CN104704965B - End effector for transplanting machine - Google Patents
End effector for transplanting machine Download PDFInfo
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- CN104704965B CN104704965B CN201410250017.2A CN201410250017A CN104704965B CN 104704965 B CN104704965 B CN 104704965B CN 201410250017 A CN201410250017 A CN 201410250017A CN 104704965 B CN104704965 B CN 104704965B
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- cylinder
- end effector
- piston
- mounting plate
- upper mounting
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Abstract
The invention provides an end effector with a novel structure for a transplanting machine. The end effector comprises an air cylinder (1), a clamping sheet (2), a connecting rod (3), a lower platform (4), an upper platform (5), a supporting rod (6), a pointer (7) and a spring (8). According to the invention, the purposes of clamping and loosening of the end effector are achieved through extension and retraction of a piston located on the air cylinder (1); when the piston located on the air cylinder (1) extends or retracts, the connecting rod (3) carries out circular motion around the lower platform (4) with the center of a through-hole in an engaging lug as a circle center since one end of the piston is fixed on the upper platform (5) and the piston is fixed by the clamping sheet (2). The end effector provided by the invention belongs to the technical field of agricultural machinery. The end effector of the invention can quickly finish automatic transplanting of seedlings from a high-density plug to low-density pots under the cooperation of the transplanting machine. The end effector has simple, effective and greatly adjustable pneumatic action and can be used for more types of transplanting machines.
Description
Technical field
The present invention relates to a kind of pneumatic transplanter end effector is and in particular to one kind is capable of from different size hole tray
Middle seedling taking, and by seedling from high density hole tray to low-density hole tray or the potted plant transplanter end effector being shifted.
Background technology
At present, developed countries rely on technology and fund advantage, have developed much high-precision transplanter ends
Actuator.The UT-2 type transplanter producing as France, the MT transplanter that Holland produces, the Ultramar transplanter that Italy produces,
The three row pot seedling clamp type transplanters that Italian Chenchen＆Magli produces, CKH-6A the and CKB-4A circle that the former Soviet Union develops
KTI- disk folder formula grafting device, the A-500 Kubo field transplanter of Japan, I-70 Northeast transplanter, V-500 big discipline transplanter and TP-1
Beans tiger transplanter and the Dzchc-Dip transplanter of the U.S..The feature of the end effector in these transplanters is, transplanting seedlings
Cave line-spacing and transplanting uniform depth transplanting, keep preferable upright degree, and operating speed are higher, can reach 60 castings/min, is difficult
Hinder seedling.
In recent years, the continuous development of the progress with modern science and technology and modern agriculture with high efficiency, agricultural production is towards height
Efficiency and high-precision mechanization, automation direction development.Due to due to the aspects such as history, idea and technology, China's tradition
There are very big gap in agricultural and developed country, especially in terms of Plug seedling transplantation technique.China is in terms of hole tray transplantation of seedlings
Greatly use pure handwork transplant, and the transplanter being adopted has transplanter end effector designs and do not advise
Model, species is few, the shortcomings of survival rate is relatively low.And from the external transplanter end effector introduced, it is expensive, maintenance, dimension
The shield reason such as inconvenience become the agricultural machinery development of restriction China a key factor it is therefore desirable to design one kind simply efficiently, property
Can reliable, transplanter end effector with low cost.
Content of the invention
The problems such as solving China's transplanter end effector structures complexity, it is an object of the invention to provide a kind of structure is simple
Single, the potted tray seedling transplanter end effector of dependable performance, and transplanter can be coordinated to be used together.
The purpose of the present invention is achieved through the following technical solutions：The lower surface of upper mounting plate 5 is solid with the upper end of support bar 6
Fixed connection, four orientation of upper mounting plate 5 is uniformly provided with four engaging lugs, maintains gap, the cylinder body of cylinder 1 in the middle of engaging lug
The engaging lug phase chain connection of bottom and upper mounting plate 5, the lower end of support bar 6 is fixedly connected with the upper surface of lower platform 4, lower platform
It is again provided with four engaging lugs in 4 four orientation, and middle holding gap, by the company on one end of connecting rod 3 and lower platform 4
Lug chain connection, has a through hole in the middle of holding piece 2, the piston on cylinder 1 is inserted into fixation in through hole, holding piece 2 and connecting rod 3
Other end hinge links, the piston on cylinder 1 is fixedly and coaxially connected with pointer 7, and spring 8 is fixed on the piston end of cylinder 1.
