CN106211886B - A kind of reversible coordinated type Plug seedling cuttage hand claw - Google Patents
A kind of reversible coordinated type Plug seedling cuttage hand claw Download PDFInfo
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- CN106211886B CN106211886B CN201610597407.6A CN201610597407A CN106211886B CN 106211886 B CN106211886 B CN 106211886B CN 201610597407 A CN201610597407 A CN 201610597407A CN 106211886 B CN106211886 B CN 106211886B
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- hand claw
- mounting blocks
- cuttage
- spring leaf
- mandril
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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
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
Abstract
A kind of reversible coordinated type Plug seedling cuttage hand claw, belongs to agricultural automation seedling transplanting apparatus field.The hand claw includes spring leaf, spring leaf mounting blocks, hand claw grip block, hand claw support plate, mandril, hand claw support board mounting stand, bar pawl mounting blocks, shaft, top plate, lower cylinder transport seedling plate mounting blocks, mandril mounting blocks, transport seedling plate, cylinder fortune seedling plate mounting blocks, sleeve, upper cylinder, linear bearing, bearing, bearing mounting base, electric rotating machine, shaft coupling, motor mount, the linear guide.Spring leaf captures cuttage seeding position for hand claw, there are two spring leafs altogether for each hand claw, this can not only realize hand claw and directly carry out same time entire row cuttage with more plants of flower seedlings, the cuttage state of flower seedling can be adjusted simultaneously, while cuttage consistency is ensured, moreover it is possible to avoid damage to flower seedling, simultaneously, the mechanism structure is simple, stablizes, and high degree of automation has higher use value.
Description
Technical field
The present invention relates to a kind of reversible coordinated type Plug seedling cuttage hand claws of achievable Plug seedling cuttage, belong to agricultural certainly
Dynamicization seedling transplanting apparatus field.
Background technology
The target of reversible coordinated type Plug seedling cuttage hand claw is to adopt the good skewer of certain scale of fringe
Seedlings plugging, the cuttage and seedling culture of flower seedling have become the main production model of current industry of flowers and plants flower seedling nursery, at present country flower seedling
Cuttage operation is mainly manual work, big there is labor intensity, and low production efficiency, economic benefit is low, cuttage survival rate
The shortcomings that low.Although some domestic research units or institution of higher learning have carried out the research to cuttage hand claw, external current
Also many Related products occur, but its hand claw crawl flower seedling all captures cuttage seeding using single mechanical paw substantially, and
And the state of flower seedling cannot be adjusted correspondingly, working efficiency is relatively low and the situation of frequent appearance damage flower seedling.
Invention content
The technical problem to be solved by the present invention is to design a kind of reversible coordinated type Plug seedling cuttage hand claw, the equipment is not only
It can realize hand claw and directly carry out same time entire row cuttage with more plants of flower seedlings, while the cuttage state of flower seedling can be adjusted, ensure
While cuttage consistency, moreover it is possible to avoid damage to flower seedling, meanwhile, the mechanism structure is simple, stablizes, high degree of automation, have compared with
High use value.
The present invention mainly adopts the following technical scheme that realize：A kind of reversible coordinated type Plug seedling cuttage hand claw, with
For seven pawls include spring leaf, spring leaf mounting blocks, hand claw grip block, hand claw support plate, mandril, hand claw support board mounting stand,
Bar pawl mounting blocks, shaft, top plate, lower cylinder transport seedling plate mounting blocks, and mandril mounting blocks transport seedling plate, cylinder-fortune seedling plate installation
Block, sleeve, upper cylinder, linear bearing, bearing, bearing mounting base, electric rotating machine, shaft coupling, motor mount, straight line are led
Rail.Spring leaf captures cuttage seeding position for hand claw, and there are two spring leafs altogether for each hand claw, share seven hand claws, one shares 14
