CN104429705A - Single-driving elastic limiting type pitch-regulated pot moving mechanical arm - Google Patents
Single-driving elastic limiting type pitch-regulated pot moving mechanical arm Download PDFInfo
- Publication number
- CN104429705A CN104429705A CN201410570395.9A CN201410570395A CN104429705A CN 104429705 A CN104429705 A CN 104429705A CN 201410570395 A CN201410570395 A CN 201410570395A CN 104429705 A CN104429705 A CN 104429705A
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- China
- Prior art keywords
- actuator
- belt pulley
- crawl
- fixed
- springing
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
Abstract
The invention relates to a single-driving elastic limiting type pitch-regulated pot moving mechanical arm. The mechanical arm can transfer seedling culturing pots by rows, and therefore the labor intensity of an operator is lowered, and the subsequent full-automatic transplanting work can be higher in efficiency. According to the technical scheme, the single-driving elastic limiting type pitch-regulated pot moving mechanical arm is characterized by comprising guiding rods installed on a rack, a plurality of grabbing executors installed on the guiding rods, first springs installed between the adjacent grabbing executors, a driving mechanism driving the grabbing executors and a limiting assembly limiting the positions of the grabbing executors. The grabbing executors include sliding blocks matched with the guiding rods and grippers installed on the sliding blocks. The driving mechanism drives the sliding blocks to slide along the guiding rods and drives the grippers to open and close.
Description
Technical field
The present invention relates to fruits and vegetables field of mechanical technique, specifically one moves alms bowl manipulator, for the seedling-raising cup filling seedling being coiled to Large space cave dish by row's transfer by Small Distance cave.
Background technology
Along with improving constantly of Automation of Agricultural Production technology, the demand of the people to leafy green vegetable increases fast; Because the cost of manually transplanting is high and speed slow, be difficult to catch up with modern step, current leaf vegetables seedling progressively transplants transition from artificial transplanting to machinery; But mechanization transplanting operation, need the cave dish in advance seedling-raising cup (nutritive cube) being transferred to cavities arrangement sparse (spacing between cavities is larger) from the cave dish that cavities is arranged intensive, this part operation is still needed at present and is manually completed, labour intensity is large and operating efficiency is not high, substitutes in the urgent need to there being a kind of servicing unit.
Summary of the invention
The object of the invention is to overcome the deficiency in above-mentioned background technology, provide one to move alms bowl manipulator, this manipulator should be able to realize shifting seedling-raising cup by row, thus reduces the labour intensity of operator, for follow-up full automatic transplanting operation provides more high efficiency.
For realizing above object, present invention employs following technical scheme:
Single limit-type displacement of springing that drives moves alms bowl manipulator, it is characterized in that: comprise rack-mounted guide post, several install crawl actuator on the guide bar, be arranged on the first spring between adjacent crawl actuator, drive the driving mechanism that captures actuator and limit the limit assembly capturing actuator position; Described crawl actuator comprises the slide block coordinated with guide post and the paw be arranged on slide block, and driving mechanism drives each slide block to slide and the opening and closing of each paw along guide post.
The quantity of described guide post is two, and the slide block quantity of each crawl actuator is two and is arranged on two guide posts respectively; Described first spring housing dress is on the guide bar and between the slide block of adjacent crawl actuator.
Described driving mechanism comprises by motor, belt pulley, belt, two steel cables, cam lever and a pair angular wheel; Described belt pulley is driven by motor, and belt pulley captures actuator with outermost two respectively by described two steel cables and is connected, and every bar steel cable is provided with one section of second spring; At least one depression bar that described cam lever comprises a rack-mounted dwang and is connected on dwang, described dwang and depression bar and guide post are arranged in parallel, one of them angular wheel is fixed on dwang, and another angular wheel is connected with described belt pulley by belt.
Described paw comprises fixed claw and movable claw, the front end of fixed claw and movable claw is all shaped with the opening adapted with seedling-raising cup, the rear end of fixed claw connects and is fixed wtih two slide blocks capturing actuator, the middle part of movable claw is hinged on fixed claw and hinged place is provided with torsion spring, and the rear end of movable claw is positioned at the below of described depression bar and contacts with depression bar.
Described limit assembly comprises several projections and several positive stops; Connected by connecting plate between two slide blocks of each crawl actuator, each connecting plate is fixed with a described projection; Described motor is arranged on motor mounting plate, and the both sides of each projection are respectively equipped with a positive stop, and described positive stop is fixed on motor mounting plate.
