CN107055115B - Automatic tray unloading and stacking device for seedling trays of square seedling raising machine - Google Patents
Automatic tray unloading and stacking device for seedling trays of square seedling raising machine Download PDFInfo
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- CN107055115B CN107055115B CN201710380004.0A CN201710380004A CN107055115B CN 107055115 B CN107055115 B CN 107055115B CN 201710380004 A CN201710380004 A CN 201710380004A CN 107055115 B CN107055115 B CN 107055115B
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- linear guide
- guide rail
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
Abstract
The invention relates to an automatic tray unloading and stacking device for seedling trays of a square seedling raising machine, which comprises a three-way linear sliding table and a supporting frame fixed on the bottom surface of the three-way linear sliding table, wherein the three-way linear sliding table comprises two longitudinal horizontal linear guide rails (20 and 27) which are arranged in parallel and fixedly connected with the supporting frame and a transverse horizontal linear guide rail (2) of which two ends are respectively connected onto the two longitudinal horizontal linear guide rails (20 and 27) in a sliding mode through longitudinal sliding blocks (5 and 4), the transverse horizontal linear guide rail (2) is connected with a transverse sliding block (3) in a sliding mode, the transverse sliding block (3) is connected with a vertical linear guide rail (1) in a sliding mode, and the lower end of the vertical linear guide rail (1) is provided with a grabbing mechanical arm. The seedling tray positioning device can accurately position the seedling tray, and the seedling tray is conveyed to the seedling tray stacking trolley through movement in three directions, so that the seedling tray conveying and conveying steps are consistent, the working efficiency is improved, the labor cost is reduced, and agricultural facility equipment is enriched.
Description
Technical Field
The invention relates to the technical field of agricultural facilities, in particular to a seedling tray carrying device, and particularly relates to an automatic tray unloading and stacking device for seedling trays of a square seedling raising machine.
Background
The cooperation of seedling tray, the square seedling machine of growing seedlings uses and makes the working process such as compaction dibbling, earthing, stripping and slicing realize the automation mechanized operation, for the work of growing seedlings provides convenient, but, the seedling tray that accomplishes after the seeding unloads the dish and still will depend on the manual work to accomplish with pile up neatly work, and the manual work can not satisfy efficient operation of growing seedlings and scale, automated production's needs because unload dish, pile up neatly untimely scheduling problem, has restricted the improvement of square seedling machine automation degree of growing seedlings. Meanwhile, due to the high labor intensity, the tray unloading worker is usually composed of at least two persons, and the production cost of seedling raising enterprises is increased.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the automatic seedling tray unloading and stacking device of the square seedling raising machine, which can replace manpower to realize automatic carrying, tray unloading and stacking of the seedling trays, improve the automation degree of equipment, reduce the workload of workers and reduce the cost of production enterprises.
The invention is realized through the following technical scheme, and provides an automatic seedling tray unloading and stacking device of a square seedling raising machine, which comprises a three-way linear sliding table and a support frame fixed on the bottom surface of the three-way linear sliding table, wherein the three-way linear sliding table comprises two longitudinal horizontal linear guide rails which are arranged in parallel and fixedly connected with the support frame, and a transverse horizontal linear guide rail of which the two ends are respectively connected onto the two longitudinal horizontal linear guide rails in a sliding way through a longitudinal sliding block; the device also comprises a longitudinal driving device for driving the longitudinal sliding block to move along the longitudinal horizontal linear guide rail, a transverse driving device for driving the transverse sliding block to move along the transverse horizontal linear guide rail, and a vertical driving device for driving the vertical linear guide rail to move in the transverse sliding block.
This scheme has filled the blank of mechanical transport seedling tray, has realized snatching the position of manipulator in the space through vertical horizontal linear guide rail, horizontal linear guide rail and vertical linear guide rail and has removed, can pinpoint the seedling tray, and through the removal of three direction, carry the seedling tray to seedling tray pile up neatly dolly on, realize the transport of seedling tray and the step unanimous of transport, improved work efficiency, reduced the cost of labor, richened agricultural facilities and equipped.
Preferably, the grabbing manipulator comprises a bearing plate fixed on the lower end face of the vertical linear guide rail and an electric telescopic rod which is fixed on one side face of the vertical linear guide rail and is vertically arranged, two ends of the bearing plate are respectively hinged with a gripper, the gripper can rotate within a certain angle range, the lower end of the electric telescopic rod is hinged with two connecting rods, the other ends of the two connecting rods are respectively hinged with the gripper, and a hinged joint of the connecting rods and the gripper is located below a hinged joint of the bearing plate and the gripper. When the electric telescopic rod acts, the connecting rod pulls the hand grips to rotate inwards or outwards, so that the seedling trays are grabbed and released, and the electric telescopic rod is simple in structure and reliable to use.
