CN105265077A - Plug seedling tranplanter seedling transplanting apparatus - Google Patents
Plug seedling tranplanter seedling transplanting apparatus Download PDFInfo
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- CN105265077A CN105265077A CN201410249287.1A CN201410249287A CN105265077A CN 105265077 A CN105265077 A CN 105265077A CN 201410249287 A CN201410249287 A CN 201410249287A CN 105265077 A CN105265077 A CN 105265077A
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Abstract
The invention relates to a plug seedling tranplanter seedling transplanting apparatus. The apparatus is characterized in that the apparatus comprises a spacing adjustment assembly and a manipulator assembly, the manipulator assembly is arranged on the spacing adjustment assembly, a cylinder fixing rack in the manipulator assembly is fixedly connected with slide blocks in the spacing adjustment assembly, a roller in the manipulator assembly is in contact with the groove higher pair of a multi-groove cam in the spacing adjustment assembly, rotation of the multi-groove cam driven by a stepping motor makes the slide blocks collectively move toward the center or disperse toward two sides, manipulators fixedly arranged on the slide blocks move with the slide blocks to realize a movement purposes, and cylinders on the manipulators are elevated up and down to drive the manipulators to grasp and release in order to realize the seedling picking and placing purposes. The apparatus has the advantages of simple structure, stepless regulation of a seedling spacing, flexible movement, and effective realization of automation.
Description
Art
The present invention relates to transplanting machine technical field, particularly relate to the transplanting device of potted tray seedling transplanter tool.
Background technology
At present, transplanting operation is one of nursery production system operation, and the object of transplanting is to ensure that seedling has enough growing spaces, seedling from highdensity plug transplantation to low-density cave dish or flowerpot, to ensure the further growth of rice shoot.Transplanting operation is all generally carry out in greenhouse, and warm indoor temperature is high, high humidity, and operating environment is relatively more severe, and labour intensity is large.Improving the automaticity of transplanting operation by the advanced production such as mechanization, automation means, is expand greenhouse culture scale, effective solution of enhancing productivity.Because external labor cost is high, in greenhouse, do mechanization operation technology is very flourishing, is extensively paid attention to, and achieve good effect in the transplanter research and development application of plant factor.
From configuration aspects analysis, there is following technical problem in prior art:
1, large-scale transplanter exists expensive, complex structure, is not easy to promote.
2, manipulator cannot be dismantled, and it is less that quantity is installed, and is not suitable for large-scale transplanting.
3, time manipulator puts seedling motion, capturing steel wire can get up rice shoot and earth band, thus the effect that impact is transplanted.
Summary of the invention
Compared with prior art, the invention has the beneficial effects as follows: structure is simple, can be completed and move a point action, move a point spacing step-less adjustment by a stepper motor, the crawl of manipulator and unclasp cylinder rod only need be driven to move small distance, flexible movements.
The technical solution adopted for the present invention to solve the technical problems is as follows:
Potted tray seedling transplanter transplanting device, is characterized in that: comprise spacing and regulate assembly, manipulator assembly and controller, and mechanical paw assembly is arranged on spacing and regulates on assembly;
Described spacing regulates assembly to comprise multiple-grooved cam (1), support (2), shaft coupling (3), stepper motor (4), rail plate (5), slide block (6); Rail plate (5) is fixed on support (2) upper surface, four slide blocks (6) are arranged on rail plate (5) and go up and form moving sets with rail plate (6), multiple-grooved cam (1) both sides projecting shaft is arranged on support (2) two ends by bearing, stepper motor (4) is fixed on support (2) right side, and the output shaft of stepper motor (4) is connected with multiple-grooved cam (1) right side projecting shaft by shaft coupling (3);
Described manipulator assembly comprises cylinder block (7), suspension bracket (8), cylinder rod (9), finger fixed block (10), guide pad support (11), guide pad (12), mechanical finger (13), cylinder fixed mount (14), roller (15); Suspension bracket (8) central through hole is fixedly connected with cylinder block (7) outer surface lower end, and suspension bracket (8) is distributed with three U-shaped grooves along same even circumferential; Finger fixed block (10) is fixed on cylinder rod (11) end; Three guide pad supports (11) are uniformly distributed and are fixed on hexagon finger fixed block (10) outer surface, and guide pad (12) both sides lug is arranged on guide pad support (11) by bearing; Mechanical finger (13) through the through hole at guide pad (12) center, the U-shaped groove chain connection of mechanical finger (13) upper end and suspension bracket (10); Cylinder fixed mount (14) is fixedly connected with the outer surface of cylinder block (9), cylinder fixed mount (14) and roller (15) chain connection; Cylinder fixed mount (14) is fixedly connected with slide block (6), and roller (15) coordinates with the cam path of multiple-grooved cam (1).
