CN109220114A - A kind of cotyledon period Plug seedling is filled the gaps with seedlings end effector and its method of filling the gaps with seedlings - Google Patents
A kind of cotyledon period Plug seedling is filled the gaps with seedlings end effector and its method of filling the gaps with seedlings Download PDFInfo
- Publication number
- CN109220114A CN109220114A CN201811184149.4A CN201811184149A CN109220114A CN 109220114 A CN109220114 A CN 109220114A CN 201811184149 A CN201811184149 A CN 201811184149A CN 109220114 A CN109220114 A CN 109220114A
- Authority
- CN
- China
- Prior art keywords
- seedling
- seedlings
- gaps
- sliding block
- positive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
Abstract
It fills the gaps with seedlings end effector and its method of filling the gaps with seedlings the invention discloses a kind of cotyledon period Plug seedling, the screw thread for two kinds of different directions having in the device by positive and negative pitch thread screw rod, the translational motion of two different directions is generated in the case where an only driving unit, two seedling shovels are driven to generate synchronous banking motion by each transmission parts, so that device movement is relatively simple, easily controllable；It may make up by two seedlings shovel close to being inverted truncated rectangular pyramids shape, so that it is capable of forming packaging type structure after being inserted into Plug seedling cavities, realize seedling and complete, the lossless taking-up process of matrix；End effector structures of entirely filling the gaps with seedlings are more compact, control is simple, and high reliablity provides the end effector of filling the gaps with seedlings of function admirable for cotyledon period Plug seedling seedling.
Description
Technical field
The present invention relates to agricultural mechanical field, cotyledon period Plug seedling can be suitable for more particularly, to one kind and be filled the gaps with seedlings process
End effector.
Background technique
In the production of vegetables now, Plug seedling occupies in industrialized agriculture because of the scale, the commercialization that have had the characteristics that
Main status, market demand are larger.Transplanting as Plug seedling cultivate in important link, have more considerable economic benefit and
Social benefit.But mechanization, automation transplanting to the more demanding of mating nursery, since nurturing an environment, cultivation mechanism are answered
The factors such as polygamy and seed itself situation cause to occur significantly impacting the quality of automation transplanting without seedling hole in hole tray,
It needs to carry out operation of filling the gaps with seedlings to hole tray before transplanting thus.It fills the gaps with seedlings in nursery early stage or mid-term hole tray sky seedling, Ke Yi
Carry out concentration, efficient operation on seedbed.Meanwhile cotyledon period seedling leaves are less, image recognition accuracy rate is higher, operation of filling the gaps with seedlings
Shi Buhui destroys adjacent cave seedling, and does not influence the adhesion strength of matrix and cave lattice after cultivating, and it is neat, strong can to provide growing way for transplanting
The Plug seedling of health.But cotyledon period seedlings root is more undeveloped and fragile, and matrix is loosely not formed more solid with sticking together.It is existing
Having most of seedling taking devices is all to design for seedling, is not suitable for the loose cotyledon period seedling of matrix, can not completely will be sub
Leaf phase seedling and matrix take out and easy damaged its root system.Therefore, in order to improve transplanting quality and its comprehensive benefit, in nursery
Early stage realizes concentration, operation of efficiently filling the gaps with seedlings, it is accordingly required in particular to which developing one kind can adapt to cotyledon period Plug seedling seedling feature, complete
End effector of filling the gaps with seedlings that is whole, nondestructively taking out seedling and its matrix.
Summary of the invention
The purpose of the present invention, which solves existing seedling seedling taking manipulator, can not completely, nondestructively take out cotyledon period Plug seedling children
The problem of seedling, the present invention propose that a kind of cotyledon period Plug seedling simple and reliable for structure is filled the gaps with seedlings end effector and its method of filling the gaps with seedlings,
By the screw thread for two kinds of different directions that positive and negative pitch thread screw rod has, two are generated in the case where an only driving unit
The translational motion of different directions drives two seedling shovels to generate synchronous banking motion, so that device by each transmission parts
It moves relatively simple, easily controllable；It may make up by two seedling shovels close to truncated rectangular pyramids shape is inverted, so that it is inserted into Plug seedling cavities
It is capable of forming packaging type structure later, realizes seedling and complete, the lossless taking-up process of matrix；Entire end effector knot of filling the gaps with seedlings
Structure is more compact, control is simple, high reliablity, and the end of filling the gaps with seedlings for providing function admirable for cotyledon period Plug seedling seedling executes
Device.
