CN107711009A - A kind of seedling taking and seeding separation of full-automatic pot seedling transplanter - Google Patents

Abstract

The present invention relates to the field of agricultural machinery, in particular to a seedling picking and separating mechanism of a fully automatic pot seedling transplanter, which includes a longitudinal optical axis, a transverse optical axis, a manipulator, a stepping motor, a screw linear stepping motor, a belt, Tooth plate. The longitudinal optical axis is located above the transverse optical axis, and the manipulator is placed at the intersection of each transverse optical axis and the longitudinal optical axis. The manipulator can realize horizontal and vertical two-way movement, and then realize two-dimensional seedling picking and seedling separation. The invention has a simple structure, a plurality of manipulators act at the same time, improves the seedling picking efficiency, completes the action of separating seedlings by the movement of the manipulators in the two-dimensional direction, and simplifies the structure of the transplanting machine.

Description

Seedling picking and seedling separation mechanism of a fully automatic pot seedling transplanting machine

technical field

The invention relates to a seedling picking and separating mechanism on a crop transplanter, in particular to a seedling picking and separating mechanism on a fully automatic seedling transplanting machine, belonging to the technical field of agricultural machinery.

Background technique

Agricultural mechanization is an inevitable trend of agricultural development, and planting mechanization is becoming an important field of agricultural mechanization. The plug-in seedling transplanting technology has the advantages of high seedling survival rate, short production cycle and improved land utilization rate. It has been promoted and applied in the fields of tobacco, corn and other crops. However, most of the current dryland transplanting machines are semi-automatic transplanting machines, which require manual picking of seedlings, and the labor intensity is high. The fully automatic transplanting machines studied by researchers in recent years are basically divided into several key links: seedling taking, seedling separation, and seedling planting. Although some machines have realized full automation of transplanting, there are generally low transplanting efficiency and mechanical Due to the complex characteristics of the mechanism, it is impossible to realize intensive planting in the field, and it is also impossible to perform automatic transplantation of densely planted crops. The reason is that the automation degree of the seedling picking process is low, and the efficiency of the seedling picking mechanism is low. After the seedling picking, it is still necessary to use a special seedling separation mechanism to expand the pot seedling spacing to the planting spacing between fields before planting in the field. These problems that get seedling and seedling separation mechanism exist limit the fully automatic development of transplanting machine.

Contents of the invention

Aiming at the limitations of the above-mentioned existing technologies, a two-dimensional seedling picking and seedling separation mechanism is proposed, which directly completes the two actions of seedling picking and seedling separation by one mechanism, which simplifies the structure of the automatic transplanting machine and provides a better future for the whole world. The basis for further automation of the automatic transplanter was laid.

In order to achieve the above object, the basic technical scheme of the seedling-taking and seedling-separating mechanism of the automatic pot seedling transplanting machine of the present invention:

A seedling picking and separating mechanism of a fully automatic pot seedling transplanting machine, comprising a longitudinal optical axis 1, a transverse optical axis 2, a manipulator 3, a stepping motor 11, a screw linear stepping motor 7, a belt 10, and a tooth plate 9 , the longitudinal optical axis 1 is located on the upper part of the transverse optical axis 2, the manipulator 3 is placed at the intersection of each longitudinal optical axis 1 and the transverse optical axis 2, and both ends of the longitudinal optical axis 1 are installed There is a laterally movable horizontal slider connector 6, and the lateral slider connector 6 is connected by a horizontal optical rod 14. Both ends of the lateral optical axis 2 are equipped with longitudinally movable longitudinal slider connectors 4, the The longitudinal slider connector 4 is connected by the longitudinal polished rod 13, and the horizontal polished rod 14 and the vertical polished rod 13 are connected in twos by four connecting blocks 8 to form an integral framework for getting seedlings and separating seedlings. The longitudinal slider connector 4 contains a fixed upper slider 15, a slidable slider 17, a bottom fixed piece 18 and a slider 16, and the movable slider 17 is connected with the vertically placed shaft 5 in the longitudinal direction. Connected with the transverse optical axis 2 , the movable slider 17 can slide up and down along the sliding column 16 . The screw linear stepping motor 7 rotates to drive the screw nut to move up and down, the screw nut is connected to the shaft 5 through a fixed block 12, and the shaft 5 drives the movable slider 17 to move up and down along the sliding column 16 , the slidable slider 17 drives the transverse optical axis 2 to move up and down. The belt 10 is only connected to the slider connectors at both ends of the polished rod (including the longitudinal and transverse directions, the same below) through the tooth plate 9, the slider connector at one end is connected to the upper part of the belt 10 through the tooth plate, and the The slider connector is connected to the lower part of the belt through the tooth plate, so that the stepper motor can rotate in one direction while the slider connectors at both ends move in opposite directions or oppositely. The horizontal slider connectors 6 are also connected by flexible ropes, and the longitudinal slider connectors 4 are also connected by flexible ropes. The length of the flexible ropes is equal to the distance between seedlings when pot seedlings are transplanted on the ground. . Described manipulator 3 contains vertically moving slide block 19, laterally moving slide block 21, bottom connecting block 22, trigger lever 23, guide post 20, connecting plate 25, getting seedling bar 24 and getting seedling needle 26. The laterally moving slider 21 is connected to the lateral optical axis 2, and the trigger lever 23 is connected to the laterally moving slider 21 through threads, and the laterally moving slider 21 can move up and down along the guide column 20, and the laterally moving The slider 21 drives the trigger lever 23 to move up and down, the trigger lever 23 drives the connecting plate 25 to move, the connecting plate 25 drives the seedling-taking lever 24 to complete the opening and closing action, and the seedling-taking lever 24 drives the seedling-taking needle 26 Complete clamping and releasing of seedlings.

The beneficial effects of the present invention are that, through a simple and reliable mechanical device, a plurality of manipulators are controlled to move at the same time, implement seedling clamping, and realize the seedling picking in the two-dimensional direction, thereby realizing the automation of the seedling picking process in the transplanting machine and improving the The seedling picking efficiency is high, and the seedling separation process is directly completed by the mechanism, which simplifies the mechanical structure of the transplanting machine.

Description of drawings

Fig. 1 is a structural schematic diagram of an embodiment of the present invention.

Fig. 2 is a structural schematic diagram of the longitudinal slider connector in Fig. 1 .

Fig. 3 is a front view and a structural schematic diagram of the manipulator.

Figures: longitudinal optical axis 1, transverse optical axis 2, manipulator 3, longitudinal slider connector 4, shaft 5, horizontal slider connector 6, lead screw linear stepping motor 7, connecting block 8, tooth plate 9, belt 10. Stepper motor 11, fixed block 12, longitudinal polished rod 13, horizontal polished rod 14, fixed upper slider 15, sliding column 16, movable slider 17, bottom fixed block 18, longitudinal moving slider 19, guide column 20, Transversely move slide block 21, bottom connection block 22, trigger lever 23, get seedling bar 24, connecting plate 25, get seedling needle 26.

Detailed ways

The present invention will be further described below in conjunction with accompanying drawing:

The basic principle of the present invention is: the stepper motor (11) drives the belt (10) to rotate, and the belt (10) drives the dispersion and closing of the horizontal slider connector (6) and the longitudinal slider connector (4), so that the horizontal The slider connector (6) and the longitudinal slider connector (4) drive the dispersion and closing of the horizontal optical axis (2) and the longitudinal optical axis (1), and then drive the manipulator (3) to realize the dispersion and closing, and complete the clamping and closing of seedlings. Divide the seedlings.

As shown in Figure 1, the longitudinal optical axis (1) is located on the upper part of the horizontal optical axis (2), and the manipulator (3) is placed at the intersection of each horizontal optical axis (2) and the longitudinal optical axis (1), and the manipulator (2) ) is connected to the longitudinal optical axis (1) through bearings, and the lateral movement slider (21) is also connected to the transverse optical axis (2) through bearings. The two ends of each horizontal optical axis (2) are connected with the vertically movable vertical slider connector (4) through bearings, and the two ends of each longitudinal optical axis (1) are connected with the laterally movable horizontal slider through bearings piece (6) is connected. Two rows of symmetrically distributed vertical slider connectors (4) are connected in series by longitudinal polished rods (13), and two rows of symmetrically distributed horizontal slider connectors (6) are connected in series by horizontal polished rods (14). Horizontal polished rods (14) and vertical polished rods (13) are connected by a connection block (8) in pairs, and four connection blocks (8) are positioned at the four corners of the seedling-taking mechanism, and horizontal polished rods (14) and vertical polished rods ( 13) Form the framework of the seedling taking and planting mechanism. The lead screw linear stepper motor (7) is connected with the stepper motor (11) with the connection block (8) through the connection plate.

As shown in Figure 2, the structure of the longitudinal slider connector (4) is different from that of the horizontal slider connector (6). As shown in Figure 2, the longitudinal slider connector (4) contains a fixed upper slider (15), a slidable slider (17), a bottom fixed block (17) and a sliding column (16), the movable slider (17) is connected with the shaft (5) vertically placed vertically, and horizontally connected with the horizontal light The shaft (2) is connected, and the movable slider (17) can slide up and down along the sliding column (16).

The screw linear stepping motor (7) rotates to drive the screw nut to move up and down, the screw nut is connected to the shaft (5) through a fixed block (12), and the shaft (5) drives the movable slider (17) along the sliding column 1 (16) moves up and down, and the slidable slider (17) drives the horizontal optical axis (2) to move up and down. The horizontal optical axis (2) drives the lateral moving slider (21) on the manipulator (3) to move up and down, so that the opening or closing of the seedling needle (26) on the manipulator (3)

As shown in Figure 1, the belt (10) is only connected to the slider connectors at both ends of the polished rod (including longitudinal and transverse, the same as the following) through the tooth plate (9), and the slider connector at one end is connected to the slider through the tooth plate. The upper part of the belt is connected, and the slider connector at one end is connected with the lower part of the belt (10) through the tooth plate (9), so that the stepper motor (11) can rotate in one direction while the slider connectors at both ends move in opposite directions or oppositely. In order to be able to accurately locate the distance between the pot seedlings when the seedlings are divided and planted, the slider connectors are connected by flexible ropes, so that as long as the positions of the slider connectors at both ends are determined, the positions of the slider connectors in the middle parts are determined. , so as to accurately locate the position of each manipulator when planting seedlings.

Manipulator contains laterally moving slide block (21), vertically moving slide block (19), bottom connecting block (22), trigger lever (23), guide post (20), connecting plate (25), getting seedling bar (24) and Get the seedling needle (26). The laterally moving slider (21) is connected with the lateral optical axis (2), the trigger lever (23) is connected with the laterally moving slider (21) through threads, and the laterally moving slider (21) can move along the sliding column 2 (20) Moving up and down, the laterally moving slider (21) drives the trigger lever (23) to move up and down, the trigger lever (23) drives the connecting plate (25) to move, and the connecting plate (25) drives the seedling-taking lever (24) to complete opening and closing. Closing action, get the seedling rod (24) to drive the seedling getting needle (26) to complete clamping seedlings and putting seedlings.

The specific mechanism action process is as follows: the seedling tray conveying device feeds the seedling tray once, the stepper motor (11) rotates forward, the drive belt (10) rotates forward, and the horizontal slider connectors (6) at both ends move along the horizontal direction. The polished rods (14) move towards each other, and then drive all the horizontal slider connectors (6) on the horizontal polished rod (14) to close in the middle, and the horizontal optical axis (2) closes to the middle at the same time; the vertical slider connectors (4) at both ends Move toward each other along the longitudinal optical rods (13), and then drive all the longitudinal slider connectors (4) to close in the middle, and the longitudinal optical axis (1) to close in the middle at the same time. Movement in both directions takes place simultaneously. Driven by the horizontal optical axis (2) and the longitudinal optical axis (1), the manipulator (3) moves horizontally and vertically at the same time, and closes towards the middle. The manipulator (3) arrives at the designated position, and now the distance between the manipulators (3) is equal to the distance between the pot seedlings in the seedling tray. Then start the seedling clamping action, the manipulator (3) descends to the stem of the pot seedlings, the screw linear stepper motor (7) drives the shaft (5) to move upward, and the shaft (5) drives the slidable vertical slider connector (4) The slider (17) slides upward along the sliding column (16), and then drives the horizontal optical axis (2) to move upward, and the horizontal optical axis (2) drives the laterally moving slider (21) of the manipulator (3) to move upward, and the trigger lever ( 23) Moving upward, the connecting plate (25) moves, drives the seedling-taking rod (24) and the seedling-taking needle (26) to close, clamps the seedling stem, and the manipulator rises to take out the seedling pot. The stepper motor (11) rotates in the opposite direction, and the drive belt (10) rotates in the opposite direction, and the horizontal slider connectors (6) at both ends move oppositely along the horizontal polished rod (14), and then drive all the horizontal sliders on the horizontal polished rod (14). The slider connectors (6) are distributed to both ends, and the transverse optical axis (2) is dispersed to both ends at the same time; the longitudinal slider connectors (4) at both ends move oppositely along the longitudinal polished rod (13), and then drive all the longitudinal sliders The block connectors (4) disperse toward both ends, and the longitudinal optical axis (1) disperses toward both ends at the same time. Movement in both directions takes place simultaneously. Driven by the horizontal optical axis (2) and the longitudinal optical axis (1), the manipulator moves horizontally and vertically at the same time, and disperses in all directions. Since the horizontal slider connectors (6) are connected by flexible ropes, and the longitudinal slider connectors (4) are also connected by flexible ropes, when the horizontal slider connectors (6) at both ends are connected to the longitudinal sliders (4 ) parts reach the definite position, then all the horizontal slider connectors (6) and the longitudinal slider connectors (4) have reached the designated positions, then the lateral optical axis (2) and the longitudinal optical axis (1) have reached the designated positions, Then the manipulator (3) also arrives at the designated position, i.e. the required seedling spacing when planting pot seedlings in the field, and promptly completes the seedling separation.

