CN106900356A - Grafting flexibility positioning and clamping mechanism - Google Patents
Grafting flexibility positioning and clamping mechanism Download PDFInfo
- Publication number
- CN106900356A CN106900356A CN201710188066.1A CN201710188066A CN106900356A CN 106900356 A CN106900356 A CN 106900356A CN 201710188066 A CN201710188066 A CN 201710188066A CN 106900356 A CN106900356 A CN 106900356A
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- China
- Prior art keywords
- seedling
- hole
- driving plate
- component
- gripping finger
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G2/00—Vegetative propagation
- A01G2/30—Grafting
Abstract
A kind of grafting flexibility positioning and clamping mechanism, solves the bad adaptability to seedling stem that existing clamping device is present, and easily appearance positioning is inaccurate and damages the phenomenon of seedling stem, influences the problem of grafting operating efficiency.Including infrastructure component, it is characterised in that：Clamping guide post is set between two fixed blocks of infrastructure component front part sides, is held together seedling driving plate and is slidably connected with the driving plate guide post on pedestal riser；The cylinder connection end for holding together seedling driving plate is connected with drive cylinder；Clamp assemblies are arranged on clamping guide post by two sliding shoes；Seedling component is held together in clamp assemblies both sides, is rotated with the top of infrastructure component both sides fixed blocks be connected respectively；Buffer spring is set between flexible guiding component and infrastructure component riser.Its is reasonable in design, compact conformation, can accurately be pressed from both sides out the fruit tree seedlings in hole tray according to different seedling stem sizes, while completing to be automatically positioned the flexibility of seedling body, reduces the infringement to seedling body, and for follow-up full-automatic grafting operation provides efficiency guarantee.
Description
Technical field
The invention belongs to grafting equipment technical field, it is related to a kind of automatic seedling taking device, more particularly to one kind can be according to transferring
The different seedling stems of seedlings picking, flexible clamping seedling taking, accurate positioning, the grafting flexibility positioning and clamping mechanism small to seedling body infringement.
Background technology
With the continuous improvement of Automation of Agricultural Production technology, grafting operation of the people to fruit tree seedlings, then progressively from
Artificial grafting is to automatic grafting transition.But, mechanization grafting operation needs in advance accurately to take out the fruit tree seedlings in hole tray,
And ensure that position of the fruit tree seedlings in clamping device is relatively fixed；Can so be provided safeguard for follow-up accurately grafting.Together
When, when fruit tree seedlings are clamped, should try one's best clamping device the damage reduced to seedling body, to improve the survival rate of grafting.Existing skill
The grafting clamping device of art, often using rigid clamping device, the fitness to seedling stem is undesirable, frequently results in damage seedling stem
The phenomenon inaccurate with positioning, has a strong impact on the efficiency of fruit tree seedlings grafting operation.Therefore it is necessary the grafting folder to prior art
Device is held to be improved.
The content of the invention
The present invention is aiming above mentioned problem, there is provided a kind of to be determined according to the different seedling stems of grafting, flexible clamping seedling taking
Level really, to seedling body damages small grafting flexibility positioning and clamping mechanism.
The technical solution adopted in the present invention is：Grafting flexibility positioning and clamping mechanism includes infrastructure component, its feature
It is：The infrastructure component includes pedestal, and pedestal is made up of substrate, and the anterior both sides of substrate are respectively arranged with fixed block, fixed
The top of block is provided with seedling pawl connecting hole, and clamping guide post is provided between two fixed blocks；The rear portion of substrate is provided with vertical
Plate, the top of riser is provided with sliding eye, and the bottom of riser is provided with driving plate guide post；Driving is provided with the substrate of pedestal
Plate installs elongated hole, and driving plate is installed elongated hole and is located between riser and clamping guide post；Vertical arrangement is provided with pedestal holds together seedling
Driving plate, holds together seedling driving plate and is made up of driving plate main body, driving plate pilot hole is provided with driving plate main body, in driving plate main body
The middle setting in portion is fluted, and the both sides of driving plate body top are respectively arranged with active connecting hole；The bottom of driving plate main body
It is provided with cylinder connection end；Hold together seedling driving plate and company is slided with the driving plate guide post on pedestal riser by driving plate pilot hole
Connect；Elongated hole is installed in the cylinder connection end for holding together seedling driving plate through the driving plate on pedestal substrate, with the drive being arranged on the downside of pedestal
Take offence cylinder telescopic end be connected；Clamp assemblies are provided with clamping guide post on the pedestal between two fixed blocks, are clamped
Component is made up of two sliding shoes symmetrically arranged, sliding shoe by the clamping pilot hole for setting thereon, is arranged in respectively
On clamping guide post；Two tops of sliding shoe, are respectively arranged with the first gripping finger and the second gripping finger, the first gripping finger and the second gripping finger
Arranged along the horizontal direction perpendicular with clamping guide post；Sliding shoe top, the side near fixed block, be respectively arranged with from
Dynamic connecting hole；The both sides of clamp assemblies be respectively arranged be arranged symmetrically hold together seedling component, hold together what seedling component was arranged up and down by two panels
