CN105144939A - Big seedling rice transplanting robotic hand - Google Patents
Big seedling rice transplanting robotic hand Download PDFInfo
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- CN105144939A CN105144939A CN201510392082.3A CN201510392082A CN105144939A CN 105144939 A CN105144939 A CN 105144939A CN 201510392082 A CN201510392082 A CN 201510392082A CN 105144939 A CN105144939 A CN 105144939A
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Abstract
The invention discloses a big seedling rice transplanting robotic hand, which comprises a motion mechanism and a robotic hand. The motion mechanism includes machine arms, joints and buffering limit blocks. The robotic hand consists of a robotic hand frame, a robotic hand lever and a robotic hand joint. Through motor drive and steel cable traction, planar multi-joint machine arm motion control can be realized, two fixed actions of machine arm starting points and end points can be achieved by means of joint angle limit, and through coordination action of the robotic hand at the machine arm terminal, big seedling rice transplanting operation can be realized. The robotic hand has the advantages of few variable, simple structure, low making cost, and easy popularization and application.
Description
Technical field
The present invention relates to agricultural mechanical field, particularly a kind of seedlings rice transplanting machine hand.
Background technology
Current rice transplanter is mainly used in the middle or small rice shoot of blanket, but this kind of rice transplanter is not suitable for the do mechanization operation in Small burden or extreme terrain paddy field, is also not suitable for large rice shoot, and Er Qiezhong, little seedling growth cycle are longer, and nursery link cost is higher.Seedlings rice transplanting is the planting patterns of China's Yangtze river basin double cropping late rice regional requirements, and double cropping rice plantation is also based on seedlings rice transplanting.But, seedlings rice transplanting mainly adopts Traditional Man Transplanting pattern, and do mechanization operation is of low quality, and the rice transplanting engineering goods being applicable to large rice shoot are at present less, existing rolling type straight operated rice transplanter and reciprocal type straight operated rice transplanter, all because the restriction of point slotting wheel diameter, are difficult to replace artificial slotting large rice shoot.
Summary of the invention
The object of the invention is to overcome the shortcoming existed in prior art, the seedlings rice transplanting machine hand that a kind of structure is simple, volume is little, quality is light, cost is low is provided.
Object of the present invention is achieved through the following technical solutions:
A kind of seedlings rice transplanting machine hand, comprises motion and mechanical hand 5; Motion comprises robotic arm, joint and buffering limited block; Mechanical hand 5 comprises mechanical hand framework 19, mechanical hand lever 20 and mechanical hand joint 21; The shape of mechanical hand framework 19 is U-shaped, the both sides of its U-shaped are fixed on the end of last robotic arm, the top of its U-shaped is provided with mechanical hand regulating tank 22, and mechanical hand joint 21 can translation or fixing in mechanical hand regulating tank 22, for regulating the folding width of mechanical hand; Mechanical hand lever 20 comprises front-end and back-end, and its front end is connected by mechanical hand joint 21 with rear end; The front end of mechanical hand lever 20 is positioned at the outside of mechanical hand framework 19, and the leading inside of mechanical hand lever 20 is bonded with flexible machine hand buffer 23, plays a protective role when clamping rice shoot; The rear end of mechanical hand lever 20 is positioned at the inside of mechanical hand framework 19, is connected outside the rear end of mechanical hand lever 20 by mechanical hand back-moving spring 17 with mechanical hand framework 19, and under the tension of mechanical hand back-moving spring 17, mechanical hand is generally in closure state; Survey in the rear end of mechanical hand lever 20 and drive wirerope 18 to be connected with mechanical hand drive motors 16 by mechanical hand, mechanical hand drive motors 16 is fixed on the middle part of last robotic arm, mechanical hand can be tightened up when mechanical hand drive motors 16 starts and drive wirerope 18, make the open-shaped state of mechanical hand.
Described motion is plane spacing joint robotic arm, comprise plural robotic arm, be connected by joint between robotic arm with robotic arm, the left and right sides in each joint is configured with buffer limit block, when articulation, the buffer limit block corresponding by joint and its contacts spacing, makes mechanical arm be level or vertical configuration; First robotic arm is fixed on ship board for rice transplanter or fuselage, and the end of last robotic arm is fixed with mechanical hand 5.