The both sides of described belt pulley are all furnished with crawl actuator, and the crawl actuator of both sides is arranged symmetrically with; The coefficient of elasticity of described first spring increases from outermost layer gradually to described belt pulley.
Operation principle of the present invention is: during beginning, motor is started working, belt pulley rotates clockwise, make steel cable around over pulleys carried, again because the first the elastic coefficient is not identical, slide block just starts mobile orderly, crawl actuator between two distance diminishes, stopped after the positive stop bumping post of projection side respectively mobile (spring of inner side is first compressed to position, and the crawl actuator near belt pulley first stops mobile, and outermost crawl actuator finally stops mobile); Now motor works on, the second spring elongates on steel cable, and belt pulley continues to drive conical gear by belt, and then dwang rotates, and depression bar rises and makes the front end of movable claw clamp seedling-raising cup; After clamping cup, motor reversal, belt pulley rotates counterclockwise, and captures actuator distance change between two large, stop mobile after arriving the positive stop of respective projection opposite side respectively, now motor works on, and dwang rotates, depression bar presses down, and movable claw front end is risen, and unclamps seedling-raising cup.
The beneficial effect that the present invention has is: the present invention is by arranging the spring that coefficient of elasticity is different, coordinate limit assembly can make to capture the pitch smaller of actuator and become large, once can shift row's seedling-raising cup, meet the transfer demand of seedling-raising cup transfer in fruits and vegetables transplanter, seedling-raising cup closely spaced in seedling culture hole plate is transferred to the larger cave dish of gap ratio (as water blister foam cave dish), reduce the labour intensity of operator, for follow-up full automatic transplanting operation provides more high efficiency.
Accompanying drawing explanation
Fig. 1, Fig. 2 are perspective view of the present invention.
Fig. 3-1 is structural representation when capturing actuator dispersed arrangement in the present invention.
Fig. 3-2 captures structural representation when actuator concentrates arrangement in the present invention.
Fig. 4 ~ Fig. 7 is the perspective view after the present invention removes frame and motor mounting plate.
Fig. 8 is the perspective view of cam lever.
Fig. 9 is the scheme of installation of projection and positive stop.
Figure 10-1 is the perspective view capturing actuator.
Figure 10-2 is the side structure schematic diagrames capturing actuator.
Figure 11-1 is the perspective view of fixed claw.
Figure 11-2 is perspective view of movable claw.
Figure 12 is the working state schematic representation capturing actuator.
Embodiment
Below in conjunction with Figure of description, the invention will be further described, but the present invention is not limited to following examples.
As shown in Fig. 1-Fig. 7, single limit-type displacement of springing that drives of the present invention moves alms bowl manipulator, comprise be arranged in frame 1 and be parallel to each other two guide posts 2, be slidably mounted on two guide posts several capture actuators 3, be arranged between adjacent crawl actuator guide post on the first spring 6, drive the driving mechanism that captures actuator and limit the limit assembly capturing actuator position.The paw 11 that described crawl actuator comprises two slide block 3-1 and is arranged on slide block, driving mechanism drives each slide block slide along guide post and drive the opening and closing of each paw.
Described driving mechanism comprises by motor 13, belt pulley 5, belt 15, two steel cables 9, cam lever 12 and a pair angular wheel 10.Described motor is arranged on motor mounting plate 8, belt pulley is driven by motor, belt pulley by described two steel cables captures with outermost two respectively actuator be connected (steel wire rope one end fix over pulleys carried, the other end is connected with outermost crawl actuator), outermost crawl actuator makes the crawl actuator motions of inner side by the crawl actuator inside described first spring compresses.The coefficient of elasticity that every bar steel cable is provided with one section of second spring 7, second spring is comparatively large and exceed all first springs.As shown in Figure 8, at least one depression bar 12-2 that described cam lever comprises a rack-mounted dwang 12-1 and is connected on dwang, described dwang and depression bar and guide post are arranged in parallel, one of them angular wheel is fixed on dwang, and another angular wheel is connected with described belt pulley by belt.Conveniently install angular wheel, the quantity of described depression bar is two.
