CN106954468B - Rotatory seedling device of holding of grafting - Google Patents
Rotatory seedling device of holding of grafting Download PDFInfo
- Publication number
- CN106954468B CN106954468B CN201710165092.2A CN201710165092A CN106954468B CN 106954468 B CN106954468 B CN 106954468B CN 201710165092 A CN201710165092 A CN 201710165092A CN 106954468 B CN106954468 B CN 106954468B
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- rotating shaft
- driving mechanism
- fixed
- synchronous belt
- clamping
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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 invention relates to the technical field of grafted seedling backloading. The purpose provides can hold the seedling automatically and carry the grafting seedling to the device of back loading end effector department by the grafting platform, and the device can keep vertical upwards always with the seedling in handling to turn to 180 degrees with seedling clamping device, carry out subsequent work for back loading device with seedling clamping device with the nursery stock transfer. The technical scheme is as follows: the utility model provides a rotatory seedling device of holding of grafting which characterized in that: comprises a base plate, a power mechanism arranged on the base plate, a clamping mechanism used for gathering and clamping seedlings and a driving mechanism arranged on the base plate and used for transmitting power to the clamping mechanism.
Description
Technical Field
The invention relates to the technical field of grafted seedling backloading, in particular to a rotary seedling holding device.
background
With the continuous improvement of agricultural production automation technology and the rapid rise of vegetable grafting requirements, the fruit and vegetable grafting starts to gradually transit from a manual grafting mode to a mechanical automatic grafting mode.
However, the existing grafting machine generally adopts semi-automatic grafting, the grafting of the grafting machine is completed, and the grafted seedlings are manually conveyed to a back-loading end effector. The manual conveying of the grafted seedlings is not only low in efficiency, but also easy to damage the seedlings. The full-automatic grafting machine relates to the difficult problem of conveying grafted seedlings to a backloading end effector.
Disclosure of Invention
the technical problem to be solved by the invention is to overcome the defects of the background technology, and provide a device which can automatically hold seedlings and convey the grafted seedlings from a grafting platform to a backloading end effector, wherein the device can keep the seedlings vertically upward all the time in the conveying process, and turn the seedling clamping device to 180 degrees, so that the seedling clamping device can conveniently convey the seedlings to the backloading device for subsequent work. The device has the characteristics of continuous work and no damage to seedlings, has simple structure and lower manufacturing cost, and can effectively improve the working efficiency of full-automatic grafting of grafted seedlings.
The technical scheme adopted by the invention is as follows: the utility model provides a rotatory seedling device of holding of grafting which characterized in that: comprises a base plate, a power mechanism arranged on the base plate, a clamping mechanism used for gathering and clamping seedlings and a driving mechanism arranged on the base plate and used for transmitting power to the clamping mechanism;
The power mechanism comprises a motor fixed on the substrate and a first synchronous belt wheel fixed on a rotating shaft of the motor and used for transmitting power to the driving mechanism;
The driving mechanism comprises a first driving mechanism which transmits power with the power mechanism through a synchronous belt, a rotating arm fixed on a first rotating shaft of the first driving mechanism, a second driving mechanism which is arranged on the rotating arm through a second rotating shaft and transmits power with the first driving mechanism through the synchronous belt, an installation block fixed on the second rotating shaft, a third driving mechanism which is arranged on the installation block through a third rotating shaft and transmits power with the second rotating shaft through the synchronous belt, and a fourth driving mechanism which is arranged on the installation block through a fourth rotating shaft and transmits power with the third driving mechanism;
the clamping mechanism comprises a fixed block fixed on the fourth rotating shaft and a pneumatic clamping jaw installed on the fixed block.
preferably, the first driving mechanism comprises a rotating shaft sleeve fixed on the base plate, a third synchronous pulley fixed on the rotating shaft sleeve, and a first rotating shaft penetrating through the rotating shaft sleeve and the base plate; the front end of the first rotating shaft is fixedly provided with a second synchronous belt wheel used for transmitting a power mechanism with the first synchronous belt wheel, and the rear end of the first rotating shaft is fixedly provided with a rotating arm used for installing a second driving mechanism.
Preferably, the second driving mechanism includes a fifth synchronous pulley fixed to the rotating arm for driving the third driving mechanism, a second rotating shaft passing through the rotating arm and the fifth synchronous pulley, and a fourth synchronous pulley fixed to the second rotating shaft for transmitting power to the third synchronous pulley.
preferably, the third driving mechanism includes a mounting block fixed to the second rotating shaft, a third rotating shaft mounted to the mounting block, a sixth synchronous pulley fixed to the third rotating shaft and transmitting power to the fifth synchronous pulley, and a first bevel gear connected to the fourth driving mechanism and transmitting power to the third rotating shaft.
