CN106717376B - A kind of plant seedlings transplant robot - Google Patents
A kind of plant seedlings transplant robot Download PDFInfo
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- CN106717376B CN106717376B CN201611134405.XA CN201611134405A CN106717376B CN 106717376 B CN106717376 B CN 106717376B CN 201611134405 A CN201611134405 A CN 201611134405A CN 106717376 B CN106717376 B CN 106717376B
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- electric cylinders
- sleeve
- telescopic rod
- bottom plate
- hollow plate
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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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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
Abstract
The present invention provides a kind of plant seedlings transplant robot, including four driving devices, bottom plate, transplantation devices, mechanical arm, it is characterised in that: the bottom plate is one piece of rectangular slab, is separately installed with four driving devices below four angles of bottom plate；One mechanical arm is installed above bottom plate, the mechanical arm includes first sleeve, the first telescopic rod, electric rotary table, hinged-support, the first steering engine, second sleeve, the first electric cylinders, the second telescopic rod, the second steering engine, oscillating rod, the second electric cylinders, sliding block, and the first sleeve is fixed on straight up above bottom plate；The soil of plant root can be held by being provided with the transplantation device of carrier bar, it is prevented to be scattered, improve the survival rate of seedling by the present invention.
Description
Technical field
The present invention relates to Agricultural Robot technical field, in particular to a kind of plant seedlings transplant robot.
Background technique
Transplanting, is also known as transplanted, and refers to the operation the seedling replanting in seedbed to crop field, can be with native or not when transplanting
Band soil, it is few that balled transplanting hurts root, can shorten seedling-slowing stage, early early hair living, and traditional transplanting method is with the transplanting of manual transplantation device
Seedling, the bottom of manual transplantation device be it is empty, there is no a backing device, soil is easy to leak from manual transplantation device bottom when transplanting
Out, cause the soil of plant seedlings root to reduce, reduce the survival rate of plant seedlings, while this method speed is slow, efficiency
It is low, therefore be badly in need of a kind of can quickly transplanting plant again and can guarantee the automation equipment that plant root soil does not scatter and disappear.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of plant seedlings transplant robot, by the transplanting for being provided with carrier bar
The soil of plant root can be held, it is prevented to be scattered, improve the survival rate of seedling by device.
Technical solution used in the present invention is: a kind of plant seedlings transplant robot, including four driving devices, bottoms
Plate, transplantation device, mechanical arm, it is characterised in that: the bottom plate is one piece of rectangular slab, is installed respectively below four angles of bottom plate
There are four driving devices；One mechanical arm is installed above bottom plate, the mechanical arm includes first sleeve, first flexible
Bar, electric rotary table, hinged-support, the first steering engine, second sleeve, the first electric cylinders, the second telescopic rod, the second steering engine, oscillating rod,
Two electric cylinders, sliding block, the first sleeve are fixed on straight up above bottom plate, and it is flexible that first is slidably fitted in first sleeve
Bar is equipped with electric rotary table at the top of the first telescopic rod, and the rotary shaft upper end of electric rotary table is equipped with hinged-support, described
Second sleeve one end be hinged on hinged-support, the rotation of second sleeve is controlled by the first steering engine for being mounted on hinged-support side,
The drive shaft of first steering engine and the shaft of second sleeve are connected by shaft coupling, are slidably fitted with second in the front end of second sleeve
The sliding of telescopic rod, the second telescopic rod is controlled by the first electric cylinders, and the oscillating rod upper end is rotatably installed in the second telescopic rod
Front end, the swing of oscillating rod controls by the second steering engine, sliding block is slidably fitted on oscillating rod, the sliding of sliding block is by second
Electric cylinders control, second electric cylinders one end are fixed on oscillating rod side, and the other end of the second electric cylinders is fixedly connected with a slide block；The shifting
It plants device and is fixed on sliding block leading flank.
Further, the transplantation device include third electric cylinders, it is lantern ring, guide rail, backplate, several carrier bars, semicircular ring, hollow
One rectangular channel is arranged at plate, the 4th electric cylinders, the hollow plate lower part, is separately installed with a semicircle in hollow plate lower part two sides
Ring, semicircular ring inside are equipped with half-arc groove, and the right side of half-arc groove is communicated with the rectangular channel of hollow plate, and being equipped in rectangular channel can
With the carrier bar slided up and down, it is articulated and connected between two adjacent carrier bars, the tailpiece of the piston rod of the carrier bar of the top and the 4th electric cylinders
Portion is hinged, and the cylinder part of the 4th electric cylinders is mounted on inside hollow plate, controls carrier bar in rectangular channel and semicircle by the 4th electric cylinders
It is slided in arc slot, the backplate there are three face is installed on the outside of hollow plate, the backplate in three faces forms the shape of a U-shaped, in
The middle position of hollow plate is also equipped with the guide rail of swallowtail shape, is slidably fitted with lantern ring on guide rail, lantern ring slide up and down by
The control of third electric cylinders, third electric cylinders one end are fixed in hollow plate, and the other end is connect with lantern ring.
Further, the driving device includes the first stepper motor, steering bracket, driving wheel, second stepper motor,
First stepper motor is mounted on straight down below bottom plate, and steering branch is equipped on the motor shaft of the first stepper motor
Frame, is equipped with driving wheel in steering bracket, and driving wheel is driven by the second stepper motor for being mounted on steering bracket side.
Further, hydraulic cylinder is installed, the piston rod end of hydraulic cylinder is flexible with first inside the first sleeve
Bar bottom is connected, and the lifting of the first telescopic rod is controlled by hydraulic cylinder.
Since present invention employs above-mentioned technical proposals, the invention has the following advantages that
1. the transplantation device of the invention by being provided with carrier bar, the soil of plant root can be held, prevent it from dissipating
It falls, improves the survival rate of seedling.
2. mechanical arm of the invention can drive transplantation device to transplant in different location to plant seedlings.
Detailed description of the invention
Fig. 1 is whole assembly schematic perspective view of the invention.
Fig. 2 is transplantation device partial enlargement diagram of the invention.
Fig. 3 is the 4th electric cylinders and the hinged schematic diagram of carrier bar of the invention.
Fig. 4 is inventive drive means structural schematic diagram.
Drawing reference numeral: 1- driving device；2- bottom plate；3- first sleeve；The first telescopic rod of 4-；5- electric rotary table；6- hinge
Support；The first steering engine of 7-；8- second sleeve；The first electric cylinders of 9-；The second telescopic rod of 10-；The second steering engine of 11-；12- oscillating rod；13-
Second electric cylinders；14- sliding block；15- transplantation device；1501- third electric cylinders；1502- lantern ring；1503- guide rail；1504- backplate；1505 chains
Plate；1506- semicircular ring；1507- hollow plate；The 4th electric cylinders of 1508-；The first stepper motor of 101-；102- steering bracket；103- drives
Driving wheel；104- second stepper motor.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of plant seedlings transplant robot, including four driving devices 1, bottom plate 2,
Transplantation device 15, mechanical arm, it is characterised in that: the bottom plate 2 is one piece of rectangular slab, is pacified respectively below four angles of bottom plate 2
There are four driving devices 1 for dress；Side is equipped with a mechanical arm on a base plate 2, and the mechanical arm includes first sleeve 3, first
Telescopic rod 4, electric rotary table 5, hinged-support 6, the first steering engine 7, second sleeve 8, the first electric cylinders 9, the second telescopic rod 10, the second rudder
Machine 11, oscillating rod 12, the second electric cylinders 13, sliding block 14, the first sleeve 3 are fixed on 2 top of bottom plate, first set straight up
It is slidably fitted with the first telescopic rod 4 in cylinder 3, the top of the first telescopic rod 4 is equipped with electric rotary table 5, the rotation of electric rotary table 5
Shaft upper end is equipped with hinged-support 6, and described 8 one end of second sleeve is hinged on hinged-support 6, the rotation of second sleeve 8 by
It is mounted on the first steering engine 7 control of 6 side of hinged-support, the drive shaft of the first steering engine 7 and the shaft of second sleeve 8 pass through shaft coupling
Connection, is slidably fitted with the second telescopic rod 10 in the front end of second sleeve 8, the sliding of the second telescopic rod 10 is controlled by the first electric cylinders 9
System, 12 upper end of oscillating rod are rotatably installed in the front end of the second telescopic rod 10, and the swing of oscillating rod 12 is by the second rudder
Machine 11 controls, and sliding block 14 is slidably fitted on oscillating rod 12, the sliding of sliding block 14 is controlled by the second electric cylinders 13, the second electric cylinders 13
One end is fixed on 12 side of oscillating rod, and the other end of the second electric cylinders 13 is fixedly connected with sliding block 14；The transplantation device 15 is fixed
In 14 leading flank of sliding block.
Further, if the transplantation device 15 include third electric cylinders 1501, lantern ring 1502, guide rail 1503, backplate 1504,
One rectangle is arranged at dry carrier bar 1505, semicircular ring 1506, hollow plate 1507, the 4th electric cylinders 1508,1507 lower part of hollow plate
Slot is separately installed with a semicircular ring 1506 in 1507 lower part two sides of hollow plate, half-arc groove is equipped on the inside of semicircular ring 1506, partly
The right side of arc groove is communicated with the rectangular channel of hollow plate 1507, and the carrier bar 1505 that can be slided up and down, phase are equipped in rectangular channel
It being articulated and connected between two adjacent carrier bars 1505, the carrier bar 1505 of the top and the piston rod end of the 4th electric cylinders 1508 are hinged,
The cylinder part of 4th electric cylinders 1508 is mounted on inside hollow plate 1507, controls carrier bar 1505 in rectangle by the 4th electric cylinders 1508
It is slided in slot and half-arc groove, the backplate 1504 there are three face, 1504 groups of the backplate in three faces is installed on the outside of hollow plate 1507
At the shape of a U-shaped, it is also equipped with the guide rail 1503 of swallowtail shape in the middle position of hollow plate 1507, on guide rail 1503
It is slidably fitted with lantern ring 1502, sliding up and down for lantern ring 1502 is controlled by third electric cylinders 1501, and 1501 one end of third electric cylinders is fixed
In hollow plate 1507, the other end is connect with lantern ring 1502.
Further, the driving device 1 includes the first stepper motor 101, steering bracket 102, driving wheel 103, the
Two stepping motor 104, first stepper motor 101 is mounted on 2 lower section of bottom plate straight down, in the first stepper motor 101
Motor shaft on steering bracket 102 is installed, driving wheel 103 is installed in steering bracket 102, driving wheel 103 is by being mounted on
The second stepper motor 104 of 102 side of steering bracket drives.
Further, hydraulic cylinder is installed, the piston rod end of hydraulic cylinder is flexible with first inside the first sleeve 3
4 bottom of bar is connected, and the lifting of the first telescopic rod 4 is controlled by hydraulic cylinder.
Working principle of the present invention: mechanical arm of the invention controls the lifting of the first telescopic rod 4 by hydraulic cylinder；By electronic
The rotation of the control hinged-support 6 of turntable 5；The rotation of second sleeve 8, the sliding of the second telescopic rod 10 are controlled by the first steering engine 7
It is to be controlled by the first electric cylinders 9；The swing of oscillating rod 12 is controlled by the second steering engine 11；Sliding block 14 is controlled by the second electric cylinders 13
It is slided on oscillating rod 12；Carrier bar 1505 is controlled by the 4th electric cylinders 1508 to slide in rectangular channel and half-arc groove, is being used
First the carrier bar 1505 in half-arc groove is retracted in the rectangular channel of hollow plate 1507 when of the invention, is then linked by mechanical arm
Entire transplantation device 15 is directed at plant seedlings and is inserted into transplantation device 15 below the root of plant, passes through the 4th electric cylinders in next step
1508 people push carrier bar 1505 to enter in the half-arc groove of semicircular ring 1506, and the soil of plant root is held, it is prevented to be scattered,
Then robot passes through the place that the walking of driving device 1 is planted to needs, falls in pit under transplantation device 15, in next step by semicircle
Carrier bar 1505 in arc slot is retracted in the rectangular channel of hollow plate 1507, pushes lantern ring 1502 by third electric cylinders 1501 in next step
It moves down, lantern ring 1502 pushes the soil of surrounding plants to move down, until plant seedlings and soil are completely from backplate 1504
In detach until, next step transplantation device 15 rise, transplanting complete.
Claims (4)
1. a kind of plant seedlings transplant robot, including four driving devices (1), bottom plate (2), transplantation device (15), mechanical arm,
Be characterized in that: the bottom plate (2) is one piece of rectangular slab, and four driving dresses are separately installed with below four angles of bottom plate (2)
Set (1)；A mechanical arm is installed above bottom plate (2), the mechanical arm includes first sleeve (3), the first telescopic rod
(4), electric rotary table (5), hinged-support (6), the first steering engine (7), second sleeve (8), the first electric cylinders (9), the second telescopic rod
(10), the second steering engine (11), oscillating rod (12), the second electric cylinders (13), sliding block (14), the first sleeve (3) is straight up
It is fixed on above bottom plate (2), is slidably fitted with the first telescopic rod (4) in first sleeve (3), the top peace of the first telescopic rod (4)
Equipped with electric rotary table (5), the rotary shaft upper end of electric rotary table (5) is equipped with hinged-support (6), the second sleeve
(8) one end is hinged on hinged-support (6), and the rotation of second sleeve (8) is by being mounted on first steering engine (7) of hinged-support (6) side
Control, the drive shaft of the first steering engine (7) is connect with the shaft of second sleeve (8) by shaft coupling, in the front end of second sleeve (8)
It is slidably fitted with the second telescopic rod (10), the sliding of the second telescopic rod (10) is controlled by the first electric cylinders (9), the oscillating rod
(12) upper end is rotatably installed in the front end of the second telescopic rod (10), and the swing of oscillating rod (12) is controlled by the second steering engine (11)
System, is slidably fitted with sliding block (14) on oscillating rod (12), and the sliding of sliding block (14) is controlled by the second electric cylinders (13), the second electric cylinders
(13) one end is fixed on oscillating rod (12) side, and the other end of the second electric cylinders (13) is fixedly connected with sliding block (14)；The shifting
It plants device (15) and is fixed on sliding block (14) leading flank.
2. a kind of plant seedlings transplant robot according to claim 1, it is characterised in that: transplantation device (15) packet
Include third electric cylinders (1501), lantern ring (1502), guide rail (1503), backplate (1504), several carrier bars (1505), semicircular ring
(1506), hollow plate (1507), the 4th electric cylinders (1508), a rectangular channel is arranged at the hollow plate (1507) lower part, hollow
Plate (1507) lower part two sides are separately installed with a semicircular ring (1506), are equipped with half-arc groove, semicircle on the inside of semicircular ring (1506)
The right side of arc slot is communicated with the rectangular channel of hollow plate (1507), and the carrier bar (1505) slided up and down is equipped in rectangular channel, adjacent
Two carrier bars (1505) between be articulated and connected, the piston rod end of the carrier bar (1505) of the top and the 4th electric cylinders (1508) is cut with scissors
It connects, the cylinder part of the 4th electric cylinders (1508) is mounted on hollow plate (1507) inside, passes through the 4th electric cylinders (1508) and controls carrier bar
(1505) it is slided in rectangular channel and half-arc groove, installation is there are three the backplate (1504) in face on the outside of the hollow plate (1507), and three
The backplate (1504) in a face forms the shape of a U-shaped, is also equipped with swallowtail shape in the middle position of hollow plate (1507)
Guide rail (1503) is slidably fitted with lantern ring (1502) on guide rail (1503), and lantern ring (1502) is slided up and down by third electric cylinders
(1501) it controls, third electric cylinders (1501) one end is fixed on hollow plate (1507), and the other end is connect with lantern ring (1502).
3. a kind of plant seedlings transplant robot according to claim 1, it is characterised in that: the driving device (1)
Including the first stepper motor (101), steering bracket (102), driving wheel (103), second stepper motor (104), described first
Stepper motor (101) is mounted on straight down below bottom plate (2), is equipped with and is turned on the motor shaft of the first stepper motor (101)
It to bracket (102), is equipped in steering bracket (102) driving wheel (103), driving wheel (103) is by being mounted on steering bracket
(102) second stepper motor (104) driving of side.
4. a kind of plant seedlings transplant robot according to claim 1, it is characterised in that: the first sleeve (3)
Inside is equipped with hydraulic cylinder, and the piston rod end of hydraulic cylinder is connected with the first telescopic rod (4) bottom, passes through hydraulic cylinder control first
The lifting of telescopic rod (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611134405.XA CN106717376B (en) | 2016-12-10 | 2016-12-10 | A kind of plant seedlings transplant robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611134405.XA CN106717376B (en) | 2016-12-10 | 2016-12-10 | A kind of plant seedlings transplant robot |
Publications (2)
| Publication Number | Publication Date |
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| CN106717376A CN106717376A (en) | 2017-05-31 |
| CN106717376B true CN106717376B (en) | 2019-01-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611134405.XA Active CN106717376B (en) | 2016-12-10 | 2016-12-10 | A kind of plant seedlings transplant robot |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107116763A (en) * | 2017-06-18 | 2017-09-01 | 徐秀娥 | A kind of material taking manipulator of injection molding machine |
| CN108527427A (en) * | 2018-04-25 | 2018-09-14 | 河南工程学院 | A kind of mechanical automation grabbing device |
| CN108901275A (en) * | 2018-06-14 | 2018-11-30 | 阮晓青 | A kind of agricultural planting equipment with quick transplanting function |
| CN109114382B (en) * | 2018-09-26 | 2020-03-03 | 刘艳萍 | Multifunctional photographing bracket |
| CN111387005A (en) * | 2020-05-08 | 2020-07-10 | 王志奇 | Automatic get transplanter of seedling |
| CN112567945A (en) * | 2020-12-09 | 2021-03-30 | 湖南科力除虫药械有限公司 | Walking type greening maintenance machine |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6164223A (en) * | 1997-01-22 | 2000-12-26 | Eriksson; Roy Erik | Method and device for planting plants |
| CN103749094A (en) * | 2013-12-16 | 2014-04-30 | 西北农林科技大学 | Picking robot and picking method for kiwi fruits |
| CN205623271U (en) * | 2016-04-02 | 2016-10-12 | 上海大学 | Robot for picking fruits |
| CN205648402U (en) * | 2016-05-21 | 2016-10-19 | 河南佳宜景观工程有限公司 | Plant is transplanted and plants system of planting |
-
2016
- 2016-12-10 CN CN201611134405.XA patent/CN106717376B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6164223A (en) * | 1997-01-22 | 2000-12-26 | Eriksson; Roy Erik | Method and device for planting plants |
| CN103749094A (en) * | 2013-12-16 | 2014-04-30 | 西北农林科技大学 | Picking robot and picking method for kiwi fruits |
| CN205623271U (en) * | 2016-04-02 | 2016-10-12 | 上海大学 | Robot for picking fruits |
| CN205648402U (en) * | 2016-05-21 | 2016-10-19 | 河南佳宜景观工程有限公司 | Plant is transplanted and plants system of planting |
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| CN106717376A (en) | 2017-05-31 |
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Effective date of registration: 20181116 Address after: 056000 Jiaogang Village, Beigao Town, Wei County, Handan City, Hebei Province Applicant after: Weixian Linsheng Agricultural Science and Technology Development Co., Ltd. Address before: 150000 Room 101, unit 5, Xue Hing Road, Nangang District, Harbin, Heilongjiang, 506 Applicant before: Ning Xiufen |
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