CN106900356B - Flexible positioning and clamping mechanism for grafted seedlings - Google Patents
Flexible positioning and clamping mechanism for grafted seedlings Download PDFInfo
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- CN106900356B CN106900356B CN201710188066.1A CN201710188066A CN106900356B CN 106900356 B CN106900356 B CN 106900356B CN 201710188066 A CN201710188066 A CN 201710188066A CN 106900356 B CN106900356 B CN 106900356B
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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
The utility model provides a grafting seedling flexible positioning fixture, solves that current clamping device exists to the adaptability of seedling stem poor, the inaccurate and phenomenon of damage seedling stem of location easily appears, influences the problem of grafting operating efficiency. Including basic subassembly, its characterized in that: a clamping guide rod is arranged between the two fixing blocks on the two sides of the front part of the basic assembly, and the seedling gathering drive plate is connected with the drive plate guide rod on the base vertical plate in a sliding manner; the cylinder connecting end of the seedling gathering driving plate is connected with the driving cylinder; the clamping component is arranged on the clamping guide rod through two sliding blocks; the seedling collecting assemblies on the two sides of the clamping assembly are respectively and rotatably connected with the upper parts of the fixing blocks on the two sides of the basic assembly; and a buffer spring is arranged between the flexible guide assembly and the vertical plate of the base assembly. Its reasonable in design, compact structure can be according to the seedling stem size of difference, with the accurate clamp play of the fruit tree seedling in the cave dish, accomplishes the flexible automatic positioning to the seedling body simultaneously, reduces the harm to the seedling body to for subsequent full-automatic grafting operation provides efficiency guarantee.
Description
Technical Field
The invention belongs to the technical field of grafting equipment, relates to an automatic seedling taking device, and particularly relates to a flexible positioning and clamping mechanism for grafted seedlings, which can flexibly clamp and take the grafted seedlings according to different seedling stems of the grafted seedlings, is accurate in positioning and has small damage to seedling bodies.
Background
With the continuous improvement of agricultural production automation technology, the grafting operation of people on fruit tree seedlings gradually changes from manual grafting to automatic grafting. However, the mechanized grafting operation needs to accurately take out the fruit tree seedlings in the hole tray in advance and ensure that the positions of the fruit tree seedlings in the clamping device are relatively fixed; therefore, guarantee can be provided for subsequent accurate grafting. Meanwhile, when the clamping device clamps fruit tree seedlings, the damage to the seedling body should be reduced as much as possible so as to improve the survival rate of the grafted seedlings. The grafting seedling clamping device in the prior art often adopts rigid clamping mechanism, is not ideal to the fitness of seedling stem, often leads to damaging seedling stem and positioning inaccurate phenomenon, seriously influences the efficiency of fruit sapling grafting operation. Therefore, there is a need for an improved grafted seedling clamping device in the prior art.
Disclosure of Invention
Aiming at the problems, the invention provides a flexible positioning and clamping mechanism for grafted seedlings, which can flexibly clamp and take the grafted seedlings according to different seedling stems of the grafted seedlings, has accurate positioning and small damage to seedling bodies.
The technical scheme adopted by the invention is as follows: this grafting seedling flexible positioning fixture includes basic subassembly, its characterized in that: the base assembly comprises a base, the base is composed of a base plate, two sides of the front portion of the base plate are respectively provided with a fixed block, the upper portion of each fixed block is provided with a seedling gathering claw connection hole, and a clamping guide rod is arranged between the two fixed blocks; the rear part of the base plate is provided with a vertical plate, the upper part of the vertical plate is provided with a sliding hole, and the lower part of the vertical plate is provided with a drive plate guide rod; a driving plate mounting long hole is formed in a base plate of the base and is positioned between the vertical plate and the clamping guide rod; a seedling gathering driving plate which is vertically arranged is arranged on the base and consists of a driving plate main body, a driving plate guide hole is formed in the driving plate main body, a groove is formed in the middle of the upper portion of the driving plate main body, and driving connecting holes are formed in two sides of the upper portion of the driving plate main body respectively; the lower part of the driving plate main body is provided with a cylinder connecting end; the seedling gathering drive plate is connected with a drive plate guide rod on the base vertical plate in a sliding manner through a drive plate guide hole; the cylinder connecting end of the seedling gathering driving plate penetrates through a driving plate mounting long hole on the base plate and is connected with the telescopic end of a driving cylinder arranged on the lower side of the base; a clamping assembly is arranged on the clamping guide rod between the two fixed blocks on the base, the clamping assembly consists of two sliding blocks which are symmetrically arranged, and the sliding blocks are arranged on the clamping guide rod through clamping guide holes arranged on the sliding blocks respectively; the upper parts of the two sliding blocks are respectively provided with a first clamping finger and a second clamping finger which are arranged along the horizontal direction vertical to the clamping guide rod; driven connecting holes are respectively formed in the upper part of the sliding block and one side close to the fixed block; two sides of the clamping assembly are respectively provided with a seedling gathering assembly which is symmetrically arranged and consists of two seedling