CN106489390B - It is a kind of for transplanting the manipulator of hole tray pot seedling - Google Patents
It is a kind of for transplanting the manipulator of hole tray pot seedling Download PDFInfo
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- CN106489390B CN106489390B CN201611037395.8A CN201611037395A CN106489390B CN 106489390 B CN106489390 B CN 106489390B CN 201611037395 A CN201611037395 A CN 201611037395A CN 106489390 B CN106489390 B CN 106489390B
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- body frame
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- seedling
- folder
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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
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Abstract
The present invention relates to a kind of for transplanting the manipulator of hole tray pot seedling, including bracket, activity is equipped with horizontal supporting shaft along the longitudinal direction on the bracket, it is coaxial on horizontal supporting shaft to be rotatably equipped with manipulator body frame, the front towards hole tray of manipulator body frame is equipped with two folder seedling needles for clamping pot seedling, the lower part for pressing from both sides seedling needle is clamping part, is additionally provided on the bracket for driving manipulator body frame to carry out positive, counter-rotational body frame rotating drive mechanism around horizontal supporting shaft.When folder seedling needle is driven by manipulator body frame and is moved forward to prepare to clamp pot seedling, the clamping part of folder seedling needle is driven to upward deflect by body frame rotating drive mechanism, the clamping part of seedling needle lower part is pressed from both sides compared to folder seedling needle top closer to pot seedling, folder seedling needle can more easily clamp pot seedling in an inclined manner, it not will receive the influence of pot seedling length, transplanting efficiency can be effectively improved.
Description
Technical field
The present invention relates to a kind of for transplanting the manipulator of hole tray pot seedling.
Background technique
Early in the 1970s, the culturing and transplanting seedlings of vegetables, flowers and other crops have been a kind of hothouse productions of specialization
Mode, Plug seedling technology have already appeared, and show extremely powerful vitality.Since the 21th century, this technology
In the production for having been widely used for one, biennial vegetation flowers, while also in some economy such as some vegetable crops and tobacco
The popularization and application of large area have been obtained on crop.China tentatively establishes industrial breeding technique system at present, only vegetables
Commercial seedling yield has just reached more than 1,000 hundred million plants or more.
Currently, the facilities horticultures developed country such as Holland, which is widely used transplanter, carries out seedling replanting operation, such as Holland
The PIC-O-MAT PC-21 type greenhouse automatic transplanter for plug seedling of shuttle company, TRANSLATE SYSTEMS company, Australia
The dedicated transplanter of XT616 type tea tree Plug seedling, but transplant operation or labor intensive at home, it is mainly complete by hand
At.But with the acceleration of Development of China's Urbanization, labour's wretched insufficiency in rural area, domestic farmer especially large size has scale
Farm the serious hope of mechanization, the automation of seedling replanting is more and more obvious.
A kind of cave is disclosed in the Chinese invention patent application Publication Specification that application publication number is CN101663972A
Disk seedling automatic transplanter, the transplanter is in use, transplanted the hole tray second in high density hole tray to low-density cave using manipulator
In disk, manipulator accurate positionin grab the second, then manipulator translation puts seedling as hole tray top.There are four match manipulator tool
The mechanical finger used is closed, seedling taking is realized using the opening and closing movement of four mechanical fingers, throws seedling operation.But this manipulator is usual
The surface for being moved to Plug seedling declines to grab Plug seedling, and when Plug seedling is longer, more inconvenient, shadow is launched in crawl
Ring the rotation transplanting efficiency of Plug seedling.
Summary of the invention
The purpose of the present invention is to provide a kind of for transplanting the manipulator of hole tray pot seedling, mechanical in the prior art to solve
Hand must be moved to decline right above Plug seedling and grab technical problem inconvenient for operation when longer Plug seedling.
To achieve the above object, the technical solution of the manipulator provided by the present invention for transplanting hole tray pot seedling is: one
Plant the manipulator for transplanting hole tray pot seedling, including bracket, activity is equipped with horizontal supporting shaft along the longitudinal direction on the bracket,
Coaxial on horizontal supporting shaft to be rotatably equipped with manipulator body frame, the front towards hole tray of manipulator body frame is equipped with for clamping
Two folder seedling needles of pot seedling, the lower part of folder seedling needle are clamping part, are additionally provided on the bracket for driving manipulator body frame around water
Flat support shaft carries out positive, counter-rotational body frame rotating drive mechanism；
When horizontal supporting shaft is with manipulator body frame and folder seedling needle mobile close to hole tray forward, body frame rotating drive mechanism
Manipulator body frame is driven to rotate forward, so that the front of manipulator body frame is upward deflected with the clamping part of folder seedling needle；
When horizontal supporting shaft is with manipulator body frame and folder seedling needle mobile rearward away from hole tray, body frame rotating drive mechanism
Manipulator body frame is driven to rotate backward, so that the front of manipulator body frame is deflected down with the clamping part of folder seedling needle.