The technical scheme adopted by the invention to solve the technical problem is that:
Cotyledon period Plug seedling is filled the gaps with seedlings end effector comprising installation vertical version, the first guide rail, the second guide rail, the first sliding block,
Second sliding block, first motor mounting plate, the second motor mounting plate, stepper motor, positive and negative pitch thread screw rod, shaft coupling, first
Bar support frame, the second screw rod support frame, first flange nut, second flange nut, the first nut bracket, the second nut bracket,
First sliding block connection frame, the second sliding block connection frame, the first short guiding trestle, the second short guiding trestle, the first driving arm, second
Driving arm, support platform, third guide rail, the 4th guide rail, third sliding block, Four-slider, the first seedling shovel fixed bracket, the second seedling
Shovel fixed bracket, long guiding trestle, seedling shovel；
Installation vertical version is the "T"-shaped plate being made of horizontal part and vertical component effect, and horizontal part side is installed by first motor
Plate and the second motor mounting plate are fixed with a stepper motor, and the first guide rail, the second guide rail pass through screw in the horizontal direction respectively
It being fixed at left and right sides of installation vertical version horizontal part, the first sliding block, the second sliding block are separately mounted to the first guide rail, on the second guide rail,
It is secondary to constitute translation；
Positive and negative pitch thread screw rod left end is anti-pitch thread, and right end has positive pitch thread, and right end passes through shaft coupling and stepping electricity
The connection of machine shaft, meanwhile, positive and negative pitch thread screw rod right end is passed through and is fixed from the first screw rod support frame, and middle part is from the second screw rod
It passes through and fixes in support frame；
First flange nut is ladder cylinder, and one end is cylindrical body, and one end is Elliptic Cylinder, and middle part is provided with the spiral shell of perforation
Pit is mounted on the positive and negative positive pitch thread of pitch thread screw rod right part by threaded hole and constitutes screw pair；First nut bracket is sky
Stem body, middle part are provided with circular through hole, and top opens that there are two threaded holes；It is provided with circular through hole in the middle part of first sliding block connection frame,
Bottom is fixed by screws on the first sliding block；First nut bracket central circular through-hole and the first sliding block connection frame central circular
Through-hole is fixed by screws on first flange nut after passing through first flange nut one end cylindrical body together, is constituted by positive and negative tooth
The drive mechanism of the orthodontic screw drive of threaded screw rod；The second flange nut, the second nut bracket, the connection of the second sliding block
Frame is constituted in the form of identical with first flange nut, the first nut bracket, the first sliding block connection frame by positive and negative pitch thread screw rod
Anti- pitch thread driving drive mechanism；
First short guiding trestle one end and first driving arm one end are respectively by being hingedly mounted on the first nut bracket
In two, portion threaded hole, the first short guiding trestle other end is by being hingedly mounted in the middle part of the first driving arm in sliding slot；Second
Short guiding trestle one end and second driving arm one end are respectively by being hingedly mounted on two, the second nut bracket top threaded hole
In, the second short guiding trestle other end is by being hingedly mounted in the middle part of the second driving arm in sliding slot；
Support platform back is fixed by screws in the vertical component effect surface of installation vertical version, and front is provided with rectangular recess, rectangle
Groove both sides external stretches out two plates respectively, and two plates respectively have an inclined side；Third guide rail and the 4th guide rail lead to respectively
Cross screw be fixed on two described on inclined side, third sliding block and Four-slider are separately mounted to third guide rail and the 4th lead
On rail, third sliding block and Four-slider can constitute two prismatic pairs respectively along third guide rail and the 4th guide rail translation gliding；
First seedling shovels fixed bracket and is made of the first rectangular plate and the first guide plate, the first rectangular plate and the first guiding
Plane where plate is mutually perpendicular to；Second seedling shovels fixed bracket and is made of the second rectangular plate and the second guide plate, and the second rectangle is flat
Plate is mutually perpendicular to plane where the second guide plate；First rectangular plate and the second rectangular plate are fixed by screws in the respectively
On three sliding blocks and Four-slider, translational motion can be made with third sliding block and Four-slider respectively；Two long guiding trestle upper end
Respectively by being hingedly mounted on the other end of the first driving arm and the second driving arm, lower end is separately mounted to the second guide plate
On the first guide plate；Two seedling shovels are fixed by screws in the first rectangular plate and the second rectangular plate lower end respectively, can
With third sliding block and the synchronous translational motion made obliquely of Four-slider.
Based on the above-mentioned technical proposal, following several preferred implementations can also be provided:
Preferably, further including transmission mechanism lid, transmission mechanism lid is the hollow cylinder covered in outside installation vertical version, bottom
It is fixed by screw and installation vertical version.
Preferably, the seedling shovel buries, part is spade, and it is sharp edge that seedling, which shovels lower end,；When long guiding trestle drives the first seedling
When the fixed bracket of shovel and the fixed bracket of the second seedling shovel are moved to lower limit position, two seedlings shovel compositions are inverted truncated rectangular pyramids shape.
Preferably, the horizontal part side of the "T"-shaped plate is provided with a rectangular through-hole and a rectangular channel, rectangle
It is big with one heart that through-hole and rectangle groove sidewall have threaded hole, and threaded hole etc.；First motor mounting plate is rectangular plate, wherein
Portion is provided with circular through hole, is opened around circular through hole there are four mounting hole, four mounting holes are distributed along circular through hole central symmetry；The
Two motor mounting plate shapes are identical as first motor mounting plate；Stepping motor rotating shaft is from first motor mounting plate central circular through-hole
Middle stretching, stepper motor are fixed by screws on the mounting hole of first motor mounting plate；First motor mounting plate and the second electricity
Machine mounting plate bottom is inserted into respectively in rectangular through-hole and the rectangular channel of installation vertical version top side, and is fixed by screw.
Preferably, the bottom surface of the support platform is located above the inversion truncated rectangular pyramids shape, for shoveling in two seedlings
When carrying matrix moves obliquely, the matrix that push and block seedling shovels stays in spare seedling wait in cavities of filling the gaps with seedlings.
