CN107079642A - One kind swings upset entire row seedling taking device and method - Google Patents
One kind swings upset entire row seedling taking device and method Download PDFInfo
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- CN107079642A CN107079642A CN201710317147.7A CN201710317147A CN107079642A CN 107079642 A CN107079642 A CN 107079642A CN 201710317147 A CN201710317147 A CN 201710317147A CN 107079642 A CN107079642 A CN 107079642A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
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Abstract
A kind of swing upset entire row seedling taking device and method, including swing mechanism, switching mechanism, entire row folder seedling system and control system are provided the invention belongs to agricultural mechanical field；The swing mechanism is door frame type, and the switching mechanism is located on the swing mechanism, and the entire row folder seedling system is located on the installing plate of the switching mechanism；Using door frame type rotatable mechaninism driving entire row folder seedling system close to Plug seedling to be transplanted, switching mechanism drives entire row folder seedling system to push rice shoot plant aside, entire row folder seedling system grips out Plug seedling in hole tray hole, entire row folder seedling system when throwing seedling is returned to scatter release Plug seedling, Plug seedling entire row bending gripping, disposable release can be realized, divides throw in order, has deposit with seedling taking, presss from both sides alms bowl no seedling injury, translation throwing seedling is smooth, and automatic seedling taking throws the features such as height of seedling is imitated.The present invention is simple in construction, can be prevented effectively from and hinder seedling and hinder alms bowl, can be used in Plug seedling transplanting at a high speed.
Description
Technical field
Entire row seedling taking device and method are overturn the invention belongs to agricultural mechanical field, more particularly to a kind of swing.
Background technology
Transplant apparatus is automated as the capital equipment in vegetable cultivation machineryization, is to develop in the world for nearly 15 years
The new equipment come, has been developed that mechanical, robot type transplant apparatus at present.As Italy's Ferrari all automatic vegetables are transplanted
Machine, using rigid foam hole plate seedling growth, complete machine is driven by air-liquid, and automatic detection is transplanted leakage seedling and filled the gaps with seedlings, and transplanting plant spacing can
According to operating speed adjust automatically.
The domestic mechanization transplanting technical research to crops nursery early in 1950s at the non-beginning of the sixties just
Start, successfully have developed polytype semi-automatic transplanter, it is necessary to which artificial seedling taking throws seedling to transplanter.Just actively grind at present
Automatic Transplanter processed, seedling picking mechanism is the core work part of Automatic Transplanter, departs from cave instead of human hand gripping Plug seedling
Disk, then stable holding Plug seedling discharge Plug seedling, fallen into planting apparatus to seedling point is thrown, so that planting mechanism completes plant operation.
A kind of pneumatic bowl seedling transplanter seedling taking system, application number：201510222748.0, coordinated using Ding Miao mechanisms and seedling taking device
Efficient quick completes to pick and place seedling operation, and the system architecture is complicated, and pushes up seedling from cavities bottom using Ding Miao mechanisms, normal to the country
Flexible plastic hole tray is not applied to, easy bursting hole tray.A kind of pneumatic seedling taking device in a row of pot seedling transplanter, application number：
201510540077.2, using motion synthesis of the swing and small door frame one end of big door frame along groove into needs seedling pick-up trajectory,
Throwing device is taken to realize that seedling taking promotes seedling taking to have unstability, use cunning with throwing seedling action, the device using one end with reference to control
Groove increases friction, and bowl seedling taking is inserted directly into during seedling taking and easily hinders seedling, does not account for rice shoot plant characteristic.Improving nursery matter
Amount, enhancing seedling alms bowl packing is often cultivated big plant seedling, taken discounting for plant characteristic to improve during seedling taking success rate
Transplantation of seedlings, hinders growth of cereal crop seedlings condition relatively more.For this reason, it may be necessary to further develop seedling picking mechanism, artificial seedling taking can not only be replaced, seedling is put, also
Many plants of gripping Plug seedlings of energy are to improve efficiency, while the plant characteristic of rice shoot is considered as, the plant seedling at the particularly big length of time rice seedlings grow, to subtract
Hinder seedling during few seedling taking.