During work, the piston of four cylinders 1 is moved back and forth, motion during, the cylinder base of cylinder 1 with upper
Platform 5 chain connection, it is fixing that the piston of cylinder 1 is clamped piece 2, and during stress, the piston of cylinder 1 stretches out so that pointer 7
Acted on by downward force, and due to the restraining force by holding piece 2, the other end of connecting rod 3 can be rotated around fixing end, spring
8 piston positions that limit cylinder 1, realize contraction and the relieving of end effector.
The invention has the beneficial effects as follows：Structure simply it is easy to operation, dependable performance, can coordinate different according to actual conditions
The hole tray of specification and transplanter use.
Brief description
Fig. 1 is the integrated model schematic diagram of the present invention.
Fig. 2 is the integrated model crawl schematic diagram of the removing spring of the present invention.
Fig. 3 is that the integrated model of the removing spring of the present invention decontrols schematic diagram.
Fig. 4 is holding piece schematic diagram.
Fig. 5 is lower platform and upper mounting plate and support bar connection diagram.
In figure：Cylinder 1, holding piece 2, connecting rod 3, lower platform 4, upper mounting plate 5, support bar 6, pointer 7, spring 8.
Specific embodiment
See Fig. 1, transplanter end effector is made up of eight parts：Cylinder 1, holding piece 2, connecting rod 3, lower platform 4, upper mounting plate
5, support bar 6, pointer 7, spring 8.
Part I is to be equipped with four raised engaging lugs, often on upper mounting plate 5 and each platform four direction of lower platform 4
Leave gap in the middle of individual engaging lug, the cylinder base of four cylinders 1 is provided with a manhole, four cylinder 1 cylinder base with
Engaging lug chain connection on upper mounting plate 5, the piston of cylinder 1 is clamped by clamping device 2, as shown in Figure 1.Part II is upper flat
The lower surface of platform 5 is fixedly connected with support bar 6 upper end, and the lower end of support bar 6 is fixedly connected with lower platform 4 upper surface, such as Fig. 3.
Part III is one end chain connection of the engaging lug on the four direction of lower platform and connecting rod 3, and holding piece 2 is another with connecting rod 3
One end chain connection, and the other end of connecting rod 3 is positioned between holding piece 2 gap, will be coaxial with pointer 7 for the piston of cylinder 1
It is fixedly connected, finally spring 8 is fixed on the piston of cylinder 1.When being attached, need to ensure that the two ends of connecting rod 3 can
Respective carry out relative rotation around lower platform 4 with clamping device 2.By this several be attached partially to together, during work, cylinder 1
Piston stretched, connecting rod 3 is subject to the effect of downward force that one end of connecting rod 3 is transported around the other end of connecting rod 3 as circular arc
Dynamic, the movement position of spring 8 confinement end actuator simultaneously, thus realizing the crawl of end effector, keeping and put down, realize
End effector is from high density hole tray to the automatic transplanting of low-density hole tray.Fig. 1 is overall construction drawing.
Transplanter end effector is installed：According to the size of place transplanter, the size of upper mounting plate 5 as far as possible less, can
So that end effector do relatively small, so can transplanter on different size use.In order to be able on transplanter
Multiple using this end effector, in the size dimension according to standard bowl, the size of upper mounting plate 5 should not exceed 42mm.For
Four cylinders 1 can be simultaneously driven, when designing pneumatic air inlet, air inlet is designed to by same air pump, a conduit
Supply.And the cylinder using same model.For the weight of mitigation end effector as far as possible, simultaneously take account of end execution
The force request of device, the material of end effector selects main to manufacture with duralumin structure design.Grab in order to be able to quickly finish
Take work, cylinder 1 should keep certain inclination angle.Holding piece 2 needs to keep certain distance with the bottom of the piston of cylinder 1.
Claims (2)
1. a kind of transplanter end effector it is characterised in that：Including cylinder (1), holding piece (2), connecting rod (3), lower platform
(4), upper mounting plate (5), support bar (6), pointer (7), spring (8), the lower surface of upper mounting plate (5) is solid with the upper end of support bar (6)
Fixed connect, the lower end of support bar (6) is fixedly connected with the upper surface of lower platform (4), and each is flat for upper mounting plate (5) and lower platform (4)
One raised engaging lug, one end four companies with lower platform (4) respectively of four connecting rods (3) are equipped with the four direction of platform
Lug chain connection, holding piece (2) is fixedly connected with the piston on cylinder (1), the other end of four connecting rods (3) and four clamping
Four engaging lug chain connections, pointer (7) and the cylinder of piece (2) chain connection, the cylinder base of cylinder (1) and upper mounting plate (5)
(1) piston coaxial is fixedly connected, and spring (8) is fixed on the piston of four cylinders (1), constitutes the annular of closing, to end
Actuator plays effect of contraction；Pointer (7) end is gathered to center；The size of upper mounting plate (5) should not exceed 42mm；Four cylinders
(1) be same model cylinder, four cylinders (1) drive by same air pump, a conduit supply；Grab in order to be able to quickly finish
Take work, cylinder (1) should keep certain inclination angle.