Accompanying drawing explanation
Fig. 1 is axonometric drawing of the present invention.
Fig. 2 is the front view of multiple-grooved cam.
Fig. 3 is the axonometric drawing of transplanting and separating machine tool hand.
Fig. 4 is the axonometric drawing of fairlead.
Fig. 5 is the axonometric drawing of finger fixed block.
As shown in Figure 1, number in the figure represents respectively: 1. multiple-grooved cam, 2. support, 3. shaft coupling, 4. stepper motor, 5. rail plate, 6. slide block.
As shown in Figure 3, number in the figure represents respectively: 7. cylinder block, 8. suspension bracket, 9. cylinder rod, 10. points fixed block, 11. guide pad supports, 12. guide pads, 13. mechanical fingers, 14. cylinder fixed mounts, 15. rollers.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are described in further details:
As shown in Figure 1, potted tray seedling transplanter transplanting device, is characterized in that: comprise spacing and regulate assembly, manipulator assembly and controller, mechanical paw assembly is arranged on spacing and regulates on assembly.Described spacing regulates assembly to comprise multiple-grooved cam 1, support 2, shaft coupling 3, stepper motor 4, rail plate 5, slide block 6; Rail plate 5 is fixed on support 2 upper surface, four slide blocks 6 to be arranged on rail plate 5 and to form moving sets with rail plate 6, multiple-grooved cam 1 both sides projecting shaft is arranged on support 2 two ends by bearing, stepper motor 4 is fixed on the right side of support 2, and the output shaft of stepper motor 4 is connected with projecting shaft on the right side of multiple-grooved cam 1 by shaft coupling 3.
As shown in Figure 2, described multiple-grooved cam 1 there are four about the inclined groove track of cylinder axial middle plane symmetry, on camshaft line direction, the spacing of adjacent orbit is equal all the time, and in a circumferential direction, the distance values of adjacent orbit regulates requirement to increase by spacing or reduces.
As shown in Figure 3, described manipulator assembly comprises cylinder block 7, suspension bracket 8, cylinder rod 9, finger fixed block 10, guide pad support 11, guide pad 12, mechanical finger 13, cylinder fixed mount 14, roller 15; Suspension bracket 8 central through hole is fixedly connected with cylinder block 7 outer surface lower end, and suspension bracket 8 is distributed with three U-shaped grooves along same even circumferential; Finger fixed block 10 is fixed on cylinder rod 11 end; Three guide pad supports 11 are uniformly distributed and are fixed on hexagon finger fixed block 10 outer surface, and guide pad 12 both sides lug is arranged on guide pad support 11 by bearing; Mechanical finger 13 passes the through hole at guide pad 12 center, the U-shaped groove chain connection of mechanical finger 13 upper end and suspension bracket 10; Cylinder fixed mount 14 is fixedly connected with the outer surface of cylinder block 9, cylinder fixed mount 14 and roller 15 chain connection; Cylinder fixed mount 14 is fixedly connected with slide block 6, and roller 15 coordinates with the cam path of multiple-grooved cam 1.
As shown in Figure 4, there is symmetrical lug described guide pad both sides, vertical direction have a through hole.
As shown in Figure 5, six outer surfaces that described six prism finger fixed blocks are are evenly distributed with three pairs of installing holes, vertical direction has central through hole.
The course of work:
Rotated by driving stepper motor cylindrical cam, the roller of multiple-grooved cam groove inwall higher pair contact and connecting rod affixed with it move left and right to reach with grooved tracks change and move a point object.When getting seedling, stepper motor rotates multiple-grooved cam, and make four rolling aim at cave dish central authorities, whole transplanting device is declined by outer inside casing effect and makes mechanical finger go deep in soil, and robot drives cylinder retraction makes manipulator promptly reach the object capturing rice shoot.Whole transplanting device rises and shifts to floral disc direction subsequently, and rice shoot is positioned at above floral disc.When putting seedling, stepper motor rotates multiple-grooved cam makes each roller spacing equal the centre-to-centre spacing of each floral disc, and now each rice shoot is positioned at directly over floral disc center, and whole transplanting device declines near floral disc, stretched out by robot drives cylinder, manipulator is let go the object reaching and put seedling.