It is filled the gaps with seedlings end effector another object of the present invention is to provide a kind of using cotyledon period Plug seedling as described above
It fills the gaps with seedlings method, its step are as follows:
Step 1: control stepper motor rotates backward, stepping motor rotating shaft drives positive and negative pitch thread screw rod by shaft coupling
It reversely rotates, by the first flange nut that is threadably mounted on positive and negative pitch thread screw rod and second flange nut due to by the
The limitation of one sliding block connection frame and the second sliding block connection frame can not be along positive and negative pitch thread screw rod axial-rotation, it will along positive and negative tooth spiral shell
Line screw rod axially moves horizontally to screw both end；Due on positive and negative pitch thread screw rod positive pitch thread and anti-pitch thread spiral side
To on the contrary, first flange nut and the second flange nut direction of motion on the contrary, respectively driving the first short guiding trestle, the first driving
Bracket is rotated up with the second short guiding trestle, the second driving arm, is separately fixed at the by the drive of two long guiding trestle
The first seedling on three sliding blocks and Four-slider shovels fixed bracket and the second seedling shovels fixed bracket and makees along third guide rail and the 4th guide rail
Translational motion obliquely, is separately fixed at support bracket fastened first rectangular plate of the first seedling shovel and the second seedling shovel is support bracket fastened
The synchronous translational motion made obliquely extends to form two seedling shovel lower edges by two seedlings shovel of the second rectangular plate lower end
Profile is suitable with cavities top bore；
Step 2: cotyledon period Plug seedling end effector of filling the gaps with seedlings is moved integrally to wait take above spare seedling, then by it
Entirety moves down, and makes two seedling shovel lower edges close to wait take spare seedling cavities top edge；
Step 3: control stepper motor rotates in the forward direction, make first flange nut and second flange nut to positive and negative pitch thread
Translation in the middle part of screw rod drives two seedlings shovels to be inserted into cavities obliquely along cavities arm, and then cotyledon period Plug seedling end of filling the gaps with seedlings is held
Row device integrally moves up, and takes out wait take spare seedling and its matrix；
Step 4: cotyledon period Plug seedling is filled the gaps with seedlings end effector integral translation to cavities top to be filled the gaps with seedlings, then by it
Entirety is displaced downwardly in cavities, and control stepper motor reverse rotation makes first flange nut and second flange nut to far from positive and negative tooth
Direction translation in the middle part of threaded screw rod, drives two seedling shovels to move obliquely, and the matrix on support platform push and block seedling shovel makes spare seedling
It stays in wait in cavities of filling the gaps with seedlings, then cotyledon period Plug seedling end effector of filling the gaps with seedlings integrally moves up, and completes to fill the gaps with seedlings.
The invention has the advantages that: the screw thread of two opposite directions is set by positive and negative pitch thread screw rod, works as step
First flange nut and second flange nut can be driven to generate opposite direction when pitch thread screw rod rotation positive and negative into motor driven
Translational motion, symmetrical configuration, controllable, stability is preferable, and the horizontal movement of nut can be changed into two seedlings through each transmission parts
Synchronous banking motion is shoveled, whole device only has a driving unit, and control is simple；Two seedling shovels may make up tetragonous close to being inverted
Platform shape, insertion Plug seedling cavities form packaging type structure later, being capable of the more loose cotyledon period of root system is more undeveloped, matrix
Plug seedling seedling is complete, nondestructively takes out；Device compact overall structure, control is simple, high reliablity, operating speed are fast, meets
Cotyledon period Plug seedling seedling taking, requirement of filling the gaps with seedlings.
Detailed description of the invention
Fig. 1 is general structure schematic diagram of the present invention；
Fig. 2 is the schematic diagram of present invention installation vertical version upper interior portion structure；
Fig. 3 is the schematic diagram of present invention installation vertical version structure；
Fig. 4 is the schematic diagram of first motor mounting plates structure of the present invention；
Fig. 5 is the schematic diagram of the positive and negative pitch thread screw structure of the present invention；
Fig. 6 is the schematic diagram of first flange nut structure of the present invention；
Fig. 7 is the schematic diagram of structure at first flange nut of the present invention；
Fig. 8 is the schematic diagram of section at A-A at first flange nut of the present invention；
Fig. 9 is the schematic diagram of the first seedling shovel fixing rack structure of the invention；
Figure 10 is the schematic diagram of the second seedling shovel fixing rack structure of the invention；
Figure 11 is the schematic diagram of structure at support platform of the present invention；
Figure 12 is the schematic diagram that part cooperates at support platform of the present invention；
In figure: installation vertical version 1, the first guide rail 2, the second guide rail 3, the first sliding block 4, the second sliding block 5, first motor mounting plate
6, the second motor mounting plate 7, stepper motor 8, positive and negative pitch thread screw rod 9, shaft coupling 10, the first screw rod support frame 11, second
Bar support frame 12, first flange nut 13, second flange nut 14, the first nut bracket 15, the second nut bracket 16, first are sliding
Block connection frame 17, the second sliding block connection frame 18, the first short guiding trestle 19, the second short guiding trestle 20, the first driving arm 21,
Second driving arm 22, support platform 23, third guide rail 24, the 4th guide rail 25, third sliding block 26, Four-slider 27, the first seedling
Shovel fixed bracket 28, the second seedling shovels fixed bracket 29, long guiding trestle 30, seedling and shovels 31, transmission mechanism lid 32.
Specific embodiment
Specific structure and embodiment of the invention are further illustrated with reference to the accompanying drawing.
As shown in Fig. 1~8, a kind of cotyledon period Plug seedling is filled the gaps with seedlings end effector, main component include installation vertical version 1,
First guide rail 2, the second guide rail 3, the first sliding block 4, the second sliding block 5, first motor mounting plate 6, the second motor mounting plate 7, stepping
Motor 8, positive and negative pitch thread screw rod 9, shaft coupling 10, the first screw rod support frame 11, the second screw rod support frame 12, first flange nut
13, second flange nut 14, the first nut bracket 15, the second nut bracket 16, the first sliding block connection frame 17, the connection of the second sliding block
Frame 18, the first short guiding trestle 19, the second short guiding trestle 20, the first driving arm 21, the second driving arm 22, support platform
23, it is solid to shovel fixed bracket 28, the second seedling shovel for third guide rail 24, the 4th guide rail 25, third sliding block 26, Four-slider 27, the first seedling
Fixed rack 29, long guiding trestle 30, seedling shovel 31.
As shown in Figures 2 and 3, installation vertical version 1 is the "T"-shaped plate being made of horizontal part and vertical component effect, and horizontal part side is logical
It crosses first motor mounting plate 6 and the second motor mounting plate 7 is fixed with a stepper motor 8.First guide rail 2, the second guide rail 3 difference
It is fixed in the horizontal direction by screw at left and right sides of installation 1 horizontal part of vertical version, the first sliding block 4, the second sliding block 5 are separately mounted to
On first guide rail 2, the second guide rail 3, it is secondary to constitute translation.