The body frame rotating drive mechanism includes the driving guide rail vertically extended that the bracket is equipped with, described
Manipulator body frame be located at horizontal supporting shaft on rear side of be equipped with and it is described driving guide rail guiding cooperation tail end slide-bar, tail end slide-bar with
Driving guide rail guiding cooperation when tail end slide-bar follows manipulator body frame to be moved forward and backward under the guiding function of driving guide rail to lead to
Crossing tail end slide-bar drives manipulator body frame to carry out forward direction around horizontal supporting shaft, rotate backward.
The driving guide rail is the manipulator sliding slot with the tail end slide-bar corresponding matching that the bracket is equipped with.
The horizontal supporting shaft is by active swing arm driving on the bracket, the activity trajectory of horizontal supporting shaft is arranged
Arc-shaped track.
It is equipped between the manipulator body frame or folder seedling needle and the bracket to the application of manipulator body frame and forces manipulator master
First elastic component of the active force that frame is rotated forward.
Described two folder seedling needle activities are assemblied on the manipulator body frame, and the manipulator body frame is equipped with for driving
Two folder seedling needle activities are to realize that two clamping parts are opposite, Jia Miaozhen activity-driven mechanism of back movement；
Jia Miaozhen activity-driven mechanism drives two folders when body frame rotating drive mechanism drives manipulator body frame to rotate forward
The activity of seedling needle is to realize that two clamping parts move toward one another；
Jia Miaozhen activity-driven mechanism drives two folders when body frame rotating drive mechanism drives manipulator body frame to rotate backward
The activity of seedling needle is to realize two clamping part back movements.
Jia Miaozhen activity-driven mechanism includes applying to realize two clamping parts towards or away from movement to two folder seedling needles
Second elastic component of elastic acting force, Jia Miaozhen activity-driven mechanism further include the manipulator body frame be equipped with follow machinery
Hand body frame carries out positive, counter-rotational pushing tow disk around horizontal supporting shaft, pushing tow disk correspond to each folder seedling needle be respectively equipped with it is right
The top that the cooperation of seedling needle pushing tow should be pressed from both sides and applied towards the pushing tow transition face that pushing tow direction gradually rises, pushing tow transition towards folder seedling needle
It is contrary with the elastic acting force that second elastic component is applied to push away active force.
The respective side that the direction two of the pushing tow disk presss from both sides seedling needle is pushing tow side, and it is convex to be convexly equipped with pushing tow on pushing tow side
At least one end in two ends that horizontal supporting shaft circumferencial direction extends of platform, pushing tow boss has the pushing tow transition
Face.
The two folders seedling needle passes through a head end shaft rolling assembling in manipulator body frame front end respectively, two head end shafts
Center of rotation axis arranges that two folder Miao Zhen realize opposite, the phase of two clamping parts in corresponding head end shaft rotation process parallel
It is unlucky dynamic.
The two folders Miao Zhenshang is respectively equipped with a propulsion arm for cooperating with the pushing tow disk pushing tow, the top of propulsion arm
Pushing away end is ball head structure.
The beneficial effects of the present invention are: being equipped with folder in the manipulator provided by the present invention for transplanting hole tray pot seedling
The coaxial rolling assembling of the manipulator body frame of seedling needle is on horizontal supporting shaft, when horizontal supporting shaft is movable along the longitudinal direction by band
Manipulator body frame together with folder seedling needle fore-aft travel together, meanwhile, by body frame rotating drive mechanism driving manipulator body frame with
It presss from both sides seedling needle to rotate around horizontal supporting shaft, specifically be moved close to hole tray forward in horizontal supporting shaft with manipulator body frame and folder seedling needle
Body frame rotating drive mechanism drives manipulator body frame to rotate forward so that the front of manipulator body frame is with folder seedling needle when dynamic
Clamping part upward deflects, and when horizontal supporting shaft is with manipulator body frame and folder seedling needle mobile rearward away from hole tray, body frame rotation is driven
Manipulator body frame is driven to rotate backward for motivation structure so that the front of manipulator body frame is deflected down with the clamping part of folder seedling needle.
That is, when folder seedling needle is driven by manipulator body frame and moved forward to prepare to clamp pot seedling, by body frame rotating drive mechanism
The clamping part of driving folder seedling needle upward deflects, and presss from both sides the clamping part of seedling needle lower part compared to seedling needle top is pressed from both sides closer to pot seedling, presss from both sides seedling
Needle can more easily clamp pot seedling in an inclined manner, not will receive the influence of pot seedling length, can effectively improve transplanting efficiency.