Claims (2)
1. potted tray seedling transplanter transplanting device, is characterized in that: comprise spacing and regulate assembly and manipulator assembly, and manipulator assembly is arranged on spacing and regulates on assembly;
Described spacing regulates assembly to comprise multiple-grooved cam (1), support (2), shaft coupling (3), stepper motor (4), rail plate (5), slide block (6); Rail plate (5) is fixed on support (2) upper surface, four slide blocks (6) are arranged on rail plate (5) and go up and form moving sets with rail plate (6), multiple-grooved cam (1) both sides projecting shaft is arranged on support (2) two ends by bearing, stepper motor (4) is fixed on support (2) right side, and the output shaft of stepper motor (4) is connected with multiple-grooved cam (1) right side projecting shaft by shaft coupling (3);
Described manipulator assembly comprises cylinder block (7), suspension bracket (8), cylinder rod (9), finger fixed block (10), guide pad support (11), guide pad (12), mechanical finger (13), cylinder fixed mount (14), roller (15); Suspension bracket (8) central through hole is fixedly connected with cylinder block (7) outer surface lower end, and suspension bracket (8) is provided with three U-shaped grooves along same even circumferential; Finger fixed block (10) is fixed on cylinder rod (9) lower end; Three guide pad support (11) uniform intervals are fixed on hexagon finger fixed block (10) outer surface, and the lug of each guide pad (12) both sides is arranged on guide pad support (11) by bearing; Mechanical finger (13) through the through hole at guide pad (12) center, three mechanical finger (13) upper ends respectively with three U-shaped groove chain connections of suspension bracket (10); Cylinder fixed mount (14) is fixedly connected with the outer surface of cylinder block (7), cylinder fixed mount (14) and roller (15) chain connection; Cylinder fixed mount (14) is fixedly connected with slide block (6), and roller (15) coordinates with the cam path of multiple-grooved cam (1).
2. a kind of transplanting device according to claim 1, it is characterized in that: described multiple-grooved cam (1) has four about the inclined groove track of cylinder axial middle plane symmetry, on camshaft line direction, the spacing of adjacent orbit is equal all the time, and in a circumferential direction, the distance values of adjacent orbit regulates requirement to increase by spacing or reduces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410249287.1A CN105265077A (en) | 2014-06-03 | 2014-06-03 | Plug seedling tranplanter seedling transplanting apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410249287.1A CN105265077A (en) | 2014-06-03 | 2014-06-03 | Plug seedling tranplanter seedling transplanting apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105265077A true CN105265077A (en) | 2016-01-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410249287.1A Pending CN105265077A (en) | 2014-06-03 | 2014-06-03 | Plug seedling tranplanter seedling transplanting apparatus |
Country Status (1)
| Country | Link |
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| CN (1) | CN105265077A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106576538A (en) * | 2016-12-19 | 2017-04-26 | 温州大学 | Transplanting manipulator |
| CN107852916A (en) * | 2017-11-15 | 2018-03-30 | 北京工业大学 | Transplant paw and punching compacting integrated device |
| CN107950150A (en) * | 2018-01-25 | 2018-04-24 | 石河子大学 | A kind of transplanter double cam entire row seedling picking mechanism |
| CN108638111A (en) * | 2018-05-18 | 2018-10-12 | 繁昌县亘通智能装备有限公司 | One kind being convenient for fixed manipulator clamping device |
| CN109315111A (en) * | 2018-11-09 | 2019-02-12 | 宝鸡市鼎铎机械有限公司 | A kind of manipulator seedling taking equipment |
| CN110741789A (en) * | 2019-05-23 | 2020-02-04 | 山东农业大学 | Whole group transferring, fetching and feeding device for plug tray pot seedlings |
| CN113650839A (en) * | 2021-08-18 | 2021-11-16 | 陈双杰 | Cylindrical wood formwork stacking device for building construction |
| CN114888818A (en) * | 2022-04-22 | 2022-08-12 | 河南科技大学 | Trapezoidal gantry type multi-end-effector transplanting manipulator structure with adjustable spacing |
| CN114885651A (en) * | 2022-04-22 | 2022-08-12 | 河南科技大学 | High-speed transplanting robot with automatic manipulator distance adjustment function |
| CN117063670A (en) * | 2023-10-16 | 2023-11-17 | 江西陶氏茶业有限公司 | Ditching equipment for tea garden |
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|---|---|---|---|---|
| JPH02119709A (en) * | 1988-10-28 | 1990-05-07 | Iseki & Co Ltd | Seedling tank-moving apparatus in seedling planting machine |
| US6068317A (en) * | 1997-11-08 | 2000-05-30 | Mirae Corporation | Device for adjusting space between chip in semiconductor chip tester |
| CN101663972A (en) * | 2009-09-25 | 2010-03-10 | 沈阳农业大学 | Automatic transplanter for plug seedling |
| CN102960105A (en) * | 2012-11-22 | 2013-03-13 | 江苏大学 | Groove type cam folding and unfolding device for multiple seedling-taking end effectors |
| CN103039165A (en) * | 2013-01-09 | 2013-04-17 | 浙江大学 | Insertion and clamping end executor for transplanting pot seedlings |
| CN203872562U (en) * | 2014-06-03 | 2014-10-15 | 中国计量学院 | Seedling transplanting device of plug seedling transplanter |
-
2014
- 2014-06-03 CN CN201410249287.1A patent/CN105265077A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02119709A (en) * | 1988-10-28 | 1990-05-07 | Iseki & Co Ltd | Seedling tank-moving apparatus in seedling planting machine |
| US6068317A (en) * | 1997-11-08 | 2000-05-30 | Mirae Corporation | Device for adjusting space between chip in semiconductor chip tester |
| CN101663972A (en) * | 2009-09-25 | 2010-03-10 | 沈阳农业大学 | Automatic transplanter for plug seedling |
| CN102960105A (en) * | 2012-11-22 | 2013-03-13 | 江苏大学 | Groove type cam folding and unfolding device for multiple seedling-taking end effectors |
| CN103039165A (en) * | 2013-01-09 | 2013-04-17 | 浙江大学 | Insertion and clamping end executor for transplanting pot seedlings |
| CN203872562U (en) * | 2014-06-03 | 2014-10-15 | 中国计量学院 | Seedling transplanting device of plug seedling transplanter |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106576538A (en) * | 2016-12-19 | 2017-04-26 | 温州大学 | Transplanting manipulator |
| CN107852916A (en) * | 2017-11-15 | 2018-03-30 | 北京工业大学 | Transplant paw and punching compacting integrated device |
| CN107950150A (en) * | 2018-01-25 | 2018-04-24 | 石河子大学 | A kind of transplanter double cam entire row seedling picking mechanism |
| CN108638111A (en) * | 2018-05-18 | 2018-10-12 | 繁昌县亘通智能装备有限公司 | One kind being convenient for fixed manipulator clamping device |
| CN109315111A (en) * | 2018-11-09 | 2019-02-12 | 宝鸡市鼎铎机械有限公司 | A kind of manipulator seedling taking equipment |
| CN110741789A (en) * | 2019-05-23 | 2020-02-04 | 山东农业大学 | Whole group transferring, fetching and feeding device for plug tray pot seedlings |
| CN113650839A (en) * | 2021-08-18 | 2021-11-16 | 陈双杰 | Cylindrical wood formwork stacking device for building construction |
| CN114888818A (en) * | 2022-04-22 | 2022-08-12 | 河南科技大学 | Trapezoidal gantry type multi-end-effector transplanting manipulator structure with adjustable spacing |
| CN114885651A (en) * | 2022-04-22 | 2022-08-12 | 河南科技大学 | High-speed transplanting robot with automatic manipulator distance adjustment function |
| CN114885651B (en) * | 2022-04-22 | 2023-02-07 | 河南科技大学 | High-speed transplanting robot with automatic manipulator distance adjustment function |
| CN114888818B (en) * | 2022-04-22 | 2023-09-01 | 河南科技大学 | Trapezoidal gantry type multi-end effector transplanting manipulator structure with adjustable spacing |
| CN117063670A (en) * | 2023-10-16 | 2023-11-17 | 江西陶氏茶业有限公司 | Ditching equipment for tea garden |
| CN117063670B (en) * | 2023-10-16 | 2023-12-15 | 江西陶氏茶业有限公司 | Ditching equipment for tea garden |
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Application publication date: 20160127 |