In the present embodiment, the fixed form of stepper motor 8 is shown in Fig. 2: the horizontal part side of "T"-shaped plate is provided with a square
Shape through-hole 1-1 and a rectangular channel 1-2, rectangular through-hole 1-1 and rectangular channel 1-2 side wall have threaded hole, and threaded hole
Deng big concentric.As shown in figure 4, first motor mounting plate 6 is rectangular plate, middle part is provided with circular through hole 6-1, circular through hole 6-
Mounting hole 6-2 there are four opening around 1, four mounting hole 6-2 are distributed along circular through hole 6-1 central symmetry；Second motor mounting plate 7
Shape is identical as first motor mounting plate 6；8 shaft of stepper motor is stretched from 6 central circular through-hole 6-1 of first motor mounting plate
Out, stepper motor 8 is fixed by screws on the mounting hole 6-2 of first motor mounting plate 6；First motor mounting plate 6 and second
7 bottom of motor mounting plate is inserted into respectively in the rectangular through-hole 1-1 and rectangular channel 1-2 of installation 1 top side of vertical version, and passes through screw
It is fixed on the threaded hole of side wall.
As shown in figure 5, positive and negative 9 left end of pitch thread screw rod is anti-pitch thread 9-2, right end has positive pitch thread 9-1, and right end is logical
Shaft coupling 10 is crossed to connect with 8 shaft of stepper motor, meanwhile, positive and negative 9 right end of pitch thread screw rod is worn from the first screw rod support frame 11
It crosses and fixes, middle part passes through and fixes from the second screw rod support frame 12, and the effect of two screw rod support frames is to positive and negative tooth
Threaded screw rod 9 is played a supporting role, but positive and negative 9 right end of pitch thread screw rod and middle part are not complete fastening, but only limits it
Horizontal displacement and vertical unique, but axial be freely rotatable.
As shown in fig. 6, first flange nut 13 is ladder cylinder, one end is cylindrical body, and one end is Elliptic Cylinder, middle part
It is provided with the threaded hole 13-1 axially through whole ladder cylinder, first flange nut 13 is mounted on positive and negative tooth by threaded hole 13-1
Screw pair is constituted on the positive pitch thread 9-1 of 9 right part of threaded screw rod.As shown in Fig. 7~8, the first nut bracket 15 is hollow cylinder,
Middle part is provided with circular through hole, and top opens that there are two threaded holes；It is provided with circular through hole in the middle part of first sliding block connection frame 17, bottom passes through
Screw is fixed on the first sliding block 4；First nut bracket, 15 central circular through-hole and 17 central circular of the first sliding block connection frame are logical
Hole is fixed by screws on first flange nut 13 after passing through 13 one end cylindrical body of first flange nut together, is constituted by positive and negative
The drive mechanism of the positive pitch thread 9-1 driving of pitch thread screw rod 9.
14 shape of second flange nut is identical as first flange nut 13, by being threadably mounted at positive and negative pitch thread screw rod 9
Screw pair is constituted on the anti-pitch thread 9-2 in left end；Second nut bracket, 16 shape is identical as the first nut bracket 15, and the second sliding block connects
It is identical as the first sliding block connection frame 17 to connect 18 shape of frame；Second sliding block 5, second flange nut 14, the second nut bracket 16 and
The fit system of two sliding block connection frames 18 and the first sliding block 4, first flange nut 13, the first nut bracket 15 and the first sliding block connect
The fit system for connecing frame 17 is similar, and 18 bottom of the second sliding block connection frame is fixed by screws on the second sliding block 5, the second nut branch
16 central circular through-hole of frame passes through 14 one end cylinder of second flange nut together with 18 central circular through-hole of the second sliding block connection frame
It is fixed by screws in after body on second flange nut 14.Therefore second flange nut 14, the second nut bracket 16, the second sliding block
Connection frame 18 is constituted in the form of identical with first flange nut 13, the first nut bracket 15, the first sliding block connection frame 17 by just
The drive mechanism of the anti-pitch thread 9-2 driving of anti-pitch thread screw rod 9.
First short 19 one end of guiding trestle and 21 one end of the first driving arm are respectively by being hingedly mounted on the first nut branch
In the threaded hole of two, 15 top of frame, there is a sliding slot in the middle part of the first driving arm 21, first short 19 other end of guiding trestle is logical
It crosses and is hingedly mounted in 21 middle part sliding slot of the first driving arm；Second short 20 one end of guiding trestle and 22 one end of the second driving arm
Respectively by being hingedly mounted in the threaded hole of two, 16 top of the second nut bracket, 22 middle part of the second driving arm also has one
Sliding slot, second short 20 other end of guiding trestle is by being hingedly mounted in 22 middle part sliding slot of the second driving arm.
23 back of support platform is fixed by screws in the vertical component effect surface of installation vertical version 1, and front is provided with rectangular recess, square
Connected in star both sides external stretches out two plates respectively, and respectively there is an inclined side in the edge of a wing side of two plates.Two inclined sides
Gradually gather downwards.Third guide rail 24 and the 4th guide rail 25 be fixed by screws in two respectively described on inclined side,
Three sliding blocks 26 and Four-slider 27 are separately mounted on third guide rail 24 and the 4th guide rail 25, third sliding block 26 and Four-slider 27
Two prismatic pairs can be constituted respectively along 25 translation gliding of third guide rail 24 and the 4th guide rail.