Further, body frame rotating drive mechanism includes the driving guide rail that bracket is equipped with, and manipulator body frame is equipped with tail
Hold slide-bar, horizontal supporting shaft with and manipulator body frame move in the longitudinal direction when, tail end slide-bar and driving guide rail guiding
Cooperation, driving guide rail carry out forward direction around horizontal supporting shaft by tail end slide-bar driving manipulator body frame, rotate backward, structure letter
It is single, install and use more convenient, kinematic accuracy is easily guaranteed that.
Further, driving guide rail is manipulator sliding slot, facilitates tail end slide-bar corresponding matching, convenient to process on body frame.
Further, horizontal supporting shaft is arc-shaped track by active swing arm driving, activity trajectory, is more easily realized
Realize manipulator body frame around the rotation of horizontal supporting shaft under the action of driving guide rail.
Further, it is equipped between manipulator body frame or folder seedling needle and the bracket to the application of manipulator body frame and forces machinery
First elastic component of the active force that hand body frame is rotated forward, facilitates rotating forward for manipulator body frame, it is not easy to block
It is stagnant.
Further, two folder seedling needle activities are assemblied on manipulator body frame, also, folder seedling needle is equipped on manipulator body frame
The driving folder seedling needle activity of activity-driven mechanism is to realize that two clamping parts are opposite, back movement, also, Jia Miaozhen activity-driven mechanism
When body frame rotating drive mechanism drives manipulator body frame to rotate forward, two folder seedling needle activity of driving is to realize that two clamping parts are opposite
Movement；Jia Miaozhen activity-driven mechanism drives two folder seedling needles when body frame rotating drive mechanism drives manipulator body frame to rotate backward
Activity, can be preferably by the opposite, back movement clothes peg seedling needle upward of two clamping parts to realize two clamping part back movements
The movement deflect, deflected down is mapped, convenient to be clamped, launched to pot seedling.
Further, Jia Miaozhen activity-driven mechanism includes the second elastic component and pushing tow disk, the pushing tow transition face of pushing tow disk
The thrusting action power applied to two folder seedling needles is contrary with the elastic acting force that the second elastic component applies to two folder seedling needles, is pushing up
Push-plate follows in manipulator body frame rotation process, and opposite, the phase of two clamping parts can be realized by the height change of pushing tow transition face
It is unlucky dynamic, also, since pushing tow disk is arranged on manipulator body frame and follows manipulator body frame, also, since pushing tow disk is arranged
On manipulator body frame and manipulator body frame is followed to rotate around horizontal supporting shaft, facilitates and realize the opposite, mutually unlucky of two clamping parts
Dynamic upward deflecting, deflecting down corresponding, delicate structure, ease of assembly with two clamping parts.
Further, two folder seedling needles pass through two folder seedling of control by head end shaft rolling assembling in manipulator body frame front end
Opposite, the back movement of two clamping parts are realized in the rotation of needle, and occupancy space is small, are convenient for Miniaturization Design.
Further, press from both sides on seedling needle and propulsion arm be set, and ball head structure is set on propulsion arm, with facilitate pushing tow side with
Transition is carried out between pushing tow boss.
Detailed description of the invention
Fig. 1 is provided by the present invention for transplanting a kind of structural schematic diagram of embodiment of the manipulator of hole tray pot seedling；
Fig. 2 is the main view of manipulator shown in Fig. 1；
Fig. 3 is the structural schematic diagram of manipulator body frame in Fig. 1；
Fig. 4 is the structural schematic diagram that the guide part of manipulator sliding slot is equipped in Fig. 1；
Fig. 5 is the structural schematic diagram of pushing tow disk in Fig. 1.
Specific embodiment
Embodiments of the present invention are described further with reference to the accompanying drawing.
The specific embodiment of the manipulator provided by the present invention for being used to transplant hole tray pot seedling as shown in Figures 1 to 5 should
Manipulator in embodiment includes bracket 3, and activity is equipped with horizontal supporting shaft 8 along the longitudinal direction on bracket 3, from attached drawing
It sees, horizontal supporting shaft 8 extends in left-right direction, and horizontal supporting shaft 8 is driven by the active swing arm 6 being arranged on bracket, actively puts
Arm 6 is swung by motor 2, the driving of speed reducer 1, and 2 grades of speed reducers 1 of motor are arranged on bracket 3, is lauched in the driving of active swing arm 6
The activity trajectory of flat support shaft 8 is arc-shaped track.