Spring leaf, spring leaf are connected and fixed on by rivet on spring mounting blocks, and spring mounting blocks are symmetrical structure, are bolted
It being fixed on hand claw grip block, hand claw grip block is hinged respectively with hand claw support plate and bar pawl mounting blocks, meanwhile, hand claw support
Plate be secured by bolts in hand claw support board mounting stand on, bar pawl mounting blocks threaded connection is fixed on mandril, mandril upper end with
Top plate is bolted, and is bolted connection among top plate and lower cylinder with the connection of mandril mounting blocks, lower cylinder
Fixation is secured by bolts in shaft, when lower cylinder is boosted, is jacked up top plate by mandril mounting blocks, and top plate drives
Mandril moves straight up, and mandril is clamped by bar pawl mounting blocks, hand claw grip block, spring leaf mounting blocks driving spring piece
Action, conversely, when lower cylinder is shunk, spring leaf carries out expansion action.Wherein mandril is installed in sleeve, passes through linear bearing
Support.Sleeve is fixed on above shaft simultaneously.Shaft leans on the bearings at both ends, while the end of shaft one end and electric rotating machine
Connection, bearing are supported by bearing mounting base, and electric rotating machine is mounted on by bolt on motor mount, wherein, bearing mounting base
It is bolted and is fixed on above fortune seedling plate with motor mount, transport seedling plate and upper cylinder passes through cylinder-fortune between
Seedling plate mounting blocks connect, and upper cylinder is fixed on above fortune seedling plate installing plate, with logical among luck seedling plate and fortune seedling plate installing plate
The linear guide connection is crossed, is promoted in lower cylinder, under the premise of spring leaf carries out grasping movement, electric rotating machine driving, band turn
Axis rotates, while hand claw is driven to rotate integrally, and carries out flower seedling state adjustment at this time, the cuttage seeding of horizontality is transformed into vertically
The cuttage seeding of state, under the preparation of these premises, upper cylinder advances downwardly, and fortune seedling plate is driven to advance downwardly, while under drive
Portion is integrally advanced downwardly, and carries out cuttage action, and after the completion of action, lower cylinder is shunk, and spring leaf unclamps, cuttage seeding cuttage
It completes, finally carries out action reset.
The present invention can obtain following advantageous effect：
1. according to the inconsistent present situation of existing artificial cuttage operation cuttage seeding growing way, by seven pawl linkage mechanisms, innovation
Using entire row cuttage mode, ensure cuttage seeding growing way consistency after the completion of cuttage seeding cuttage.
2. it is of the invention compact-sized, include cuttage seeding crawl, carrying and cuttage integration.There is very high stability,
Mechanism in cuttage simultaneously can be adjusted flower seedling cuttage angle simultaneously, and mechanism harmony is higher.
3. action every time of the invention is completed to carry out cuttage to 7 plants of cuttage seedings simultaneously, cuttage efficiency is higher, the angle of spring leaf
Changeable parameters can be used in the automation cuttage operation of a variety of cuttage seedings, versatile.
Description of the drawings
Overall structure Fig. 1 of Fig. 1 present invention
Fig. 2 manipulator claw structure partial enlarged drawings
Overall structure Fig. 2 of Fig. 3 present invention
Fig. 4 manipulator claw structure charts and the first position view of crawl
The last positional structure schematic diagram of Fig. 5 crawls
The first positional structure schematic diagram of Fig. 6 adjustment
The last positional structure schematic diagram of Fig. 7 adjustment
The first positional structure schematic diagram of Fig. 8 cuttages
Fig. 9 cuttages end positional structure schematic diagram
In figure：1st, spring leaf, 2, spring leaf mounting blocks, 3, hand claw grip block, 4, hand claw support plate, 5, mandril, 6, hand claw
Support board mounting stand, 7, bar pawl mounting blocks, 8, pivot block, 9, top plate, 10, lower cylinder, 11, fortune seedling plate mounting blocks, 12, mandril
Mounting blocks, 13, fortune seedling plate, 14, cylinder-fortune seedling plate mounting blocks, 15, sleeve, 16, upper cylinder, 17, linear bearing, 18, axis
It holds, 19, bearing mounting base, 20, electric rotating machine, 21, shaft coupling, 22, motor mount, 23, the linear guide.
