CN109743936A - Formula is leant out quickly to take alms bowl and push away alms bowl end effector - Google Patents
Formula is leant out quickly to take alms bowl and push away alms bowl end effector Download PDFInfo
- Publication number
- CN109743936A CN109743936A CN201910229874.7A CN201910229874A CN109743936A CN 109743936 A CN109743936 A CN 109743936A CN 201910229874 A CN201910229874 A CN 201910229874A CN 109743936 A CN109743936 A CN 109743936A
- Authority
- CN
- China
- Prior art keywords
- alms bowl
- shift fork
- seedling needle
- planting arm
- push away
- 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
Landscapes
- Transplanting Machines (AREA)
Abstract
It leans out formula and quickly takes alms bowl and push away alms bowl end effector and belong to agricultural machinery；This device includes planting arm housings and fits over the support base of planting arm housings upper end admittedly, it is equipped in the planting arm housings and support base and passes through cam, torque spring, shift fork axle, shift fork drive control by planting arm slide bar, shift fork slideway, push away alms bowl shift fork slideway, push away alms bowl shift fork, pin shaft, left and right pushes away alms bowl axis, push away alms bowl board group at Tui Bo mechanism and, by driving plate slide bar, trough plate, seedling needle driving plate, seedling needle pushes and pulls seat board, left and right seedling needle, left and right vertical shaft, the Qu Bo mechanism of left and right support composition, it realizes and quickly pushes away alms bowl operation, with structure novel, take alms bowl high-efficient, it is fast to push away alms bowl speed, not the characteristics of not destroying pot seedling root system.
Description
Technical field
The invention belongs to agricultural machinery, and in particular to a kind of quickly to take alms bowl for transplanting seedling taking mechanically and push away the end of alms bowl
Hold executing agency.
Background technique
End effector mechanism is one of the critical component of potted-seedling transplanting seedling taking mechanically, its direct shadow of transaction capabilities superiority and inferiority
It rings and determines to take alms bowl and push away the efficiency and quality of alms bowl.Currently, the end of the clamping bowl in potted-seedling transplanting automatic seedling taking mechanism is held
Mainly there are intermediate plate clamping type, ejecting type, sliding three kinds of structures of pin type in row mechanism.Wherein intermediate plate clamping type end effector mechanism is by convex
Wheel and crank come control seedling claw opening with closure complete rice shoot clamping and release, movement it is single, seedling taking efficiency is lower, pushes away
Seedling speed is slow；Ejecting type end effector mechanism is since switching process of the pot seedling in turnover device of ejection is more complex, overturning knot
Fruit is inconsistent, not can guarantee the upright degree of rice shoot, and Planting effect is bad；Mechanism shakes when sliding pin type end effector mechanism high-speed job
Move it is larger, it is ineffective, be only applied to temperature indoor flowers transplanting at present.In addition, existing end effector is applied mostly
On transplanting mechanism, it is not intended that seedling speed is pushed away, if the seedling picking mechanism for matching with planting mechanism, is not able to satisfy and adapts to
It is realized with planting mechanism cooperation and precisely quickly throws seedling operation.
Summary of the invention
The purpose of the present invention is to the above-mentioned problems of the prior art, the reality used in conjunction with agricultural production operation
It needs, one kind is provided leans out formula and quickly take and alms bowl and push away alms bowl end effector, reach that clamping bowl is high-quality, no seedling injury, does not destroy
Native alms bowl, Planting effect are good, the fireballing purpose that pushes away alms bowl.