The content of the invention
Upset entire row seedling taking device and method are swung it is an object of the invention to provide one kind, is driven using door frame type swing mechanism
Dynamic entire row folder seedling system is close to Plug seedling to be transplanted, and switching mechanism drives entire row folder seedling system to push rice shoot plant, entire row folder aside
Seedling system grips out Plug seedling in hole tray hole, and entire row folder seedling system when throwing seedling that returns requires scattered release hole tray according to seedling is thrown
Seedling, so as to realize Plug seedling entire row bending gripping, in order point throwing, can efficiently complete seedling taking operation instead of artificial, meet Plug seedling
Transplanting at a high speed requirement.
The technical scheme is that：One kind swings upset entire row seedling taking device, including swing mechanism, switching mechanism, whole
Row folding seedling system and control system；
The swing mechanism is door frame type, including two erection supports, two rotating shaft A, two swing rods, two sets of retractor devices
A and header board；Two erection supports are respectively fixedly connected with frame, and the two ends of header board are consolidated with one end of two swing rods respectively
Fixed connection, two swing rods are mounted in parallel, are hinged respectively by rotating shaft A with erection support；Retractor device A include telescoping mechanism A and
Connecting plate, telescoping mechanism A flexible head and swing rod are hinged, and telescoping mechanism A body afterbody is hinged by connecting plate with frame,
Two telescoping mechanism A promote swing mechanism to be swung by the centre of gyration of rotating shaft A；
The switching mechanism is located on the swing mechanism, including two returning face plates, two rotating shaft Cs, two sets of retractor device B
And installing plate, two returning face plates are mounted in parallel, and one end of returning face plate is hinged by one end of rotating shaft C and swing rod respectively, installing plate
It is arranged in parallel, installing plate two ends are fastened on two returning face plates respectively, retractor device B includes telescoping mechanism B, stretches with header board
Mechanism B flexible head and the other end of returning face plate are hinged, and the other end of telescoping mechanism B bodies afterbody and swing rod is hinged, two
Telescoping mechanism B promotes two returning face plates to drive installing plate to be overturn by the centre of gyration of rotating shaft C；
Entire row folder seedling system is located on the installing plate of the switching mechanism, including multiple seedling claws, multiple gear seedling plates,
Multiple parallel moving mechanisms, multiple locking plates and two sets of retractor device C；The seedling claw is fastened on the translation of multiple parallel moving mechanisms respectively
On part, on the seedling taking side of each seedling claw be fixedly mounted one gear seedling plate, the body part of multiple parallel moving mechanisms with it is described
The installing plate prismatic pair connection of switching mechanism, and concatenated in a row by multiple locking plates, retractor device C includes rotating shaft F, telescopic machine
Structure C and tailstock, telescoping mechanism C flexible head are hinged on by rotating shaft F on the body of outermost parallel moving mechanism, telescoping mechanism C
Body afterbody is hinged on the installing plate by tailstock, and two telescoping mechanism C promote parallel moving mechanism to drive seedling claw installing
Close up alignment seedling taking cavities and expansion alignment seedlings picking cup on plate；
The control system respectively with two telescoping mechanism A, two telescoping mechanism B, two telescoping mechanism C, multiple seedling takings
Pawl, the electrical connection of multiple parallel moving mechanisms.
In such scheme, some flutings are provided with the swing rod vertically；
The flexible head of the telescoping mechanism A is hinged by rotating shaft B with swing rod, rotating shaft B is placed in the fluting on swing rod,
And the axial location in fluting can be adjusted；
The telescoping mechanism B bodies afterbody is hinged by rotating shaft E and the swing rod other end, and rotating shaft E is placed on swing rod
In fluting and it can adjust the axial location in fluting.
In such scheme, seedling claw, gear seedling plate, parallel moving mechanism and the locking plate of entire row folder seedling system quantitatively with
The quantity of entire row Plug seedling to be transplanted matches.
In such scheme, the locking plate is fixedly connected with the body part of parallel moving mechanism；Except middle two locking plates it
Between do not concatenate outer, concatenated between adjacent locking plate by chain, two telescoping mechanism C telescopic head portion pulls both sides respectively
Parallel moving mechanism is displaced outwardly, and drives locking plate and seedling claw to the scattered movement in both sides.
In such scheme, multiple seedling claws press from both sides alms bowl seedling taking end effector for the spininess of configuration of the same race.
In such scheme, the telescoping mechanism A, telescoping mechanism B and telescoping mechanism C are straight line cylinder, hydraulic cylinder or electronic
Any one in expansion link.