Specific embodiment
With reference to attached drawing, the present invention is described further：
As shown in Fig. 1-Fig. 9, a kind of reversible coordinated type Plug seedling cuttage hand claw, the hand claw includes spring leaf 1, spring leaf
Mounting blocks 2, hand claw grip block 3, hand claw support plate 4, mandril 5, hand claw support board mounting stand 6, bar pawl mounting blocks 7, pivot block 8,
Top plate 9, lower cylinder 10, fortune seedling plate mounting blocks 11, mandril mounting blocks 12, fortune seedling plate 13, cylinder-fortune seedling plate mounting blocks 14, set
Cylinder 15, upper cylinder 16, linear bearing 17, bearing 18, bearing mounting base 19, electric rotating machine 20, shaft coupling 21, motor mount
22nd, the linear guide 23；Each hand claw structure is vertically arranged in juxtaposition, and hand claw structure is to capture the clamp structure of cuttage seeding, often
A hand claw structure is made of the symmetrical connection of two spring leafs 1, and the elasticity of spring leaf 1 is larger, symmetrical between two spring leafs 1
The reverse elasticity chucking power very little that connection is formed can effectively avoid the damage to cuttage seeding, hand in crawl cuttage seeding process
Pawl structure is fixed on spring leaf mounting blocks 2, and spring leaf mounting blocks 2 are symmetrical structure, and spring leaf mounting blocks 2 are fixed on hand claw folder
It holds on block 3, hand claw grip block 3 is hinged by linkwork and hand claw support plate 4, bar pawl mounting blocks 7, meanwhile, respectively it is arranged in juxtaposition
Hand claw support plate 4 be both secured to hand claw support board mounting stand 6 on；Each bar pawl mounting blocks 7 are fixed on each mandril 5, each mandril 5
Upper end is uniformly mounted on top plate 9, and top plate 9 is connect with lower cylinder 10 by the mandril mounting blocks 12 among lower cylinder 10,
Lower cylinder 10 drives mandril mounting blocks 12, top plate 9, mandril 5, bar pawl mounting blocks 7, hand claw support plate 4, hand claw grip block successively
3rd, spring leaf mounting blocks 2 move, and control the closure or openness of the spring leaf 1 of hand claw structure.
Lower cylinder 10 is fixed on pivot block 8, and mandril 5 is supported by linear bearing 17 and is installed in sleeve 15, set
Cylinder 15 is fixed on pivot block 8.Pivot block 8 is supported, while pivot block 8 and electric rotating machine by two bearings 18 of end symmetric
20 output axis connection, bearing 18 are supported by bearing mounting base 19, and electric rotating machine 20 is fixed by motor mount 22.Shaft
Block 8 is driven by electric rotating machine 20, and then changes the operating position of sleeve 15.
Bearing mounting base 19 and motor mount 22 are fixed on fortune seedling plate 13, are led between fortune seedling plate 13 and upper cylinder 16
It crosses cylinder-fortune seedling plate mounting blocks 14 to connect, upper cylinder 16 is fixed on fortune seedling plate mounting blocks 11, with luck seedling plate 13 and fortune seedling
It is connected among plate mounting blocks 11 by the linear guide 23.
It is promoted in lower cylinder 10, under the premise of spring leaf 1 carries out grasping movement, electric rotating machine 20 drives pivot block 8 to revolve
Turn, while the entirety of hand claw structure is driven to be rotated, carry out flower seedling state adjustment at this time, the cuttage seeding of horizontality is changed
Into the cuttage seeding of vertical state, upper cylinder 16 advances downwardly, and fortune seedling plate 13 is driven to advance downwardly, at the same drive lower part whole into
Row advances downwardly, and carries out cuttage action, and after the completion of action, lower cylinder 10 is shunk, and spring leaf 1 unclamps, and cuttage seeding cuttage is completed,
Finally carry out action reset.
When lower cylinder 10 is boosted, top plate 9 is jacked up by mandril mounting blocks 12, top plate 9 drive mandril 5 vertically to
Upper movement, mandril carry out holding action by bar pawl mounting blocks 7, hand claw grip block 3,2 driving spring piece of spring leaf mounting blocks, instead
It, when lower cylinder 10 is shunk, spring leaf 1 carries out expansion action.
Under the premise of spring leaf 1 carries out grasping movement, electric rotating machine 20 drives pivot block 8 to rotate, while drive hand claw whole
Body rotates, and carries out flower seedling state adjustment at this time, and the cuttage seeding of horizontality is transformed into the cuttage seeding of vertical state.
Under the premise completed in crawl, adjustment action prepares, upper cylinder 16 advances downwardly, and fortune seedling plate 13 is driven to push down on
Into, while lower part is driven integrally to be advanced downwardly, cuttage action is carried out, after the completion of action, lower cylinder 10 is shunk, spring leaf
1 unclamps, and cuttage seeding cuttage is completed.