gathering claw sheets which are arranged up and down; a rear through hole is formed in the rear part of the seedling holding claw piece, a middle through hole is formed in the middle of the seedling holding claw piece, and a rotary through hole is formed between the middle through hole and the rear through hole of the seedling holding claw piece; a connecting cylinder is arranged between the rotary through holes of the two seedling holding claw pieces, a driving connecting rod is arranged between the rear through holes of the two seedling holding claw pieces, and a driven connecting rod is arranged between the middle through holes of the two seedling holding claw pieces; the seedling gathering components on the two sides of the clamping component are respectively in rotating connection with seedling gathering claw connecting holes on the upper parts of the fixed blocks on the two sides of the basic component through the rotary through holes; one end of the driving connecting rod is hinged with the through hole at the rear part of the seedling gathering claw piece, and the other end of the driving connecting rod is hinged with the driving connecting hole of the seedling gathering driving plate; one end of the driven connecting rod is hinged with the through hole in the middle of the seedling gathering claw piece, and the other end of the driven connecting rod is hinged with the driven connecting hole of the sliding block of the clamping component; the front ends of the first clamping finger and the second clamping finger of the clamping assembly are respectively arranged in the clamping openings at the front parts of the two seedling holding claw sheets of the seedling holding assembly on the corresponding side; a flexible guide assembly is arranged in a sliding hole of the base assembly vertical plate and consists of a sliding rod, guide pieces are respectively arranged on the upper side and the lower side of the front end of the sliding rod, and a seedling gathering opening is formed between the two guide pieces; the flexible guide assembly is arranged in a sliding hole of the vertical plate of the base assembly through a sliding rod, and the sliding rod is positioned between the first clamping finger and the second clamping finger of the clamping assembly; the two guide pieces at the front end of the flexible guide assembly are respectively positioned above and below one end of the clamping opening of the seedling gathering assemblies at the two sides; a buffer spring is arranged between the flexible guide assembly and the front side of the vertical plate of the base assembly, and a limit nut is arranged at one end, extending out of the rear side of the vertical plate of the base assembly, of the sliding rod of the flexible guide assembly.
The sliding rod of the flexible guide assembly comprises a rod body, a shaft shoulder is arranged in the middle of the rod body, and a connecting block is arranged at the front end of the rod body; the upper side and the lower side of the connecting block are respectively provided with a connecting clamping groove, and an internal thread hole is arranged in the connecting clamping groove; guide pieces are respectively arranged in the two connecting clamping grooves of the connecting block, each guide piece is composed of a piece main body, the rear end of each piece main body is provided with an adjusting long round hole, and the front end of each piece main body is provided with a V-shaped opening; the guide pieces are fixed on the upper side and the lower side of the connecting block by utilizing bolts arranged between the adjusting long round holes and the internal thread holes of the connecting clamping grooves; the buffer spring is arranged between the front side of the vertical plate of the base component and the shaft shoulder of the sliding rod of the flexible guide component. In the process that the seedling gathering assembly and the clamping assembly are gradually closed and drive the grafted seedlings to be centrally folded, the grafted seedlings are flexibly clamped and taken according to different seedling stems, and damage to seedling bodies is reduced; and moreover, the adjusting long round hole at the rear end of the guide piece can facilitate the adjustment of the position of the guide piece on the connecting block.
And buffer rubber is arranged on the inner side of a V-shaped opening of a guide sheet arranged on a connecting block at the front end of the sliding rod body. When the grafted seedlings are received in the seedling gathering assembly, the seedling body is gently contacted with the V-shaped opening of the guide sheet of the flexible guide assembly, and the contact force is further reduced.
The first clamping finger of the clamping assembly comprises a first clamping body, and a first clamping end is arranged at the front end of the first clamping body; the second clamping finger of the clamping assembly comprises a second clamping body, and a second clamping end is arranged at the front end of the second clamping body; the first clamping finger and the second clamping finger are connected with the upper parts of the two sliding blocks through the first clamping body and the second clamping body respectively; and the first clamping end and the second clamping end of the front ends of the first clamping finger and the second clamping finger are oppositely arranged towards the front side. So that the first clamping end and the second clamping end clamp the grafted seedling when the first clamping finger and the second clamping finger of the clamping assembly move inwards and oppositely along with the seedling collecting assembly.
The upper side and the lower side of the second clamping end at the front end of the second clamping finger are respectively provided with a retarding notch. The strength of the clamping assembly when the first clamping fingers and the second clamping fingers clamp the grafted seedlings is reduced, and the damage to the seedling body is reduced.
And the inner sides of the first clamping end of the first clamping finger and the second clamping end of the second clamping finger, which are opposite to each other, are respectively provided with a clamping rubber mat. So as to reduce the clamping force and avoid mechanical damage to the seedling body when the first clamping finger and the second clamping finger of the clamping assembly are contacted with the grafted seedling.