Particularly, two slide blocks are arranged on two guide posts respectively, are provided with described first spring between slide block adjacent on same guide post, and namely described first spring housing dress is on the guide bar and between the slide block of adjacent crawl actuator.As shown in Figure 10-Figure 12, described paw comprises fixed claw 11-1 and movable claw 11-2, the front end of fixed claw and movable claw is all shaped with the opening 11-3 adapted with seedling-raising cup 17, the front end of fixed claw is vertical with rear end, the rear end 11-1-1 of fixed claw connects and is fixed wtih two slide blocks capturing actuator, two slide blocks are moved together, in Fig. 1 to Fig. 7, the rear end of fixed claw is positioned at the back side of slide block, the middle part of movable claw is hinged on fixed claw and hinged place is provided with torsion spring, torsion spring makes movable claw have the trend of closing up to fixed claw, the rear end 11-2-1 of movable claw is positioned at the below of described depression bar and contacts with depression bar, under normal circumstances, depression bar presses down the rear end of movable claw, movable claw is made to be normally open.
Described limit assembly comprises several projections 14 and several positive stops 4.Connected by connecting plate between two slide blocks of each crawl actuator, connecting plate is positioned at the front of two slide blocks, each connecting plate is fixed with a described projection.The both sides of each projection are respectively equipped with a positive stop, and described positive stop is fixed on motor mounting plate.Interfere in order to avoid producing, mutual dislocation between described projection, correspondingly, the positive stop of each projection mutual dislocation also and between the positive stop of other projection, as shown in Figure 9.
The both sides of described belt pulley are all furnished with and capture actuator (namely belt pulley is positioned at the centre position of several crawl actuators described), and the crawl actuator of belt pulley both sides is arranged symmetrically with.The coefficient of elasticity of described first spring increases from outermost layer gradually to described belt pulley, and concrete size can be determined according to actual needs.
As shown in Fig. 4 to Fig. 7, Figure 10, have an opening between the connecting plate of described crawl actuator and the rear end of fixed claw, steel cable can pass in opening, and outermost crawl actuator is provided with joint pin 16 and fixes described steel cable in opening.
Claims (6)
1. single limit-type displacement of springing that drives moves alms bowl manipulator, it is characterized in that: several comprise the guide post (2) be arranged in frame (1), installing on the guide bar capture actuator (3), are arranged on the first spring (6) between adjacent crawl actuator, drive the driving mechanism that captures actuator and limit the limit assembly capturing actuator position; Described crawl actuator comprises the slide block (3-1) coordinated with guide post and the paw (11) be arranged on slide block, and driving mechanism drives each slide block to slide and the opening and closing of each paw along guide post.
2. single limit-type displacement of springing that drives according to claim 1 moves alms bowl manipulator, and it is characterized in that: the quantity of described guide post is two, the slide block quantity of each crawl actuator is two and is arranged on two guide posts respectively; Described first spring housing dress is on the guide bar and between the slide block of adjacent crawl actuator.
3. single limit-type displacement of springing that drives according to claim 2 moves alms bowl manipulator, it is characterized in that: described driving mechanism comprises by motor (13), belt pulley (5), belt (15), two steel cables (9), cam lever (12) and a pair angular wheel (10); Described belt pulley is driven by motor, and belt pulley captures actuator with outermost two respectively by described two steel cables and is connected, and every bar steel cable is provided with one section of second spring (7); At least one depression bar (12-2) that described cam lever comprises a rack-mounted dwang (12-1) and is connected on dwang, described dwang and depression bar and guide post are arranged in parallel, one of them angular wheel is fixed on dwang, and another angular wheel is connected with described belt pulley by belt.
4. single limit-type displacement of springing that drives according to claim 3 moves alms bowl manipulator, it is characterized in that: described paw comprises fixed claw (11-1) and movable claw (11-2), the front end of fixed claw and movable claw is all shaped with the opening (11-3) adapted with seedling-raising cup (17), the rear end (11-1-1) of fixed claw connects and is fixed wtih two slide blocks capturing actuator, the middle part of movable claw is hinged on fixed claw and hinged place is provided with torsion spring, and the rear end (11-2-1) of movable claw is positioned at the below of described depression bar and contacts with depression bar.
5. single limit-type displacement of springing that drives according to claim 4 moves alms bowl manipulator, it is characterized in that: described limit assembly comprises several projections (14) and several positive stops (4); Connected by connecting plate (3-2) between two slide blocks of each crawl actuator, each connecting plate is fixed with a described projection; Described motor is arranged on motor mounting plate (8), and the both sides of each projection are respectively equipped with a positive stop, and described positive stop is fixed on motor mounting plate.