Described motion has 4 robotic arms and 3 joints; The left and right sides in joint 6, joint 7 and joint 8 is all configured with buffer limit block 9; First robotic arm and robotic arm 1 are fixed on ship board for rice transplanter or fuselage, be connected by joint 6 between robotic arm 1 with robotic arm 2, when joint 6 is rotated counterclockwise, contact spacing by buffer limit block 9, robotic arm 1 and robotic arm 2 linear state, when joint 6 turns clockwise, contact spacing by buffer limit block 9, robotic arm 1 and robotic arm 2 are in vertical state; Be connected by joint 7 between robotic arm 2 with robotic arm 3, when being rotated counterclockwise in vertical state, linear state when turning clockwise; Robotic arm 3 is connected by joint 8 with between last robotic arm and robotic arm 4, when being rotated counterclockwise linearly, in vertical when turning clockwise.
The left and right sides of robotic arm 1, robotic arm 2 and robotic arm 3 is all fixed with more than one pulley 14; Directive wheel 13 is fixed on ship board for rice transplanter or fuselage, and directive wheel 13 is positioned in the middle part of the line of driving wheel 12 to robotic arm 1 base, and with two side rollers on mechanical arm 1 on same vertical curve; The two ends of wirerope 15 are separately fixed at the left and right sides of robotic arm 4, and pulley 14 through robotic arm 1, robotic arm 2 and robotic arm 3 both sides and directive wheel 13 are sleeved on driving wheel 12; Driving wheel 12 is fixed on the output shaft of drive motors 11, and with the pulley of mechanical arm 1 on same vertical plane; Drive motors 11 is arranged on the below of robotic arm 1, and is fixed on ship board for rice transplanter or fuselage by back-moving spring 10, for keeping the rate of tension of wirerope 15, and has enough frictional force between wirerope 15 and driving wheel 12.
Pulley 14 is Double-wheel structure, can increase moment.
During seedling taking seedling, joint 6, joint 7 and joint 8 move to spacing counterclockwise, namely robotic arm 2 rotate counterclockwise to robotic arm 1 in vertical shape, robotic arm 3 rotates counterclockwise to perpendicular to robotic arm 2, and robotic arm 4 rotates counterclockwise and is the level of state to robotic arm 3; Mechanical hand 5 changes closure state into by open configuration, is clamped by the rice shoot of some; Then joint 6, joint 7 and joint 8 move to spacing clockwise, namely robotic arm 4 is clockwise to robotic arm 3 in vertical configuration, robotic arm 3 is clockwise to horizontal with robotic arm 2 one-tenth, robotic arm 2 is clockwise to vertical with robotic arm 1, kept by rice shoot the downward attitude of root to insert mud Tanaka, mechanical hand 5 changes open configuration into by closure state; Repeat above action, seedlings rice transplanting machine hand completes continuous rice transplanting operation.By controlling drive motors 11 rotating, realize the motion of control machine arm: when drive motors 11 rotates counterclockwise, on the left of robotic arm, wirerope 15 is strained, right side wirerope 15 loosens, robotic arm counterclockwise movement; When drive motors 11 rotates clockwise, on the right side of robotic arm, wirerope 15 is strained, left side wirerope 15 loosens, robotic arm clockwise movement.By controlling the rotating of drive motors 11 and mechanical hand drive motors 16, can the action of control machine arm and mechanical hand; By the cooperation of robotic arm and mechanical hand, the rice shoot that will be horizontally placed on rice transplanter inside takes out, and inserts mud Tanaka, complete rice transplanting action with vertical attitude.
The present invention compared with prior art has the following advantages and effect:
1, device drive motors quantity of the present invention is few, and can realize the many planar degrees of freedom motions of robotic arm, reduce the cost of mechanical hand largely, applicable agricultural mechanical field is applied.
2, device of the present invention is applicable to substituting artificial seedlings rice transplanting, and more existing seedlings seedling-transplanting device structure is advanced, and function is strong.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention.