Coaxial on horizontal supporting shaft 8 to be rotatably equipped with manipulator body frame 5, manipulator body frame 5 can follow horizontally-supported
Axis 8 moves under the driving of active swing arm 6.The front end of manipulator body frame 5 is set there are two seedling needle 7 is pressed from both sides, and two folder seedling needles 7 are left folder seedling
Needle and right folder seedling needle, the lower part of each folder seedling needle are clamping part 71, and each folder seedling needle 7 can be rotated by folder seedling needle mounting rack 9
Be assemblied on manipulator body frame 5, opposite, the back movement of two clamping parts 71 can be realized when two folder seedling needles 7 rotate, with convenient
Pot seedling is launched in clamping.
It is equipped on bracket 3 and carries out positive, counter-rotational body frame turn around horizontal supporting shaft for driving manipulator body frame 5
Dynamic driving mechanism, body frame rotating drive mechanism herein refers to can the machine that is rotated around horizontal supporting shaft of driving manipulator body frame
Structure, in the present embodiment, the clamping of corresponding two folders seedling needles, the movements for launching pot seedling, in horizontal supporting shaft 8 with manipulator body frame 5
And folder seedling needle 7 it is mobile close to hole tray forward when, body frame rotating drive mechanism will drive manipulator body frame 5 to rotate forward so that
The front of manipulator body frame 5 is upward deflected with the clamping part 71 of folder seedling needle 7；Horizontal supporting shaft 8 with manipulator body frame 5 and
When pressing from both sides seedling needle 7 rearward away from hole tray movement, body frame rotating drive mechanism drives manipulator body frame 5 to rotate backward, so that mechanical
The front of hand body frame 5 is deflected down with the clamping part 71 of folder seedling needle 7.
In the present embodiment, body frame rotating drive mechanism specifically includes the driving vertically extended that bracket is equipped with and leads
Rail, driving guide rail herein are that guide part 4 is equipped with the manipulator sliding slot 41 vertically extended, and guide part 4 is then by fixed
Position axis location and installation is equipped with and manipulator sliding slot on bracket 3 in the tail end of manipulator body frame 5 being located on rear side of horizontal supporting shaft
It is oriented to the tail end slide-bar 51 of cooperation, tail end slide-bar 51 cooperates with the guiding of manipulator sliding slot 41 to follow machinery in tail end slide-bar 51
Drive manipulator body frame 5 around water by tail end slide-bar 51 under the guiding function of manipulator sliding slot 41 when hand body frame 5 is moved forward and backward
Flat support shaft 8 carries out forward direction, rotates backward.
Also, it is equipped between two folder seedling needles 7 and guide part 4 and manipulator is forced to the application of manipulator body frame by folder seedling needle
First elastic component of the active force that body frame is rotated forward, the first elastic component are specially that two the first tension springs (are not shown in figure
Show), one end of each first tension spring on guide part 4 the first hanging hole 14 connection, the other end then with corresponding folder seedling needle mounting rack 9
The second hanging hole 16 connection being equipped with.
In addition, in the present embodiment, each folder seedling needle 7 is by folder seedling needle mounting rack 9, head end shaft rolling assembling in machine
The front end of tool hand body frame is equipped with the assembly set 52 of rolling assembling head end shaft in the front end of manipulator body frame 5, and head end shaft is L
Type structure has and is installed on the cursor 13 in assembly set and the support arm with folder 9 fixing assembling of seedling needle mounting rack with rotation
12, the center of rotation axis of the cursor 13 of each head end shaft is the center of rotation axis of corresponding head end shaft, and two head ends turn
The center of rotation axis of axis arranges that two folder seedling needles 7 and folder seedling needle mounting rack 9 are real in corresponding head end shaft rotation process parallel
Opposite, the back movement of existing two clamping parts 71.
Specifically, it is equipped on manipulator body frame 5 for driving two folder seedling needle activities to realize that two clamping parts are opposite, phase
Unlucky dynamic Jia Miaozhen activity-driven mechanism, Jia Miaozhen activity-driven mechanism herein, which refers to, can drive two folder seedling needle carry out activities
The mechanism that movement by controlling two clamping parts realizes clamping, launches pot seedling movement, moreover, the clamping of corresponding two folders seedling needle,
The real work of pot seedling is launched, Jia Miaozhen activity-driven mechanism drives manipulator body frame 5 is positive to turn in body frame rotating drive mechanism
Two folder seedling needle of driving, 7 activity is when dynamic to realize that two clamping parts 71 move toward one another；Jia Miaozhen activity-driven mechanism is rotated in body frame and is driven
Two folder seedling needle of driving, 7 activity is when motivation structure drives manipulator body frame 5 to rotate backward to realize two clamping parts, 71 back movement.
