comprises the jaw of clamping grafting; It is characterized in that: described grafting returns cultivation end effector and also comprises clamping planting mechanism and suppression mechanism; Described clamping planting mechanism comprise be hinged on supporting plate and can at the described jaw of horizontal in-plane moving, drive this jaw make the horizontal air cylinder of open and close movement and drive described supporting plate and jaw to make the vertical cylinder of vertical motion; Described suppression mechanism comprises and is positioned at the suppression block on installing rack by upright guide rail pair and the power of horizontal air cylinder is transferred to the linkage of suppression block, and described upright guide rail is secondary by the upright slide rail on installing rack and to match with this upright slide rail slidably and bottom is fixed wtih the slide bar of suppressing block.
Described horizontal air cylinder drives jaw by a drive plate; Drive plate is shaped with vertical rail, and the right-hand member of the pull bar of jaw is fixed on the slide block that matches with vertical rail.
The piston rod of described vertical cylinder is vertically down arranged, described supporting plate is fixed on piston rod bottom, and described jaw is positioned at again the bottom end surface of supporting plate.
In described linkage, second connecting rod and third connecting rod hinged, the other end of first connecting rod and second connecting rod respectively with installing rack and hinged with slide bar, the two ends of first connecting rod respectively with described drive plate and first connecting rod hinged.
The structure of described jaw is: the middle part of clamping bar is hinged on supporting plate swingably, the two ends of small rod respectively with the right-hand member of clamping bar and pull bar hinged, pull bar also embeds in the gathering sill in supporting plate slidably.
Operation principle of the present invention is: when starting working, and first the piston rod of horizontal air cylinder stretches out, and drives jaw to close and clamps grafting M; Then, the piston rod action of vertical cylinder drives jaw vertically to be sent into by grafting in matrix hole; Finally, the piston rod of horizontal air cylinder is retracted, and drives suppression block to do the action of lifting suppression matrix on the one hand, drive jaw to open the clamping removed grafting on the one hand by linkage.Repeat said process, operation is carried out repeatedly.
The invention has the beneficial effects as follows: this device provided completes multiple action in a set of mechanism, not only return cultivation operating efficiency and significantly improve, and compact conformation, action is connected closely, reduces return load operating cost, also reduces the cost of manufacture of this device.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention.
Fig. 2 is schematic diagram of mechanism of the present invention.
Fig. 3 is the perspective view of installing rack of the present invention.
Fig. 4 is the perspective view after the present invention removes part body.
Fig. 5 is the perspective view of clamping planting mechanism of the present invention (not comprising drive plate and horizontal air cylinder).
Fig. 6 is the open configuration schematic diagram of jaw.
Fig. 7 is the closure state schematic diagram of jaw.
Fig. 8 is the perspective view of drive plate.
Fig. 9 is of the present invention cultivation into view.
Figure 10 is the pressed status schematic diagram of suppression block of the present invention.
Figure 11 is the up retracted state schematic diagram of suppression block of the present invention.
Embodiment
Below in conjunction with Figure of description, the invention will be further described, but the present invention is not limited to following examples.
Grafting as shown in Figure 1 and Figure 2 returns plants end effector and comprises and be fixed on clamping planting mechanism on installing rack 3 and suppression mechanism.
As shown in Figure 2, the B bar (i.e. slide bar) of described clamping planting mechanism is moved up and down by vertical air cylinder driven, and the jaw of described clamping planting mechanism is driven by cylinder C (i.e. horizontal air cylinder 4-7) and does opening and closing movement; Described suppression mechanism A holds (i.e. slide bar bottom) to be connected with suppression block and this suppression block makes vertical motion under linkage drives.
As shown in Figure 3, described installing rack is manufactured with the matched square hole 3-1 (i.e. upright slide rail) with slide bar, for the hinge hole 3-2 of hinged second connecting rod 4-2, for installing the installing hole 3-4 of vertical cylinder 5-1 and the installing hole 3-5 for installing horizontal air cylinder; The bottom of installing rack is also manufactured with the guard strip 3-3 (known in Fig. 1: this guard strip is jag structure, level overhangs in the top of suppression block) for putting a lodged plant upright.
As shown in Figure 4, described suppression mechanism, bar linkage structure wherein comprises first connecting rod 4-1, second connecting rod 4-2 and third connecting rod 4-3; The bottom of slide bar 4-4 is fixed wtih suppression block 4-5; The right-hand member of first connecting rod 4-1 is hinged on drive plate 4-6, left end hinged second connecting rod 4-2 middle part; Second connecting rod 4-2 right-hand member is hinged on installing rack, and the left end of left end and third connecting rod 4-3 is hinged; Third connecting rod 4-3 right-hand member is hinged on slide bar.Drive plate is connected with the piston rod of horizontal air cylinder 4-7, and first connecting rod drives (swinging in perpendicular) by drive plate 4-6 (shown in Fig. 8).