Hold together seedling calvus composition；The rear portion for holding together seedling calvus is provided with rear through hole, holds together in the middle part of seedling calvus and is provided with middle through-hole, holds together seedling pawl
Revolution through hole is provided between the middle through-hole and rear through hole of piece；Two panels is provided with connection between holding together the revolution through hole of seedling calvus
Cylinder, two panels holds together between the rear through hole of seedling calvus to be provided with drive connecting rod, and two panels is provided between holding together the middle through-hole of seedling calvus
Follower link；Seedling component is held together in clamp assemblies both sides, respectively by turning round holding together for through hole and infrastructure component both sides fixed block top
Seedling pawl connecting hole rotates connection；One end of the drive connecting rod is hinged with seedling calvus rear through hole is held together, drive connecting rod it is another
Hold and be hinged with the active connecting hole for holding together seedling driving plate；One end of the follower link is hinged with seedling calvus middle through-hole is held together,
The other end of follower link is hinged with the driven connecting hole of clamp assemblies sliding shoe；First gripping finger of the clamp assemblies and
The front end of two gripping fingers, is arranged in corresponding side and holds together the two panels of seedling component and hold together in the anterior grasp opening of seedling calvus；The base
Flexible guiding component is provided with the sliding eye of plinth component riser, flexible guiding component is made up of sliding bar, sliding bar front end
Upper and lower both sides are respectively arranged with prerotation vane, are formed between two panels prerotation vane and hold together seedling opening；The flexible guiding component is by sliding
Bar is arranged in the sliding eye of infrastructure component riser, and sliding bar is located between the first gripping finger of clamp assemblies and the second gripping finger；
The two panels prerotation vane of flexible guiding component front end, then hold together above and below seedling component grasp opening one end positioned at both sides respectively；
Buffer spring is provided between the front side of flexible guiding component and infrastructure component riser, flexible guiding component slippage bar reaches base
One end on rear side of plinth component riser is provided with stop nut.
The sliding bar of the flexible guiding component includes the body of rod, and the shaft shoulder is provided with the middle part of the body of rod, and the front end of the body of rod is set
There is contiguous block；The both sides up and down of contiguous block are respectively arranged with connection draw-in groove, and internal thread hole is provided with connection draw-in groove；Contiguous block
Prerotation vane is respectively arranged with two connection draw-in grooves, prerotation vane is made up of piece main body, the rear end of piece main body is provided with and adjusts oval
Hole, the front end of piece main body is provided with V-shaped part；Prerotation vane is utilized and is arranged between regulation slotted hole and connection draw-in groove internal thread hole
Bolt, is fixed on the both sides up and down of contiguous block；The buffer spring is arranged on front side and the flexible guiding group of infrastructure component riser
Between the shaft shoulder of part sliding bar.To hold together seedling component and clamp assemblies are gradually closed, drive grafting to do the process received in placed in the middle
In, according to different seedling stems, flexible clamping seedling taking is carried out to grafting, reduce the damage to seedling body；Also, the tune of prerotation vane rear end
Section slotted hole, can facilitate the adjustment of prerotation vane position on contiguous block.
The V-shaped part inner side of the prerotation vane set on the sliding bar lever front end contiguous block, is provided with yielding rubber.With
Grafting makes seedling body lenitively be contacted with the V-shaped part of flexible guiding component prerotation vane with the time receiving in seedling component is held together, and further reduces
Contact dynamics.
First gripping finger of the clamp assemblies includes the first clamp, and the front end of the first clamp is provided with the first bare terminal end；Folder
The second gripping finger for holding component includes the second clamp, and the front end of the second clamp is provided with the second bare terminal end；First gripping finger and the second folder
Refer to that the top with two sliding shoes is connected respectively by the first clamp and the second clamp；And first gripping finger and the second gripping finger front end
The first bare terminal end and the second bare terminal end towards front side, positioned opposite.With first gripping finger and the second gripping finger of clamp assemblies with
When holding together the inside move toward one another of seedling component, the first bare terminal end and the second bare terminal end is set to clamp grafting.
The upper and lower both sides of the second bare terminal end of the second clamp of the second gripping finger front end, are respectively arranged with slow power recess.With
Slow down the dynamics when gripping finger of clamp assemblies first and the second gripping finger clamping grafting, reduce the infringement to seedling body.
First bare terminal end of first gripping finger and the relative inner side of the second bare terminal end of the second gripping finger, are respectively provided with
There is clamping rubber cushion.When the gripping finger of clamp assemblies first and the second gripping finger are contacted with grafting, to reduce clamping dynamics, it is to avoid to seedling
Body causes mechanical damage.
It is described hold together seedling driving plate driving plate pilot hole in and the clamping pilot hole of sliding shoe in, be respectively arranged with anti-
Rust spacer.With during preventing long-time use, between driving plate pilot hole and driving plate guide post and clamping pilot hole with
Iron rust is produced between clamping guide post, action effect is influenceed.
The antirust spacer set in the driving plate pilot hole and clamping pilot hole is copper spacer or nylon spacer.
The sliding eye both sides of the infrastructure component riser, are respectively arranged with lever arm connecting hole.In order to clamping device with transfer
Connect the connection of equipment.
Beneficial effects of the present invention：Because the present invention is respectively provided with fixed block using the anterior both sides of infrastructure component pedestal,
Clamping guide post is set between two fixed blocks；The rear portion of pedestal sets riser, and the top of riser sets sliding eye, under riser
Portion sets driving plate guide post；Hold together seedling driving plate and company is slided with the driving plate guide post on pedestal riser by driving plate pilot hole
Connect；Elongated hole is installed in the cylinder connection end for holding together seedling driving plate through driving plate, is connected with the telescopic end of drive cylinder；Clamp assemblies
Two sliding shoes are arranged on clamping guide post respectively by the clamping pilot hole for setting thereon；Two tops of sliding shoe, point
First gripping finger and the second gripping finger are not set；Seedling component is held together in clamp assemblies both sides, respectively by turning round through hole and infrastructure component two
The seedling pawl connecting hole that holds together on side fixed block top rotates connection；Hold together one end of seedling component drive connecting rod and hold together seedling calvus rear through hole phase
It is hinged, the other end is hinged with the active connecting hole for holding together seedling driving plate；Hold together one end of seedling component follower link and hold together in seedling calvus
Portion's through hole is hinged, and the other end is hinged with the driven connecting hole of clamp assemblies sliding shoe；Flexible guiding component passes through sliding bar
It is arranged in the sliding eye of infrastructure component riser, and sliding bar is located between the first gripping finger of clamp assemblies and the second gripping finger；It is soft
Property the structure type of buffer spring is set between guidance set and infrastructure component riser, so its is reasonable in design, compact conformation, energy
It is enough accurately to be pressed from both sides out the fruit tree seedlings in hole tray according to different seedling stem sizes, while completing to be automatically positioned the flexibility of seedling body；
The flexible clamping seedling taking to fruit tree seedlings is realized, the infringement to seedling body is reduced, and for follow-up full-automatic grafting operation provides efficiency
Ensure, application effect is protruded.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the invention.
Fig. 2 is a kind of structural representation of the infrastructure component in Fig. 1.
Fig. 3 is the A direction views of Fig. 2.
Fig. 4 is a kind of structural representation of the pedestal in Fig. 2.
Fig. 5 is a kind of structural representation for holding together seedling driving plate in Fig. 2.
Fig. 6 is a kind of structural representation for holding together seedling component in Fig. 1.
Fig. 7 is a kind of structural representation of the flexible guiding component in Fig. 1.
Fig. 8 is a kind of structural representation of the sliding bar in Fig. 7.
Fig. 9 is a kind of structural representation of the prerotation vane in Fig. 7.
Figure 10 is a kind of structural representation of the clamp assemblies in Fig. 1.
Figure 11 is a kind of structural representation of the first gripping finger in Figure 10.
Figure 12 is a kind of structural representation of the second gripping finger in Figure 10.
Figure 13 is a kind of implementation method schematic diagram when present invention is used..
Figure 14 is kinematic sketch of mechanism of the invention.
Figure 15 is original state schematic diagram of the invention.
Figure 16 is that the present invention holds together the positioning clamping shape that seedling component and clamp assemblies inwardly draw in the action of seedling driving plate is held together
State schematic diagram.
Number explanation in figure：Seedling component, 3 flexible guiding components, 4 clamp assemblies, 5 buffer springs, 6 are held together in 1 infrastructure component, 2
Stop nut, 7 pedestals, 8 hold together seedling driving plate, 9 drive cylinders, 10 substrates, 11 fixed blocks, 12 hold together seedling pawl connecting hole, 13 clamping lead
Elongated hole, 15 risers, 16 sliding eyes, 17 lever arm connecting holes, 18 driving plate guide posts, 19 driving plate masters are installed to bar, 14 driving plates
Seedling calvus, 26 are held together in body, 20 grooves, 21 active connecting holes, 22 driving plate pilot holes, 23 cylinder connection ends, 24 cylinder connecting holes, 25
Connecting cylinder, 27 revolution through holes, 28 rear through hole, 29 drive connecting rods, 30 middle through-holes, 31 follower links, 32 grasp openings, 33 are slided
Seedling opening, 36 bodies of rod, 37 shaft shoulders, 38 contiguous blocks, 39 connection draw-in grooves, 40 internal thread holes, 41 masters are held together in lever, 34 prerotation vanes, 35
Body, 42 regulation slotted holes, 43 V-shaped parts, 44 sliding shoes, 45 clamping pilot holes, 46 first gripping fingers, 47 second gripping fingers, 48 driven companies
Connect hole, 49 first clamps, 50 first bare terminal ends, 51 gripping finger connecting holes, 52 second clamps, 53 second bare terminal ends, 54 slow power recesses,
55 positioning and clamping mechanisms, 56 pitman arms, 57 graftings.
Specific embodiment
Concrete structure of the invention is described in detail according to Fig. 1~16.Grafting flexibility positioning and clamping mechanism is included by base
The infrastructure component 1 that seat 7 is constituted, wherein, the pedestal 7 of infrastructure component 1 is respectively arranged with the substrate of fixed block 11 including front part sides
10.Two tops of fixed block 11 on substrate 10, be provided with for hold together seedling component 2 revolution through hole 27 be connected hold together seedling pawl company
Connect hole 12；Also, the clamping guide post 13 for arranging the sliding shoe 44 of clamp assemblies 4 is provided between two fixed blocks 11.Base
The rear portion of plate 10 is provided perpendicular to the riser 15 of the arrangement of substrate 10, and the top of riser 15 is provided with for placement of flexible guiding group
The sliding eye 16 of the sliding bar 33 of part 3；The bottom of the lower section of sliding eye 16 is located on riser 15, two is provided with for being to hold together seedling to drive
Plate 8 moves back and forth the driving plate guide post 18 being oriented to.For the ease of whole flexibility positioning and clamping mechanism 55 and grafting operation
The connection of equipment and installation, the both sides of sliding eye 16 of the riser 15 of infrastructure component 1 are separately provided for and grafting equipment connecting rod
The connected lever arm connecting hole 17 of arm 56.
At position on the substrate 10 of the pedestal 7 of infrastructure component 1, between riser 15 and clamping guide post 13, it is provided with
Driving plate for arranging the cylinder connection end 23 of seedling driving plate 8 installs elongated hole 14.Vertical arrangement is provided with pedestal 7 holds together seedling
Driving plate 8, holding together seedling driving plate 8 includes driving plate main body 19, and two are provided with driving plate main body 19 is used to be driven with riser 15
The connected driving plate pilot hole 22 of dynamic plate guide post 18.Hold together the centre on the top of 8 driving plate main body of seedling driving plate 19, be provided with for
The groove 20 being engaged with the sliding bar 33 of flexible guiding component 3, to prevent in motion process, flexible guiding component 3 with hold together seedling
Driving plate 8 produces interference；The both sides on the top of driving plate main body 19, are separately provided for and hold together the phase of 2 drive connecting rod of seedling component 29
Active connecting hole 21 even.Hold together the bottom of the driving plate main body 19 of seedling driving plate 8, be provided with the cylinder with cylinder connecting hole 24 and connect
Connect end 23.Hold together seedling driving plate 8 by driving plate pilot hole 22, be socketed on the driving plate guide post 18 on the riser 15 of pedestal 7, and
Formation is slidably connected；Hold together the cylinder connection end 23 of seedling driving plate 8, then elongated hole 14 be installed through the driving plate on the substrate 10 of pedestal 7,
Telescopic end with the drive cylinder 9 for being arranged on the downside of 7 substrate of pedestal 10 is connected.In order to during preventing long-time use, drive
Iron rust is produced between dynamic plate pilot hole 22 and driving plate guide post 18, action effect is influenceed, the driving plate for holding together seedling driving plate 8 is oriented to
Antirust spacer is provided with hole 22.According to specifically used needs, antirust spacer can be made of copper material or nylon material.
On the clamping guide post 13 between two fixed blocks 11 on the pedestal 7 of infrastructure component 1, it is provided with for lateral placed in the middle
The clamp assemblies 4 of positioning, clamping seedling stem.Clamp assemblies 4 are by two structures of sliding shoe 44 being arranged symmetrically on clamping guide post 13
Into two sliding shoes 44 are socketed on clamping guide post 13 respectively by the clamping pilot hole 45 for setting thereon.In order to prevent length
During time use, iron rust is produced between the clamping pilot hole 45 of clamp assemblies 4 and the clamping guide post 13 of infrastructure component 1, influenceed
Action effect, the antirust spacer being made up of copper or nylon material is provided with the clamping pilot hole 45 of sliding shoe 44.Clamp assemblies 4
Two tops of sliding shoe 44, be separately provided for clamp seedling stem the first gripping finger 46 and the second gripping finger 47；First gripping finger
46 and second gripping finger 47, each along the horizontal direction perpendicular with clamping guide post 13, the direction of seedling stem is arranged forwards.Slide
The top of block 44, the side near the corresponding side fixed block 11 of infrastructure component 1, are separately provided for and hold together the driven company of seedling component 2
The connected driven connecting hole 48 of bar 31.
First gripping finger 46 of clamp assemblies 4 is made up of the first clamp 49, and the front end of the first clamp 49 is provided with the first clamping
End 50；Second gripping finger 47 of clamp assemblies 4 is made up of the second clamp 52, and the front end of the second clamp 52 is provided with the second bare terminal end
53.First gripping finger 46 and the second gripping finger 47 pass through the gripping finger connecting hole 51 of the first clamp 49 and the second clamp 52 respectively, with two
The top of sliding shoe 44 is connected；First bare terminal end 50 and the second bare terminal end 53 of the first gripping finger 46 and the front end of the second gripping finger 47 are equal
Towards front side and positioned opposite.With inwardly opposite with seedling component 2 is held together in first gripping finger 46 and the second gripping finger 47 of clamp assemblies 4
During motion, it is easy to the clamping of the first bare terminal end 50 and the second bare terminal end 53 to grafting seedling stem.In order to slow down clamp assemblies 4 first
Dynamics during the clamping grafting seedling stem of 46 and second gripping finger of gripping finger 47, reduce infringement to seedling body, the clamp of the second gripping finger 47 second
The upper and lower both sides of the second bare terminal end 53 of 52 front ends, are respectively arranged with slow power recess 54.For in the gripping finger of clamp assemblies 4 first
46 and second gripping finger 47 when being contacted with grafting seedling stem, reduce the purpose of clamping dynamics, the first bare terminal end 50 of the first gripping finger 46,
And second gripping finger 47 the relative inner side of the second bare terminal end 53, flexible clamping rubber cushion is respectively provided with, to avoid to seedling body
Cause mechanical damage.In addition, first can be more than according to the specific thickness for using needs, the second gripping finger 47 of clamp assemblies 4
The thickness of gripping finger 46, slow power effect is increased with the difference by the first gripping finger 46 and the retaining part thickness of the second gripping finger 47.
The both sides of clamp assemblies 4, be separately provided for inwardly drawing in grafting seedling stem, be arranged symmetrically hold together seedling component 2,
Two are held together that seedling component 2 is arranged up and down by two panels and structure identical is held together seedling calvus 25 and constituted.The every rear portion for holding together seedling calvus 25
Be provided with the rear through hole 28 for being connected with drive connecting rod 29, hold together seedling calvus 25 middle part be provided with for follower link 31
Connected middle through-hole 30；Hold together between the middle through-hole 30 of seedling calvus 25 and rear through hole 28, be provided with for solid with infrastructure component 1
That determines the top of block 11 holds together the connected revolution through hole 27 of seedling pawl connecting hole 12.The two panels for holding together seedling component 2 holds together seedling calvus 25, by setting
Connecting cylinder 26 between turning round through hole 27 at two is connected, so that two panels is held together seedling calvus 25 and is integrally formed；Two panels holds together seedling calvus
25 front portion is formed with grasp opening 32.Master is provided with the accommodating cavity that two panels is held together between two rear through hole 28 of seedling calvus 25
Dynamic connecting rod 29, follower link 31 is provided with the accommodating cavity that two panels is held together between two middle through-holes 30 of seedling calvus 25.
The both sides of clamp assemblies 4 arrangement hold together seedling component 2, respectively the two panels by being integrally formed hold together seedling calvus 25 revolution lead to
Hole 27, is connected with the rotation of seedling pawl connecting hole 12 of holding together on the top of 1 both sides fixed block of infrastructure component 11.Hold together the active at the rear portion of seedling component 2
One end of connecting rod 29, the rear through hole 28 for holding together seedling calvus 25 with two panels is hinged；The other end of drive connecting rod 29, then with basis
Component 1 holds together seedling driving plate 8 and is hinged with the active connecting hole 21 for holding together the corresponding side of seedling component 2.Hold together the middle part of seedling component 2 from
One end of dynamic connecting rod 31, the middle through-hole 30 for holding together seedling calvus 25 with two panels is hinged；The other end of follower link 31, then with folder
The driven connecting hole 48 that component 4 is held positioned at the sliding shoe 44 for accordingly holding together the side of seedling component 2 is hinged.In order to prevent in motion process
In, the first gripping finger 46 of clamp assemblies 4 and the second gripping finger 47 produce interference, the first of clamp assemblies 4 with the seedling component 2 that holds together of both sides
The front end of the gripping finger 47 of gripping finger 46 and second（First bare terminal end 50 and the second bare terminal end 53）, it is arranged in corresponding side and holds together seedling
The two panels of component 2 is held together in the grasp opening 32 of the front portion of seedling calvus 25.
In the sliding eye 16 of the riser 15 of infrastructure component 1, the flexibility for carrying out flexible positioning to grafting seedling stem is provided with
Guidance set 3.Flexible guiding component 3 is made up of sliding bar 33, and sliding bar 33 includes the body of rod 36, and the middle part of the body of rod 36 is provided with axle
Shoulder 37, the front end of the body of rod 36 is provided with contiguous block 38.The upper and lower both sides of the front end contiguous block 38 of flexible guiding component 3, are respectively provided with
There is the connection draw-in groove 39 for arranging prerotation vane 34, internal thread hole 40 is provided with connection draw-in groove 39.The upper and lower both sides of contiguous block 38
Two connection draw-in grooves 39 in, be separately provided for carrying out grafting seedling stem the prerotation vane 34 of flexible guiding, two panels is oriented to
It is formed with seedling opening 35 between piece 34.Two panels prerotation vane 34 is constituted by piece main body 41, and the rear end of piece main body 41 is provided with just
In the regulation slotted hole 42 of regulation prerotation vane 34 position；The front end of piece main body 41 is then provided with V-shaped part 43, in order to grafting seedling
The gathering of stem.Two panels prerotation vane 34, is utilized respectively and is arranged between regulation slotted hole 42 and the connection internal thread hole 40 of draw-in groove 39
Bolt, is fixed on the both sides up and down of contiguous block 38；To facilitate the adjustment of the position on contiguous block 38 of prerotation vane 34.In order in grafting
Seedling makes seedling body lenitively be contacted with the V-shaped part 43 of the prerotation vane 34 of flexible guiding component 3, sliding bar 33 with the time receiving in seedling component 2 is held together
The inner side of V-shaped part 43 of the prerotation vane 34 set on the front end contiguous block 38 of the body of rod 36, is provided with yielding rubber, is connect with further reduction
Touch degree.
Flexible guiding component 3 is arranged in the sliding eye 16 of the riser 15 of infrastructure component 1 by sliding bar 33；Flexible guiding group
The sliding bar 33 of part 3, between first gripping finger 46 and the second gripping finger 47 of clamp assemblies 4, and the first gripping finger 46 and the second folder
The first bare terminal end 50 and the second bare terminal end 53 for referring to 47 are respectively positioned in seedling opening 35；The front end of 3 sliding bar of flexible guiding component 33
The prerotation vane 34 arranged up and down of two panels, hold together above and below the one end of 2 grasp opening of seedling component 32 positioned at both sides respectively.In case
Only in motion process, flexible guiding component 3 and clamp assemblies 4 and hold together seedling component 2 and produce to interfere.Flexible guiding component 3 is slided
Between the shaft shoulder 37 of bar 33 and the front side of the riser 15 of infrastructure component 1, buffer spring 5 is provided with；The sliding bar 33 of flexible guiding component 3
One end of the rear side of 1 riser of infrastructure component 15 is reached, the stop nut 6 for adjusting the compression elasticity of buffer spring 5 is provided with.With
Holding together during seedling component 2 and clamp assemblies 4 gradually close, drive grafting to do and received in placed in the middle, according to different seedling stems, to transferring
Seedlings picking carries out flexible clamping seedling taking, reduces the damage to seedling body.
When grafting flexibility positioning and clamping mechanism is used, by the pitman arm 56 being connected with the riser 15 of infrastructure component 1,
Positioning and clamping mechanism 55 is fixed on grafting equipment；At the beginning of the acquiescence of the drive cylinder 9 of the downside of positioning and clamping mechanism infrastructure component 1
Beginning state is stretched out for the telescopic end of cylinder, now, positioning and clamping mechanism hold together seedling component 2 and clamp assemblies 4 are open configuration
（As shown in figure 15）.When needing to take out the grafting 57 in hole tray, first, grafting equipment slide unit is driven（Do not show in figure
Go out）, drive positioning and clamping mechanism 55 to be moved to the direction where the hole tray for containing grafting 57；When the grafting 57 in hole tray,
When in the range of the envelope for holding together seedling component 2 and clamp assemblies 4 in opening, stop the motion of slide unit.Then, drive cylinder is withdrawn
9 telescopic end, to drive what is be connected with the telescopic end of drive cylinder 9 to hold together seedling driving plate 8 along driving plate guide post 18, to locating clip
Hold the direction movement of device front end grafting 57.Holding together seedling driving plate 8 drives two drive connecting rods 29 for holding together seedling component 2 to drive
Two groups are held together that seedling calvus 25 holds together the axis of seedling pawl connecting hole 12 rotating around both sides fixed block 11, turn to the inside gathering；Meanwhile, two
The follower link 31 for holding together seedling component 2 drives two sliding shoes 44 of clamp assemblies 4, drive the first gripping finger 46 and the second gripping finger 47 to
Inner side closes between two parties；So as to realize that positioning and clamping mechanism holds together gradually gathering, the closure of seedling component 2 and clamp assemblies 4, make grafting
57 do receipts motion in placed in the middle（As shown in figure 16）, and grafting 57 is extracted from hole tray.
Positioning and clamping mechanism holds together seedling component 2 and clamp assemblies 4 and gradually draws in, closes, and drives the interior receipts placed in the middle of grafting 57
During, grafting 57 can touch the prerotation vane 34 of the front end of sliding bar 33 of middle part flexible guiding component 3, with by sliding bar
The buffer spring 5 set between 33 and the riser 15 of infrastructure component 1, when reduction positioning and clamping mechanism is centered about, pulls grafting
Contact dynamics.Different seedling stem graftings can be carried out flexibility and are automatically positioned by grafting flexibility positioning and clamping mechanism, and essence
Quasi- clamping, seedling taking, reduce damage of the clamping device to seedling body；Efficiency guarantee can be provided for follow-up full-automatic grafting operation.
Claims (9)
1. a kind of grafting flexibility positioning and clamping mechanism, including infrastructure component（1）, it is characterised in that：The infrastructure component（1）Bag
Include pedestal（7）, pedestal（7）By substrate（10）Constitute, substrate（10）Anterior both sides are respectively arranged with fixed block（11）, fixed block
（11）Top be provided with seedling pawl connecting hole（12）, two fixed blocks（11）Between be provided with clamping guide post（13）；Substrate
（10）Rear portion be provided with riser（15）, riser（15）Top be provided with sliding eye（16）, riser（15）Bottom be provided with
Driving plate guide post（18）；Pedestal（7）Substrate（10）On be provided with driving plate install elongated hole（14）, driving plate installation elongated hole
（14）Positioned at riser（15）With clamping guide post（13）Between；Pedestal（7）On be provided with vertical arrangement hold together seedling driving plate（8）,
Hold together seedling driving plate（8）By driving plate main body（19）Constitute, driving plate main body（19）On be provided with driving plate pilot hole（22）, drive
Plate main body（19）The middle setting on top is fluted（20）, driving plate main body（19）The both sides on top are respectively arranged with actively connection
Hole（21）；Driving plate main body（19）Bottom be provided with cylinder connection end（23）；Hold together seedling driving plate（8）By driving plate pilot hole
（22）With pedestal（7）Riser（15）On driving plate guide post（18）It is slidably connected；Hold together seedling driving plate（8）Cylinder connection end
（23）Through pedestal（7）Substrate（10）On driving plate install elongated hole（14）, and it is arranged on pedestal（7）The drive cylinder of downside
（9）Telescopic end be connected；The pedestal（7）Upper two fixed blocks（11）Between clamping guide post（13）On be provided with clamping group
Part（4）, clamp assemblies（4）By two sliding shoes symmetrically arranged（44）Constitute, sliding shoe（44）Respectively by setting thereon
The clamping pilot hole put（45）, it is arranged in clamping guide post（13）On；Two sliding shoes（44）Top, be respectively arranged with first
Gripping finger（46）With the second gripping finger（47）, the first gripping finger（46）With the second gripping finger（47）Equal edge and clamping guide post（13）Perpendicular
Horizontal direction is arranged；Sliding shoe（44）Top, close fixed block（11）Side, be respectively arranged with driven connecting hole（48）；Folder
Hold component（4）Both sides be respectively arranged be arranged symmetrically hold together seedling component（2）, hold together seedling component（2）By holding together that two panels is arranged up and down
Seedling calvus（25）Constitute；Hold together seedling calvus（25）Rear portion be provided with rear through hole（28）, hold together seedling calvus（25）Middle part be provided with
Middle through-hole（30）, hold together seedling calvus（25）Middle through-hole（30）And rear through hole（28）Between be provided with revolution through hole（27）；
Two panels holds together seedling calvus（25）Revolution through hole（27）Between be provided with connecting cylinder（26）, two panels holds together seedling calvus（25）Rear through hole
（28）Between be provided with drive connecting rod（29）, two panels holds together seedling calvus（25）Middle through-hole（30）Between be provided with follower link
（31）；Clamp assemblies（4）Seedling component is held together in both sides（2）, respectively by turning round through hole（27）With infrastructure component（1）Both sides fixed block
（11）Seedling pawl connecting hole is held together on top（12）Rotate connection；The drive connecting rod（29）One end with hold together seedling calvus（25）Rear portion leads to
Hole（28）It is hinged, drive connecting rod（29）The other end with hold together seedling driving plate（8）Active connecting hole（21）It is hinged；It is described from
Dynamic connecting rod（31）One end with hold together seedling calvus（25）Middle through-hole（30）It is hinged, follower link（31）The other end and clamping group
Part（4）Sliding shoe（44）Driven connecting hole（48）It is hinged；The clamp assemblies（4）The first gripping finger（46）With the second gripping finger
（47）Front end, be arranged in corresponding side and hold together seedling component（2）Two panels hold together seedling calvus（25）Anterior grasp opening（32）
It is interior；The infrastructure component（1）Riser（15）Sliding eye（16）Inside it is provided with flexible guiding component（3）, flexible guiding component（3）
By sliding bar（33）Constitute, sliding bar（33）The both sides up and down of front end are respectively arranged with prerotation vane（34）, two panels prerotation vane（34）
Between formed hold together seedling opening（35）；The flexible guiding component（3）By sliding bar（33）It is arranged on infrastructure component（1）Riser
（15）Sliding eye（16）It is interior, and sliding bar（33）Positioned at clamp assemblies（4）The first gripping finger（46）With the second gripping finger（47）It
Between；Flexible guiding component（3）The two panels prerotation vane of front end（34）, then seedling component is held together positioned at both sides respectively（2）Grasp opening（32）
Above and below one end；Flexible guiding component（3）With infrastructure component（1）Riser（15）Front side between be provided with buffer spring
（5）, flexible guiding component（3）Sliding bar（33）Reach infrastructure component（1）Riser（15）One end of rear side sets limited location spiral shell
It is female（6）.
2. grafting according to claim 1 flexibility positioning and clamping mechanism, it is characterised in that：The flexible guiding component
（3）Sliding bar（33）Including the body of rod（36）, the body of rod（36）Middle part be provided with the shaft shoulder（37）, the body of rod（36）Front end be provided with
Contiguous block（38）；Contiguous block（38）Both sides up and down be respectively arranged with connection draw-in groove（39）, connect draw-in groove（39）In being inside provided with
Screwed hole（40）；Contiguous block（38）Two connection draw-in grooves（39）Inside it is respectively arranged with prerotation vane（34）, prerotation vane（34）By piece
Main body（41）Constitute, piece main body（41）Rear end be provided with regulation slotted hole（42）, piece main body（41）Front end be provided with V-shaped part
（43）；Prerotation vane（34）Using being arranged on regulation slotted hole（42）Be connected draw-in groove（39）Internal thread hole（40）Between bolt,
It is fixed on contiguous block（38）Both sides up and down；The buffer spring（5）It is arranged on infrastructure component（1）Riser（15）Front side with it is soft
Property guidance set（3）Sliding bar（33）The shaft shoulder（37）Between.
3. grafting according to claim 2 flexibility positioning and clamping mechanism, it is characterised in that：The sliding bar（33）The body of rod
（36）Front end contiguous block（38）The prerotation vane of upper setting（34）V-shaped part（43）Inner side, is provided with yielding rubber.
4. grafting according to claim 1 flexibility positioning and clamping mechanism, it is characterised in that：The clamp assemblies（4）'s
First gripping finger（46）Including the first clamp（49）, the first clamp（49）Front end be provided with the first bare terminal end（50）；Clamp assemblies
（4）The second gripping finger（47）Including the second clamp（52）, the second clamp（52）Front end be provided with the second bare terminal end（53）；First
Gripping finger（46）With the second gripping finger（47）Pass through the first clamp respectively（49）With the second clamp（52）, with two sliding shoes（44）It is upper
Portion is connected；And first gripping finger（46）With the second gripping finger（47）First bare terminal end of front end（50）With the second bare terminal end（53）Towards preceding
It is side, positioned opposite.
5. grafting according to claim 4 flexibility positioning and clamping mechanism, it is characterised in that：Second gripping finger（47）The
Two clamps（52）Second bare terminal end of front end（53）Upper and lower both sides, be respectively arranged with slow power recess（54）.
6. grafting according to claim 4 flexibility positioning and clamping mechanism, it is characterised in that：First gripping finger（46）'s
First bare terminal end（50）And second gripping finger（47）The second bare terminal end（53）Relative inner side, is respectively arranged with clamping rubber cushion.
7. grafting according to claim 1 flexibility positioning and clamping mechanism, it is characterised in that：It is described hold together seedling driving plate（8）
Driving plate pilot hole（22）Interior and sliding shoe（44）Clamping pilot hole（45）It is interior, it is respectively arranged with antirust spacer.
8. grafting according to claim 7 flexibility positioning and clamping mechanism, it is characterised in that：The driving plate pilot hole
（22）With clamping pilot hole（45）The antirust spacer of interior setting is copper spacer or nylon spacer.
9. grafting according to claim 1 flexibility positioning and clamping mechanism, it is characterised in that：The infrastructure component（1）It is vertical
Plate（15）Sliding eye（16）Both sides, are respectively arranged with lever arm connecting hole（17）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710188066.1A CN106900356B (en) | 2017-03-27 | 2017-03-27 | Flexible positioning and clamping mechanism for grafted seedlings |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710188066.1A CN106900356B (en) | 2017-03-27 | 2017-03-27 | Flexible positioning and clamping mechanism for grafted seedlings |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106900356A true CN106900356A (en) | 2017-06-30 |
| CN106900356B CN106900356B (en) | 2022-08-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710188066.1A Active CN106900356B (en) | 2017-03-27 | 2017-03-27 | Flexible positioning and clamping mechanism for grafted seedlings |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107637296A (en) * | 2017-10-30 | 2018-01-30 | 安徽中科安岳林业科技发展有限公司 | A kind of seedling grafting elastic collar |
| CN107820889A (en) * | 2017-10-30 | 2018-03-23 | 安徽中科安岳林业科技发展有限公司 | A kind of grafting fixing device for nursery stock |
| CN110259776A (en) * | 2019-07-19 | 2019-09-20 | 厦门大白科技有限公司 | A kind of quick assembling mechanism being adapted to a variety of elevating levers |
| CN110679311A (en) * | 2019-09-30 | 2020-01-14 | 北京农业智能装备技术研究中心 | Flexible seedling feeding positioning device and method |
| WO2021237986A1 (en) * | 2020-05-29 | 2021-12-02 | 苏州朵唯智能科技有限公司 | Grafted seedling pneumatic grabbing clamping claw system |
| CN115380718A (en) * | 2022-09-23 | 2022-11-25 | 河北省农林科学院石家庄果树研究所 | Adjustable supporting device for twig cuttage |
| US20230247936A1 (en) * | 2021-03-17 | 2023-08-10 | Jiangsu University | Adjustable seedling pick-up end effector for automatically transplanting plug seedlings |
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| US20230247936A1 (en) * | 2021-03-17 | 2023-08-10 | Jiangsu University | Adjustable seedling pick-up end effector for automatically transplanting plug seedlings |
| US11938619B2 (en) * | 2021-03-17 | 2024-03-26 | Jiangsu University | Adjustable seedling pick-up end effector for automatically transplanting plug seedlings |
| CN115380718A (en) * | 2022-09-23 | 2022-11-25 | 河北省农林科学院石家庄果树研究所 | Adjustable supporting device for twig cuttage |
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