The object of the invention is realized using following technical scheme: it includes planting that the formula that leans out, which quickly takes alms bowl and pushes away alms bowl end effector,
Arm housing is planted, is fixedly mounted with support base on the planting arm housings upper end, cam is rotatably fitted under planting arm housings
It is opposed on the upside of the planting arm housings that slide bar guide slide slot is respectively set on the inner wall of two sidewalls on the inside of side,
Planting arm housings upper interior, on position above slide bar guide slide slot by pin shaft it is swingable hinge installation push away alms bowl dial
Fork, the installation left side for being parallel to each other and being axially movable in the support base lower inside pushes away alms bowl axis and the right side pushes away alms bowl axis, pushes away alms bowl
Plate is packed in the left alms bowl axis that pushes away and pushes away on the outer end of alms bowl axis with right, passes through left vertical shaft and the right side on the left and right side of support base upper end
Rotatable installation left support abutment and right support abutment, seedling needle push-and-pull seat board are movably fitted in support base upper end to vertical shaft respectively
On, what the left seedling needle and right seedling needle for being integrally conical configuration were axially movable is respectively inserted into the hole of left support abutment and right support abutment,
The left seedling needle and right seedling needle are hinged with seedling needle push-and-pull seat board respectively, the left seedling needle and right seedling needle and push away the bar shaped on alms bowl plate
Through-hole is fixedly mounted with seedling needle driving plate on seedling needle push-and-pull seat board, can take out up and down on seedling needle driving plate bottom end in insertion cooperation
Draw mobile suit trough plate, driving plate slide bar is packed on trough plate, the upside for pushing away alms bowl shift fork can pull it is mobile with
Alms bowl plate is pushed away to be hinged, on the following side for pushing away alms bowl shift fork can push-and-pull move hinge installation push away alms bowl shift fork slideway, solid with cultivation
The shift fork slideway for planting arm slide bar is packed in and pushes away on alms bowl shift fork slideway, the driving plate slide bar, planting arm slide bar both ends insert respectively
Enter in the slide bar guide slide slot on the inner wall of the planting arm housings two sidewalls, shift fork axle configures on the outside of cam, driving
Shift fork is rotatably sleeved in shift fork axle, and torque spring set fits in shift fork axle, the both ends of the torque spring respectively with dial
Fork shaft and shift fork are connected, and upper end and the shift fork slideway and trough plate of the shift fork are in be engaged, shift fork
Lower end and cam close contacting fit.
The present invention can be rapidly completed bowl and take, push away operation, have structure novel, take that alms bowl is high-efficient, it is fast to push away alms bowl speed, no
It destroys pot seedling root system, guarantee the complete feature of native alms bowl, on the seedling picking mechanism matched with planting mechanism, realize precisely quickly
It pushes away alms bowl and throws seedling, transplanted for China crop, the popularization of especially dry crop transplanting agronomic technique provides technical support.
Detailed description of the invention
Fig. 1 is that the formula that leans out quickly takes alms bowl and pushes away alms bowl end effector overall structure two-dimensional representation；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is that the formula that leans out quickly takes alms bowl and pushes away alms bowl end effector overall structure schematic three dimensional views；
Fig. 4 is to lean out formula after dismantling planting arm housings quickly to take alms bowl and push away alms bowl end effector structures schematic diagram；
Fig. 5 is to push away alms bowl plate and push away alms bowl shift fork assembling structure schematic diagram.
Piece number illustrates in figure:
1, planting arm housings, 2, driving plate slide bar, 3, seedling needle driving plate, 4, slide bar guide slide slot, 5, push away alms bowl shift fork, 6,
A left side push away alms bowl axis, 7, push away alms bowl plate, 8, left vertical shaft, 9, left support abutment, 10, left seedling needle, 11, seedling needle push-and-pull seat board, 12, support base, 13,
Right seedling needle, 14, right support abutment, 15, right vertical shaft, 16, cam, 17, shift fork slideway, 18, torque spring, 19, shift fork axle, 20, push away alms bowl
Shift fork slideway, 21, planting arm slide bar, 22, shift fork, 23, the right side push away alms bowl axis, 24, pin shaft, 25, trough plate.