2. transplanter end effector according to claim 1 is it is characterised in that connecting rod (3) is inserted between holding piece (2)
Between gap；The distance that the bottom of holding piece (2) and cylinder (1) upper piston is consistent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410250017.2A CN104704965B (en) | 2014-06-06 | 2014-06-06 | End effector for transplanting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410250017.2A CN104704965B (en) | 2014-06-06 | 2014-06-06 | End effector for transplanting machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104704965A CN104704965A (en) | 2015-06-17 |
| CN104704965B true CN104704965B (en) | 2017-02-15 |
Family
ID=53405072
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410250017.2A Expired - Fee Related CN104704965B (en) | 2014-06-06 | 2014-06-06 | End effector for transplanting machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104704965B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109392386B (en) * | 2018-11-27 | 2023-03-31 | 中国计量大学 | Seedling transplanting end effector and seedling transplanting method thereof |
| CN110521361B (en) * | 2019-09-20 | 2021-04-09 | 扬州市职业大学(扬州市广播电视大学) | Automatic transplanting device of plug seedlings |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09135633A (en) * | 1995-11-16 | 1997-05-27 | Seibutsukei Tokutei Sangyo Gijutsu Kenkyu Suishin Kiko | Apparatus for taking stock out of raising seedling pot |
| EP2090148A1 (en) * | 2008-02-18 | 2009-08-19 | Sluiter Techniek B.V. | A method for repotting plants, as well as a planting head and an apparatus provided with a planting head |
| CN202310552U (en) * | 2011-11-03 | 2012-07-11 | 江苏大学 | Device for taking seedlings by rows and putting seedlings at intervals for dryland transplanting machine |
| CN102652473A (en) * | 2012-04-26 | 2012-09-05 | 北京农业智能装备技术研究中心 | Executor for automatically clamping tail end |
| CN202889932U (en) * | 2012-11-06 | 2013-04-24 | 北京农业智能装备技术研究中心 | Seeding clamper |
| CN202907451U (en) * | 2012-11-22 | 2013-05-01 | 江苏大学 | Automatic plug seedling transplanting pick-and-place device |
| CN103477768A (en) * | 2013-09-17 | 2014-01-01 | 北京工业大学 | Oblique type hole tray seedling transplanting paw |
| CN204069719U (en) * | 2014-06-06 | 2015-01-07 | 中国计量学院 | A kind of transplanter end effector |
-
2014
- 2014-06-06 CN CN201410250017.2A patent/CN104704965B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09135633A (en) * | 1995-11-16 | 1997-05-27 | Seibutsukei Tokutei Sangyo Gijutsu Kenkyu Suishin Kiko | Apparatus for taking stock out of raising seedling pot |
| EP2090148A1 (en) * | 2008-02-18 | 2009-08-19 | Sluiter Techniek B.V. | A method for repotting plants, as well as a planting head and an apparatus provided with a planting head |
| CN202310552U (en) * | 2011-11-03 | 2012-07-11 | 江苏大学 | Device for taking seedlings by rows and putting seedlings at intervals for dryland transplanting machine |
| CN102652473A (en) * | 2012-04-26 | 2012-09-05 | 北京农业智能装备技术研究中心 | Executor for automatically clamping tail end |
| CN202889932U (en) * | 2012-11-06 | 2013-04-24 | 北京农业智能装备技术研究中心 | Seeding clamper |
| CN202907451U (en) * | 2012-11-22 | 2013-05-01 | 江苏大学 | Automatic plug seedling transplanting pick-and-place device |
| CN103477768A (en) * | 2013-09-17 | 2014-01-01 | 北京工业大学 | Oblique type hole tray seedling transplanting paw |
| CN204069719U (en) * | 2014-06-06 | 2015-01-07 | 中国计量学院 | A kind of transplanter end effector |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104704965A (en) | 2015-06-17 |
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