In such scheme, the parallel moving mechanism is any one in Rodless cylinder, multiaxis cylinder, electric cylinder.
In such scheme, the flexible head of the telescoping mechanism B is hinged by the other end of rotating shaft D and returning face plate.
A kind of method of swing upset entire row seedling taking device described in basis, the described method comprises the following steps：
Step S1, the control system control the telescoping mechanism A to stretch out and promote swing rod to seedling taking point；
Step S2, the control system control the telescoping mechanism B to retract and pull returning face plate drive installing plate tilting upset,
The seedling claw on installing plate is pushed Plug seedling open by gear seedling plate and perform the seedling taking action of folder alms bowl；
Step S3, control system control parallel moving mechanism make seedling claw from cave along seedling claw is lifted away from hole tray direction
Entire row grips out Plug seedling to be transplanted in disk hole cave；
Step S4, control system control telescoping mechanism B stretch out and promote returning face plate to drive installing plate to push upset, make peace
Fill the seedling claw on plate and perform throwing seedling action；
Step S5, control system control telescoping mechanism A retractions pull the swing rod that door frame type is constructed to throwing seedling point；
Step S6, control system control parallel moving mechanism decentralization seedling claw, two telescoping mechanism C of control promote multiple take
Seedling pawl deploys, then controls the seedlings picking units such as multiple seedling claw alignment seedling guiding tubes uprightly to throw seedling；
Step S7, repeat step S1 are to step S6, and the control system controls multiple seedling claws from entire row in hole tray hole
Grip out Plug seedling to be transplanted, the reinflated upright seedling taking work thrown seedling in order, needed until completion.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention provides a kind of swing and overturns entire row seedling taking device
And method, using door frame type rotatable mechaninism driving entire row folder seedling system close to Plug seedling to be transplanted, switching mechanism drives entire row
Folder seedling system pushes rice shoot plant aside, and entire row folder seedling system grips out Plug seedling in hole tray hole, returns to entire row folder seedling when throwing seedling
System scatter release Plug seedling, can realize Plug seedling entire row bending gripping, disposable release, point throw in order, with seedling taking
There is deposit, press from both sides alms bowl no seedling injury, translation throwing seedling is smooth, and automatic seedling taking throws the features such as height of seedling is imitated.The present invention is simple in construction, can effectively keep away
Exempt to hinder seedling and hinder alms bowl, can be used in Plug seedling transplanting at a high speed.
Brief description of the drawings
Fig. 1 is the overall structure diagram of an embodiment of the present invention.
Fig. 2 is the swing mechanism schematic diagram of an embodiment of the present invention.
Fig. 3 is the switching mechanism schematic diagram of an embodiment of the present invention.
Fig. 4 is the entire row folder seedling system schematic of an embodiment of the present invention.
Fig. 5 is the seedling taking original state schematic diagram of an embodiment of the present invention.
Fig. 6 is the seedling taking working state schematic representation of an embodiment of the present invention.
Fig. 7 is the throwing seedling original state schematic diagram of an embodiment of the present invention.
Fig. 8 is the throwing seedling working state schematic representation of an embodiment of the present invention.
In figure：1st, erection support；2nd, rotating shaft A；3rd, swing rod；4th, rotating shaft B；5th, telescoping mechanism A；6th, connecting plate；7th, header board；
8th, entire row folder seedling system；801st, installing plate；802nd, seedling plate is kept off；803rd, rotating shaft F；804th, telescoping mechanism C；805th, tailstock；806th, lock
Only plate；807th, parallel moving mechanism；808th, seedling claw；9th, rotating shaft C；10th, returning face plate；11st, rotating shaft D；12nd, telescoping mechanism B；13rd, rotating shaft
E；14th, hole tray；15th, Plug seedling；16th, control system.
Embodiment
In order to be more clearly understood to the technical characteristic of invention, purpose and effect, now control brief description of the drawings is of the invention
Embodiment, in the various figures identical label represent same or analogous part.Accompanying drawing is merely to illustrate the present invention, no
Represent the practical structures and actual proportions of the present invention.
Fig. 1 show a kind of embodiment for swinging upset entire row seedling taking device, and the swing overturns entire row seedling taking
Device, including swing mechanism, switching mechanism, entire row folder seedling system 8 and control system 16.