In the present embodiment, Jia Miaozhen activity-driven mechanism includes applying to realize two clamping part back movements to two folder seedling needles
Second elastic component of elastic acting force, the second elastic component are specially the second tension spring (not shown), one end of the second tension spring with
The connection of third hanging hole 15, the other end on one folder seedling needle mounting rack then press from both sides the 4th hanging hole 17 on seedling needle mounting rack with another
Connection.For each folder seedling needle, since the clamping part 71 on the hanging hole that connect with the second tension spring and folder seedling needle is placed in head
The two sides of the center of rotation axis of shaft are held, so, the second tension spring can drive two clamping parts 71 to the two folder applications of seedling needle 7
The elastic acting force of back movement.
Above-mentioned Jia Miaozhen activity-driven mechanism further include manipulator body frame 5 be equipped with follow manipulator body frame around level prop up
It supports axis and carries out positive, counter-rotational pushing tow disk 10, pushing tow disk 10 is together with 5 fixing assembling of manipulator body frame, and pushing tow disk
10 rotate coaxially assembly with horizontal supporting shaft 8.Pushing tow disk 10 in the present embodiment is located between two folder seedling needles 7, pushing tow disk 10
The two sides for pressing from both sides seedling needle towards two are pushing tow side 103, and every side pushing tow side 103 is respectively equipped with arc-shaped pushing tow boss 101,
Pushing tow boss 101 on each pushing tow side 103 along two ends that horizontal supporting shaft circumferencial direction extends be respectively provided with it is right
Answer side folder 7 pushing tow of seedling needle cooperation and towards the pushing tow transition face 102 that pushing tow direction gradually rises, the pushing tow transition is towards folder seedling needle
The thrusting action power of application is contrary with the elastic acting force that the second tension spring is applied.
Specifically, each folder seedling needle 7 is securely fitted on corresponding folder seedling needle mounting rack 9, each folder seedling needle installation
Propulsion arm 11 is equipped on frame 9, propulsion arm 11 extends in left-right direction, and the pushing end towards pushing tow disk of propulsion arm 11 is bulb
The holding screw of round end specifically can be used in structure 111, propulsion arm 11, and pushing tow is arranged in the end towards pushing tow disk of holding screw
Bulb.
Manipulator provided by the present embodiment drives active swing arm 6 to the bottom when transplanting pot seedling, from motor 2, speed reducer 1
It is dynamic, drive horizontal supporting shaft 8 and manipulator body frame 5 mobile close to hole tray forward, meanwhile, in the guiding function of manipulator sliding slot 41
Under, it is rotated forward by 51 driving manipulator body frame 5 of tail end slide-bar, is seen as rotating clockwise from Fig. 1, at this point, manipulator
The front end of body frame 5 will be swung up with folder seedling needle mounting rack 9 and folder seedling needle 7, at this point, the clamping part 71 on folder seedling needle 7 will be to
Upper deflection and protrude from entire folder seedling needle, to facilitate folder seedling needle when manipulator body frame is mobile towards hole tray with folder seedling needle
Clamping part clamp pot seedling.
Simultaneously as pushing tow disk 10 follow manipulator body frame 5 together around horizontal supporting shaft 8 rotate, manipulator body frame 5 just
To when rotation, i.e., when manipulator body frame 5 is mobile close to hole tray forward with folder seedling needle 7, the top on folder seedling needle mounting rack 9 is set
The pushing end 111 of push rod 11 will be moved on pushing tow boss 101 by pushing tow side 103 by pushing tow transition face 102, from pushing tow
When transition face passes through, propulsion arm faces out pushing tow by pushing tow transition, and propulsion arm is rotated with folder seedling needle, and two clamping parts 71 will be opposite
Movement is to clamp pot seedling.
That is, two clamping parts of control are opposite when folder seedling needle is forwardly toward hole tray movement and clamping part upward deflects
Movement is to clamp pot seedling.
It is mobile rearward away from hole tray by active swing arm driving horizontal supporting shaft 8 and manipulator body frame 5 after clamping pot seedling,
Meanwhile under the guiding function of manipulator sliding slot 41, rotated backward by 51 driving manipulator body frame 5 of tail end slide-bar, from Fig. 1
Be seen as rotating counterclockwise, at this point, the front end of manipulator body frame 5 will with folder seedling needle mounting rack 9 and folder seedling needle 7 to lower swing,
At this point, the clamping part 71 on folder seedling needle 7 will deflect down until vertical.