Preferably, the longitudinal horizontal linear guide rail, the transverse horizontal linear guide rail and the vertical linear guide rail are all hollow shell structures. This preferred scheme has alleviateed the whole quality of equipment, practices thrift the cost of transportation, does benefit to simultaneously and sets up drive arrangement in the casing, reduces equipment occupation space.
Preferably, the longitudinal driving device comprises two longitudinal servo motors fixed in each longitudinal horizontal linear guide rail, output shafts of the two longitudinal servo motors are connected through a longitudinal synchronous belt, and the longitudinal synchronous belt is fixedly connected with the longitudinal sliding block. This preferred scheme passes through servo motor and drives the hold-in range and rotate to drive vertical slider removal, stability is good, can realize the continuous regulation of vertical slider position, has avoided the seedling tray to take place from the condition that the manipulator dropped owing to rock.
As optimization, output shafts of two opposite longitudinal servo motors in the two longitudinal horizontal linear guide rails are connected through a synchronous rod. Through setting up the synchronizing bar, make the vertical slider on two vertical horizontal linear guide rails realize synchronous motion, avoid asynchronous the causing and produce the interference between vertical slider and the vertical horizontal linear guide rail.
Preferably, the transverse driving device comprises two transverse servo motors fixed in the transverse horizontal linear guide rail, output shafts of the two transverse servo motors are connected through a transverse synchronous belt, and the transverse synchronous belt is fixedly connected with the transverse sliding block. This preferred scheme passes through servo motor and drives the hold-in range and rotate to drive horizontal slider removal, stability is good, can realize the continuous regulation of horizontal slider position, has avoided the seedling tray to take place from the condition that the manipulator dropped owing to rock.
Preferably, the vertical driving device comprises two vertical servo motors fixed in the vertical linear guide rail, output shafts of the two vertical servo motors are connected through a vertical synchronous belt, and the vertical synchronous belt is fixedly connected with the transverse sliding block. In this preferred scheme, vertical displacement does not take place for horizontal slider, and vertical servo motor during operation makes vertical linear guide rail up or down move in horizontal slider under the hold-in range to servo motor's counteraction.
And optimally, two ends of the longitudinal horizontal linear guide rail, the transverse horizontal linear guide rail and the vertical linear guide rail are respectively fixed with a limiting block. Through setting up the stopper, prevent each slider follow each linear guide rail roll-off, improve the reliability of equipment use.
Preferably, the support frame comprises a guide rail fixing rod, two ends of which are fixedly connected with the two longitudinal horizontal linear guide rails respectively, and four support legs, the four support legs are fixedly connected with the bottom surfaces of the two longitudinal horizontal linear guide rails respectively, the four support legs are located at the end parts of the two longitudinal horizontal linear guide rails respectively, and the lower ends of the four support legs are all inserted with bases. The structure of this kind of support frame not only can play the effect of supporting the slip table, reserves the space for the removal of seedling tray moreover, and the seedling tray that conveniently is snatched passes through, increases stability through setting up the base simultaneously.
Compared with the prior art, the invention has the beneficial effects that: the device has the characteristics of reasonable design, simple and compact structure and easy processing and use; the precision of tray unloading and stacking of the seedling trays is ensured, and the efficiency of the square seedling raising machine is improved; the practicability is strong, and the popularization and the use are easy.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a top view of FIG. 2;
FIG. 4 is a left side view of FIG. 2;
fig. 5 to 9 are schematic views of the working process of the present invention.
Detailed Description
In order to clearly explain the technical features of the present solution, the present solution is explained by the following detailed description.
As shown in fig. 1, automatic pile up neatly device of unloading of square seedling machine seedling tray, include the linear slip table of three-dimensional and be fixed in the support frame of the linear slip table bottom surface of three-dimensional, the linear slip table of three-dimensional is including mutual parallel arrangement and with vertical horizontal linear guide rail 20 and the vertical horizontal linear guide rail 27 of support frame rigid coupling to and both ends are respectively through vertical slider 5, the horizontal linear guide rail 2 of vertical slider 4 sliding connection on vertical horizontal linear guide rail 20 and vertical horizontal linear guide rail 27, it has horizontal slider 3 to have slided to connect on horizontal linear guide rail 2, the vertical spout has still been seted up on the horizontal slider 3, it has vertical linear guide rail 1 to have slided to connect in the vertical spout, vertical linear guide rail 1 lower extreme is equipped with the manipulator of snatching.