Fig. 2 show the swing mechanism schematic diagram, and the swing mechanism is door frame type swing mechanism, and branch is installed by two
Seat 1, two rotating shaft A2, two swing rods 3, two sets of retractor device A, header boards 7 are constituted, and two erection supports 1 are fixedly connected on machine
On frame, the two ends of header board 7 are fastened on two swing rods 3, and two swing rods 3 are mounted in parallel, and are each hinged by two rotating shaft A2
On two erection supports 1, so as to form the swing mechanism of door frame type construction, two sets of retractor device A connect two swing rods respectively
3, it is made up of two rotating shaft B4, two telescoping mechanism A5, two connecting plates 6, two telescoping mechanism A5 flexible head passes through two
Individual rotating shaft B4 anastomosis is each hinged on two swing rods 3, and its body afterbody is cut with scissors by the anastomosis of two connecting plates 6
It is connected in frame, promotes the swing mechanism that door frame type is constructed using two rotating shaft A2 as in turning round so as to form two telescoping mechanism A5
The heart swings seedling taking and throws seedling.
Fig. 3 show the switching mechanism schematic diagram, and the switching mechanism is located on the swing mechanism, by two upsets
Plate 10, two rotating shaft Cs 9, two sets of retractor device B, installing plates 801 are constituted, and two returning face plates 10 are mounted in parallel, and pass through two rotating shafts
C9 is each hinged on two swing rods 3 of the swing mechanism, the parallel cloth of header board 7 of installing plate 801 and the swing mechanism
Put, its two ends is fastened on two returning face plates 10, two sets of retractor device B connect two returning face plates 10 respectively, by two rotating shafts
D11, two telescoping mechanism B12, two rotating shaft E13 compositions, two telescoping mechanism B12 flexible head passes through two rotating shaft Ds 11
Anastomosis be each hinged on two returning face plates 10, its body afterbody is each cut with scissors by two rotating shaft E13 anastomosis
It is connected on two swing rods 3 of the swing mechanism, is installed so as to form two telescoping mechanism B12 and promote two returning face plates 10 to drive
Plate 801 is centre of gyration upset seedling taking with two rotating shaft Cs 9 and throws seedling.
Fig. 4 show the entire row folder seedling system schematic, and the entire row folder seedling system 8 is located at the peace of the switching mechanism
Fill on plate 801, stretched by multiple seedling claws 808, multiple gear seedling plates 802, multiple parallel moving mechanisms 807, multiple locking plates 806, two sets
Compression apparatus C is constituted, and multiple seedling claws 808 are the seedling taking end effector of configuration of the same race, and multiple parallel moving mechanisms 807 are fastened on respectively
Translation part on, a gear seedling plate 802 is fixedly mounted on the seedling taking side of each seedling claw 808, multiple parallel moving mechanisms 807
Body part is connected with the installing plate 801 of the switching mechanism in prismatic pair form, and is made by the concatenation of multiple locking plates 806
It is in a row with connection, C points of outermost parallel moving mechanisms 807 of half-connection of two sets of retractor devices, by two rotating shaft F803, two telescopic machines
Structure C804, two tailstocks 805 are constituted, and two telescoping mechanism C804 flexible head is each by two rotating shaft F803 anastomosis
From being hinged on the body of outermost parallel moving mechanism 807, its body afterbody is hinged on institute by the anastomosis of two tailstocks 805
State on the installing plate 801 of switching mechanism, promote multiple parallel moving mechanisms 807 to drive multiple take so as to form two telescoping mechanism C804
Seedling pawl 808 closes up alignment seedling taking cavities seedling taking on the installing plate 801 of the switching mechanism and expansion alignment seedlings picking cup throws seedling.
The control system 16 respectively with two telescoping mechanism A5, two telescoping mechanism B12, two telescoping mechanism C804,
Multiple seedling claws 808, the control link of multiple parallel moving mechanisms 807；The control system 16 works according to upset entire row seedling taking is swung
It is required that controlling two telescoping mechanism A5 to promote swing mechanism to be swung by the centre of gyration of rotating shaft A2 respectively, two telescoping mechanisms are controlled
B12 promotes two returning face plates 10 to drive installing plate 801 to be overturn with rotating shaft C 9 for the centre of gyration, and two telescoping mechanism C804 of control are pushed away
Dynamic parallel moving mechanism 807 drives seedling claw 808 to close up alignment seedling taking cavities and expansion alignment seedlings picking cup, control on installing plate 801
Make multiple seedling claws 808 and alms bowl seedling taking is pressed from both sides to cave, control multiple parallel moving mechanisms 807 to drive multiple seedling claws 808 from the hole of hole tray 14
In entire row extract Plug seedling 15.