Preferably, the fourth driving mechanism includes a fourth rotating shaft passing through the fixed block and used for rotating the clamping mechanism, and a second bevel gear fixed on the fourth rotating shaft and connected with the first bevel gear on the third rotating shaft and transmitting power.
Preferably, the pneumatic clamping jaw comprises an air cylinder fixed on the fixed block and used for outputting power, and two clamping jaws which are arranged at the front end of the air cylinder and connected with an air cylinder ejector rod and used for clamping seedlings.
The invention has the beneficial effects that: the grafted seedling carrying device has the function of replacing manual operation to carry grafted seedlings, can finish actions of clamping grafted seedlings, carrying grafted seedlings and the like, and keeps the grafted seedlings to be immovable in the vertical direction and rotate 180 degrees in the horizontal direction in the carrying process, so that the damage to the seedlings can be reduced to the maximum extent, and meanwhile, the grafted seedlings can be clamped by the back loading mechanism conveniently to enter the next working procedure. Compared with manual operation for carrying grafted seedlings, the automatic grafting device greatly improves the working efficiency, promotes the research and development of the full-automatic grafting machine, has a simple structure, occupies a small space, and lays a foundation for the development of the high-efficiency full-automatic grafting device. Moreover, when the device is used for carrying articles, the device can be widely used on other machines without moving in the vertical direction and turning 180 degrees in the horizontal direction, and is not limited to the aspect of grafting machines.
Drawings
Fig. 1 to 3 are schematic perspective views of the present invention.
Fig. 4 to 6 are schematic diagrams of the steps of the working process of the present invention.
Detailed Description
The present invention is further illustrated but is not limited by the following examples.
As shown in fig. 1 to 3, the rotary seedling holding device for grafted seedlings provided by the present invention comprises a base plate 10, a power mechanism mounted on the base plate 10 for providing power, a clamping mechanism 8 for gathering and clamping seedlings, and a driving mechanism mounted on the base plate 10 for transmitting power to the clamping mechanism.
the power mechanism comprises a motor 1 fixed on a base plate 10 and a first synchronous belt pulley 2 fixedly arranged on a motor rotating shaft 1 and used for transmitting power to a driving mechanism.
The driving mechanism comprises a first driving mechanism 3 for transmitting power with a power mechanism through a second synchronous belt wheel 3-2 and a synchronous belt, a rotating arm 4 fixed on a first rotating shaft 3-1 of the first driving mechanism, a second driving mechanism 5 fixed on the rotating arm 4 through a second rotating shaft and transmitting power with the first driving mechanism through the synchronous belt, a mounting block 6 fixed on a second rotating shaft 5-1 of the second driving mechanism, a third driving mechanism 7 mounted on the mounting block 6 through a third rotating shaft and transmitting power with the second rotating shaft through the synchronous belt, and a fourth driving mechanism mounted on the mounting block through a fourth rotating shaft and transmitting power with the third driving mechanism.
The clamping mechanism comprises a fixed block 8-2 fixed at the lower end of a rotating shaft of the driving mechanism, an air cylinder 8-3 fixed on the fixed block 8-2 and used for outputting power to the clamping jaw 8-1, and two clamping jaws 8-1 which are used for clamping nursery stocks and are mutually connected with the air cylinder 8-3 and the front end of a piston rod of the air cylinder 8-3.
The first driving mechanism comprises a rotating shaft sleeve 9 fixed on a base plate 10, a third synchronous belt wheel 3-3 is fixed on the rotating shaft sleeve 9 through punching, and a first rotating shaft 3-1 penetrating through the base plate and the rotating shaft sleeve 9. The front end of the first rotating shaft is fixed with the second synchronous belt wheel 3-2 used for transmitting the power mechanism, and the rear end of the first rotating shaft 3-1 is fixed with a rotating arm 4 used for mounting a second driving mechanism.
The second driving mechanism comprises a fifth synchronous belt wheel 5-2 fixed on the rotating arm and used for driving the third driving mechanism, a second rotating shaft 5-1 penetrating through the rotating arm 4 and the fifth synchronous belt wheel 5-2, and a fourth synchronous belt wheel 5-2 fixed on the second rotating shaft 5-1 and used for transmitting power with the third synchronous belt wheel. And the fourth synchronous pulley 5-3 is used for transmitting the power of the first driven third synchronous pulley, so that the second rotating shaft 5-1 is always kept not to rotate relative to the ground, and the mounting block 6 on the second rotating shaft 5-1 is always kept not to move in the vertical direction in the movement of the motor 1.
The third driving mechanism comprises an installation block 6 fixed on the second rotating shaft and a third rotating shaft 7-1 installed on the installation block, a sixth synchronous belt pulley 7-2 for transmitting the power of the second driving mechanism is fixed on the rotating shaft 7-1, and a first bevel gear 7-3 which is connected with the fourth driving mechanism and transmits the power is also fixed at the front end of the third rotating shaft 7-1.
The fourth driving mechanism comprises a fourth rotating shaft 8-4 which is arranged on the mounting block and used for rotating the clamping mechanism, and a bevel gear 7-4 which is fixed on the fourth rotating shaft 8-4, connected with a bevel gear 7-3 of the third driving mechanism and used for transmitting power, wherein the transmission ratio of the bevel gear 7-3 to the bevel gear 7-4 is 1: 2. And the mounting block is provided with a through hole for accommodating the first bevel gear and the second bevel gear.
Obviously, the motor shaft, the first rotating shaft, the second rotating shaft and the third rotating shaft are horizontally arranged and parallel to each other, and the fourth rotating shaft is vertically arranged and perpendicular to the motor shaft, the first rotating shaft, the second rotating shaft and the third rotating shaft.
when the rotating arm 4 in the first driving mechanism rotates, the third synchronous pulley 3-3 is fixed on the rotating shaft sleeve 9 and cannot rotate along with the rotation of the rotating arm 4, the fourth synchronous pulley 5-3 in the second driving mechanism is connected with the third synchronous pulley 3-3 by a synchronous belt, and when the third synchronous pulley 3-3 does not rotate, the fourth synchronous pulley 5-3 does not rotate but rotates relative to the rotating arm; the fifth synchronous belt wheel 5-2 is fixed on the rotating arm, the fourth synchronous belt wheel is fixed on the second rotating shaft, the mounting block is fixed on the second rotating shaft, namely the fifth synchronous belt wheel 5-2 rotates relative to the mounting block, and the third rotating shaft is mounted on the mounting block and passes through the sixth synchronous belt wheel and the fifth synchronous belt wheel, so that the third rotating shaft rotates relative to the mounting block to drive the fourth rotating shaft 8-4 to rotate.
the working steps of the invention are as follows:
1) As shown in fig. 4, in the initial state, the clamping mechanism extends to clamp and grasp the grafted seedling 11;
2) As shown in fig. 5, the motor rotates to drive the rotating arm to rotate 90 degrees, and meanwhile, the second rotating shaft always rotates around the first rotating shaft without rotation;
3) As shown in fig. 5, the motor drives the rotating arm to rotate 90 degrees, the fifth synchronous pulley of the second rotating shaft drives the third rotating shaft to rotate, and the bevel gear transmission is utilized to rotate the fourth rotating shaft 180 degrees (since the transmission ratio of the first bevel gear 7-3 to the second bevel gear 7-4 is 1: 2, the rotating arm rotates 90 degrees, and the fourth rotating shaft rotates 180 degrees), so that the grafted seedling is successfully transported to the back loading mechanism;
4) As shown in fig. 6, the motor rotates to drive the rotating arm to rotate 90 degrees, the clamping mechanism returns to the original position, and the next cycle is performed as the same as the steps 1 to 3; the process is repeated in this way, and the nursery stock is continuously carried and clamped.
Finally, it should be noted that the above-mentioned list is only a specific embodiment of the present invention. It is obvious that the present invention is not limited to the above embodiments, but many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.
Claims (6)
1. The utility model provides a rotatory seedling device of holding of grafting which characterized in that: comprises a base plate (10), a power mechanism arranged on the base plate, a clamping mechanism (8) used for gathering and clamping seedlings and a driving mechanism arranged on the base plate and used for transmitting power to the clamping mechanism;
The power mechanism comprises a motor (1) fixed on the substrate and a first synchronous belt wheel (2) fixed on a motor rotating shaft and used for transmitting power to the driving mechanism;
The driving mechanism comprises a first driving mechanism, a rotating arm (4), a second driving mechanism, a mounting block (6), a third driving mechanism and a fourth driving mechanism, wherein the first driving mechanism transmits power with the power mechanism through a synchronous belt, the rotating arm (4) is fixed on a first rotating shaft (3-1) of the first driving mechanism, the second driving mechanism (5) is mounted on the rotating arm through a second rotating shaft (5-1) and transmits power with the first driving mechanism through the synchronous belt, the mounting block (6) is fixed on the second rotating shaft, the third driving mechanism (7) is mounted on the mounting block through a third rotating shaft (7-1) and transmits power with the second rotating shaft through the synchronous belt, and the fourth driving mechanism is mounted on the mounting block through a fourth rotating shaft (8-4) and transmits;
The clamping mechanism comprises a fixed block (8-2) fixed on the fourth rotating shaft (8-4) and a pneumatic clamping jaw installed on the fixed block.
2. A rotary seedling holding device for grafted seedlings according to claim 1, wherein: the first driving mechanism comprises a rotating shaft sleeve (9) fixed on the base plate, a third synchronous belt wheel (3-3) fixed on the rotating shaft sleeve, and a first rotating shaft (3-1) penetrating through the rotating shaft sleeve and the base plate; the front end of the first rotating shaft is fixedly provided with a second synchronous belt wheel (3-2) used for transmitting a power mechanism with the first synchronous belt wheel, and the rear end of the first rotating shaft is fixedly provided with a rotating arm (4) used for installing a second driving mechanism.
3. A rotary seedling holding device for grafted seedlings according to claim 2, wherein: the second driving mechanism comprises a fifth synchronous belt wheel (5-2) fixed on the rotating arm (4) and used for driving the third driving mechanism, a second rotating shaft (5-1) penetrating through the rotating arm and the fifth synchronous belt wheel, and a fourth synchronous belt wheel (5-3) fixed on the second rotating shaft and used for transmitting power with the third synchronous belt wheel.
4. a rotary seedling holding device for grafted seedlings according to claim 3, wherein: the third driving mechanism comprises an installation block (6) fixed on the second rotating shaft (5-1) and a third rotating shaft (7-1) installed on the installation block, a sixth synchronous belt wheel (7-2) which transmits power with the fifth synchronous belt wheel is fixed on the third rotating shaft, and a first bevel gear (7-3) which is connected with the fourth driving mechanism and transmits power is also fixed on the third rotating shaft.
5. The rotary seedling holding device for grafted seedlings according to claim 4, wherein: the fourth driving mechanism comprises a fourth rotating shaft (8-4) which penetrates through the fixed block and is used for rotating the clamping mechanism, and a second bevel gear (7-4) which is fixed on the fourth rotating shaft, is connected with the first bevel gear on the third rotating shaft and transmits power.
6. a rotary seedling holding device for grafted seedlings according to claim 5, wherein: the pneumatic clamping jaw comprises an air cylinder (8-3) fixed on the fixed block and used for outputting power, and two clamping jaws (8-1) which are arranged at the front end of the air cylinder and connected with an air cylinder ejector rod and used for clamping nursery stocks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710165092.2A CN106954468B (en) | 2017-03-20 | 2017-03-20 | Rotatory seedling device of holding of grafting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710165092.2A CN106954468B (en) | 2017-03-20 | 2017-03-20 | Rotatory seedling device of holding of grafting |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106954468A CN106954468A (en) | 2017-07-18 |
| CN106954468B true CN106954468B (en) | 2019-12-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710165092.2A Active CN106954468B (en) | 2017-03-20 | 2017-03-20 | Rotatory seedling device of holding of grafting |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108402798A (en) * | 2018-04-12 | 2018-08-17 | 浙江工贸职业技术学院 | A kind of intention product show stand |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06245649A (en) * | 1992-06-24 | 1994-09-06 | Iseki & Co Ltd | Grafting robot |
| JPH08174463A (en) * | 1994-12-28 | 1996-07-09 | Sankyo Seisakusho:Kk | Mechanical hand |
| JPH08308380A (en) * | 1995-05-12 | 1996-11-26 | Iseki & Co Ltd | Apparatus for cutting stock seedling of grafting robot |
| JP3620201B2 (en) * | 1997-03-03 | 2005-02-16 | 井関農機株式会社 | Automatic grafting device with seedling conveying means |
| CN102119634A (en) * | 2011-01-21 | 2011-07-13 | 北京农业智能装备技术研究中心 | Grafting machine and grafting method |
| CN102388749A (en) * | 2011-09-09 | 2012-03-28 | 华南农业大学 | Adjustable oblique-type vegetable grafting device and realization method thereof |
-
2017
- 2017-03-20 CN CN201710165092.2A patent/CN106954468B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06245649A (en) * | 1992-06-24 | 1994-09-06 | Iseki & Co Ltd | Grafting robot |
| JPH08174463A (en) * | 1994-12-28 | 1996-07-09 | Sankyo Seisakusho:Kk | Mechanical hand |
| JPH08308380A (en) * | 1995-05-12 | 1996-11-26 | Iseki & Co Ltd | Apparatus for cutting stock seedling of grafting robot |
| JP3620201B2 (en) * | 1997-03-03 | 2005-02-16 | 井関農機株式会社 | Automatic grafting device with seedling conveying means |
| CN102119634A (en) * | 2011-01-21 | 2011-07-13 | 北京农业智能装备技术研究中心 | Grafting machine and grafting method |
| CN102388749A (en) * | 2011-09-09 | 2012-03-28 | 华南农业大学 | Adjustable oblique-type vegetable grafting device and realization method thereof |
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| CN106954468A (en) | 2017-07-18 |
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