And rust-proof spacer bushes are respectively arranged in the drive plate guide holes of the seedling gathering drive plate and the clamping guide holes of the sliding blocks. In order to prevent long-time use in-process, produce rust between drive plate guiding hole and the drive plate guide bar and between centre gripping guiding hole and the centre gripping guide bar, influence the action effect.
And the rust-proof spacer bushes arranged in the drive plate guide hole and the clamping guide hole are copper spacer bushes or nylon spacer bushes.
And lever arm connecting holes are respectively formed in two sides of the sliding hole of the vertical plate of the base assembly. So as to facilitate the connection of the clamping mechanism and the grafting equipment.
The invention has the beneficial effects that: because the two sides of the front part of the base of the foundation component are respectively provided with the fixed blocks, and the clamping guide rod is arranged between the two fixed blocks; the rear part of the base is provided with a vertical plate, the upper part of the vertical plate is provided with a sliding hole, and the lower part of the vertical plate is provided with a driving plate guide rod; the seedling gathering drive plate is connected with a drive plate guide rod on the base vertical plate in a sliding manner through a drive plate guide hole; the cylinder connecting end of the seedling gathering driving plate penetrates through the driving plate mounting long hole and is connected with the telescopic end of the driving cylinder; two sliding blocks of the clamping component are respectively arranged on the clamping guide rod through clamping guide holes arranged on the sliding blocks; the upper parts of the two sliding blocks are respectively provided with a first clamping finger and a second clamping finger; the seedling gathering components on the two sides of the clamping component are respectively in rotating connection with seedling gathering claw connecting holes on the upper parts of the fixed blocks on the two sides of the basic component through the rotary through holes; one end of the seedling gathering component driving connecting rod is hinged with the through hole at the rear part of the seedling gathering claw piece, and the other end of the seedling gathering component driving connecting rod is hinged with the driving connecting hole of the seedling gathering driving plate; one end of the seedling gathering component driven connecting rod is hinged with the through hole in the middle of the seedling gathering claw piece, and the other end of the seedling gathering component driven connecting rod is hinged with the driven connecting hole of the clamping component sliding block; the flexible guide assembly is arranged in a sliding hole of the vertical plate of the base assembly through a sliding rod, and the sliding rod is positioned between the first clamping finger and the second clamping finger of the clamping assembly; the structural form of the buffer spring is arranged between the flexible guide assembly and the vertical plate of the base assembly, so that the flexible guide assembly is reasonable in design and compact in structure, fruit tree seedlings in the plug tray can be accurately clamped out according to different seedling stem sizes, and meanwhile, the flexible automatic positioning of the seedling body is completed; the flexible clamping of fruit tree seedlings is realized, the damage to the seedling body is reduced, the efficiency guarantee is provided for the subsequent full-automatic grafting operation, and the application effect is remarkable.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention.
Fig. 2 is a schematic diagram of a structure of the base assembly of fig. 1.
Fig. 3 is a view from direction a of fig. 2.
Fig. 4 is a schematic view of a structure of the base in fig. 2.
Fig. 5 is a structural schematic diagram of the seedling gathering driving plate in fig. 2.
Fig. 6 is a structural schematic diagram of the seedling gathering assembly in fig. 1.
Fig. 7 is a schematic view of a construction of the flexible guide assembly of fig. 1.
Fig. 8 is a schematic view of a structure of the slide bar of fig. 7.
Fig. 9 is a schematic view of a structure of the guide vane of fig. 7.
Fig. 10 is a schematic view of a configuration of the clamping assembly of fig. 1.
FIG. 11 is a schematic view of a first finger of FIG. 10.
FIG. 12 is a schematic view of a second finger of FIG. 10.
Figure 13 is a schematic view of an embodiment of the invention in use. .
Fig. 14 is a schematic diagram of the mechanism movement of the present invention.
Fig. 15 is a schematic view of the initial state of the present invention.
Fig. 16 is a schematic view of the positioning and clamping state of the seedling gathering assembly and the clamping assembly which are folded inwards along with the action of the seedling gathering driving plate.
The sequence numbers in the figures illustrate: 1 basic component, 2 seedling gathering component, 3 flexible guide component, 4 clamping component, 5 buffer spring, 6 limit nut, 7 base, 8 seedling gathering drive plate, 9 drive cylinder, 10 base plate, 11 fixing block, 12 seedling gathering claw connecting hole, 13 clamping guide rod, 14 drive plate mounting long hole, 15 vertical plate, 16 sliding hole, 17 lever arm connecting hole, 18 drive plate guide rod, 19 drive plate main body, 20 groove, 21 driving connecting hole, 22 drive plate guide hole, 23 cylinder connecting end, 24 cylinder connecting hole, 25 seedling gathering claw piece, 26 connecting cylinder, 27 rotary through hole, 28 rear through hole, 29 driving connecting rod, 30 middle through hole, 31 driven connecting rod, 32 clamping opening, 33 sliding rod, 34 guide piece, 35 seedling gathering opening, 36 rod body, 37 shaft shoulder, 38 connecting block, 39 connecting clamping groove, 40 internal threaded hole, 41 main body, 42 adjusting long round hole, 43V-shaped opening, 44 sliding blocks, 45 clamping guide holes, 46 first clamping fingers, 47 second clamping fingers, 48 driven connecting holes, 49 first clamp bodies, 50 first clamping ends, 51 clamping finger connecting holes, 52 second clamp bodies, 53 second clamping ends, 54 force relieving notches, 55 positioning clamping mechanisms, 56 connecting rod arms and 57 graft seedlings.
Detailed Description
The specific structure of the present invention will be described in detail with reference to FIGS. 1 to 16. The flexible positioning and clamping mechanism for grafted seedlings comprises a base assembly 1 consisting of a base 7, wherein the base 7 of the base assembly 1 comprises a base plate 10, and fixing blocks 11 are respectively arranged on two sides of the front portion of the base plate 10. Seedling gathering claw connecting holes 12 used for being connected with the rotary through holes 27 of the seedling gathering components 2 are formed in the upper portions of the two fixing blocks 11 on the base plate 10; and a clamping guide rod 13 for arranging the sliding block 44 of the clamping component 4 is arranged between the two fixed blocks 11. The rear part of the base plate 10 is provided with a vertical plate 15 which is arranged perpendicular to the base plate 10, and the upper part of the vertical plate 15 is provided with a sliding hole 16 for arranging a sliding rod 33 of the flexible guide assembly 3; two driving plate guide rods 18 for guiding the reciprocating motion of the seedling gathering driving plate 8 are arranged at the lower part of the vertical plate 15 below the sliding hole 16. In order to facilitate the connection and installation of the whole flexible positioning and clamping mechanism 55 and the grafting operation equipment, lever arm connecting holes 17 for connecting with a grafting equipment connecting lever arm 56 are respectively arranged on two sides of the sliding hole 16 of the vertical plate 15 of the base assembly 1.
A drive plate mounting long hole 14 for arranging an air cylinder connecting end 23 of a seedling gathering drive plate 8 is arranged on a base plate 10 of a base 7 of the base assembly 1 and between a vertical plate 15 and a clamping guide rod 13. A vertically arranged seedling gathering driving plate 8 is arranged on the base 7, the seedling gathering driving plate 8 comprises a driving plate main body 19, and two driving plate guide holes 22 used for being connected with driving plate guide rods 18 on the vertical plate 15 are formed in the driving plate main body 19. A groove 20 used for being matched with a sliding rod 33 of the flexible guide assembly 3 is formed in the middle of the upper part of a driving plate main body 19 of the seedling gathering driving plate 8, so that the flexible guide assembly 3 and the seedling gathering driving plate 8 are prevented from generating interference in the movement process; two sides of the upper part of the driving plate main body 19 are respectively provided with a driving connecting hole 21 used for being connected with a driving connecting rod 29 of the seedling gathering component 2. The seedling gathering driving plate 8 is provided with a cylinder connecting end 23 with a cylinder connecting hole 24 at the lower part of a driving plate main body 19. The seedling gathering driving plate 8 is sleeved on a driving plate guide rod 18 on a vertical plate 15 of the base 7 through a driving plate guide hole 22 and forms sliding connection; the cylinder connecting end 23 of the seedling gathering driving plate 8 passes through the driving plate mounting long hole 14 on the base plate 10 of the base 7 and is connected with the telescopic end of the driving cylinder 9 arranged at the lower side of the base plate 10 of the base 7. In order to prevent rust from being generated between the drive plate guide hole 22 and the drive plate guide rod 18 in the long-time use process and influence the action effect, an antirust spacer bush is arranged in the drive plate guide hole 22 of the seedling gathering drive plate 8. According to specific use requirements, the antirust spacer bush can be made of copper materials or nylon materials.
The clamping component 4 used for lateral centering positioning and clamping the seedling stem is arranged on the clamping guide rod 13 between the two fixing blocks 11 on the base 7 of the basic component 1. The clamping assembly 4 is composed of two sliding blocks 44 symmetrically arranged on the clamping guide rod 13, and the two sliding blocks 44 are respectively sleeved on the clamping guide rod 13 through clamping guide holes 45 arranged on the two sliding blocks 44. In order to prevent rust from being generated between the clamping guide hole 45 of the clamping component 4 and the clamping guide rod 13 of the base component 1 during long-time use and affecting the action effect, an antirust spacer bush made of copper or nylon material is arranged in the clamping guide hole 45 of the sliding block 44. The upper parts of the two sliding blocks 44 of the clamping component 4 are respectively provided with a first clamping finger 46 and a second clamping finger 47 for clamping the seedling stem; the first gripping finger 46 and the second gripping finger 47 are arranged in the horizontal direction perpendicular to the gripping guide 13 and in the direction toward the stem of the seedling. The upper part of the sliding block 44, one side of the sliding block close to the corresponding side fixed block 11 of the base component 1, is respectively provided with a driven connecting hole 48 for connecting with the driven connecting rod 31 of the seedling gathering component 2.
The first clamping finger 46 of the clamping assembly 4 is composed of a first clamping body 49, and the front end of the first clamping body 49 is provided with a first clamping end 50; the second clamping finger 47 of the clamping assembly 4 is composed of a second clamping body 52, and a second clamping end 53 is arranged at the front end of the second clamping body 52. The first clamping finger 46 and the second clamping finger 47 are respectively connected with the upper parts of the two sliding blocks 44 through clamping finger connecting holes 51 of the first clamping body 49 and the second clamping body 52; the first and second gripping ends 50, 53 of the front ends of the first and second gripping fingers 46, 47 are both directed toward the front side and are arranged oppositely. So as to facilitate the clamping of the first clamping end 50 and the second clamping end 53 to the stem of the grafted seedling when the first clamping finger 46 and the second clamping finger 47 of the clamping assembly 4 move inwards and oppositely along with the seedling gathering assembly 2. In order to reduce the clamping force of the first clamping finger 46 and the second clamping finger 47 of the clamping assembly 4 when clamping the grafted seedling stem and reduce the damage to the seedling body, the upper and lower sides of the second clamping end 53 at the front end of the second clamping body 52 of the second clamping finger 47 are respectively provided with a force-relieving notch 54. For the purpose of reducing the clamping force when the first clamping finger 46 and the second clamping finger 47 of the clamping assembly 4 contact with the stem of the grafted seedling, the inner sides of the first clamping end 50 of the first clamping finger 46 and the second clamping end 53 of the second clamping finger 47 are respectively provided with an elastic clamping rubber pad to avoid mechanical damage to the seedling body. In addition, the thickness of the second clamping finger 47 of the clamping assembly 4 can be larger than that of the first clamping finger 46 according to specific use requirements, so that the force relieving effect is increased by the difference of the thicknesses of the clamping parts of the first clamping finger 46 and the second clamping finger 47.
The two sides of the clamping component 4 are respectively provided with a seedling gathering component 2 which is used for gathering the stem of the grafted seedling inwards and is symmetrically arranged, and the two seedling gathering components 2 are composed of two seedling gathering claw pieces 25 which are arranged up and down and have the same structure. The rear part of each seedling gathering claw piece 25 is provided with a rear part through hole 28 connected with a driving connecting rod 29, and the middle part of each seedling gathering claw piece 25 is provided with a middle part through hole 30 connected with a driven connecting rod 31; between the middle through hole 30 and the rear through hole 28 of the seedling gathering claw piece 25, a rotary through hole 27 for connecting with the seedling gathering claw connecting hole 12 on the upper part of the fixing block 11 of the base component 1 is arranged. The two seedling holding claw pieces 25 of the seedling holding assembly 2 are connected through a connecting cylinder 26 arranged between the two rotary through holes 27, so that the two seedling holding claw pieces 25 are integrated; the front parts of the two seedling gathering claw sheets 25 are provided with clamping openings 32. A driving connecting rod 29 is arranged in the accommodating cavity between the two rear through holes 28 of the two seedling holding claw sheets 25, and a driven connecting rod 31 is arranged in the accommodating cavity between the two middle through holes 30 of the two seedling holding claw sheets 25.
The seedling gathering components 2 arranged on two sides of the clamping component 4 are respectively in rotary connection with the seedling gathering claw connecting holes 12 on the upper parts of the fixing blocks 11 on two sides of the base component 1 through the two integrated rotary through holes 27 of the seedling gathering claw pieces 25. One end of a driving connecting rod 29 at the rear part of the seedling gathering component 2 is hinged with the rear through holes 28 of the two seedling gathering claw pieces 25; the other end of the driving connecting rod 29 is hinged with the seedling collecting driving plate 8 of the base component 1 and the driving connecting hole 21 at the side corresponding to the seedling collecting component 2. One end of a driven connecting rod 31 in the middle of the seedling gathering component 2 is hinged with the middle through holes 30 of the two seedling gathering claw pieces 25; the other end of the driven connecting rod 31 is hinged with a driven connecting hole 48 of the sliding block 44 of the clamping component 4 on one side of the corresponding seedling gathering component 2. In order to prevent the first clamping finger 46 and the second clamping finger 47 of the clamping assembly 4 from interfering with the seedling gathering assemblies 2 on two sides during movement, the front ends (the first clamping end 50 and the second clamping end 53) of the first clamping finger 46 and the second clamping finger 47 of the clamping assembly 4 are respectively arranged in the clamping openings 32 at the front parts of the two seedling gathering claw pieces 25 of the seedling gathering assembly 2 on the corresponding side.
A flexible guide component 3 for flexibly positioning the stem of the grafted seedling is arranged in the sliding hole 16 of the vertical plate 15 of the base component 1. The flexible guiding component 3 is composed of a sliding rod 33, the sliding rod 33 comprises a rod body 36, a shaft shoulder 37 is arranged in the middle of the rod body 36, and a connecting block 38 is arranged at the front end of the rod body 36. The upper and lower sides of the front end connecting block 38 of the flexible guiding component 3 are respectively provided with a connecting clamping groove 39 for arranging the guiding sheet 34, and an internal thread hole 40 is arranged in the connecting clamping groove 39. Two connecting slots 39 on the upper and lower sides of the connecting block 38 are respectively provided with a guide sheet 34 for flexibly guiding the stem of the grafted seedling, and a seedling gathering opening 35 is formed between the two guide sheets 34. The two guide pieces 34 are both formed by piece main bodies 41, and the rear ends of the piece main bodies 41 are provided with long adjusting circular holes 42 which are convenient for adjusting the positions of the guide pieces 34; the front end of the main body 41 is provided with a V-shaped opening 43 to facilitate the gathering of the stem of the grafted seedling. The two guide pieces 34 are respectively fixed on the upper side and the lower side of the connecting block 38 by bolts arranged between the adjusting long circular holes 42 and the threaded holes 40 in the connecting clamping grooves 39; to facilitate adjustment of the position of the guide tab 34 on the attachment block 38. In order to make the seedling body gently contact with the V-shaped opening 43 of the guide piece 34 of the flexible guide component 3 when the grafted seedling is collected in the seedling collecting component 2, the inner side of the V-shaped opening 43 of the guide piece 34 arranged on the connecting block 38 at the front end of the rod body 36 of the sliding rod 33 is provided with buffer rubber so as to further reduce the contact force.
The flexible guide component 3 is arranged in the sliding hole 16 of the vertical plate 15 of the base component 1 through the sliding rod 33; the sliding rod 33 of the flexible guide component 3 is positioned between the first clamping finger 46 and the second clamping finger 47 of the clamping component 4, and the first clamping end 50 and the second clamping end 53 of the first clamping finger 46 and the second clamping finger 47 are both positioned in the seedling gathering opening 35; two guide pieces 34 which are arranged up and down at the front end of the sliding rod 33 of the flexible guide component 3 are respectively positioned above and below one end of the clamping opening 32 of the seedling gathering components 2 at two sides. So as to prevent the flexible guide component 3 from interfering with the clamping component 4 and the seedling gathering component 2 during the movement process. A buffer spring 5 is arranged between the shaft shoulder 37 of the sliding rod 33 of the flexible guide component 3 and the front side of the vertical plate 15 of the base component 1; the flexible guide component 3 sliding rod 33 extends out of one end of the rear side of the vertical plate 15 of the base component 1 and is provided with a limit nut 6 for adjusting the compression elasticity of the buffer spring 5. In order to close gradually, drive grafting seedling and do the in-process of adduction placed in the middle gathering together seedling subassembly 2 and centre gripping subassembly 4, according to different seedling stems, carry out flexible centre gripping to grafting seedling and get the seedling, reduce the damage to the seedling body.
When the flexible positioning and clamping mechanism for grafted seedlings is used, the positioning and clamping mechanism 55 is fixed on grafting equipment through a connecting lever arm 56 connected with a vertical plate 15 of a base component 1; the default initial state of the driving cylinder 9 on the lower side of the positioning and clamping mechanism base component 1 is that the telescopic end of the cylinder extends out, and at the moment, the seedling gathering component 2 and the clamping component 4 of the positioning and clamping mechanism are both in an open state (as shown in fig. 15). When the grafted seedlings 57 in the plug tray need to be taken out, firstly, a sliding table (not shown in the figure) of grafting equipment is driven to drive the positioning and clamping mechanism 55 to move towards the plug tray containing the grafted seedlings 57; when the grafted seedling 57 in the plug is within the envelope range of the opened seedling gathering assembly 2 and the clamping assembly 4, the movement of the sliding table is stopped. Then, the telescopic end of the driving cylinder 9 is retracted to drive the seedling gathering driving plate 8 connected with the telescopic end of the driving cylinder 9 to move along the driving plate guide rod 18 towards the direction of the front-end grafted seedling 57 of the positioning and clamping mechanism. The seedling gathering driving plate 8 drives the driving connecting rods 29 of the two seedling gathering components 2 to drive the two groups of seedling gathering claw sheets 25 to respectively rotate around the axes of the seedling gathering claw connecting holes 12 of the fixing blocks 11 at the two sides and gather inwards; meanwhile, the driven connecting rods 31 of the two seedling gathering assemblies 2 drive the two sliding blocks 44 of the clamping assembly 4 to drive the first clamping finger 46 and the second clamping finger 47 to close inwards and centrally; thereby realizing the gradual folding and closing of the seedling collecting component 2 and the clamping component 4 of the positioning and clamping mechanism, leading the grafted seedling 57 to do the in-center and inward folding movement (as shown in figure 16), and pulling the grafted seedling 57 out of the plug tray.
The positioning and clamping mechanism gradually draws in and closes the seedling gathering assembly 2 and the clamping assembly 4, and drives the grafted seedling 57 to be collected in the middle, the grafted seedling 57 can touch the guide sheet 34 at the front end of the sliding rod 33 of the middle flexible guide assembly 3, so that the buffer spring 5 arranged between the sliding rod 33 and the vertical plate 15 of the base assembly 1 is used for reducing the contact force of the positioning and clamping mechanism during positioning in the middle and pulling the grafted seedling. The flexible positioning and clamping mechanism for grafted seedlings can flexibly and automatically position grafted seedlings with different seedling stems, accurately clamp and take the grafted seedlings, and reduce the damage of a clamping device to seedling bodies; can provide efficiency guarantee for subsequent full-automatic grafting operation.
Claims (4)
1. The utility model provides a grafting seedling flexible positioning fixture, includes basic unit (1), its characterized in that: the base assembly (1) comprises a base (7), the base (7) is composed of a base plate (10), fixed blocks (11) are respectively arranged on two sides of the front portion of the base plate (10), seedling gathering claw connecting holes (12) are formed in the upper portions of the fixed blocks (11), and clamping guide rods (13) are arranged between the two fixed blocks (11); a vertical plate (15) is arranged at the rear part of the base plate (10), a sliding hole (16) is arranged at the upper part of the vertical plate (15), and a drive plate guide rod (18) is arranged at the lower part of the vertical plate (15); a drive plate mounting long hole (14) is formed in a base plate (10) of the base (7), and the drive plate mounting long hole (14) is located between the vertical plate (15) and the clamping guide rod (13); a seedling gathering driving plate (8) which is vertically arranged is arranged on the base (7), the seedling gathering driving plate (8) is composed of a driving plate main body (19), a driving plate guide hole (22) is formed in the driving plate main body (19), a groove (20) is formed in the middle of the upper portion of the driving plate main body (19), and active connecting holes (21) are respectively formed in two sides of the upper portion of the driving plate main body (19); the lower part of the driving plate main body (19) is provided with a cylinder connecting end (23); the seedling gathering driving plate (8) is in sliding connection with a driving plate guide rod (18) on a vertical plate (15) of the base (7) through a driving plate guide hole (22); a cylinder connecting end (23) of the seedling gathering driving plate (8) penetrates through a driving plate mounting long hole (14) in a base plate (10) of the base (7) and is connected with a telescopic end of a driving cylinder (9) arranged on the lower side of the base (7); a clamping component (4) is arranged on a clamping guide rod (13) between two fixed blocks (11) on the base (7), the clamping component (4) is composed of two sliding blocks (44) which are symmetrically arranged, and the sliding blocks (44) are respectively arranged on the clamping guide rod (13) through clamping guide holes (45) arranged on the sliding blocks (44); the upper parts of the two sliding blocks (44) are respectively provided with a first clamping finger (46) and a second clamping finger (47), and the first clamping finger (46) and the second clamping finger (47) are arranged along the horizontal direction vertical to the clamping guide rod (13); driven connecting holes (48) are respectively formed in the upper part of the sliding block (44) and one side close to the fixed block (11); two sides of the clamping component (4) are respectively provided with seedling collecting components (2) which are symmetrically arranged, and each seedling collecting component (2) is composed of two seedling collecting claw sheets (25) which are arranged up and down; a rear through hole (28) is arranged at the rear part of the seedling holding claw piece (25), a middle through hole (30) is arranged at the middle part of the seedling holding claw piece (25), and a rotary through hole (27) is arranged between the middle through hole (30) and the rear through hole (28) of the seedling holding claw piece (25); a connecting cylinder (26) is arranged between the rotary through holes (27) of the two seedling gathering claw sheets (25), a driving connecting rod (29) is arranged between the rear through holes (28) of the two seedling gathering claw sheets (25), and a driven connecting rod (31) is arranged between the middle through holes (30) of the two seedling gathering claw sheets (25); the seedling gathering components (2) on the two sides of the clamping component (4) are respectively and rotatably connected with seedling gathering claw connecting holes (12) on the upper parts of the fixed blocks (11) on the two sides of the base component (1) through rotary through holes (27); one end of the driving connecting rod (29) is hinged with a through hole (28) at the rear part of the seedling gathering claw piece (25), and the other end of the driving connecting rod (29) is hinged with a driving connecting hole (21) of the seedling gathering driving plate (8); one end of the driven connecting rod (31) is hinged with a through hole (30) in the middle of the seedling gathering claw piece (25), and the other end of the driven connecting rod (31) is hinged with a driven connecting hole (48) of a sliding block (44) of the clamping component (4); the front ends of a first clamping finger (46) and a second clamping finger (47) of the clamping component (4) are respectively arranged in the clamping openings (32) at the front parts of two seedling holding claw sheets (25) of the seedling holding component (2) at the corresponding side; a flexible guide assembly (3) is arranged in a sliding hole (16) of a vertical plate (15) of the base assembly (1), the flexible guide assembly (3) is composed of a sliding rod (33), guide pieces (34) are respectively arranged on the upper side and the lower side of the front end of the sliding rod (33), and a seedling gathering opening (35) is formed between the two guide pieces (34); the flexible guide assembly (3) is arranged in a sliding hole (16) of a vertical plate (15) of the base assembly (1) through a sliding rod (33), and the sliding rod (33) is positioned between a first clamping finger (46) and a second clamping finger (47) of the clamping assembly (4); two guide pieces (34) at the front end of the flexible guide component (3) are respectively positioned above and below one end of the clamping opening (32) of the seedling gathering components (2) at the two sides; a buffer spring (5) is arranged between the flexible guide component (3) and the front side of the vertical plate (15) of the base component (1), and a limit nut (6) is arranged at one end of the sliding rod (33) of the flexible guide component (3) extending out of the rear side of the vertical plate (15) of the base component (1); the sliding rod (33) of the flexible guide component (3) comprises a rod body (36), a shaft shoulder (37) is arranged in the middle of the rod body (36), and a connecting block (38) is arranged at the front end of the rod body (36); the upper side and the lower side of the connecting block (38) are respectively provided with a connecting clamping groove (39), and an internal threaded hole (40) is arranged in the connecting clamping groove (39); guide pieces (34) are respectively arranged in two connecting clamping grooves (39) of the connecting block (38), each guide piece (34) is composed of a piece main body (41), the rear end of each piece main body (41) is provided with an adjusting long round hole (42), and the front end of each piece main body (41) is provided with a V-shaped opening (43); the guide piece (34) is fixed on the upper side and the lower side of the connecting block (38) by utilizing a bolt arranged between the adjusting long circular hole (42) and the internal threaded hole (40) of the connecting clamping groove (39); the buffer spring (5) is arranged between the front side of the vertical plate (15) of the base component (1) and a shaft shoulder (37) of the sliding rod (33) of the flexible guide component (3); buffer rubber is arranged on the inner side of a V-shaped opening (43) of a guide sheet (34) arranged on a connecting block (38) at the front end of a rod body (36) of the sliding rod (33); the first clamping finger (46) of the clamping assembly (4) comprises a first clamping body (49), and a first clamping end (50) is arranged at the front end of the first clamping body (49); the second clamping finger (47) of the clamping assembly (4) comprises a second clamping body (52), and a second clamping end (53) is arranged at the front end of the second clamping body (52); the first clamping finger (46) and the second clamping finger (47) are respectively connected with the upper parts of the two sliding blocks (44) through a first clamping body (49) and a second clamping body (52); the first clamping end (50) and the second clamping end (53) of the front ends of the first clamping finger (46) and the second clamping finger (47) face the front side and are oppositely arranged; the upper side and the lower side of a second clamping end (53) at the front end of a second clamping body (52) of the second clamping finger (47) are respectively provided with a buffering notch (54); and clamping rubber pads are respectively arranged on the opposite inner sides of the first clamping end (50) of the first clamping finger (46) and the second clamping end (53) of the second clamping finger (47).
2. The flexible positioning and clamping mechanism for grafted seedlings according to claim 1, wherein: antirust spacer bushes are respectively arranged in the drive plate guide holes (22) of the seedling gathering drive plate (8) and the clamping guide holes (45) of the sliding blocks (44).
3. The flexible positioning and clamping mechanism for grafted seedlings according to claim 2, characterized in that: and the rust-proof spacer bushes arranged in the drive plate guide hole (22) and the clamping guide hole (45) are copper spacer bushes or nylon spacer bushes.
4. The flexible positioning and clamping mechanism for grafted seedlings according to claim 1, wherein: and lever arm connecting holes (17) are respectively formed in two sides of a sliding hole (16) of a vertical plate (15) of the base component (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710188066.1A CN106900356B (en) | 2017-03-27 | 2017-03-27 | Flexible positioning and clamping mechanism for grafted seedlings |
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| CN201710188066.1A CN106900356B (en) | 2017-03-27 | 2017-03-27 | Flexible positioning and clamping mechanism for grafted seedlings |
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| CN106900356A CN106900356A (en) | 2017-06-30 |
| CN106900356B true CN106900356B (en) | 2022-08-02 |
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| CN201710188066.1A Active CN106900356B (en) | 2017-03-27 | 2017-03-27 | Flexible positioning and clamping mechanism for grafted seedlings |
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| 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 |
| 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 |
| CN110259776B (en) * | 2019-07-19 | 2024-02-13 | 厦门大白科技有限公司 | Quick-mounting mechanism capable of being matched with various lifting rods |
| CN110679311B (en) * | 2019-09-30 | 2024-04-02 | 北京农业智能装备技术研究中心 | Flexible seedling feeding positioning device and method |
| CN111615942A (en) * | 2020-05-29 | 2020-09-04 | 苏州朵唯智能科技有限公司 | Pneumatic gripping clamping jaw system for grafted seedlings |
| CN112936331B (en) * | 2021-03-17 | 2022-04-26 | 江苏大学 | Adjustable seedling-taking end effector for automatic transplanting of plug seedlings |
| CN115380718B (en) * | 2022-09-23 | 2023-06-06 | 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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