6. single limit-type displacement of springing that drives according to claim 5 moves alms bowl manipulator, it is characterized in that: the both sides of described belt pulley are all furnished with crawl actuator, and the crawl actuator of both sides is arranged symmetrically with; The coefficient of elasticity of described first spring increases from outermost layer gradually to described belt pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410570395.9A CN104429705B (en) | 2014-10-23 | 2014-10-23 | Single driving limit-type displacement of springing moves alms bowl mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410570395.9A CN104429705B (en) | 2014-10-23 | 2014-10-23 | Single driving limit-type displacement of springing moves alms bowl mechanical hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104429705A true CN104429705A (en) | 2015-03-25 |
| CN104429705B CN104429705B (en) | 2016-10-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410570395.9A Expired - Fee Related CN104429705B (en) | 2014-10-23 | 2014-10-23 | Single driving limit-type displacement of springing moves alms bowl mechanical hand |
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| Country | Link |
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| CN (1) | CN104429705B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109910036A (en) * | 2019-04-15 | 2019-06-21 | 广东天机工业智能系统有限公司 | Manipulator and material grasping equipment |
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|---|---|---|---|---|
| JP2004121089A (en) * | 2002-10-02 | 2004-04-22 | Idemitsu Plastic Kk | Tray structure for seedling raising pot |
| CN102555192A (en) * | 2012-01-19 | 2012-07-11 | 浙江宏振机械模具集团有限公司 | Preform transmission device |
| CN203048157U (en) * | 2013-02-01 | 2013-07-10 | 东莞市万将机电设备有限公司 | Variable-pitch material taking device |
| CN203120531U (en) * | 2013-01-11 | 2013-08-14 | 浙江理工大学 | Row type seedling feeding device allowing directions of cotyledons to be adjustable |
| CN103543402A (en) * | 2012-02-29 | 2014-01-29 | 温州奔龙自动化科技有限公司 | Automatic testing device |
| CN203471777U (en) * | 2013-09-24 | 2014-03-12 | 江苏云涌电子科技有限公司 | Mechanical arm |
| CN103753525A (en) * | 2013-04-28 | 2014-04-30 | 广州奥迪通用照明有限公司 | Novel manipulator system |
| CN204206831U (en) * | 2014-10-23 | 2015-03-18 | 浙江理工大学 | Single limit-type displacement of springing that drives moves alms bowl manipulator |
-
2014
- 2014-10-23 CN CN201410570395.9A patent/CN104429705B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004121089A (en) * | 2002-10-02 | 2004-04-22 | Idemitsu Plastic Kk | Tray structure for seedling raising pot |
| CN102555192A (en) * | 2012-01-19 | 2012-07-11 | 浙江宏振机械模具集团有限公司 | Preform transmission device |
| CN103543402A (en) * | 2012-02-29 | 2014-01-29 | 温州奔龙自动化科技有限公司 | Automatic testing device |
| CN203120531U (en) * | 2013-01-11 | 2013-08-14 | 浙江理工大学 | Row type seedling feeding device allowing directions of cotyledons to be adjustable |
| CN203048157U (en) * | 2013-02-01 | 2013-07-10 | 东莞市万将机电设备有限公司 | Variable-pitch material taking device |
| CN103753525A (en) * | 2013-04-28 | 2014-04-30 | 广州奥迪通用照明有限公司 | Novel manipulator system |
| CN203471777U (en) * | 2013-09-24 | 2014-03-12 | 江苏云涌电子科技有限公司 | Mechanical arm |
| CN204206831U (en) * | 2014-10-23 | 2015-03-18 | 浙江理工大学 | Single limit-type displacement of springing that drives moves alms bowl manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109910036A (en) * | 2019-04-15 | 2019-06-21 | 广东天机工业智能系统有限公司 | Manipulator and material grasping equipment |
| CN109910036B (en) * | 2019-04-15 | 2021-12-14 | 广东天机工业智能系统有限公司 | Manipulator and material grabbing equipment |
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| Publication number | Publication date |
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| CN104429705B (en) | 2016-10-05 |
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Effective date of registration: 20200916 Address after: Room 1110, Zhongtian building, No.789, north section of Yi'an Avenue, Tongling City, Anhui Province Patentee after: Anhui Chaochen Information Technology Co., Ltd Address before: Hangzhou City, Zhejiang province 310018 Xiasha Higher Education Park Poplar Street No. 2 Street No. 5 Patentee before: Zhejiang University of Technology |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161005 Termination date: 20201023 |