Fig. 2 is the concrete structure schematic diagram of mechanical hand 5.
Fig. 3 is the annexation schematic diagram of wirerope and pulley.
Fig. 4 is seedling taking action schematic diagram of the present invention.
Fig. 5 is rice transplanting action schematic diagram of the present invention.
Wherein: 1, robotic arm; 2, robotic arm; 3, robotic arm; 4, robotic arm; 5, mechanical hand; 6, joint; 7, joint; 8, joint; 9, buffer limit block; 10, back-moving spring; 11, drive motors; 12, driving wheel; 13, directive wheel; 14, pulley; 15, wirerope; 16, mechanical hand drive motors; 17, mechanical hand back-moving spring; 18, mechanical hand drives wirerope; 19, mechanical hand framework; 20, mechanical hand lever; 21, mechanical hand joint; 22, mechanical hand regulating tank; 23, mechanical hand buffer.
Embodiment
Below in conjunction with embodiment, further detailed description is done to the present invention, but embodiments of the present invention are not limited thereto.
Embodiment 1
Seedlings rice transplanting machine hand, comprises motion and mechanical hand 5.
As shown in Figure 1, motion has 4 robotic arms and 3 joints.Robotic arm 1 is fixed on rice transplanter fuselage, and the end of robotic arm 4 is fixed with mechanical hand 5.The left and right sides in joint 6, joint 7 and joint 8 is all configured with buffer limit block 9.Be connected by joint 6 between robotic arm 1 with robotic arm 2, when joint 6 is rotated counterclockwise, contact spacing by buffer limit block 9, robotic arm 1 and robotic arm 2 linear state, when joint 6 turns clockwise, contact spacing by buffer limit block 9, robotic arm 1 and robotic arm 2 are in vertical state; Be connected by joint 7 between robotic arm 2 with robotic arm 3, when being rotated counterclockwise in vertical state, linear state when turning clockwise; Be connected by joint 8 between robotic arm 3 with robotic arm 4, when being rotated counterclockwise linearly, in vertical when turning clockwise.The left and right sides of robotic arm 1, robotic arm 2 and robotic arm 3 is all fixed with two pulleys 14, and pulley 14 is Double-wheel structure; Directive wheel 13 is fixed on rice transplanter body, and directive wheel 13 is positioned in the middle part of the line of driving wheel 12 to robotic arm 1 base, and with two side rollers on mechanical arm 1 on same vertical curve; The two ends of wirerope 15 are separately fixed at the left and right sides of robotic arm 4, and pulley 14 through robotic arm 1, robotic arm 2 and robotic arm 3 both sides and directive wheel 13 are sleeved on driving wheel 12, as shown in Figure 3; Driving wheel 12 is fixed on the output shaft of drive motors 11, and with the pulley of mechanical arm 1 on same vertical plane; Drive motors 11 is arranged on the below of robotic arm 1, and is fixed on rice transplanter body by back-moving spring 10, for keeping the rate of tension of wirerope 15, and has enough frictional force between wirerope 15 and driving wheel 12.
As shown in Figure 2, mechanical hand 5 comprises mechanical hand framework 19, mechanical hand lever 20 and mechanical hand joint 21; The shape of mechanical hand framework 19 is U-shaped, and the both sides of its U-shaped are fixed on the end of robotic arm 4, and the top of its U-shaped is provided with mechanical hand regulating tank 22, and mechanical hand joint 21 can translation or fixing in mechanical hand regulating tank 22, for regulating the folding width of mechanical hand; Mechanical hand lever 20 comprises front-end and back-end, and its front end is connected by mechanical hand joint 21 with rear end; The front end of mechanical hand lever 20 is positioned at the outside of mechanical hand framework 19, and the leading inside of mechanical hand lever 20 bonds one deck flexible machine hand buffer 23, plays a protective role when clamping rice shoot; The rear end of mechanical hand lever 20 is positioned at the inside of mechanical hand framework 19, is connected outside the rear end of mechanical hand lever 20 by mechanical hand back-moving spring 17 with mechanical hand framework 19, and under the tension of mechanical hand back-moving spring 17, mechanical hand is generally in closure state; Survey in the rear end of mechanical hand lever 20 and drive wirerope 18 to be connected with mechanical hand drive motors 16 by mechanical hand, mechanical hand drive motors 16 is fixed on the middle part of last robotic arm, mechanical hand can be tightened up when mechanical hand drive motors 16 starts and drive wirerope 18, make the open-shaped state of mechanical hand.