Some flutings are provided with the swing rod 3 vertically；The flexible head of the telescoping mechanism A5 passes through rotating shaft B4 and pendulum
Bar 3 is hinged, and in the fluting that rotating shaft B4 is placed on swing rod 3 and can adjust the axial location in fluting；The telescoping mechanism
B12 bodies afterbody is hinged by rotating shaft E13 and swing rod 3 other end, and rotating shaft E13 is placed in the fluting on swing rod 3 and can be with
Adjust the axial location in fluting.By the telescopic machine for adjusting the telescoping mechanism A5 of the swing mechanism, the switching mechanism
Articulated positions and flexible stroke of the structure B12 on swing rod 3, can form different swing and overturn seedling taking and throw seedling track, so as to adapt to
Different posture seedling takings and throwing seedling requirement.
Multiple seedling claws 808, multiple gear seedling plates 802, multiple parallel moving mechanisms 807, the Duo Gesuo of the entire row folder seedling system 8
Only plate 806 quantitatively matches the entire row seedling taking needs of Plug seedling 15 to be transplanted.
Motion by combining the swing mechanism and switching mechanism Liang Ge mechanisms can make the entire row folder seedling system 8 vertical
In the seedling taking of hole tray 14 and upright throwing seedling.
Two telescoping mechanism C804 of the entire row folder seedling system 8, to the impetus of multiple parallel moving mechanisms 807, are to drive
Multiple seedling claws 808 are to realize that closing up seedling taking and upright expansion in hole tray 14 throws seedling, so as to make up between seedling taking interval and throwing seedling
Difference between.
It can make gear seedling plate 802 by adjusting the motion sequential of the swing mechanism and switching mechanism Liang Ge mechanisms in seedling taking
Bending Plug seedling 15 to be transplanted, so as to hinder seedling when avoiding seedling taking.
The locking plate 806 is fixedly connected with the body part of parallel moving mechanism 807；Except between middle two locking plates 806
Outside not concatenating, concatenated between adjacent locking plate 806 by chain, two telescoping mechanism C804 telescopic head portion pulls two respectively
The parallel moving mechanism 807 on side is displaced outwardly, and drives locking plate 806 and seedling claw 808 to be moved to both sides.Multiple locking plates are more than 806 pairs
The concatenation effect of individual seedling claw 808, is multiple seedling claws 808 is directed at cavities in seedling taking, alignment seedling guiding tube etc. when throwing seedling
Seedlings picking unit.
The seedling claw 808 of entire row folder seedling system 8 has folder alms bowl seedling taking function, under the drive of parallel moving mechanism 807 from
Plug seedling 15 to be transplanted is taken out in the hole of hole tray 14.
The telescoping mechanism A5 of the swing mechanism, the telescoping mechanism B12 of the switching mechanism, entire row folder seedling system 8
Telescoping mechanism C804 be straight line cylinder, hydraulic cylinder, electric expansion bar the motion of any one or other linear telescopics
Unit, the parallel moving mechanism 807 that the entire row presss from both sides seedling system 8 is any one of Rodless cylinder, multiaxis cylinder, electric cylinder, also may be used
To be other linear translational motion units.
The present invention also provides a kind of according to the method for swinging and overturning entire row seedling taking translation throwing seedling, and Fig. 5~Fig. 8 is shown
Swing upset entire row seedling taking schematic diagram；The present embodiment is swung exemplified by seedling is thrown in the seedling taking translation of upset entire row by 128 cave Plug seedlings and carried out
Illustrate, general layout is cultivated according to 128 cave Plug seedlings 8 × 16, arrange 8 seedling claws 808 seedling taking at equal intervals, entire row 16 is taken in two times
Seedling, the corresponding gear seedling plate 802 of configuration, parallel moving mechanism 807, locking plate 806 are then a kind of to swing the seedling taking translation of upset entire row and throw
Seedling-growing method, comprises the following steps：
Step S1, as shown in figure 5, the control of the control system 16 telescoping mechanism A5 stretches out the swing rod for promoting door frame type construction
3 arrive seedling taking point；
Step S2, the pulling drive peace of returning face plate 10 as shown in fig. 6, the control telescoping mechanism of the control system 16 B12 retracts
Fill plate 801 and tilt upset, the seedling claw 808 on installing plate 801 is pushed Plug seedling 15 open by gear seedling plate 802 and perform folder alms bowl seedling taking
Action；
Step S3, the control parallel moving mechanism 807 of the control system 16 lift seedling claw 808 along away from the direction of hole tray 14, make
Seedling claw 808 grips out Plug seedling 15 to be transplanted from entire row in the hole of hole tray 14；
Step S4, as shown in fig. 7, the control of the control system 16 telescoping mechanism B12 stretches out and promotes returning face plate 10 to drive peace
Dress plate 801 pushes upset, performs the seedling claw 808 on installing plate 801 and throws seedling action；
Step S5, the control telescoping mechanism A5 retractions of the control system 16 pull the swing rod 3 of door frame type construction to arrive and throw seedling point；
Step S6, as shown in figure 8, the control system 16 control parallel moving mechanism 807 decentralization seedling claw 808, control two
Telescoping mechanism C804 promotes multiple seedling claws 808 to deploy, then controls the seedlings picking units such as the multiple alignment of seedling claw 808 seedling guiding tubes upright
Seedling is thrown in order；
Step S7, repeat step S1 are to step S6, and the control system 16 controls multiple seedling claws 808 from the hole of hole tray 14
In entire row grip out Plug seedling 15 to be transplanted, it is reinflated it is upright throw seedling in order, until the seedling taking work for completing to need.
It should be understood that, although this specification is described according to each embodiment, but not each embodiment only includes one
Individual independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art will should say
Bright book is as an entirety, and the technical solutions in the various embodiments may also be suitably combined, and forming those skilled in the art can be with
The other embodiment of understanding.
The a series of detailed description of those listed above illustrating only for the possible embodiments of the present invention,
They simultaneously are not used to limit the scope of the invention, all equivalent embodiments made without departing from skill spirit of the present invention or change
It should be included in the scope of the protection.
Claims (9)
1. one kind swings upset entire row seedling taking device, it is characterised in that including swing mechanism, switching mechanism, entire row folder seedling system
And control system (16) (8)；
The swing mechanism is door frame type, including two erection supports (1), two rotating shaft A (2), two swing rods (3), two sets stretch
Compression apparatus A and header board (7)；Two erection supports (1) are respectively fixedly connected with frame, the two ends of header board (7) respectively with
One end of two swing rods (3) is fixedly connected, and two swing rods (3) are mounted in parallel, and is cut with scissors respectively by rotating shaft A (2) and erection support (1)
Connect；Retractor device A includes telescoping mechanism A (5) and connecting plate (6), and telescoping mechanism A (5) flexible head and swing rod (3) are hinged,
Telescoping mechanism A (5) body afterbody is hinged by connecting plate (6) with frame, two telescoping mechanism A (5) promote swing mechanisms with
Rotating shaft A (2) swings for the centre of gyration；
The switching mechanism is located on the swing mechanism, including two returning face plates (10), two rotating shaft Cs (9), two sets of flexible dresses
B and installing plate (801) are put, two returning face plates (10) are mounted in parallel, one end of returning face plate (10) passes through rotating shaft C (9) and pendulum respectively
One end of bar (3) is hinged, and installing plate (801) is arranged in parallel with header board (7), and installing plate (801) two ends are fastened on two respectively
On returning face plate (10), retractor device B includes telescoping mechanism B (12), telescoping mechanism B (12) flexible head and returning face plate (10)
The other end is hinged, and the other end of telescoping mechanism B (12) body afterbody and swing rod (3) is hinged, and two telescoping mechanism B (12) promote two
Individual returning face plate (10) drives installing plate (801) to be overturn with rotating shaft C (9) for the centre of gyration；
Entire row folder seedling system (8) is located on the installing plate (801) of the switching mechanism, including multiple seedling claws (808), many
Individual gear seedling plate (802), multiple parallel moving mechanisms (807), multiple locking plates (806) and two sets of retractor device C；The seedling claw
(808) it is fixed on the seedling taking side of each seedling claw (808) on the translation part for being fastened on multiple parallel moving mechanisms (807) respectively
One gear seedling plate (802) is installed, the body part of multiple parallel moving mechanisms (807) is moved with the installing plate (801) of the switching mechanism
Dynamic secondary connection, and concatenated in a row by multiple locking plates (806), retractor device C includes rotating shaft F (803), telescoping mechanism C (804)
With tailstock (805), telescoping mechanism C (804) flexible head is hinged on outermost parallel moving mechanism (807) by rotating shaft F (803)
On body, telescoping mechanism C (804) body afterbody is hinged on the installing plate (801) by tailstock (805), two telescopic machines
Structure C (804) promotes parallel moving mechanism (807) to drive seedling claw (808) to close up alignment seedling taking cavities and expansion on installing plate (801)
It is directed at seedlings picking cup；
The control system (16) respectively with two telescoping mechanism A (5), two telescoping mechanism B (12), two telescoping mechanism C
(804), multiple seedling claws (808) and multiple parallel moving mechanisms (807) electrical connection.
2. a kind of swing according to claim 1 overturns entire row seedling taking device, it is characterised in that edge on the swing rod (3)
It is axially arranged with some flutings；
The flexible head of the telescoping mechanism A (5) is hinged by rotating shaft B (4) with swing rod (3), and rotating shaft B (4) is placed on swing rod (3)
On fluting in and can adjust the axial location in fluting；
Telescoping mechanism B (12) the body afterbody is hinged by rotating shaft E (13) and swing rod (3) other end, and rotating shaft E (13) is placed
In fluting on swing rod (3) and it can adjust the axial location in fluting.
3. a kind of swing according to claim 1 overturns entire row seedling taking device, it is characterised in that the entire row presss from both sides seedling system
(8) seedling claw (808), gear seedling plate (802), parallel moving mechanism (807) and locking plate (806) quantitatively with entire row to be transplanted
The quantity of Plug seedling (15) matches.
4. a kind of swing according to claim 1 overturns entire row seedling taking device, it is characterised in that the locking plate (806)
It is fixedly connected with the body part of parallel moving mechanism (807)；In addition to not concatenated between middle two locking plates (806), adjacent lock
Only concatenated between plate (806) by chain, the telescopic head portion of two telescoping mechanism C (804) pulls the parallel moving mechanism on both sides respectively
(807) it is displaced outwardly, drives locking plate (806) and seedling claw (808) to the scattered movement in both sides.
5. a kind of swing according to claim 1 overturns entire row seedling taking device, it is characterised in that multiple seedling claws
(808) it is the spininess folder alms bowl seedling taking end effector of configuration of the same race.
6. a kind of swing according to claim 1 overturns entire row seedling taking device, it is characterised in that the telescoping mechanism A
(5), telescoping mechanism B (12) and telescoping mechanism C (804) are any one in straight line cylinder, hydraulic cylinder or electric expansion bar.
7. a kind of swing according to claim 1 overturns entire row seedling taking device, it is characterised in that the parallel moving mechanism
(807) it is any one in Rodless cylinder, multiaxis cylinder, electric cylinder.
8. a kind of swing according to claim 1 overturns entire row seedling taking device, it is characterised in that the telescoping mechanism B
(12) flexible head is hinged by rotating shaft D (11) and the other end of returning face plate (10).