Simultaneously as pushing tow disk 10 follows manipulator body frame 5 to rotate together around horizontal supporting shaft 8, it is anti-in manipulator body frame 5
To when rotation, i.e., when manipulator body frame 5 is mobile rearward away from hole tray with folder seedling needle 7, the top on folder seedling needle mounting rack 9 is set
The pushing end 111 of push rod 11 will be moved on pushing tow side 103 by pushing tow boss 101 by pushing tow transition face 102, from pushing tow
When transition face passes through, under the action of the second tension spring, propulsion arm will inwardly be drawn by the second tension spring, and the top of two folder seedling needles is mutually leaned on
Hold together, propulsion arm is rotated with folder seedling needle, and two clamping parts 71 are by back movement to launch pot seedling.
That is, two clamping parts of control are opposite when pressing from both sides seedling needle rearward away from hole tray movement and clamping part deflects down
Movement is to launch pot seedling.
The work that pot seedling is thrown in stable the taking of manipulator can be realized with horizontal supporting shaft reciprocating movement by active swing arm.This
Manipulator provided by embodiment is acted using the tilted upward of two folder seedling needles and is matched with rotational action, it can be achieved that full-automatic cave
Disk seedling takes throwing to act, and clamping process is continual and steady, is not easy damage of being scattered, eliminates artificial running cost, when shortening operation
Between, improve operating efficiency and quality.
In the present embodiment, body frame rotating drive mechanism includes driving guide rail, drives the guide line of guide rail can be according to design
Situation design, as long as guaranteeing that body frame rotates when horizontal supporting shaft is with manipulator body frame and folder seedling needle mobile close to hole tray forward
Driving mechanism drives manipulator body frame to rotate forward, in horizontal supporting shaft with manipulator body frame and folder seedling needle rearward away from hole tray
Body frame rotating drive mechanism drives manipulator body frame to rotate backward when mobile.In the present embodiment, driving guide rail is using mechanical
Rubber sleeve slot, in other embodiments, driving guide rail can also can be led to using the drive leader for presetting guide track, tail end slide-bar
It crosses slide block structure and drive leader guiding movement assembles.In fact, servo motor cooperation can also be used in body frame rotating drive mechanism
Positive, the reversed rotation of gear mechanism control manipulator body frame.
In the present embodiment, horizontal supporting shaft is arc-shaped track by active swing arm driving, the activity trajectory of horizontal supporting shaft,
Folder seedling portion is upward, deflects down when not only facilitating control manipulator body frame forward direction in this way, rotating backward, meanwhile, also facilitate from height
Position seedling taking puts seedling from low level.In other embodiments, the activity trajectory of horizontal supporting shaft can also be straight path, the straight line rail
Mark can be angled straight lines track or be horizontal rectilinear trajectory, as long as guaranteeing the manipulator when folder seedling needle is mobile close to hole tray forward
Body frame can make the clamping part for pressing from both sides seedling needle lower part upward deflect with the rotation of folder seedling needle.
In the present embodiment, in two folder seedling needles and the be equipped between the guide part on bracket as the first elastic component is set
One tension spring, in fact, the first elastic component may be pressure spring, only it is noted that the design installation site of elastic component.Certainly, exist
In other embodiments, directly the first elastic component can also be arranged between manipulator body frame and bracket, as long as making the first elasticity
Part applies the active force for forcing manipulator body frame to be rotated forward to manipulator body frame.
In the present embodiment, for two folder seedling needle rolling assemblings in the front end of manipulator body frame, the rotation by pressing from both sides seedling needle realizes two
Opposite, the back movement of clamping part can also be such that two folder seedling needles assemble in a manner of translation in the horizontal direction in other embodiments
On manipulator body frame, opposite, the back movement of two clamping parts are realized with the opposite of two folder seedling needles levels, back movement,
Only need to design and produce the structure of corresponding pushing tow disk and the second tension spring according to the actual motion situation of folder seedling needle.
In the present embodiment, pushing tow disk is provided only with one and is arranged between two folder seedling needles, in this way, the second elastic component uses
Tension spring and pushing tow disk cooperate and realize the rotation of two folder seedling needles.In other embodiments, when pushing tow disk is arranged there are two and is split
When the outside of two folder seedling needles, pressure spring structure is then can be used in the second elastic component being arranged between two folder seedling needles.It is corresponding, second
Elastic component can force two clamping parts towards or away from the active force of movement according to the different of installation site to two folder seedling needle applications, right
It answers, pushing tow disk, which can then be applied by corresponding transmission mechanism to folder seedling needle, forces the effect that two clamping parts are opposite or move toward one another
Power.