The number of manipulators (3) in the horizontal and vertical directions of the mechanism can be determined according to the specifications of specific seedling trays, and only the number of horizontal polished rods or vertical polished rods needs to be increased or decreased, and the mechanism has good universality.

In addition to the above-mentioned embodiments, the present invention can also have other implementations. All technical solutions formed by equivalent replacement or equivalent transformation fall within the scope of the invention required by the present invention.

Claims (5)

1. a kind of seedling taking and seeding separation of full-automatic pot seedling transplanter, it is characterised in that including longitudinal optical axis（1）, lateral light Axle（2）, manipulator（3）, stepper motor（11）, leading screw linear stepping motor（7）, belt（10）, tooth plate（9）, described longitudinal direction Optical axis（1）Positioned at the transverse axis（2）Top, the manipulator（3）It is positioned over optical axis longitudinally in each（1）With transverse axis （2）Staggered place, longitudinal optical axis（1）Both ends be mounted on transversely movable transverse slider connector（6）, the horizontal stroke To sliding block connector（6）By horizontal polished rod（14）Connection, the transverse axis（2）Both ends are mounted on longitudinally movable longitudinal direction Sliding block connector（4）, the longitudinal sliding block connector（4）By longitudinal polished rod（13）Connection, the horizontal polished rod（14）With it is described Longitudinal polished rod（13）By four contiguous blocks（8）Connect two-by-two, form the general frame of seedling taking and seeding separation.

2. the seedling taking and seeding separation of full-automatic pot seedling transplanter according to claim 1, it is characterised in that the longitudinal direction Sliding block connector（4）Contain fixed top shoe（15）, slidably sliding block（17）, bottom fixed block（18）And traveller（16）, institute State removable movable slider（17）In the vertical with placed longitudinally axle（5）Connection, in transverse direction and transverse axis（2）Connection, it is described can Mobile sliding block（17）Can be along the traveller（16）Slide up and down；The leading screw linear stepping motor（7）Rotate and drive feed screw nut Move up and down, the feed screw nut passes through a fixed block（12）With axle（5）Connection, the axle（5）Drive removable movable slider（17） Along the traveller（16）Move up and down, the slidably sliding block（17）Drive transverse axis（2）Move up and down.

3. the seedling taking and seeding separation of full-automatic pot seedling transplanter according to claim 1, it is characterised in that the transverse direction Sliding block connector（6）Between also using flexible strand connect, the longitudinal sliding block connector（4）Between also using flexible strand connect, The length of the flexible strand is equal to the seedling spacing when the soil by potted-seedling transplanting.

4. the seedling taking and seeding separation of full-automatic pot seedling transplanter according to claim 1, it is characterised in that the belt （10）Only with the sliding block connector at polished rod both ends（Including vertical and horizontal, it is following herewith）Pass through tooth plate（9）Connection, the cunning of one end Block connector is connected by tooth plate with the top of the belt (10), and the sliding block connector of one end passes through tooth plate and the belt Bottom connects, realize stepper motor one-directional rotation and both ends sliding block connector towards or away from motion.

5. the seedling taking and seeding separation of full-automatic pot seedling transplanter according to claim 1, it is characterised in that described machine Tool hand (3), which contains, vertically moves sliding block（19）, transverse shifting sliding block（21）, bottom contiguous block（22）, frizzen（23）, lead （20）, connecting plate（25）, seedling taking bar（24）With seedling taking pin（26）；The transverse shifting sliding block（21）With transverse axis（2）Connection, The frizzen（23）It is connected through a screw thread and transverse shifting sliding block（21）It is fixed, the transverse shifting sliding block（21）Can along institute State lead（20）Move up and down, the transverse shifting sliding block（21）Drive the frizzen（23）Move up and down, the triggering Bar（23）Drive connecting plate（25）Motion, the connecting plate（25）Drive seedling taking bar（24）Opening and closed action are completed, it is described Seedling taking bar（26）Seedling taking pin is driven to complete folder seedling and put seedling.