The grabbing manipulator in the embodiment comprises a bearing plate 12 fixed on the lower end face of a vertical linear guide rail 1 and an electric telescopic rod 11 which is fixed on one side face of the vertical linear guide rail 1 and is vertically arranged, two ends of the bearing plate 12 are respectively hinged with a hand grip 13 and a hand grip 14, the lower ends of the hand grip 13 and the hand grip 14 are respectively provided with an inward-bent hand grip, the lower end of the electric telescopic rod 11 is hinged with a connecting rod 15 and a connecting rod 32, the other ends of the connecting rod 15 and the connecting rod 32 are respectively hinged with the hand grip 13 and the hand grip 14, and a hinged point of the connecting rod and the hand grip is located below a hinged point of the bearing plate and the hand grip. When the electric telescopic rod acts, the connecting rod pulls the hand grip to rotate inwards or outwards, so that the seedling tray is grabbed and released, the structure is simple, and the use is reliable.
In order to reduce the weight of the equipment and the transportation cost, the longitudinal horizontal linear guide rail 20, the longitudinal horizontal linear guide rail 27, the transverse horizontal linear guide rail 2 and the vertical linear guide rail 1 in the embodiment are all hollow shell structures.
The embodiment also comprises a longitudinal driving device for driving the longitudinal slide block 5 and the longitudinal slide block 4 to move along the longitudinal horizontal linear guide rail, a transverse driving device for driving the transverse slide block 3 to move along the transverse horizontal linear guide rail 2, and a vertical driving device for driving the vertical linear guide rail 1 to move in the transverse slide block 3.
Preferably, the longitudinal driving means includes a longitudinal servo motor 30 and a longitudinal servo motor 31 fixed at both ends inside the longitudinal horizontal linear guide 27, and a longitudinal servo motor 24 and a longitudinal servo motor 25 fixed at both ends inside the longitudinal horizontal linear guide 20. The output shafts of the longitudinal servo motor 30 and the longitudinal servo motor 31 and the output shafts of the longitudinal servo motor 24 and the longitudinal servo motor 25 are respectively connected through longitudinal synchronous belts, the longitudinal sliding block 5 and the longitudinal sliding block 4 are respectively fixedly connected with the longitudinal synchronous belts on the guide rails where the longitudinal sliding blocks are respectively located, and the longitudinal synchronous belts drive the longitudinal sliding blocks to move along the longitudinal horizontal linear guide rails when rotating along with the servo motors. The output shafts of the longitudinal servo motor 24 and the longitudinal servo motor 30 are connected through the synchronizing rod 23, so that the moving synchronism of the longitudinal sliding block 5 and the longitudinal sliding block 4 is ensured, and the phenomenon of jamming caused by asynchronism is avoided.
The transverse driving device comprises a transverse servo motor 17 and a transverse servo motor 18 which are fixed at two ends inside the transverse horizontal linear guide rail 2, output shafts of the transverse servo motor 17 and the transverse servo motor 18 are connected through a transverse synchronous belt 28, the transverse synchronous belt is fixedly connected with the transverse sliding block 3, and when the transverse synchronous belt rotates along with the transverse servo motor, the transverse sliding block 3 is driven to move along the transverse horizontal linear guide rail 2.
The vertical driving device comprises a vertical servo motor 16 and a vertical servo motor 19 which are fixed at the upper end and the lower end inside a vertical linear guide rail 1, output shafts of the vertical servo motor 16 and the vertical servo motor 19 are connected through a vertical synchronous belt, the vertical synchronous belt is fixedly connected with a transverse sliding block 3, and vertical displacement does not occur due to the transverse sliding block 3, so that when the vertical servo motor 16 and the vertical servo motor 19 do not work, the vertical linear guide rail 1 cannot automatically move downwards under the traction action of the vertical synchronous belt, when the vertical servo motor 16 and the vertical servo motor 19 work, and under the reaction force of the vertical synchronous belt, the vertical linear guide rail 1 vertically moves.
In order to avoid the sliding of the transverse sliding blocks and the longitudinal sliding blocks out of the guide rails, the two ends of the longitudinal horizontal linear guide rails 20 and 27, the transverse horizontal linear guide rail 2 and the vertical linear guide rail 1 are respectively and fixedly provided with a limiting block.