Specific embodiment
Embodiment of the present invention is described in detail with reference to the accompanying drawing.One kind leaning out formula and alms bowl quickly taken to hold with alms bowl end is pushed away
Row device includes planting arm housings 1, is fixedly mounted with support base 12 on 1 upper end of planting arm housings, cam 16 is rotatably matched
It is opposed on the upside of the planting arm housings 1 to be respectively set on the inner wall of two sidewalls in 1 lower inner part of planting arm housings
Slide bar guide slide slot 4 in 1 upper interior of planting arm housings, is located above slide bar guide slide slot 4 on position through pin shaft 24
Swingable hinge installation pushes away alms bowl shift fork 5, the peace for being parallel to each other and being axially movable in 12 lower inside of support base
A dress left side pushes away alms bowl axis 6 and the right side pushes away alms bowl axis 23, push away alms bowl plate 7 be packed in it is left push away alms bowl axis 6 and it is right push away on the outer end of alms bowl axis 23, at support bottom
Left support abutment 9 and right support abutment 14, seedling are installed by the way that left vertical shaft 8 and right vertical shaft 15 are rotatable respectively on 12 upper end left and right sides of seat
Needle push-and-pull seat board 11 is movably fitted on 12 upper end of support base, is integrally conical the left seedling needle 10 and right seedling needle of configuration
13 be axially movable be respectively inserted into the hole of left support abutment 9 and right support abutment 14, the left seedling needle 10 and right seedling needle 13 respectively with
Seedling needle push-and-pull seat board 11 is hinged, and the left seedling needle 10 and right seedling needle 13 cooperate with the strip through-hole pushed away on alms bowl plate 7 in insertion,
It is fixedly mounted with seedling needle driving plate 3 on the seedling needle push-and-pull seat board 11, it can the mobile set tankage of upper and lower pull on 3 bottom end of seedling needle driving plate
Shape plate 25, driving plate slide bar 2 are packed on trough plate 25, the upside for pushing away alms bowl shift fork 5 can pull it is mobile with push away alms bowl plate 7 and cut with scissors
Connection, on the following side for pushing away alms bowl shift fork 5 can the hinge installation of push-and-pull move push away alms bowl shift fork slideway 20, admittedly it is sliding with planting arm
The shift fork slideway 17 of bar 21, which is packed in, to be pushed away on alms bowl shift fork slideway 20, the both ends difference of the driving plate slide bar 2, planting arm slide bar 21
It is inserted in the slide bar guide slide slot 4 on the 1 two sidewalls inner wall of planting arm housings, shift fork axle 19 configures outside cam 16
Side, shift fork 22 are rotatably sleeved in shift fork axle 19, and 18 sets of torque spring fit in shift fork axle 19, the torque spring
18 both ends are connected with shift fork axle 19 and shift fork 22 respectively, the upper end of the shift fork 22 and shift fork slideway 17 and flute profile
Plate 25 is in be engaged, the lower end of shift fork 22 and 16 close contacting fit of cam.
In use, under the cooperation control of cam 16 and torque spring 18, shift fork 22 is past in shift fork axle 19 for operation
Multiple circle swing: 1., when the upper end side oscillation to the left of shift fork 22, planting arm slide bar 21, slide bar guide slide slot 4,
Shift fork slideway 17 pushes away under the control driving of alms bowl shift fork slideway 20, and alms bowl plate 7 will be pushed away by pushing away 5 upper end of alms bowl shift fork by the left and right alms bowl axis 6,23 that pushes away
It is moved to the right in support base 12, it is synchronous with this, in driving plate slide bar 2, trough plate 25, seedling needle driving plate 3, the push-and-pull of seedling needle
Under seat board 11 drives, left and right seedling needle 10,13 is logical by pushing away the bar shaped on alms bowl plate 7 under the guiding control of left and right support 9,14 respectively
It is moved to the left in hole, the left and right completion of seedling needle 10,13 takes alms bowl to move；Thereafter, 2., in the side oscillation to the right of 22 upper end of shift fork
When, it is driven in the reverse direction process through above-mentioned, alms bowl plate 7 is pushed away and moves to the left, the left and right seedling needle 10,13 for clamping bowl moves to the right,
It pushes away in alms bowl plate 7 and the opposite counter motion of left and right seedling needle 10,13, it is by pushing away alms bowl plate 7 that the bowl clamped on left and right seedling needle 10,13 is fast
Speed is evaded, and completion pushes away alms bowl operation.
For this end effector using taking alms bowl and pushing away the design of two Mechanism Combination of alms bowl, relative motion when pushing away alms bowl improves bowl
Quickly evade operation.