As shown in Figure 5-Figure 7, described jaw 5 comprises two the clamping bar 5-2, two the small rod 5-5 and pull bar 5-3 that are arranged symmetrically with; Its structure is: the middle part of clamping bar 5-2 is hinged on supporting plate 9 swingably, the two ends of small rod 5-5 respectively with the right-hand member of clamping bar and pull bar 5-3 hinged; Pull bar also embeds in the gathering sill 9-1 in supporting plate (direction of extension of gathering sill is parallel with the direction of motion of horizontal air cylinder piston rod) slidably, and the slide block 7-1 of pull bar right-hand member then embeds in the vertical rail 4-61 on installing rack slidably; Make jaw can slide up and down planting of grafting along vertical rail on the one hand, on the other hand can be reciprocating to drive the folding of two clamping bars (forming the clamping movement of jaw) in the horizontal direction.
When the present invention works, first the piston rod of horizontal air cylinder 4-7 stretches out, and drives jaw 5-2 to close and clamps grafting M (Fig. 1 shows); Then, the piston rod of vertical cylinder 5-1 stretches out and drives jaw vertically grafting to be sent in matrix hole (Fig. 9 shows); Finally, the piston rod of horizontal air cylinder is retracted, and drives suppression block to do lifting suppression matrix action (Figure 10,11 shows) on the one hand, drive jaw to open the clamping removed grafting on the one hand by linkage.Repeat said process, operation is carried out repeatedly.
Claims (5)
1. grafting returns a cultivation end effector, comprises the jaw (5) of clamping grafting; It is characterized in that: described grafting returns cultivation end effector and also comprises clamping planting mechanism and suppression mechanism; Described clamping planting mechanism comprise be hinged on supporting plate (9) upper and can at the described jaw of horizontal in-plane moving, drive this jaw make the horizontal air cylinder (4-7) of open and close movement and drive described supporting plate and jaw to make the vertical cylinder (5-1) of vertical motion; Described suppression mechanism comprises and is positioned at the suppression block (4-5) on device seat (3) by upright guide rail pair and the power of horizontal air cylinder is transferred to the linkage of suppression block, and described upright guide rail is secondary by the upright slide rail (3-1) on device seat and to match with this upright slide rail slidably and bottom is fixed wtih the slide bar (4-4) of suppressing block.
2. grafting according to claim 1 returns cultivation end effector, it is characterized in that: described horizontal air cylinder is by a drive plate (4-6)) drive jaw; Drive plate is shaped with vertical rail (4-61), the right-hand member of the pull bar (5-3) of jaw is fixed on the slide block (7-1) that matches with vertical rail.
3. grafting according to claim 2 returns cultivation end effector, it is characterized in that: the piston rod of described vertical cylinder is vertically down arranged, described supporting plate is fixed on piston rod bottom, and described jaw is positioned at again the bottom end surface of supporting plate.
4. grafting according to claim 3 returns cultivation end effector, it is characterized in that: in described linkage, second connecting rod (4-2) is hinged with third connecting rod (4-3), the other end of first connecting rod and second connecting rod respectively with device seat and hinged with slide bar, the two ends of first connecting rod (4-1) respectively with described drive plate and first connecting rod hinged.