During seedling taking seedling, joint 6, joint 7 and joint 8 move to spacing counterclockwise, namely robotic arm 2 rotate counterclockwise to robotic arm 1 in vertical shape, robotic arm 3 rotates counterclockwise to perpendicular to robotic arm 2, and robotic arm 4 rotates counterclockwise and is the level of state to robotic arm 3; Mechanical hand 5 changes closure state into by open configuration, is clamped by the rice shoot of some, as shown in Figure 4; Then joint 6, joint 7 and joint 8 move to spacing clockwise, namely robotic arm 4 is clockwise to robotic arm 3 in vertical configuration, robotic arm 3 is clockwise to horizontal with robotic arm 2 one-tenth, robotic arm 2 is clockwise to vertical with robotic arm 1, the downward attitude of root is kept by rice shoot to insert mud Tanaka, mechanical hand 5 changes open configuration into by closure state, as shown in Figure 5; Repeat above action, seedlings rice transplanting machine hand completes continuous rice transplanting operation.By controlling drive motors 11 rotating, realize the motion of control machine arm: when drive motors 11 rotates counterclockwise, on the left of robotic arm, wirerope 15 is strained, right side wirerope 15 loosens, robotic arm counterclockwise movement; When drive motors 11 rotates clockwise, on the right side of robotic arm, wirerope 15 is strained, left side wirerope 15 loosens, robotic arm clockwise movement.By controlling the rotating of drive motors 11 and mechanical hand drive motors 16, can the action of control machine arm and mechanical hand; By the cooperation of robotic arm and mechanical hand, the rice shoot that will be horizontally placed on rice transplanter inside takes out, and inserts mud Tanaka, complete rice transplanting action with vertical attitude.
Claims (5)
1. a seedlings rice transplanting machine hand, is characterized in that: comprise motion and mechanical hand; Motion comprises robotic arm, joint and buffering limited block; Mechanical hand comprises mechanical hand framework, mechanical hand lever and mechanical hand joint; The shape of mechanical hand framework is U-shaped, and the both sides of its U-shaped are fixed on the end of last robotic arm, and the top of its U-shaped is provided with mechanical hand regulating tank, and mechanical hand joint is translation or fixing in mechanical hand regulating tank, for regulating the folding width of mechanical hand; Mechanical hand lever comprises front-end and back-end, and its front end is connected by mechanical hand joint with rear end; The front end of mechanical hand lever is positioned at the outside of mechanical hand framework, and the leading inside of mechanical hand lever is bonded with flexible machine hand buffer; The rear end of mechanical hand lever is positioned at the inside of mechanical hand framework, is connected outside the rear end of mechanical hand lever by mechanical hand back-moving spring with mechanical hand framework; Survey in the rear end of mechanical hand lever and drive wirerope to be connected with mechanical hand drive motors by mechanical hand, mechanical hand drive motors is fixed on the middle part of last robotic arm.
2. seedlings rice transplanting machine hand according to claim 1, it is characterized in that: described motion is plane spacing joint robotic arm, comprise plural robotic arm, be connected by joint between robotic arm with robotic arm, the left and right sides in each joint is configured with buffer limit block, when articulation, the buffer limit block corresponding by joint and its contacts spacing, makes mechanical arm be level or vertical configuration; First robotic arm is fixed on ship board for rice transplanter or fuselage, and the end of last robotic arm is fixed with mechanical hand.