Claims (1)
1. one kind leans out formula and quickly takes alms bowl and push away alms bowl end effector, including planting arm housings (1), it is characterised in that: described
It is fixedly mounted with support base (12) on planting arm housings (1) upper end, cam (16) is rotatably fitted on the downside of planting arm housings (1)
It is opposed on the upside of the planting arm housings (1) that slide bar guide slide slot is respectively set on the inner wall of two sidewalls on inside
(4), planting arm housings (1) upper interior, be located above slide bar guide slide slot (4) it is swingable by pin shaft (24) on position
Hinge installation push away alms bowl shift fork (5), the installation for being parallel to each other and being axially movable in the support base (12) lower inside
A left side pushes away alms bowl axis (6) and the right side pushes away alms bowl axis (23), pushes away alms bowl plate (7) and is packed in that a left side pushes away alms bowl axis (6) and the right side pushes away on the outer end of alms bowl axis (23),
Left support abutment is installed by the way that left vertical shaft (8) and right vertical shaft (15) are rotatable respectively on support base (12) upper end left and right side
(9) it is movably fitted on support base (12) upper end, is integrally conical with right support abutment (14), seedling needle push-and-pull seat board (11)
The hole for being respectively inserted into left support abutment (9) and right support abutment (14) that the left seedling needle (10) and right seedling needle (13) of configuration are axially movable
Interior, the left seedling needle (10) and right seedling needle (13) are hinged with seedling needle push-and-pull seat board (11) respectively, the left seedling needle (10) and the right side
Seedling needle (13), in insertion cooperation, seedling needle is fixedly mounted in seedling needle push-and-pull seat board (11) and is driven with the strip through-hole pushed away on alms bowl plate (7)
Movable plate (3) the mobile suit trough plate (25) of pull, driving plate slide bar (2) can be fixedly mounted with up and down on seedling needle driving plate (3) bottom end
On trough plate (25), the upside for pushing away alms bowl shift fork (5) can pull it is mobile with push away alms bowl plate (7) and be hinged, push away alms bowl described
On the following side of shift fork (5) can push-and-pull move hinge installation push away alms bowl shift fork slideway (20), admittedly with planting arm slide bar (21) dial
Fork slideway (17) is packed in and pushes away on alms bowl shift fork slideway (20), the driving plate slide bar (2), planting arm slide bar (21) both ends difference
It is inserted in the slide bar guide slide slot (4) on the inner wall of the planting arm housings (1) two sidewalls Nei, shift fork axle (19) is configured convex
It takes turns on the outside of (16), shift fork (22) is rotatably sleeved on shift fork axle (19), and torque spring (18) set fits over shift fork axle
(19) on, the both ends of the torque spring (18) are connected with shift fork axle (19) and shift fork (22) respectively, the shift fork
(22) with shift fork slideway (17) and trough plate (25) in being engaged, the lower end and cam (16) of shift fork (22) are tight for upper end
It is close to be engaged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910229874.7A CN109743936B (en) | 2019-03-26 | 2019-03-26 | Probing type end effector for rapidly taking and pushing bowls |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910229874.7A CN109743936B (en) | 2019-03-26 | 2019-03-26 | Probing type end effector for rapidly taking and pushing bowls |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109743936A true CN109743936A (en) | 2019-05-14 |
| CN109743936B CN109743936B (en) | 2021-07-23 |
Family
ID=66409368
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910229874.7A Active CN109743936B (en) | 2019-03-26 | 2019-03-26 | Probing type end effector for rapidly taking and pushing bowls |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109743936B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08214624A (en) * | 1995-02-10 | 1996-08-27 | Kubota Corp | Method for taking out seedling of transplanter and apdparatus therefor |
| JP2000102306A (en) * | 1998-09-29 | 2000-04-11 | Kanzaki Kokyukoki Mfg Co Ltd | Transplanting part of vegetable transplanter |
| JP2001169630A (en) * | 1999-12-21 | 2001-06-26 | Yamaguchi Prefecture | Scratching off tine |
| JP2002084841A (en) * | 2000-09-18 | 2002-03-26 | Kubota Corp | Sulky type rice transplanter |