Preferably, the supporting frame in this embodiment includes a rail fixing rod 6 having two ends respectively fixedly connected to the two longitudinal horizontal linear rails, and four legs 7, 8, 21, 29 fixedly connected to the bottom surfaces of the two longitudinal horizontal linear rails, the four legs being respectively located at the ends of the two longitudinal horizontal linear rails. The cross sections of the four supporting legs are square, the bending resistance is enough, and the lower ends of the four supporting legs 7, 8, 21 and 29 are respectively inserted with the bases 10, 9, 22 and 26. The structure of this kind of support frame not only can play the effect of supporting the slip table, reserves the space for the removal of seedling tray moreover, and the seedling tray that conveniently is snatched passes through, increases stability through setting up the base simultaneously.
The using process of the embodiment is divided into 5 steps, as shown in fig. 5 to 9, which are respectively the preparation for the 1 st step of grabbing, the 2 nd step of grabbing, the 3 rd step of carrying, the 4 th step of placing and the 5 th step of returning.
Step 1, as shown in fig. 5, in operation, the seedling tray which has completed seedling raising operation is conveyed to a corresponding position by the conveyer belt on the seedling tray conveying platform I of the square seedling raising machine, the conveyer belt stops moving for a period of time, and in the period of time, the seedling tray grabbing manipulator of the square seedling raising machine is translated to a position right above the seedling tray and stops to prepare for grabbing the seedling tray. Step 2, as shown in fig. 6, the seedling tray grabbing manipulator translates downwards to a seedling tray handle, and the gripper grabs the seedling tray under the driving of the electric telescopic rod. And step 3, as shown in fig. 7, the seedling tray grabbing manipulator carries the seedling tray to a position above a corresponding position of the seedling tray stacking trolley II and then stops. And step 4, as shown in fig. 8, the seedling tray grabbing manipulator translates downwards and places the seedling tray on a seedling tray stacking trolley II. And 5, as shown in fig. 9, after the hand grip finishes the placing action, the hand grip is driven by the driving telescopic rod to open, the seedling tray is loosened, and the hand grip is driven by the three-way linear sliding table to move to the initial position. Therefore, the tray unloading and stacking work of one seedling tray is completed, the rest seedling trays needing tray unloading and stacking are needed, and the operation steps are repeated in the working process.
Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention may be implemented by or using the prior art, which is not described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present invention and not for limiting the present invention, and the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and shall also fall within the scope of the claims of the present invention.
Claims (5)
1. The utility model provides an automatic pile up neatly device that unloads of square seedling raising machine seedling tray which characterized in that: the three-way linear sliding table comprises two longitudinal horizontal linear guide rails (20 and 27) which are arranged in parallel and fixedly connected with the supporting frame and a transverse horizontal linear guide rail (2) of which two ends are respectively connected onto the two longitudinal horizontal linear guide rails (20 and 27) in a sliding manner through longitudinal sliding blocks (5 and 4), a transverse sliding block (3) is connected onto the transverse horizontal linear guide rail (2) in a sliding manner, a vertical linear guide rail (1) is connected onto the transverse sliding block (3) in a sliding manner, and a grabbing manipulator is arranged at the lower end of the vertical linear guide rail (1);
the device also comprises a longitudinal driving device for driving the longitudinal sliding blocks (5 and 4) to move along longitudinal horizontal linear guide rails (20 and 27), a transverse driving device for driving the transverse sliding block (3) to move along a transverse horizontal linear guide rail (2), and a vertical driving device for driving the vertical linear guide rail (1) to move in the transverse sliding block (3);
the longitudinal driving device comprises two longitudinal servo motors fixed in each longitudinal horizontal linear guide rail, output shafts of the two longitudinal servo motors are connected through a longitudinal synchronous belt, and the longitudinal synchronous belt is fixedly connected with the longitudinal sliding block; output shafts of two opposite longitudinal servo motors in the two longitudinal horizontal linear guide rails (20, 27) are connected through a synchronous rod (23);
the vertical driving device comprises two vertical servo motors fixed in the vertical linear guide rail, output shafts of the two vertical servo motors are connected through a vertical synchronous belt, and the vertical synchronous belt is fixedly connected with the transverse sliding block (3);
the longitudinal horizontal linear guide rails (20, 27), the transverse horizontal linear guide rail (2) and the vertical linear guide rail (1) are all hollow shell structures.