Claims (5)
1. a kind of reversible coordinated type Plug seedling cuttage hand claw, it is characterised in that：The hand claw includes spring leaf (1), spring leaf is pacified
Fill block (2), hand claw grip block (3), hand claw support plate (4), mandril (5), hand claw support board mounting stand (6), bar pawl mounting blocks
(7), pivot block (8), top plate (9), lower cylinder (10), fortune seedling plate mounting blocks (11), mandril mounting blocks (12), fortune seedling plate
(13), cylinder-fortune seedling plate mounting blocks (14), sleeve (15), upper cylinder (16), linear bearing (17), bearing (18), bearing peace
Fill seat (19), electric rotating machine (20), shaft coupling (21), motor mount (22), the linear guide (23)；Each hand claw structure is along vertically
Direction is arranged in juxtaposition, and hand claw structure is to capture the clamp structure of cuttage seeding, and each hand claw structure is by two spring leaf (1) left and right pair
Claim connection composition, the elasticity of spring leaf (1) is larger, and the reverse elasticity chucking power of formation is symmetrically connected between two spring leafs (1)
Very little can effectively avoid the damage to cuttage seeding, hand claw structure in crawl cuttage seeding process from being fixed on spring leaf mounting blocks
(2) on, spring leaf mounting blocks (2) are symmetrical structure, and spring leaf mounting blocks (2) are fixed on hand claw grip block (3), hand claw clamping
Block (3) is hinged by linkwork and hand claw support plate (4), bar pawl mounting blocks (7), meanwhile, the hand claw support being respectively arranged in juxtaposition
Plate (4) is both secured on hand claw support board mounting stand (6)；Each bar pawl mounting blocks (7) are fixed on each mandril (5), each mandril (5)
Upper end is uniformly mounted on top plate (9), and top plate (9) passes through the intermediate mandril mounting blocks of lower cylinder (10) with lower cylinder (10)
(12) it connects, lower cylinder (10) drives mandril mounting blocks (12), top plate (9), mandril (5), bar pawl mounting blocks (7), hand successively
Pawl support plate (4), hand claw grip block (3), spring leaf mounting blocks (2) movement, and control the unlatching of the spring leaf (1) of hand claw structure
Or it is closed；
Lower cylinder (10) is fixed on pivot block (8), and mandril (5) is supported by linear bearing (17) and is installed on sleeve (15)
In, sleeve (15) is fixed on pivot block (8)；Pivot block (8) is supported, while shaft by two bearings (18) of end symmetric
The output axis connection of block (8) and electric rotating machine (20), bearing (18) are supported by bearing mounting base (19), and electric rotating machine (20) is logical
It is fixed to cross motor mount (22)；Pivot block (8) is driven by electric rotating machine (20), and then changes the operating position of sleeve (15)；
Bearing mounting base (19) and motor mount (22) are fixed on fortune seedling plate (13), fortune seedling plate (13) and upper cylinder (16)
Between connected by cylinder-fortune seedling plate mounting blocks (14), upper cylinder (16) is fixed on fortune seedling plate mounting blocks (11), same to luck
Pass through the linear guide (23) among seedling plate (13) and fortune seedling plate mounting blocks (11) to connect.
2. a kind of reversible coordinated type Plug seedling cuttage hand claw according to claim 1, it is characterised in that：In lower cylinder
(10) it promotes, under the premise of spring leaf (1) carries out grasping movement, electric rotating machine (20) drives pivot block (8) to rotate, and drives simultaneously
The entirety of hand claw structure is rotated, and carries out cuttage seeding state adjustment at this time, the cuttage seeding of horizontality is transformed into vertical shape
The cuttage seeding of state, upper cylinder (16) advance downwardly, drive fortune seedling plate (13) advance downwardly, while drive lower part integrally carry out to
Lower propulsion carries out cuttage action, and after the completion of action, lower cylinder (10) is shunk, and spring leaf (1) unclamps, and cuttage seeding cuttage is completed,
Finally carry out action reset.
3. a kind of reversible coordinated type Plug seedling cuttage hand claw according to claim 1, it is characterised in that：Lower cylinder
(10) when boosting, top plate (9) is jacked up by mandril mounting blocks (12), top plate (9) drives mandril (5) to transport straight up
Dynamic, mandril carries out holding action by bar pawl mounting blocks (7), hand claw grip block (3), spring leaf mounting blocks (2) driving spring piece,
Conversely, when lower cylinder (10) is shunk, spring leaf (1) carries out expansion action.