9. a kind of method according to claim 1 for swinging upset entire row seedling taking device, it is characterised in that methods described bag
Include following steps：
Step S1, the control system (16) control the telescoping mechanism A (5) to stretch out and promote swing rod (3) to seedling taking point；
Step S2, the control system (16) control the telescoping mechanism B (12) to retract and pull returning face plate (10) drive installing plate
(801) upset is tilted, the seedling claw (808) on installing plate (801) is pushed Plug seedling (15) open by gear seedling plate (802) and performs folder
Alms bowl seedling taking is acted；
Step S3, the control system (16) control parallel moving mechanism (807) edge lift seedling claw away from hole tray (14) direction
(808) seedling claw (808), is made to grip out Plug seedling (15) to be transplanted from entire row in hole tray (14) hole；
Step S4, the control system (16) control telescoping mechanism B (12), which stretch out, promotes returning face plate (10) to drive installing plate (801)
Upset is pushed, the seedling claw (808) on installing plate (801) is performed and throws seedling action；
Step S5, the control system (16) control telescoping mechanism A (5) retractions pull the swing rod (3) of door frame type construction to arrive and throw seedling
Point；
Step S6, the control system (16) control parallel moving mechanism (807) decentralization seedling claw (808), control two telescoping mechanism C
(804) promoting multiple seedling claw (808) expansion, then control multiple seedling claws (808) to be directed at the seedlings picking units such as seedling guiding tube uprightly has
Sequence throws seedling；
Step S7, repeat step S1 are to step S6, and the control system (16) controls multiple seedling claws (808) from hole tray (14) hole
Entire row grips out Plug seedling (15) to be transplanted, reinflated upright throwing seedling in order, until completing seedling taking work in cave.
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| CN201710317147.7A CN107079642B (en) | 2017-05-08 | 2017-05-08 | Swing overturning whole row seedling taking device and method |
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| CN107079642A true CN107079642A (en) | 2017-08-22 |
| CN107079642B CN107079642B (en) | 2023-05-05 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107466561A (en) * | 2017-09-06 | 2017-12-15 | 江苏大学 | A kind of top clip for automatic transplanter pulls out combination seedling taking device and its method of work |
| CN107660363A (en) * | 2017-09-06 | 2018-02-06 | 江苏大学 | A kind of automatic transplanter seedling picking mechanism |
| CN109315111A (en) * | 2018-11-09 | 2019-02-12 | 宝鸡市鼎铎机械有限公司 | A kind of manipulator seedling taking equipment |
| CN113016305A (en) * | 2021-05-06 | 2021-06-25 | 新疆天至农业机械制造有限公司 | Seedling taking device of transplanter |
| CN114208456A (en) * | 2021-12-17 | 2022-03-22 | 华南农业大学 | Slide track type variable-pitch plug tray seedling taking and throwing device capable of vertically taking seedlings |
| CN115053666A (en) * | 2022-07-04 | 2022-09-16 | 西北农林科技大学 | Automatic seeder suitable for paper bowl |
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| CN102405716A (en) * | 2011-11-03 | 2012-04-11 | 江苏大学 | Rotary oscillation seedling transplanting device of dry filed plug seedling transplanter |
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| CN105103744A (en) * | 2015-08-28 | 2015-12-02 | 江苏大学 | Pneumatic row-by-row seedling picking device of pot seedling transplanter |
| CN206790953U (en) * | 2017-05-08 | 2017-12-26 | 江苏大学 | One kind swings upset entire row seedling taking device |
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| CN201491493U (en) * | 2009-09-22 | 2010-06-02 | 韩长杰 | Automatic feeding device for plug-seedling transplantation |
| CN202127604U (en) * | 2011-06-30 | 2012-02-01 | 南京农业大学 | Turnover type pneumatic seedling taking device |
| CN102405716A (en) * | 2011-11-03 | 2012-04-11 | 江苏大学 | Rotary oscillation seedling transplanting device of dry filed plug seedling transplanter |
| CN104813782A (en) * | 2015-04-21 | 2015-08-05 | 江苏大学 | Tray seedling conveying, positioning and launching method for pot seedling transplanting machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107466561A (en) * | 2017-09-06 | 2017-12-15 | 江苏大学 | A kind of top clip for automatic transplanter pulls out combination seedling taking device and its method of work |
| CN107660363A (en) * | 2017-09-06 | 2018-02-06 | 江苏大学 | A kind of automatic transplanter seedling picking mechanism |
| CN109315111A (en) * | 2018-11-09 | 2019-02-12 | 宝鸡市鼎铎机械有限公司 | A kind of manipulator seedling taking equipment |
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| CN114208456A (en) * | 2021-12-17 | 2022-03-22 | 华南农业大学 | Slide track type variable-pitch plug tray seedling taking and throwing device capable of vertically taking seedlings |
| CN115053666A (en) * | 2022-07-04 | 2022-09-16 | 西北农林科技大学 | Automatic seeder suitable for paper bowl |
| CN115053666B (en) * | 2022-07-04 | 2023-08-18 | 西北农林科技大学 | Automatic seeder suitable for paper bowl |
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