5. grafting according to claim 4 returns cultivation end effector, it is characterized in that: the structure of described jaw is: the middle part of clamping bar (5-2) is hinged on supporting plate swingably, the two ends of small rod (5-5) respectively with the right-hand member of clamping bar and pull bar hinged, pull bar also embeds in the gathering sill (9-1) in supporting plate slidably.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410559171.8A CN104429249B (en) | 2014-10-20 | 2014-10-20 | A kind of grafting returns cultivation end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410559171.8A CN104429249B (en) | 2014-10-20 | 2014-10-20 | A kind of grafting returns cultivation end effector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104429249A true CN104429249A (en) | 2015-03-25 |
| CN104429249B CN104429249B (en) | 2016-02-24 |
Family
ID=52876618
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410559171.8A Expired - Fee Related CN104429249B (en) | 2014-10-20 | 2014-10-20 | A kind of grafting returns cultivation end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104429249B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109699278A (en) * | 2018-11-23 | 2019-05-03 | 南县伟业机械制造有限公司 | A kind of underwater avoidance grass trimmer |
| CN110352675A (en) * | 2019-07-05 | 2019-10-22 | 江苏大学 | One kind is put a lodged plant upright formula plant feed unit and transplanter |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1156026A (en) * | 1997-08-20 | 1999-03-02 | Topy Ind Ltd | Simply seedling transplanting apparatus |
| JP2004016176A (en) * | 2002-06-20 | 2004-01-22 | Seirei Ind Co Ltd | Vegetable transplanter and method for supplying seedling to vegetable transplanter |
| CN101485263A (en) * | 2009-02-26 | 2009-07-22 | 浙江理工大学 | Tray automatic seedling-feeding device |
| CN102696322A (en) * | 2012-06-05 | 2012-10-03 | 江苏大学 | Pin type plug seedling transplanting end effector |
| CN103286780A (en) * | 2013-05-20 | 2013-09-11 | 上海交通大学 | Grafted seedling hole disk planting manipulator tail end actuator and grafted seedling hole disk planting mechanism |
| CN204180517U (en) * | 2014-10-20 | 2015-03-04 | 浙江理工大学 | A kind of grafting returns cultivation end effector |
-
2014
- 2014-10-20 CN CN201410559171.8A patent/CN104429249B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1156026A (en) * | 1997-08-20 | 1999-03-02 | Topy Ind Ltd | Simply seedling transplanting apparatus |
| JP2004016176A (en) * | 2002-06-20 | 2004-01-22 | Seirei Ind Co Ltd | Vegetable transplanter and method for supplying seedling to vegetable transplanter |
| CN101485263A (en) * | 2009-02-26 | 2009-07-22 | 浙江理工大学 | Tray automatic seedling-feeding device |
| CN102696322A (en) * | 2012-06-05 | 2012-10-03 | 江苏大学 | Pin type plug seedling transplanting end effector |
| CN103286780A (en) * | 2013-05-20 | 2013-09-11 | 上海交通大学 | Grafted seedling hole disk planting manipulator tail end actuator and grafted seedling hole disk planting mechanism |
| CN204180517U (en) * | 2014-10-20 | 2015-03-04 | 浙江理工大学 | A kind of grafting returns cultivation end effector |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109699278A (en) * | 2018-11-23 | 2019-05-03 | 南县伟业机械制造有限公司 | A kind of underwater avoidance grass trimmer |
| CN110352675A (en) * | 2019-07-05 | 2019-10-22 | 江苏大学 | One kind is put a lodged plant upright formula plant feed unit and transplanter |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104429249B (en) | 2016-02-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104354156B (en) | Cam robot | |
| CN203888113U (en) | Machine for cyclically taking off gloves | |
| CN104429247B (en) | Scissor-type displacement moves alms bowl manipulator | |
| CN103419207B (en) | For the robot self adaptation handgrip of piling box member | |
| WO2013068984A4 (en) | Conveying device for leads | |
| CN107455088A (en) | Apple-picking machinery hand | |
| CN105493718B (en) | A kind of full-automatic pot seedling transplanter seeding separation | |
| CN205438537U (en) | Displacement flexible robot clamping apparatus | |
| CN109484702A (en) | A kind of fruit catching robot and its grasping means | |
| CN204180518U (en) | Scissor-type displacement moves alms bowl manipulator | |
| CN104429249B (en) | A kind of grafting returns cultivation end effector | |
| CN207167087U (en) | Apple-picking machinery hand | |
| CN103636332B (en) | Row-moving type transplanter end actuator | |
| CN203528942U (en) | Bag clamping linkage mechanism for vertical packing bags | |
| CN208898080U (en) | A kind of clamping device and automatic production line | |
| CN204180517U (en) | A kind of grafting returns cultivation end effector | |
| CN203912665U (en) | A kind of grafting machine automatic seedling taking end effector | |
| CN102972132B (en) | Special novel duckbill opening and closing mechanism for transplanting machine | |
| CN104770146B (en) | A kind of vertical lever actuated Caulis Sacchari sinensis binding clamping device | |
| CN104044268A (en) | Ultrasonic welding device for non-woven fabric forestry seedling culture cup | |
| CN202713940U (en) | Cotyledon direction adjustable type seedling feeding end effector based on vision | |
| CN108811595B (en) | Mechanical seedling planting and pit filling equipment | |
| CN103523522B (en) | Automatic blank arranging machine blank taking device | |
| CN107098148B (en) | A kind of arranging apparatus of heat exchanger U-tube | |
| CN103461010B (en) | Grated seedling locating and clamping device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200701 Address after: 063000 inside the chestnut trading center, baibaodian, Qianxi County, Tangshan City, Hebei Province Patentee after: QIANXI COUNTY CHESTNUT INDUSTRY RESEARCH DEVELOPMENT CENTER Address before: Hangzhou City, Zhejiang province 310018 Xiasha Higher Education Park Poplar Street No. 2 Street No. 5 Patentee before: ZHEJIANG SCI-TECH University |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160224 Termination date: 20211020 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |