CN106034511A - Swinging seedling fetching and pot moving device and seedling fetching and planting method - Google Patents
Swinging seedling fetching and pot moving device and seedling fetching and planting method Download PDFInfo
- Publication number
- CN106034511A CN106034511A CN201610435844.8A CN201610435844A CN106034511A CN 106034511 A CN106034511 A CN 106034511A CN 201610435844 A CN201610435844 A CN 201610435844A CN 106034511 A CN106034511 A CN 106034511A
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- Prior art keywords
- seedling
- claw
- taking
- swinging
- guide rail
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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
Abstract
The invention relates to a swinging seedling fetching and pot moving device and a seedling fetching and planting method. The swinging seedling fetching and pot moving device comprises a linear movement guide rail mechanism and swinging pot moving and seedling fetching mechanisms, wherein each swinging pot moving and seedling fetching mechanism consists of a swinging mechanism, a swinging air cylinder, a seedling fetching claw and a bracket; each swinging pot moving and seedling fetching mechanism can move up and down and left and right on linear movement guide rails; each seedling fetching claw is driven by the corresponding swinging air cylinder to swing left and right; before each seedling fetching claw is horizontally moved to the part just above a potted seedling, a piston rod in each swinging air cylinder contracts into the air cylinder, and each seedling fetching claw deviates with a certain angle to vertical direction; when each seedling fetching claw is horizontally moved to the part just above the corresponding potted seedling, the piston rod in each swinging air cylinder extends out, each seedling fetching claw is swung to the vertical direction, and each seedling is fetched; then, each seedling fetching claw is moved to the part above an empty pot or a flower pot, and each potted seedling is transplanted. The swinging seedling fetching and pot moving device has the advantages that in the seedling fetching process, a seedling fetching needle is swung to the part just above each potted seedling from the side surface of the potted seedling, and is extended out to clamp the corresponding potted seedling, so as to avoid damage to seedling leaves and entrapping of seedling leaves in adjacent pot holes; the transplanting quality and efficiency can be improved.
Description
Technical field
The present invention relates to greenhouse Plug seedling and transplant field, be specifically related to a kind of seedling taking that swings and move alms bowl device and seedling fetching and planting thereof
Method.
Background technology
Nurse young plants in hothouses and transplant the growing-seedling period that can shorten plant, it is to avoid the impact of the natural disaster such as frost, cold spell in later spring, can
To improve breeding efficiency and quality, therefore, seedling is cultivated in hole tray suitable size nursery side in being transplanted to flowerpot
Formula is widely used.But, manually Plug seedling being transplanted in flowerpot needs to consume huge human resources and imitates
Rate is the highest, and therefore, in recent years, greenhouse potted tray seedling transplanter has obtained bigger development, saves human resources and improves transplanting
Efficiency.
But, traditional potted tray seedling transplanter is when carrying out Plug seedling seedling taking and planting seedlings, and the many employings of seedling claw are straight up and down
Mode.During seedling taking, seedling claw is easier to stab seedling leaves；After planting seedlings, seedling taking is grabbed when leaving, and showing of band Seedling easily occurs
As, Plug seedling cannot be planted in flowerpot, thus affects transplanting quality, has a negative impact Plug seedling growth in the future.
Summary of the invention
For the deficiencies in the prior art, the present invention proposes a kind of seedling taking that swings and moves alms bowl device and seedling fetching and planting side
Method, it is to avoid the problem stabbing Plug seedling blade brought when the seedling taking of surface.
The present invention realizes above-mentioned technical purpose by techniques below means.
A kind of seedling taking that swings moves alms bowl device, it is characterised in that include that moving linearly guide rail mechanism moves alms bowl seedling taking machine with swinging
Structure, described rectilinear movement guide rail mechanism includes horizontal mobile mechanism and vertical movement mechanism, and described vertical movement mechanism can be
Moving horizontally on horizontal mobile mechanism, described swing seedling taking Yi Bo mechanism includes support, mounting blocks, multiple swing seedling picking mechanism,
Support is fixedly mounted in vertical movement mechanism by contiguous block, and the plurality of swing seedling picking mechanism is installed side by side by mounting blocks
On support,
Described swing seedling picking mechanism is grabbed installing plate, oscillating cylinder, connecting rod and seedling claw by seedling taking and is formed；Installing plate one end is solid
Being scheduled on mounting blocks, described oscillating cylinder, seedling claw are arranged on seedling claw installing plate by revolute pair A, revolute pair B respectively；
The lower part of described connecting rod one end and seedling claw fix with vertical angle be connected, the other end is by revolute pair C and oscillating cylinder
Piston connects.
Further, horizontal mobile mechanism is horizontal concrete chute guide rail, and vertical movement mechanism is vertical chute guide rail, vertically slides
Groove rail back has projection, and in the horizontally movable groove being stuck in horizontal concrete chute guide rail of projection, slide block can move up and down
It is stuck in vertical chute guide rail groove.
Further, described seedling claw swings with revolute pair B for the center of circle, when oscillating cylinder is fully extended, and seedling claw
Being in vertical state, when oscillating cylinder shrinks completely, seedling claw swings out with vertical direction in certain degree angle β, folder
Angle beta is more than or equal to 30 °.
Further, revolute pair A, revolute pair B, revolute pair C are articulated structure.
For reaching the purpose of foregoing invention, present invention also offers and move taking of alms bowl device based on swing seedling taking of the present invention
Seedling plants seedlings method, it is characterised in that comprise the following steps:
(1) seedling taking positioning stage: seedling claw is in and deviates Plug seedling cavities certain distance position to be taken, now oscillating cylinder
532 shrink completely, and seedling claw is β with the angle of vertical direction, and seedling claw and swing seedling taking Yi Bo mechanism are with vertical chute guide rail
To treating that acupoint selection hole site moves downward, in the auxiliary connection B of seedling claw Yu seedling claw installing plate moves to Plug seedling cavities to be taken
During heart position directly above, swing seedling taking Yi Bo mechanism 5 and stop mobile；
(2) in the seedling taking stage: oscillating cylinder is fully extended, seedling claw enters vertical state, and seedling taking is grabbed to arrive from side and waited to take
The surface of Plug seedling, subsequently, seedling claw goes out pin, clamping Plug seedling；
(3) move the alms bowl stage: swing seedling taking Yi Bo mechanism rectilinear movement guide rail mechanism driving under, move up, to
Right translation, move down, taken Plug seedling is transported to the surface of flowerpot group, prepares to plant seedlings；
(4) planting seedlings the stage: seedling claw opens, narrows, implanted by Plug seedling in flowerpot group, subsequently, oscillating cylinder is received completely
Contracting, seedling claw and vertical direction, in more than or equal to 30 ° of angles, complete to plant seedlings；Swing seedling taking Yi Bo mechanism along guide rail upwards, to
Left, move downward, again arrive the surface of Plug seedling.
Compared with prior art, the invention have the benefit that
Using guiding rail mechanism, seedling picking mechanism moves along a straight line with left and right directions up and down at line slideway, simple in construction,
It is easy to installation and the maintenance of device.
Using and swing seedling picking mechanism, during seedling taking, seedling claw swings to the top of Plug seedling substrate from the side of Plug seedling, enters
Row goes out pin folder Seedling, can avoid the problem stabbing Plug seedling blade brought when the seedling taking of surface.After completing when planting seedlings, seedling taking
Pawl leaves Plug seedling from side wobble, can avoid band Seedling problem.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of this device.
Fig. 2 is the overall schematic of seedling picking mechanism.
Fig. 3 is for swinging seedling picking mechanism left view.
Fig. 4 is front view during this device seedling taking operating mode.
Fig. 5 is left view during this device seedling taking operating mode.
Seedling taking process schematic when Fig. 6 is for swinging seedling picking mechanism seedling taking.
Fig. 7 plants seedlings schematic diagram for swinging seedling picking mechanism.
Description of reference numerals is as follows:
1-horizontal concrete chute guide rail, 2-vertical chute guide rail, 21-projection, 3-slide block, 4-contiguous block, 5-swings seedling taking and moves alms bowl
Device, 51-support, 52-mounting blocks, 53-swings seedling picking mechanism, 531-seedling claw installing plate, 532-oscillating cylinder, and 533-is even
Bar, 534-seedling claw.
Detailed description of the invention
Below in conjunction with the accompanying drawings and be embodied as example the present invention will be further described.
As it is shown in figure 1, swing seedling taking of the present invention moves alms bowl device, move alms bowl including rectilinear movement guide rail mechanism and swing
Seedling picking mechanism 5；Described rectilinear movement guide rail mechanism is made up of horizontal concrete chute guide rail 1, vertical chute guide rail 2, slide block 3, vertically slides
The projection 21 at groove guide rail 2 back side is stuck in the groove of horizontal concrete chute guide rail 1, can move horizontally, and slide block 3 is stuck in vertical chute and leads
In rail 2 groove, can move up and down.
Swing and move alms bowl seedling picking mechanism 5 as in figure 2 it is shown, be made up of swing seedling picking mechanism 53, mounting blocks 52, support 51, multiple
Swinging seedling picking mechanism 53 to be arranged on side by side on support 51 by mounting blocks 52, support 51 is fixedly mounted on slide block 3 by contiguous block 4
On.
Swing seedling picking mechanism 53 as it is shown on figure 3, grabbed installing plate 531, oscillating cylinder 532, connecting rod 533 and seedling claw by seedling taking
534 compositions；Described oscillating cylinder 532 is arranged on seedling claw installing plate 531 through revolute pair A；Described seedling claw 534 is through revolute pair
B is arranged on seedling claw installing plate 531；Described connecting rod 533 one end and the latter half of seedling claw 534 are fixing even with vertical angle
Connecing, the other end is connected through the piston of revolute pair C with oscillating cylinder 532.Seedling claw 534 swings with revolute pair B for the center of circle, works as pendulum
When dynamic air cylinder 532 is fully extended, seedling claw is in vertical state, and when oscillating cylinder shrinks completely, seedling claw swings out
With vertical direction in certain degree angle β, angle β more than or equal to 30 °.
Swing seedling taking to move the specific works method of alms bowl device and include following operating procedure:
Seedling taking positioning stage: as shown in Figure 4 and Figure 5, seedling claw 534 is in and deviates Plug seedling cavities certain distance position to be taken
Putting, now oscillating cylinder 532 shrinks completely, seedling claw 534 and vertical direction in the angle more than or equal to 30 °, seedling claw 534 and
Swing seedling taking and move alms bowl device 5 with vertical chute guide rail 2 to treating that acupoint selection hole site moves downward, when seedling claw and seedling claw installing plate
Auxiliary connection B moves in time taking Plug seedling cavities center position directly above, swings seedling taking shifting alms bowl device 5 and stops mobile.
In the seedling taking stage: as shown in Figure 6, oscillating cylinder 532 is fully extended, and seedling claw 534 enters substantially vertical state, seedling taking
Grabbing 534 surfaces arriving first row Plug seedling from side, subsequently, seedling claw 534 goes out pin, clamping Plug seedling.
Move the alms bowl stage: seedling picking mechanism 5 under the driving of rectilinear movement guide rail mechanism, move up, to right translation, downwards
Mobile, taken Plug seedling is transported to the surface of flowerpot group, prepares to plant seedlings.
Planting seedlings the stage: seedling claw 534 opens, narrows, implanted by Plug seedling in flowerpot group, subsequently, oscillating cylinder 532 is complete
Shrinking, seedling claw 534 and vertical direction, in more than or equal to 30 ° of angles, complete to plant seedlings, as shown in Figure 7.Seedling picking mechanism 5 is along guide rail
Upwards, to the left, move downward, again arrive the surface of Plug seedling.
Claims (5)
1. one kind swings seedling taking shifting alms bowl device, it is characterised in that include that moving linearly guide rail mechanism moves alms bowl seedling picking mechanism with swinging
(5), described rectilinear movement guide rail mechanism includes horizontal mobile mechanism and vertical movement mechanism, and described vertical movement mechanism can be
Moving horizontally on horizontal mobile mechanism, described swing seedling taking Yi Bo mechanism (5) includes support (51), mounting blocks (52), multiple pendulum
Dynamic seedling picking mechanism (53), support (51) is fixedly mounted in vertical movement mechanism by contiguous block (4), the plurality of swing seedling taking
Mechanism (53) is arranged on support (51) side by side by mounting blocks (53),
Described swing seedling picking mechanism (53) is grabbed installing plate (531), oscillating cylinder (532), connecting rod (533) and seedling claw by seedling taking
(534) composition；Installing plate (531) one end is fixed on mounting blocks (52), and described oscillating cylinder (532), seedling claw (534) are respectively
It is arranged on seedling claw installing plate (531) by revolute pair A, revolute pair B；Described connecting rod (533) one end and seedling claw (534)
Lower part is connected with the piston of oscillating cylinder (532) by revolute pair C with the fixing connection of vertical angle, the other end.
Swing seedling taking the most according to claim 1 moves alms bowl device, it is characterised in that horizontal mobile mechanism is that horizontal concrete chute is led
Rail (1), vertical movement mechanism is vertical chute guide rail (2), and vertical chute guide rail (2) back side has projection (21), projection (21)
In the horizontally movable groove being stuck in horizontal concrete chute guide rail (1), what slide block (3) can move up and down is stuck in vertical chute guide rail
(2) in groove.
Swing seedling taking the most according to claim 1 and move alms bowl device, it is characterised in that described seedling claw (534) with revolute pair B is
The center of circle swings, and when oscillating cylinder (532) is fully extended, seedling claw is in vertical state, when oscillating cylinder shrinks completely,
Seedling claw swings out and is more than or equal to 30 ° with vertical direction in certain degree angle β, angle β.
Swing seedling taking the most according to claim 1 and move alms bowl device, it is characterised in that revolute pair A, revolute pair B, revolute pair C are equal
For articulated structure.
5. move the seedling fetching and planting method of alms bowl device, its feature according to a kind of seedling taking that swings according to any one of claim 1-4
It is, comprises the following steps:
(1) seedling taking positioning stage: seedling claw (534) is in and deviates Plug seedling cavities certain distance position to be taken, and now swings gas
Cylinder (532) shrinks completely, and seedling claw (534) is β with the angle of vertical direction, seedling claw (534) and swing seedling taking Yi Bo mechanism
(5) with vertical chute guide rail (2) to treating that acupoint selection hole site moves downward, when seedling claw (534) and seedling claw installing plate (531)
Auxiliary connection B moves in time taking Plug seedling cavities center position directly above, swings seedling taking Yi Bo mechanism (5) and stops mobile；
(2) in the seedling taking stage: oscillating cylinder (532) is fully extended, seedling claw (534) enters vertical state, and seedling taking grabs (534) from side
Face arrives the surface of Plug seedling to be taken, and subsequently, seedling claw (534) goes out pin, clamping Plug seedling；
(3) move the alms bowl stage: swing seedling taking Yi Bo mechanism (5), under the driving of rectilinear movement guide rail mechanism, moves up, to the right
Translate, move down, taken Plug seedling is transported to the surface of flowerpot group, prepares to plant seedlings；
(4) plant seedlings the stage: seedling claw (534) opens, narrows, Plug seedling is implanted in flowerpot group, subsequently, oscillating cylinder (532)
Shrinking completely, seedling claw (534) and vertical direction, in more than or equal to 30 ° of angles, complete to plant seedlings；Swing seedling taking Yi Bo mechanism (5)
Along guide rail upwards, to the left, move downward, again arrive the surface of Plug seedling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610435844.8A CN106034511B (en) | 2016-06-17 | 2016-06-17 | A kind of swing seedling taking moves alms bowl device and seedling fetching and planting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610435844.8A CN106034511B (en) | 2016-06-17 | 2016-06-17 | A kind of swing seedling taking moves alms bowl device and seedling fetching and planting method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106034511A true CN106034511A (en) | 2016-10-26 |
| CN106034511B CN106034511B (en) | 2018-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610435844.8A Active CN106034511B (en) | 2016-06-17 | 2016-06-17 | A kind of swing seedling taking moves alms bowl device and seedling fetching and planting method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106612803A (en) * | 2016-12-20 | 2017-05-10 | 北京农业智能装备技术研究中心 | Planting device |
| CN106717374A (en) * | 2016-12-05 | 2017-05-31 | 石河子大学 | A kind of automatic transplanter entire row seedling taking manipulator |
| CN107124944A (en) * | 2017-05-04 | 2017-09-05 | 中国农业大学 | Pneumatic flexible press-down type seedling picking mechanism |
| CN107660363A (en) * | 2017-09-06 | 2018-02-06 | 江苏大学 | A kind of automatic transplanter seedling picking mechanism |
| CN112166884A (en) * | 2020-10-10 | 2021-01-05 | 湖南生物机电职业技术学院 | Automatic transplanter of flowers seedling |
| CN112703866A (en) * | 2020-12-29 | 2021-04-27 | 农业农村部南京农业机械化研究所 | Be suitable for high efficiency of degradable material seedling growing to get seedling mechanism |
| CN113016305A (en) * | 2021-05-06 | 2021-06-25 | 新疆天至农业机械制造有限公司 | Seedling taking device of transplanter |
| CN113977553A (en) * | 2021-10-29 | 2022-01-28 | 山东省农业科学院 | Peanut seed genetic diversity detects manipulator |
| CN116458308A (en) * | 2023-04-21 | 2023-07-21 | 浙江大学 | Automatic equipment for separately planting and field planting of sponge seedlings in plant factory |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106717374A (en) * | 2016-12-05 | 2017-05-31 | 石河子大学 | A kind of automatic transplanter entire row seedling taking manipulator |
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| CN107124944A (en) * | 2017-05-04 | 2017-09-05 | 中国农业大学 | Pneumatic flexible press-down type seedling picking mechanism |
| CN107660363A (en) * | 2017-09-06 | 2018-02-06 | 江苏大学 | A kind of automatic transplanter seedling picking mechanism |
| CN112166884A (en) * | 2020-10-10 | 2021-01-05 | 湖南生物机电职业技术学院 | Automatic transplanter of flowers seedling |
| CN112703866A (en) * | 2020-12-29 | 2021-04-27 | 农业农村部南京农业机械化研究所 | Be suitable for high efficiency of degradable material seedling growing to get seedling mechanism |
| CN112703866B (en) * | 2020-12-29 | 2022-03-29 | 农业农村部南京农业机械化研究所 | Be suitable for high efficiency of degradable material seedling growing to get seedling mechanism |
| CN113016305A (en) * | 2021-05-06 | 2021-06-25 | 新疆天至农业机械制造有限公司 | Seedling taking device of transplanter |
| CN113016305B (en) * | 2021-05-06 | 2024-01-19 | 新疆天至农业机械制造有限公司 | Seedling taking device of transplanter |
| CN113977553A (en) * | 2021-10-29 | 2022-01-28 | 山东省农业科学院 | Peanut seed genetic diversity detects manipulator |
| CN116458308A (en) * | 2023-04-21 | 2023-07-21 | 浙江大学 | Automatic equipment for separately planting and field planting of sponge seedlings in plant factory |
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| CN106034511B (en) | 2018-11-09 |
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Effective date of registration: 20230911 Address after: No. 49 Yangba, Zhongxin Village, Zhoutie Town, Yixing City, Wuxi City, Jiangsu Province, 214200 Patentee after: Jiangsu Yihe Agricultural Technology Co.,Ltd. Address before: Zhenjiang City, Jiangsu Province, 212013 Jingkou District Road No. 301 Patentee before: JIANGSU University |
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