3. seedlings rice transplanting machine hand according to claim 2, is characterized in that: described motion has 4 robotic arms and 3 joints; The left and right sides of joint (6), joint (7) and joint (8) is all configured with buffer limit block; First robotic arm and robotic arm (1) are fixed on ship board for rice transplanter or fuselage, be connected by joint (6) between robotic arm (1) with robotic arm (2), when joint (6) are rotated counterclockwise, contact spacing by buffer limit block, robotic arm (1) and robotic arm (2) linear state, when joint (6) turn clockwise, contact spacing by buffer limit block, robotic arm (1) and robotic arm (2) are in vertical state; Be connected by joint (7) between robotic arm (2) with robotic arm (3), when being rotated counterclockwise in vertical state, linear state when turning clockwise; Robotic arm (3) is connected by joint (8) with between last robotic arm and robotic arm (4), when being rotated counterclockwise linearly, in vertical when turning clockwise.
4. seedlings rice transplanting machine hand according to claim 2, is characterized in that: the left and right sides of robotic arm (1), robotic arm (2) and robotic arm (3) is all fixed with more than one pulley; Directive wheel is fixed on ship board for rice transplanter or fuselage, and directive wheel is positioned in the middle part of driving wheel to the line of robotic arm (1) base, and with upper two side rollers of mechanical arm (1) on same vertical curve; The two ends of wirerope are separately fixed at the left and right sides of robotic arm (4), and pulley through robotic arm (1), robotic arm (2) and robotic arm (3) both sides and directive wheel suit are on the drive wheel; Driving wheel is fixed on the output shaft of drive motors, and with the pulley of mechanical arm (1) on same vertical plane; Drive motors is arranged on the below of robotic arm (1), and is fixed on ship board for rice transplanter or fuselage by back-moving spring.
5. seedlings rice transplanting machine hand according to claim 4, is characterized in that: pulley is Double-wheel structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510392082.3A CN105144939B (en) | 2015-07-03 | 2015-07-03 | Big seedling rice transplanting robotic hand |
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| CN201510392082.3A CN105144939B (en) | 2015-07-03 | 2015-07-03 | Big seedling rice transplanting robotic hand |
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| CN105144939B CN105144939B (en) | 2017-04-12 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1189329A (en) * | 1997-09-17 | 1999-04-06 | Yanmar Agricult Equip Co Ltd | Transplanter |
| CN101306532A (en) * | 2008-07-03 | 2008-11-19 | 南京农业大学 | Plug seedlings transplanting device and transplanting manipulator thereof |
| CN201198136Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Joint type convey robot |
| CN101524020A (en) * | 2009-04-20 | 2009-09-09 | 浙江理工大学 | Potted seedling clamper |
| CN103004348A (en) * | 2012-12-28 | 2013-04-03 | 江苏大学 | Seedling-taking tail-end electromagnetic actuator for automatic transplanting of plug seedlings |
| CN203112153U (en) * | 2013-03-20 | 2013-08-07 | 浙江大北农农牧科技有限公司 | Stacking mechanical arm |
| CN204733573U (en) * | 2015-07-03 | 2015-11-04 | 华南农业大学 | Da miao rice transplanter ware hand |
-
2015
- 2015-07-03 CN CN201510392082.3A patent/CN105144939B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1189329A (en) * | 1997-09-17 | 1999-04-06 | Yanmar Agricult Equip Co Ltd | Transplanter |
| CN201198136Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Joint type convey robot |
| CN101306532A (en) * | 2008-07-03 | 2008-11-19 | 南京农业大学 | Plug seedlings transplanting device and transplanting manipulator thereof |
| CN101524020A (en) * | 2009-04-20 | 2009-09-09 | 浙江理工大学 | Potted seedling clamper |
| CN103004348A (en) * | 2012-12-28 | 2013-04-03 | 江苏大学 | Seedling-taking tail-end electromagnetic actuator for automatic transplanting of plug seedlings |
| CN203112153U (en) * | 2013-03-20 | 2013-08-07 | 浙江大北农农牧科技有限公司 | Stacking mechanical arm |
| CN204733573U (en) * | 2015-07-03 | 2015-11-04 | 华南农业大学 | Da miao rice transplanter ware hand |
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| CN105144939B (en) | 2017-04-12 |
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