As shown in figs. 9 to 12, the first seedling shovels fixed bracket 28 and is led by the first rectangular plate 28-1 interconnected and first
It is formed to plate 28-2, the first rectangular plate 28-1 is mutually perpendicular to plane where the first guide plate 28-2.First rectangular plate 28-
1 and first guide plate 28-2 can be it is integrated, can also respectively assembly.Second seedling shovels fixed bracket 29 by the second rectangular plate
29-1 and the second guide plate 29-2 composition, the second rectangular plate 29-1 are mutually perpendicular to plane where the second guide plate 29-2.The
One rectangular plate 28-1 and the second rectangular plate 29-1 are fixed by screws in respectively on third sliding block 26 and Four-slider 27, energy
It is enough to make translational motion with third sliding block 26 and Four-slider 27 respectively.Two long guiding trestle, 30 upper end passes through respectively hingedly installs
In the other end of the first driving arm 21 and the second driving arm 22, lower end is separately mounted to the second guide plate 29-2 and leads with first
To on plate 28-2；Two seedling shovels 31 are fixed by screws in respectively under the first rectangular plate 28-1 and the second rectangular plate 29-1
End, can be with third sliding block 26 and the synchronous translational motion made obliquely of Four-slider 27.
In the present invention, the first nut bracket 15, the second nut bracket 16, the first short guiding trestle 19, the second short-range missile to
Bracket 20, the first driving arm 21, the second driving arm 22, long guiding trestle 30 constitute transmission, when 8 shaft of stepper motor passes through
When shaft coupling 10 drives positive and negative pitch thread screw rod 9 to rotate in the forward direction, pass through the first method being threadably mounted on positive and negative pitch thread screw rod 9
Blue nut 13 can not due to being limited by the first sliding block connection frame 17 and the second sliding block connection frame 18 with second flange nut 14
Along positive and negative 9 axial-rotation of pitch thread screw rod, it will axially move horizontally along positive and negative pitch thread screw rod 9；Due to positive and negative pitch thread
Positive pitch thread 9-1 and the anti-pitch thread 9-2 hand of spiral on screw rod 9 is on the contrary, first flange nut 13 and second flange nut 14
The direction of motion is driven on the contrary, respectively driving the first short guiding trestle 19, the first driving arm 21 and the second short guiding trestle 20, second
Dynamic bracket 22 rotates down, and is separately fixed on third sliding block 26 and Four-slider 27 by the drive of two long guiding trestle 30
First seedling shovels fixed bracket 28 and the second seedling shovels the translation of fixed bracket 29 obliquely along third guide rail 24 and the 4th guide rail 25 work
Movement is separately fixed at the first seedling shovels the first rectangular plate 28-1 for fixing bracket 28 and the fixed bracket 29 of the second seedling shovel second
Translational motion of the two seedlings shovel 31 of the lower end rectangular plate 29-1 by synchronous work obliquely；When 8 shaft of stepper motor passes through shaft coupling
When device 10 drives positive and negative pitch thread screw rod 9 to reversely rotate, each part cooperative movement is opposite with when rotating forward.
In order to play a protective role, one transmission mechanism lid 32, transmission mechanism lid are installed in the outside of entire actuator
32 be the hollow cylinder covered in outside installation vertical version 1, and bottom is fixed by screw and installation vertical version 1.
The effect of seedling shovel 31 is taken out wait take spare seedling and its matrix, therefore in the present invention in the spare seedling matrix of insertion
Seedling shovel 31 buries and is partially designed as spade, and it is sharp edge that seedling, which shovels 31 lower ends,.When long guiding trestle 30 drives the first seedling to shovel fixed bracket
28 and second seedling when shoveling fixed bracket 29 and being moved to lower limit position, two seedlings shovels 31 are constituted close to being inverted truncated rectangular pyramids shapes, spare
Seedling and matrix can be clamped and fixed in the space, as the entirety of two seedling shovels 31 moves up and be removed.In view of matrix with
Viscosity that may be present between seedling shovel 31, can also when needing to stay in spare seedling when in cavities of filling the gaps with seedlings that seedling shovel 31 moves obliquely
Matrix can be taken out of.Therefore the bottom surface that support platform 23 is arranged in the present invention, which is located at, to be inverted above truncated rectangular pyramids shape, for two
When a 31 carrying matrix of seedling shovel moves obliquely, bottom surface contacting substrate surface, and then the matrix on push and block seedling shovel 31 prevents it
As seedling shovel 31 further moves obliquely, stay in spare seedling wait in cavities of filling the gaps with seedlings.
It is filled the gaps with seedlings the method for filling the gaps with seedlings of end effector based on above-mentioned cotyledon period Plug seedling, its step are as follows:
Step 1: control stepper motor 8 rotates backward, 8 shaft of stepper motor drives positive and negative pitch thread by shaft coupling 10
Screw rod 9 reversely rotates, and passes through the first flange nut 13 and second flange nut 14 being threadably mounted on positive and negative pitch thread screw rod 9
It can not be along the axial rotation of positive and negative pitch thread screw rod 9 due to being limited by the first sliding block connection frame 17 and the second sliding block connection frame 18
Turn, it will axially move horizontally to screw both end along positive and negative pitch thread screw rod 9；Due to the orthodontic on positive and negative pitch thread screw rod 9
Screw thread 9-1 and the anti-pitch thread 9-2 hand of spiral on the contrary, first flange nut 13 and 14 direction of motion of second flange nut on the contrary,
Respectively drive the first short guiding trestle 19, the first driving arm 21 and the second short guiding trestle 20, the second driving arm 22 upwards
Rotation drives the first seedling being separately fixed on third sliding block 26 and Four-slider 27 shovel to fix by two long guiding trestle 30
Bracket 28 and the second seedling shovel the translational motion of fixed bracket 29 obliquely along third guide rail 24 and the 4th guide rail 25 work, fix respectively
The first rectangular plate 28-1 of fixed bracket 28 and the second rectangular plate 29-1 of the fixed bracket 29 of the second seedling shovel is shoveled in the first seedling
The synchronous translational motion made obliquely is made two seedlings shovel the profile and cave that 31 lower edges extend to form by two seedlings shovel 31 of lower end
Hole top bore is suitable；
Step 2: cotyledon period Plug seedling end effector of filling the gaps with seedlings is moved integrally to wait take above spare seedling, then by it
Entirety moves down, and two seedlings is made to shovel 31 lower edges close to wait take spare seedling cavities top edge；
Step 3: control stepper motor 8 rotates in the forward direction, make first flange nut 13 and second flange nut 14 to positive and negative tooth
Translated in the middle part of threaded screw rod 9, at this time each part cooperative movement and when reversion on the contrary, drive two seedlings shovel 31 along cavities arm obliquely
It is inserted into cavities, then cotyledon period Plug seedling end effector of filling the gaps with seedlings integrally moves up, and takes out wait take spare seedling and its matrix；
Step 4: cotyledon period Plug seedling is filled the gaps with seedlings end effector integral translation to cavities top to be filled the gaps with seedlings, then by it
Entirety is displaced downwardly in cavities, control stepper motor 8 reversely rotates again make first flange nut 13 and second flange nut 14 to
It is translated far from positive and negative 9 middle part direction of pitch thread screw rod, drives two seedling shovels 31 to move obliquely, progressively disengage spare seedling and its base
Matter, the matrix on 23 push and block seedling of support platform shovel 31, stays in spare seedling wait in cavities of filling the gaps with seedlings, then cotyledon period Plug seedling at this time
End effector of filling the gaps with seedlings integrally moves up, and completes to fill the gaps with seedlings.