In the present embodiment, the transitional end portions position of pushing tow boss and pushing tow side is arranged in the pushing tow transition face on pushing tow disk
Place, in other embodiments, can also be arranged arc groove on pushing tow side, be arranged at the end position of arc groove corresponding
Pushing tow transition face, as long as the pushing tow transition face gradually rises on pushing tow direction.In the present embodiment, in pushing tow boss
Both ends are respectively equipped with pushing tow transition face so that it is convenient to install.In other embodiments, it can also be set into one end of pushing tow boss
Set corresponding pushing tow transition face.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar can understand the contents of the present invention and be implemented, and it is not intended to limit the scope of the present invention, it is all according to the present invention
Equivalent change or modification made by Spirit Essence, should be covered by the scope of protection of the present invention.
Claims (8)
1. a kind of for transplanting the manipulator of hole tray pot seedling, including bracket, it is characterised in that: live along the longitudinal direction on the bracket
It is dynamic to be equipped with horizontal supporting shaft, it is coaxial on horizontal supporting shaft to be rotatably equipped with manipulator body frame, manipulator body frame towards cave
The front of disk is equipped with two folder seedling needles for clamping pot seedling, and the lower part of folder seedling needle is clamping part, is additionally provided with use on the bracket
In driving manipulator body frame to carry out positive, counter-rotational body frame rotating drive mechanism around horizontal supporting shaft；In horizontal supporting shaft
When with manipulator body frame and folder seedling needle mobile close to hole tray forward, body frame rotating drive mechanism drives manipulator body frame forward direction to turn
It is dynamic, so that the front of manipulator body frame is upward deflected with the clamping part of folder seedling needle；In horizontal supporting shaft with manipulator master
When frame and folder seedling needle mobile rearward away from hole tray, body frame rotating drive mechanism drives manipulator body frame to rotate backward, so that machine
The front of tool hand body frame is deflected down with the clamping part of folder seedling needle；Described two folder seedling needle activities are assemblied in the manipulator master
On frame, the manipulator body frame be equipped with for drive two folder seedling needle activities with realize two clamping parts in opposite directions, the folder of back movement
Miao Zhen activity-driven mechanism；Jia Miaozhen activity-driven mechanism is when body frame rotating drive mechanism drives manipulator body frame to rotate forward
Two folder seedling needle activity of driving is to realize that two clamping parts move toward one another；Jia Miaozhen activity-driven mechanism drives in body frame rotating drive mechanism
Two folder seedling needle activity of driving is when rotating backward manipulator body frame to realize two clamping part back movements；The folder seedling needle activity is driven
Motivation structure includes applying to realize two clamping parts towards or away from the second elastic component of the elastic acting force of movement, folder to two folder seedling needles
Miao Zhen activity-driven mechanism further include the manipulator body frame be equipped with follow manipulator body frame around horizontal supporting shaft carry out just
To, counter-rotational pushing tow disk, pushing tow disk, which corresponds to each folder seedling needle and is respectively equipped with, to be cooperated with corresponding folder seedling needle pushing tow and towards top
Push away the pushing tow transition face that direction gradually rises, thrusting action power and second elastic component of the pushing tow transition towards folder seedling needle application
The elastic acting force applied is contrary；The pushing tow disk is together with manipulator body frame fixing assembling.
2. according to claim 1 for transplanting the manipulator of hole tray pot seedling, it is characterised in that: the body frame rotate driving
Mechanism includes the driving guide rail vertically extended that the bracket is equipped with, and being located at for the manipulator body frame is horizontally-supported
The tail end slide-bar with the driving guide rail guiding cooperation is equipped on rear side of axis, tail end slide-bar and driving guide rail guiding cooperation are in tail end
Slide-bar follows manipulator body frame to drive manipulator body frame by tail end slide-bar under the guiding function of driving guide rail when being moved forward and backward
Forward direction is carried out around horizontal supporting shaft, is rotated backward.
3. according to claim 2 for transplanting the manipulator of hole tray pot seedling, it is characterised in that: the driving guide rail is institute
State the manipulator sliding slot with the tail end slide-bar corresponding matching that bracket is equipped with.
4. according to claim 2 for transplanting the manipulator of hole tray pot seedling, it is characterised in that: the horizontal supporting shaft by
Active swing arm driving on the bracket is set, and the activity trajectory of horizontal supporting shaft is arc-shaped track.
5. as claimed in any of claims 1 to 4 for transplanting the manipulator of hole tray pot seedling, it is characterised in that: institute
Stating to be equipped between manipulator body frame or folder seedling needle and the bracket to the application of manipulator body frame forces manipulator body frame to carry out forward direction
First elastic component of the active force of rotation.
6. according to claim 1 for transplanting the manipulator of hole tray pot seedling, it is characterised in that: the direction of the pushing tow disk
The respective sides of two folder seedling needles are pushing tow side, are convexly equipped with pushing tow boss on pushing tow side, pushing tow boss along horizontal supporting shaft
At least one end in two ends that circumferencial direction extends has the pushing tow transition face.