| CN101164398A (en) * | 2006-10-18 | 2008-04-23 | 郭保可 | Transplanting machine cultivating arm |
| CN101766080A (en) * | 2010-01-26 | 2010-07-07 | 浙江理工大学 | Elliptic gear planetary gear train automatic transplanting mechanism for pot vegetable seedlings |
| CN105532146A (en) * | 2016-01-19 | 2016-05-04 | 东北农业大学 | Two-needle clamping mechanism for dry farmland in-bowl rice seedling transplanting |
| CN207869684U (en) * | 2018-02-14 | 2018-09-18 | 李志� | Novel clip type rice seedling transplanter |
| JP2018191526A (en) * | 2017-05-12 | 2018-12-06 | 井関農機株式会社 | Seedling transplanter |
-
2019
- 2019-03-26 CN CN201910229874.7A patent/CN109743936B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08214624A (en) * | 1995-02-10 | 1996-08-27 | Kubota Corp | Method for taking out seedling of transplanter and apdparatus therefor |
| JP2000102306A (en) * | 1998-09-29 | 2000-04-11 | Kanzaki Kokyukoki Mfg Co Ltd | Transplanting part of vegetable transplanter |
| JP2001169630A (en) * | 1999-12-21 | 2001-06-26 | Yamaguchi Prefecture | Scratching off tine |
| JP2002084841A (en) * | 2000-09-18 | 2002-03-26 | Kubota Corp | Sulky type rice transplanter |
| CN101164398A (en) * | 2006-10-18 | 2008-04-23 | 郭保可 | Transplanting machine cultivating arm |
| CN101766080A (en) * | 2010-01-26 | 2010-07-07 | 浙江理工大学 | Elliptic gear planetary gear train automatic transplanting mechanism for pot vegetable seedlings |
| CN105532146A (en) * | 2016-01-19 | 2016-05-04 | 东北农业大学 | Two-needle clamping mechanism for dry farmland in-bowl rice seedling transplanting |
| JP2018191526A (en) * | 2017-05-12 | 2018-12-06 | 井関農機株式会社 | Seedling transplanter |
| CN207869684U (en) * | 2018-02-14 | 2018-09-18 | 李志� | Novel clip type rice seedling transplanter |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109743936B (en) | 2021-07-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105103744B (en) | Pneumatic row-by-row seedling picking device of pot seedling transplanter | |
| CN201550426U (en) | Pot seedling rice transplanting machine planting arm | |
| CN110178504A (en) | A kind of light simple planting mechanism of Plug seedling that saving volumetric spaces | |
| CN114946412B (en) | Automatic bundling device | |
| CN103621227B (en) | Free second-order non-circular gear-deformation ellipse gear pot seedling transplantation and clamping type taking mechanism | |
| CN102792813A (en) | Automatic seedling taking and feeding mechanism used for plug seedling transplanting | |
| CN102640610B (en) | Double-crank pot clamping type transplanting mechanism for rice pot seedling transplanting machine | |
| CN109743936A (en) | Formula is leant out quickly to take alms bowl and push away alms bowl end effector | |
| CN202535725U (en) | Tray-clamping type seedling-picking mechanism of rice tray seedling transplanter | |
| CN103609236B (en) | Second-order Fourier joint curve non-knuckle-tooth potted-seedling transplanting folder seedling formula seedling picking mechanism | |
| CN102893738A (en) | Corn potted seedlings-raising clamping-type planting mechanism | |
| CN102726154B (en) | Vegetable pot-seedling bevel gear planetary gear train transplanter | |
| CN204721845U (en) | A kind of vegetable transplanting machine plants seedling device | |
| CN211152693U (en) | Slide chain clamp type film upward transplanting machine | |
| CN106489390B (en) | It is a kind of for transplanting the manipulator of hole tray pot seedling | |
| CN203597064U (en) | Second-order Fourier pitch curve non-circular gear pot seedling transplantation seedling-clamp type seedling fetching mechanism | |
| CN103636328B (en) | The non-knuckle-tooth of free second order-eccentric non-knuckle-tooth potted-seedling transplanting folder seedling formula seedling picking mechanism | |
| CN114586634B (en) | Storage device is transplanted with sapling to forestry engineering | |
| CN202310551U (en) | Cantilever stock planting mechanism adopting planet wheels | |
| CN206212640U (en) | Manipulator for transplanting hole tray pot seedling | |
| CN202713948U (en) | Automatic seedling taking and feeding mechanism for transplant of plug seedling | |
| CN105144945B (en) | Lagrangian planetary gear train reversion soil clamping type dry land takes alms bowl transplanting mechanism | |
| CN207219369U (en) | A kind of modified elliptical gear planetary system three-jaw vegetable transplanting mechanism | |
| CN110710358B (en) | Sliding chain clamp type film transplanting machine | |
| CN217037926U (en) | Automatic clamping seedling transplanting device |
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 |