Claims (6)
- The end effector 1. a kind of cotyledon period Plug seedling is filled the gaps with seedlings, it is characterised in that including installation vertical version (1), the first guide rail (2), the Two guide rails (3), the first sliding block (4), the second sliding block (5), first motor mounting plate (6), the second motor mounting plate (7), stepping electricity Machine (8), positive and negative pitch thread screw rod (9), shaft coupling (10), the first screw rod support frame (11), the second screw rod support frame (12), first Flange nut (13), second flange nut (14), the first nut bracket (15), the second nut bracket (16), the connection of the first sliding block Frame (17), the second sliding block connection frame (18), the first short guiding trestle (19), the second short guiding trestle (20), the first driving arm (21), the second driving arm (22), support platform (23), third guide rail (24), the 4th guide rail (25), third sliding block (26), Four-slider (27), the first seedling shovel fixed bracket (28), the second seedling shovels fixed bracket (29), long guiding trestle (30), seedling shovel (31)；Installation vertical version (1) is the "T"-shaped plate being made of horizontal part and vertical component effect, and horizontal part side passes through first motor mounting plate (6) it is fixed with a stepper motor (8) with the second motor mounting plate (7), the first guide rail (2), the second guide rail (3) pass through spiral shell respectively Nail is fixed in the horizontal direction at left and right sides of installation vertical version (1) horizontal part, and the first sliding block (4), the second sliding block (5) are separately mounted to On first guide rail (2), the second guide rail (3), it is secondary to constitute translation；Positive and negative pitch thread screw rod (9) left end is anti-pitch thread (9-2), and right end has positive pitch thread (9-1), and right end passes through shaft coupling (10) it is connect with stepper motor (8) shaft, meanwhile, positive and negative pitch thread screw rod (9) right end is worn from the first screw rod support frame (11) It crosses and fixes, middle part passes through and fixes from the second screw rod support frame (12)；First flange nut (13) is ladder cylinder, and one end is cylindrical body, and one end is Elliptic Cylinder, and middle part is provided with the spiral shell of perforation Pit (13-1) is mounted on the positive pitch thread of positive and negative pitch thread screw rod (9) right part (9-1) by threaded hole (13-1) and constitutes spiral It is secondary；First nut bracket (15) is hollow cylinder, and middle part is provided with circular through hole, and top opens that there are two threaded holes；First sliding block It is provided with circular through hole in the middle part of connection frame (17), bottom is fixed by screws on the first sliding block (4)；In first nut bracket (15) Portion's circular through hole passes through first flange nut (13) one end cylindrical body together with first sliding block connection frame (17) central circular through-hole After be fixed by screws on first flange nut (13), constitute by positive and negative pitch thread screw rod (9) positive pitch thread (9-1) drive Drive mechanism；The second flange nut (14), the second nut bracket (16), the second sliding block connection frame (18) are with first Flange nut (13), the first nut bracket (15), the identical form of the first sliding block connection frame (17) are constituted by positive and negative pitch thread silk The drive mechanism of anti-pitch thread (9-2) driving of bar (9)；First short guiding trestle (19) one end and the first driving arm (21) one end are respectively by being hingedly mounted on the first nut branch In the threaded hole of frame (15) two, top, first short guiding trestle (19) other end is by being hingedly mounted on the first driving arm (21) In the sliding slot of middle part；Second short guiding trestle (20) one end and the second driving arm (22) one end are respectively by being hingedly mounted on second In the threaded hole of nut bracket (16) two, top, second short guiding trestle (20) other end is by being hingedly mounted on the second driving branch In the middle part of frame (22) in sliding slot；Support platform (23) back is fixed by screws in the vertical component effect surface of installation vertical version (1), and front is provided with rectangular recess, square Connected in star both sides external stretches out two plates respectively, and two plates respectively have an inclined side；Third guide rail (24) and the 4th guide rail (25) on inclined side described in being fixed by screws in two respectively, third sliding block (26) and Four-slider (27) are installed respectively On third guide rail (24) and the 4th guide rail (25), third sliding block (26) and Four-slider (27) can be respectively along third guide rails (24) and the 4th guide rail (25) translation gliding two prismatic pairs, are constituted；First seedling shovels fixed bracket (28) and is made of the first rectangular plate (28-1) and the first guide plate (28-2), and the first rectangle is flat Plate (28-1) is mutually perpendicular to plane where the first guide plate (28-2)；Second seedling shovels fixed bracket (29) by the second rectangular plate (29-1) and the second guide plate (29-2) composition, the second rectangular plate (29-1) and plane where the second guide plate (29-2) are mutual Vertically；First rectangular plate (28-1) and the second rectangular plate (29-1) are fixed by screws in third sliding block (26) and the respectively On Four-slider (27), translational motion can be made with third sliding block (26) and Four-slider (27) respectively；Two long guiding trestles (30) upper end is respectively by being hingedly mounted on the other end of the first driving arm (21) Yu the second driving arm (22), lower end difference It is mounted on the second guide plate (29-2) and the first guide plate (28-2)；Two seedling shovels (31) are fixed by screws in first respectively Rectangular plate (28-1) and the lower end the second rectangular plate (29-1) can be made with third sliding block (26) and Four-slider (27) are synchronous Translational motion obliquely.