7. according to claim 6 for transplanting the manipulator of hole tray pot seedling, it is characterised in that: the two folders seedling needle difference
By a head end shaft rolling assembling in manipulator body frame front end, the center of rotation axis of two head end shafts is arranged parallel, two
Folder Miao Zhen realizes opposite, the back movement of two clamping parts in corresponding head end shaft rotation process.
8. according to claim 7 for transplanting the manipulator of hole tray pot seedling, it is characterised in that: divide on the two folders seedling needle
Not She You one for the propulsion arm that cooperate with the pushing tow disk pushing tow, the pushing end of propulsion arm is ball head structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611037395.8A CN106489390B (en) | 2016-11-23 | 2016-11-23 | It is a kind of for transplanting the manipulator of hole tray pot seedling |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611037395.8A CN106489390B (en) | 2016-11-23 | 2016-11-23 | It is a kind of for transplanting the manipulator of hole tray pot seedling |
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| Publication Number | Publication Date |
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| CN106489390A CN106489390A (en) | 2017-03-15 |
| CN106489390B true CN106489390B (en) | 2019-03-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611037395.8A Expired - Fee Related CN106489390B (en) | 2016-11-23 | 2016-11-23 | It is a kind of for transplanting the manipulator of hole tray pot seedling |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109743933B (en) * | 2019-01-23 | 2021-08-06 | 河南科技大学 | Inferior pot seedling removing device for vegetable transplanter and removing method thereof |
| CN110050553B (en) * | 2019-05-05 | 2023-09-26 | 山东华龙农业装备股份有限公司 | Seedling transplanting grabbing device for transplanting machine |
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| JP2002272213A (en) * | 2001-03-19 | 2002-09-24 | Yanmar Agricult Equip Co Ltd | Transplanter |
| JP2010154798A (en) * | 2008-12-26 | 2010-07-15 | Yanmar Co Ltd | Seedling transplanting machine |
| CN202127604U (en) * | 2011-06-30 | 2012-02-01 | 南京农业大学 | Turnover type pneumatic seedling taking device |
| CN202979644U (en) * | 2012-11-29 | 2013-06-12 | 江苏大学 | Seedling taking device of automatic transplanter |
| CN203086969U (en) * | 2013-03-20 | 2013-07-31 | 吉林鑫华裕农业装备有限公司 | Planting arm of transplanter |
| CN103650720A (en) * | 2012-09-11 | 2014-03-26 | 中国农业机械化科学研究院 | Pot seedling transplanter and automatic seedling taking device thereof |
| CN106068844A (en) * | 2016-07-28 | 2016-11-09 | 石河子大学 | A kind of planet gear type potted tray seedling transplanter automatic seedling taking device |
| CN206212640U (en) * | 2016-11-23 | 2017-06-06 | 河南科技大学 | Manipulator for transplanting hole tray pot seedling |
-
2016
- 2016-11-23 CN CN201611037395.8A patent/CN106489390B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002272213A (en) * | 2001-03-19 | 2002-09-24 | Yanmar Agricult Equip Co Ltd | Transplanter |
| JP2010154798A (en) * | 2008-12-26 | 2010-07-15 | Yanmar Co Ltd | Seedling transplanting machine |
| CN202127604U (en) * | 2011-06-30 | 2012-02-01 | 南京农业大学 | Turnover type pneumatic seedling taking device |
| CN103650720A (en) * | 2012-09-11 | 2014-03-26 | 中国农业机械化科学研究院 | Pot seedling transplanter and automatic seedling taking device thereof |
| CN202979644U (en) * | 2012-11-29 | 2013-06-12 | 江苏大学 | Seedling taking device of automatic transplanter |
| CN203086969U (en) * | 2013-03-20 | 2013-07-31 | 吉林鑫华裕农业装备有限公司 | Planting arm of transplanter |
| CN106068844A (en) * | 2016-07-28 | 2016-11-09 | 石河子大学 | A kind of planet gear type potted tray seedling transplanter automatic seedling taking device |
| CN206212640U (en) * | 2016-11-23 | 2017-06-06 | 河南科技大学 | Manipulator for transplanting hole tray pot seedling |
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| CN106489390A (en) | 2017-03-15 |
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Application publication date: 20170315 Assignee: Luoyang Luolong District Yixin mechanical equipment Distribution Department Assignor: Henan University of Science and Technology Contract record no.: X2019980000464 Denomination of invention: Plug potted seedling transplanting manipulator Granted publication date: 20190315 License type: Common License Record date: 20191101 |
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