2. The automatic tray unloading and stacking device of the square seedling raising machine as claimed in claim 1, which is characterized in that: the grabbing manipulator comprises a bearing plate (12) fixed on the lower end face of the vertical linear guide rail (1) and an electric telescopic rod (11) fixed on one side face of the vertical linear guide rail (1) and vertically arranged, wherein two ends of the bearing plate (12) are respectively hinged with a gripper (13, 14), the lower end of the electric telescopic rod (11) is hinged with two connecting rods (15, 32), the other ends of the two connecting rods (15, 32) are respectively hinged with the gripper (13, 14), and the connecting rod and the gripper are located below the hinge point of the bearing plate and the gripper.
3. The automatic tray unloading and stacking device of the square seedling raising machine as claimed in claim 1, which is characterized in that: the transverse driving device comprises two transverse servo motors fixed in the transverse horizontal linear guide rail, output shafts of the two transverse servo motors are connected through a transverse synchronous belt, and the transverse synchronous belt is fixedly connected with the transverse sliding block (3).
4. The automatic tray unloading and stacking device of the square seedling raising machine as claimed in claim 1, which is characterized in that: and limiting blocks are respectively fixed at two ends of the longitudinal horizontal linear guide rails (20, 27), the transverse horizontal linear guide rail (2) and the vertical linear guide rail (1).
5. The automatic tray unloading and stacking device of the square seedling raising machine as claimed in claim 1, which is characterized in that: the support frame comprises a guide rail fixing rod (6) with two ends fixedly connected with the two longitudinal horizontal linear guide rails respectively, and four support legs (7, 8, 21 and 29) fixedly connected with the bottom surfaces of the two longitudinal horizontal linear guide rails, wherein the four support legs are located at the end parts of the two longitudinal horizontal linear guide rails respectively, and bases are inserted into the lower ends of the four support legs.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710380004.0A CN107055115B (en) | 2017-05-25 | 2017-05-25 | Automatic tray unloading and stacking device for seedling trays of square seedling raising machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710380004.0A CN107055115B (en) | 2017-05-25 | 2017-05-25 | Automatic tray unloading and stacking device for seedling trays of square seedling raising machine |
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| CN107055115A CN107055115A (en) | 2017-08-18 |
| CN107055115B true CN107055115B (en) | 2022-11-18 |
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| CN201710380004.0A Active CN107055115B (en) | 2017-05-25 | 2017-05-25 | Automatic tray unloading and stacking device for seedling trays of square seedling raising machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108238445A (en) * | 2018-03-12 | 2018-07-03 | 杭州国辰机器人科技有限公司 | A kind of printing machine automatic clamping and placing cloth apparatus |
| CN108723266A (en) * | 2018-06-29 | 2018-11-02 | 中民筑友有限公司 | A kind of processing of spiral and sleeve install equipment |
| CN110972613A (en) * | 2019-12-31 | 2020-04-10 | 湖北楚清渔耕农业开发有限公司 | Assembly line for seedling culture |
| CN112345593A (en) * | 2020-10-30 | 2021-02-09 | 杭州鲁尔物联科技有限公司 | High-precision deep soil moisture detection device and implementation method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2011173208A (en) * | 2010-02-24 | 2011-09-08 | Denso Wave Inc | Robot |
| CN201745768U (en) * | 2010-06-24 | 2011-02-16 | 江阴纳尔捷机器人有限公司 | Packer moving manipulator |
| CN201873342U (en) * | 2010-11-10 | 2011-06-22 | 白银有色集团股份有限公司 | Manipulator clamp for stacking zinc ingots |
| CN202862210U (en) * | 2012-11-08 | 2013-04-10 | 山东省科学院自动化研究所 | Stacking manipulator for solar glass tube |
| CN203254422U (en) * | 2013-03-28 | 2013-10-30 | 苏州嘉诺资源再生技术有限公司 | Stacking robot operating system |
| CN203638769U (en) * | 2013-11-15 | 2014-06-11 | 湖南中烟工业有限责任公司 | Cigarette pack stacking device |
| CN205870516U (en) * | 2016-06-06 | 2017-01-11 | 福建工程学院 | Panel mounting truss manipulator |
| CN205870514U (en) * | 2016-07-27 | 2017-01-11 | 赵怀平 | Truss -like loading and unloading car robot |
| CN206735386U (en) * | 2017-05-25 | 2017-12-12 | 山东农业大学 | A kind of cube seedling culturing machine seed plate automatic disk discharging palletizing apparatus |
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