- The end effector 2. a kind of cotyledon period Plug seedling according to claim 1 is filled the gaps with seedlings, which is characterized in that further include transmission Mechanism cover (32), transmission mechanism lid (32) are to cover in the external hollow cylinder of installation vertical version (1), and bottom is perpendicular by screw and installation Version (1) is fixed.
- The end effector 3. a kind of cotyledon period Plug seedling according to claim 1 is filled the gaps with seedlings, it is characterised in that the seedling shovel (31) part is buried as spade, and it is sharp edge that seedling, which shovels (31) lower end,；When long guiding trestle (30) drive the first seedling to shovel fixed bracket (28) when being moved to lower limit position with the second seedling shovel fixed bracket (29), two seedlings shovels (31), which are constituted, is inverted truncated rectangular pyramids shape.
- The end effector 4. a kind of cotyledon period Plug seedling according to claim 1 is filled the gaps with seedlings, it is characterised in that described "T"-shaped flat The horizontal part side of plate is provided with a rectangular through-hole (1-1) and a rectangular channel (1-2), rectangular through-hole (1-1) and rectangular channel It is big with one heart that (1-2) side wall has threaded hole, and threaded hole etc.；First motor mounting plate (6) is rectangular plate, and middle part is opened Have circular through hole (6-1), is opened around circular through hole (6-1) there are four mounting hole (6-2), four mounting holes (6-2) are logical along circle The distribution of hole (6-1) central symmetry；Second motor mounting plate (7) shape is identical as first motor mounting plate (6)；Stepper motor (8) Shaft is stretched out from first motor mounting plate (6) central circular through-hole (6-1), and stepper motor (8) is fixed by screws in first On the mounting hole (6-2) of motor mounting plate (6)；First motor mounting plate (6) is inserted into respectively with the second motor mounting plate (7) bottom It installs in the rectangular through-hole (1-1) and rectangular channel (1-2) of vertical version (1) top side, and is fixed by screw.
- The end effector 5. a kind of cotyledon period Plug seedling according to claim 3 is filled the gaps with seedlings, it is characterised in that the support is flat The bottom surface of platform (23) is located above the inversion truncated rectangular pyramids shape, moves obliquely for carrying matrix in two seedling shovels (31) When, push and block seedling shovels the matrix on (31), stays in spare seedling wait in cavities of filling the gaps with seedlings.
- The method of filling the gaps with seedlings of end effector 6. a kind of cotyledon period Plug seedling according to claim 1 is filled the gaps with seedlings, it is characterised in that Steps are as follows:Step 1: control stepper motor (8) rotates backward, stepper motor (8) shaft drives positive and negative tooth spiral shell by shaft coupling (10) Line screw rod (9) reversely rotates, the first flange nut (13) by being threadably mounted on positive and negative pitch thread screw rod (9) and the second method Blue nut (14) can not be along positive and negative tooth spiral shell due to being limited by the first sliding block connection frame (17) and the second sliding block connection frame (18) Line screw rod (9) axial-rotation, it will axially move horizontally to screw both end along positive and negative pitch thread screw rod (9)；Due to positive and negative tooth Positive pitch thread (9-1) on threaded screw rod (9) and anti-pitch thread (9-2) hand of spiral are on the contrary, first flange nut (13) and the Two flange nuts (14) direction of motion is on the contrary, respectively drive the first short guiding trestle (19), the first driving arm (21) and second Short guiding trestle (20), the second driving arm (22) are rotated up, and are driven and are separately fixed at by two long guiding trestle (30) The first seedling on third sliding block (26) and Four-slider (27) shovels fixed bracket (28) and the second seedling shovels fixed bracket (29) along the Three guide rails (24) and the 4th guide rail (25) make translational motion obliquely, are separately fixed at the first seedling shovels fixed bracket (28) the Two seedlings that one rectangular plate (28-1) and the second seedling shovel the lower end the second rectangular plate (29-1) of fixed bracket (29) shovel (31) By the synchronous translational motion made obliquely, the profile for extending to form two seedling shovel (31) lower edges and cavities top bore phase When；Step 2: cotyledon period Plug seedling end effector of filling the gaps with seedlings is moved integrally to wait take above spare seedling, then by its entirety It moves down, makes two seedling shovel (31) lower edges close to wait take spare seedling cavities top edge；Step 3: control stepper motor (8) rotates in the forward direction, make first flange nut (13) and second flange nut (14) to positive and negative Translation in the middle part of pitch thread screw rod (9) drives two seedling shovels (31) to be inserted into cavities obliquely along cavities arm, then cotyledon period hole tray Seedling end effector of filling the gaps with seedlings integrally moves up, and takes out wait take spare seedling and its matrix；Step 4: cotyledon period Plug seedling is filled the gaps with seedlings end effector integral translation to cavities top to be filled the gaps with seedlings, then by its entirety It is displaced downwardly in cavities, control stepper motor (8), which reversely rotates, makes first flange nut (13) and second flange nut (14) to remote From direction translation in the middle part of positive and negative pitch thread screw rod (9), two seedling shovels (31) are driven to move obliquely, support platform (23) push and block seedling The matrix on (31) is shoveled, stays in spare seedling wait which in cavities of filling the gaps with seedlings, then cotyledon period Plug seedling fills the gaps with seedlings end effector on the whole It moves, completes to fill the gaps with seedlings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811184149.4A CN109220114B (en) | 2018-10-11 | 2018-10-11 | Cotyledon stage plug seedling replanting end effector and seedling replanting method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811184149.4A CN109220114B (en) | 2018-10-11 | 2018-10-11 | Cotyledon stage plug seedling replanting end effector and seedling replanting method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109220114A true CN109220114A (en) | 2019-01-18 |