4. a kind of reversible coordinated type Plug seedling cuttage hand claw according to claim 1, it is characterised in that：Spring leaf (1)
Under the premise of carrying out grasping movement, electric rotating machine (20) drives pivot block (8) to rotate, while hand claw structure is driven to rotate, at this time
Cuttage seeding state adjustment is carried out, the cuttage seeding of horizontality is transformed into the cuttage seeding of vertical state.
5. a kind of reversible coordinated type Plug seedling cuttage hand claw according to claim 1, it is characterised in that：In crawl, adjust
Whole to act under the premise preparation completed, upper cylinder (16) advances downwardly, and fortune seedling plate (13) is driven to advance downwardly, while under drive
Portion is integrally advanced downwardly, and carries out cuttage action, and after the completion of action, lower cylinder (10) is shunk, and spring leaf (1) unclamps, skewer
Seedlings plugging cuttage is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610597407.6A CN106211886B (en) | 2016-07-26 | 2016-07-26 | A kind of reversible coordinated type Plug seedling cuttage hand claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610597407.6A CN106211886B (en) | 2016-07-26 | 2016-07-26 | A kind of reversible coordinated type Plug seedling cuttage hand claw |
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| Publication Number | Publication Date |
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| CN106211886A CN106211886A (en) | 2016-12-14 |
| CN106211886B true CN106211886B (en) | 2018-07-06 |
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| CN201610597407.6A Active CN106211886B (en) | 2016-07-26 | 2016-07-26 | A kind of reversible coordinated type Plug seedling cuttage hand claw |
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| CN107455173B (en) * | 2017-09-29 | 2023-07-21 | 南京亿淼自动化科技有限公司 | Cuttage device for peach planting |
| CN107852916B (en) * | 2017-11-15 | 2020-11-03 | 北京工业大学 | Transplanting paw and punching and compacting integrated device |
| CN108834509B (en) * | 2018-07-23 | 2023-05-26 | 沈阳农业大学 | Automatic cuttage machine for ornamental nursery stock |
| CN109041848A (en) * | 2018-09-12 | 2018-12-21 | 芜湖县兰馨油桃种植专业合作社 | A kind of sticking device for peach plantation |
| CN110663372A (en) * | 2019-09-23 | 2020-01-10 | 湖南省园艺研究所 | Efficient cutting equipment and method for carthamus loropetalum |
| CN111631270A (en) * | 2020-06-19 | 2020-09-08 | 江南大学 | Clamping device and raw material wire detaching device and method applying same |
| CN114145141A (en) * | 2021-11-14 | 2022-03-08 | 北京工业大学 | Rotary woody branch cutting mechanism |
| CN116235774B (en) * | 2023-04-21 | 2023-12-19 | 浙江大学 | Device and method for field planting of plant factory sponge seedlings |
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|---|---|---|---|---|
| DE10303293A1 (en) * | 2003-01-28 | 2004-08-05 | Franz Lanz | Automatically working cutting planting device, comprising gripping and shortening unit |
| CN104365279A (en) * | 2014-11-24 | 2015-02-25 | 北京工业大学 | Field planting plate vegetable harvesting mechanism |
| CN104885664A (en) * | 2015-06-04 | 2015-09-09 | 江苏大学 | Overhead cultivation matched rice seedling transplanting robot and control method thereof |
| CN205179712U (en) * | 2015-10-23 | 2016-04-27 | 吴婉霞 | Automatic transplanter of flowers seedling |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10178826A (en) * | 1996-12-27 | 1998-07-07 | Kubota Corp | Seedling take-out device |
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2016
- 2016-07-26 CN CN201610597407.6A patent/CN106211886B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10303293A1 (en) * | 2003-01-28 | 2004-08-05 | Franz Lanz | Automatically working cutting planting device, comprising gripping and shortening unit |
| CN104365279A (en) * | 2014-11-24 | 2015-02-25 | 北京工业大学 | Field planting plate vegetable harvesting mechanism |
| CN104885664A (en) * | 2015-06-04 | 2015-09-09 | 江苏大学 | Overhead cultivation matched rice seedling transplanting robot and control method thereof |
| CN205179712U (en) * | 2015-10-23 | 2016-04-27 | 吴婉霞 | Automatic transplanter of flowers seedling |
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| CN106211886A (en) | 2016-12-14 |
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