| CN109220114B CN109220114B (en) | 2020-04-10 |
Family
ID=65052688
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811184149.4A Active CN109220114B (en) | 2018-10-11 | 2018-10-11 | Cotyledon stage plug seedling replanting end effector and seedling replanting method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109220114B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110178504A (en) * | 2019-06-24 | 2019-08-30 | 重庆科技学院 | A kind of light simple planting mechanism of Plug seedling that saving volumetric spaces |
| CN113133339A (en) * | 2021-05-07 | 2021-07-20 | 中国计量大学 | End effector of seedling supplementing manipulator for vegetable seedlings in cotyledon period and seedling supplementing method thereof |
| CN113875542A (en) * | 2021-11-11 | 2022-01-04 | 温州科技职业学院 | High efficiency seedling transplanter |
| CN114391346A (en) * | 2022-01-12 | 2022-04-26 | 中国科学院宁波材料技术与工程研究所 | Pot seedling picking and supplementing end effector and picking and supplementing method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030033919A1 (en) * | 2001-08-15 | 2003-02-20 | Industrial Technology Research Institute | Venetian blind cutting machine having a plurality of interchangeable tools of various specifications |
| CN108401628A (en) * | 2018-05-08 | 2018-08-17 | 浙江大学 | A kind of cotyledon period is filled the gaps with seedlings manipulator and its method of filling the gaps with seedlings |
-
2018
- 2018-10-11 CN CN201811184149.4A patent/CN109220114B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030033919A1 (en) * | 2001-08-15 | 2003-02-20 | Industrial Technology Research Institute | Venetian blind cutting machine having a plurality of interchangeable tools of various specifications |
| CN108401628A (en) * | 2018-05-08 | 2018-08-17 | 浙江大学 | A kind of cotyledon period is filled the gaps with seedlings manipulator and its method of filling the gaps with seedlings |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110178504A (en) * | 2019-06-24 | 2019-08-30 | 重庆科技学院 | A kind of light simple planting mechanism of Plug seedling that saving volumetric spaces |
| CN113133339A (en) * | 2021-05-07 | 2021-07-20 | 中国计量大学 | End effector of seedling supplementing manipulator for vegetable seedlings in cotyledon period and seedling supplementing method thereof |
| CN113133339B (en) * | 2021-05-07 | 2023-08-04 | 中国计量大学 | Seedling supplementing method by utilizing end effector of cotyledon-stage vegetable seedling supplementing manipulator |
| CN113875542A (en) * | 2021-11-11 | 2022-01-04 | 温州科技职业学院 | High efficiency seedling transplanter |
| CN114391346A (en) * | 2022-01-12 | 2022-04-26 | 中国科学院宁波材料技术与工程研究所 | Pot seedling picking and supplementing end effector and picking and supplementing method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109220114B (en) | 2020-04-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109220114A (en) | A kind of cotyledon period Plug seedling is filled the gaps with seedlings end effector and its method of filling the gaps with seedlings | |
| CN106358818B (en) | Plug seedling cotyledon period packaging type is filled the gaps with seedlings special machine machinery claw and method of filling the gaps with seedlings | |
| CN104782289B (en) | Bowl vegetable seedling is filled the gaps with seedlings arm end effector | |
| CN204560202U (en) | A kind of alms bowl body vegetable seedling is filled the gaps with seedlings manipulator | |
| CN104855025B (en) | A kind of hole tray Fructus Fragariae Ananssae shoot transplanting equipment end effector and pick and place Seedling control method | |
| CN205232760U (en) | Greenhouse vegetable seedling and transplanting manipulator | |
| CN207443436U (en) | A kind of clipping potted tray seedling transplanter of entire row fetches and delivers seedling device | |
| CN109197066A (en) | Naked seedling transplants disk automatically | |
| CN107396668A (en) | A kind of clipping potted tray seedling transplanter of entire row fetches and delivers seedling device | |
| CN208159252U (en) | Crops transplanter | |
| CN109452232B (en) | Special incubator of agricultural sericulture | |
| CN108738563A (en) | Crops transplanter and method for transplanting | |
| CN113141815A (en) | Nest digging machine for field test | |
| CN106857214B (en) | A kind of Rooted Cuttings field planting single-row seperator of sponge | |
| WO2017036366A1 (en) | Uniform-rotational-speed two-dimensional width/breadth rice seedling transplanter | |
| CN114009303B (en) | Full-automatic tree planting vehicle | |
| CN214178311U (en) | Nontoxic device of growing seedlings of shaddock | |
| CN215602151U (en) | Accurate seeding sprout cultivation device of rice | |
| CN209428508U (en) | A kind of heterophytic chlorella culture apparatus | |
| CN208300277U (en) | A kind of cotyledon period is filled the gaps with seedlings manipulator | |
| CN208047272U (en) | A kind of cotyledon period vegetables seedling in earthen bowl is filled the gaps with seedlings end effector | |
| CN115399175B (en) | Automatic flowerpot tray placing device and method for seeding assembly line | |
| CN211210688U (en) | Detachable suspended garden structure | |
| CN220326467U (en) | Multifunctional rotary lifting soilless culture planting device | |
| CN219421669U (en) | Cultivation device for landscape plants |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |