CN109911599B - Semi-automatic equipment of planting flowers - Google Patents
Semi-automatic equipment of planting flowers Download PDFInfo
- Publication number
- CN109911599B CN109911599B CN201910195894.7A CN201910195894A CN109911599B CN 109911599 B CN109911599 B CN 109911599B CN 201910195894 A CN201910195894 A CN 201910195894A CN 109911599 B CN109911599 B CN 109911599B
- Authority
- CN
- China
- Prior art keywords
- flowerpot
- feeding
- frame
- discharging
- indexing turntable
- 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.)
- Active
Links
Images
Landscapes
- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
Abstract
The invention discloses semi-automatic flower planting equipment which comprises a frame, a substrate feeding device, a flowerpot grabbing system and a flower planting station, wherein the substrate feeding device comprises a spiral feeding mechanism, a substrate distributing and feeding mechanism and an indexing turntable mechanism, and the spiral feeding mechanism, the substrate distributing and feeding mechanism and the indexing turntable mechanism are all supported on the frame; the flowerpot grabbing system comprises a flowerpot storing mechanism, a flowerpot feeding and discharging mechanism, a discharging conveying line and a discharging transfer mechanism, wherein the flowerpot storing mechanism, the flowerpot feeding and discharging mechanism, the discharging conveying line and the discharging transfer mechanism are all supported on the frame. Can realize that the automation of flowerpot snatchs and matrix automatic feeding, improve work efficiency, reduce personnel's working strength, degree of automation is higher.
Description
Technical Field
The invention relates to the technical field of flower planting equipment, in particular to semi-automatic flower planting equipment.
Background
The automatic flower inter-pot transplanter for the greenhouse works on flowers planted in a flowerpot with a certain specification. At present, domestic flower planting is mainly completed by manpower. Although some research units or colleges have developed researches on plant automatic planting equipment, some organizations are used as main research objects, and no automatic planting complete machine capable of being put into production is developed.
Disclosure of Invention
The invention aims to solve the problems and provides semi-automatic flower planting equipment, which improves flower planting efficiency, reduces the working intensity of personnel and has higher automation degree.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a semi-automatic flower planting device comprises a frame, a substrate feeding device, a flower pot grabbing system and a flower planting station, wherein the substrate feeding device comprises a spiral feeding mechanism, a substrate distributing and feeding mechanism and an indexing turntable mechanism, the spiral feeding mechanism, the substrate distributing and feeding mechanism and the indexing turntable mechanism are all supported on the frame, the substrate distributing and feeding mechanism is mounted on the indexing turntable mechanism, and the spiral feeding mechanism is located on the indexing turntable mechanism;
the flowerpot grabbing system comprises a flowerpot storing mechanism, a flowerpot feeding and discharging mechanism, a discharging conveying line and a discharging transfer mechanism, wherein the flowerpot storing mechanism, the flowerpot feeding and discharging mechanism, the discharging conveying line and the discharging transfer mechanism are all supported on a frame, the flowerpot storing mechanism is located at the rear of the flowerpot feeding and discharging mechanism, the discharging conveying line is located in the front of the flowerpot feeding and discharging mechanism, and the discharging transfer mechanism is installed at the front end of the frame.
Further, spiral feed mechanism includes mounting bracket, feed bin and material loading pipeline, the mounting bracket is installed on the frame, feed bin and material loading pipeline are installed in the frame, and material loading pipeline lower extreme is equipped with the material loading mouth, the feed bin lower extreme passes through material loading mouth and material loading pipeline intercommunication, and the material loading pipeline upper end is equipped with the discharge gate, is equipped with the auger in the material loading pipeline.
Furthermore, the substrate distributing and feeding mechanism comprises a distributing bin, the distributing bin is supported on the indexing turntable mechanism, a quantitative discharging rotor is arranged in the distributing bin, a driving mechanism for driving the quantitative discharging rotor to rotate is arranged on the supporting frame, and a discharging groove is formed in the lower end of the distributing bin; the matrix material distributing and feeding mechanism further comprises a support frame, the material distributing bin is installed in the support frame, the driving mechanism is a second motor, and an output shaft of the second motor is connected with a rotary shaft of the quantitative discharging rotor.
Further, the indexing turntable mechanism comprises a box body, an indexing turntable and a flowerpot jig, the box body is installed on the frame, the indexing turntable is located at the upper end of the box body and is connected with the box body in a rotating mode, the flowerpot jig is installed on the indexing turntable, and a cam divider is arranged between the indexing turntable and the box body.
Furthermore, the flowerpot fixture comprises a base and a clamping jaw, the base is installed on the indexing turntable, the clamping jaw is connected with the base in a sliding mode, and the clamping jaw is provided with a strip hole; a supporting shaft is arranged at the center of the indexing turntable in the box body, and the upper end of the supporting shaft is fixedly connected with the supporting frame.
Further, the flowerpot storage mechanism comprises a storage rack for storing the flowerpot and a first driving mechanism for driving the storage rack to move back and forth, the storage rack is connected with the first driving mechanism, and the first driving mechanism is installed on the frame;
the two storage racks are arranged, the first air cylinder is installed on the frame, the lower end of each storage rack is provided with an installation plate, the storage racks are connected with the installation plates, the output end of the first air cylinder is connected with the installation plates, and the rear ends of the storage racks are provided with lifting mechanisms;
the storage rack comprises a stop lever and a lifting plate for positioning the flowerpot, the lower end of the stop lever is connected with the storage rack, an opening is formed in the lifting plate, the opening is matched with the stop lever, and the lifting mechanism is matched with the lifting plate.
Further, the flowerpot feeding and discharging mechanism comprises a second support, a feeding mechanical arm and a discharging mechanical arm, the second support is mounted on the frame, a second driving mechanism is arranged between the feeding mechanical arm and the second support, and a third driving mechanism is arranged between the discharging mechanical arm and the second support;
the feeding mechanical arm is a three-jaw mechanical arm, and a sucker is arranged on the feeding mechanical arm.
Further, the blanking conveying line comprises a mounting frame and a belt, the mounting frame is supported on the frame, and the belt rotates in the mounting frame;
the installation frame upper end is equipped with fourth support and fifth support, all be equipped with second inductive switch on fourth support and the fifth support, the installation frame front end is equipped with the baffle.
Furthermore, the blanking transfer mechanism comprises a pneumatic clamping jaw, a third driving mechanism and a fourth driving mechanism, the third driving mechanism is installed on the frame, the fourth driving mechanism is connected with the third driving mechanism in a sliding mode, and the pneumatic clamping jaw is connected with the lower end of the fourth driving mechanism.
Furthermore, still be equipped with driver's seat and generating set on the frame, plant flowers station department and be equipped with the control flat board.
The invention has the beneficial effects that:
1. the flowerpot automatic grabbing device is provided with the substrate feeding device and the flowerpot grabbing system, automatic grabbing of the flowerpot and automatic feeding of the substrate can be achieved, working efficiency is improved, labor intensity of workers is reduced, and automation degree is high. Through the research and development design on the mature crawler-type driving mechanism at the present stage, the operation of a large amount of personnel before can easily be accomplished to an equipment only need 2 personnel.
2. The substrate feeding device comprises a spiral feeding mechanism, a substrate distributing and feeding mechanism and an indexing turntable mechanism, wherein the spiral feeding mechanism comprises an installation frame, a storage bin and a feeding pipeline, the substrate distributing and feeding mechanism comprises a distributing bin, a quantitative blanking rotor is arranged in the distributing bin, the indexing turntable mechanism comprises a box body, an indexing turntable and a flowerpot fixture, when the flowerpot substrate is filled, adding matrix into the bin, conveying the matrix in the bin into the material distributing bin through the feeding pipeline, rotating the first quantitative material discharging rotor to make the matrix in the material distributing bin fall into the flowerpot, then the indexing turntable rotates a station, the substrate is continuously filled, the automatic filling of the substrate is realized, the automation degree is high, the labor intensity is reduced, then the operating workers of the flower planting station insert flower seedlings in the flower pots filled with the substrate, the substrate feeding and planting actions are carried out in a crossed mode, the beat is compact, and the efficiency is improved.
3. The flowerpot fixture comprises a base and the clamping jaw, the clamping jaw is connected with the base in a sliding mode, the clamping jaw is provided with the strip hole, the slide way is internally provided with the threaded hole, the clamping jaw and the base are fixed through the screw, the screw is unscrewed, the clamping jaw can be opened along the slide way, the flowerpot fixture is suitable for flowerpots of different sizes, and the flowerpot fixture is good in practicability.
4. The flowerpot grabbing system comprises a flowerpot storing mechanism, a flowerpot feeding and discharging mechanism, a discharging conveying line and a discharging transfer mechanism, wherein the flowerpot storing mechanism, the flowerpot feeding and discharging mechanism, the discharging conveying line and the discharging transfer mechanism are all supported on a frame, in the using process, a feeding manipulator of the flowerpot feeding and discharging mechanism grabs a hollow flowerpot of the flowerpot storing mechanism to fill a matrix and a flower planting position, after matrix filling and flower planting, a discharging manipulator of the flowerpot feeding and discharging mechanism grabs the flowerpot with flower seedlings onto the discharging conveying line, the discharging conveying line conveys the flowerpot to the front end, and a pneumatic clamping jaw of the discharging transfer mechanism grabs the flowerpot and then places the flowerpot on the ground of a greenhouse.
5. The flowerpot storage rack is provided with two storage racks, the two storage racks are sequentially alternated, when one storage rack is positioned at the grabbing position, a flowerpot is manually placed on the other empty storage rack, after the flowerpot in the grabbing position storage rack is taken out, the two storage racks are alternated, the storage rack full of the flowerpot enters the grabbing position, the flowerpot is fully stored in the empty storage rack, the flowerpot is guaranteed to be always stored in the grabbing position storage rack, the machine does not need to be stopped, and the practicability is good.
6. According to the flowerpot grabbing device, the feeding manipulator is a three-claw manipulator, the sucking discs are arranged on the feeding manipulator, when the flowerpot is grabbed, the feeding manipulator is inserted into the flowerpot, the three claws of the feeding manipulator are expanded, the flowerpot is grabbed by the aid of the sucking discs, the sucking discs can help to grab the flowerpot, the reliability is good, and meanwhile the flowerpot can be protected.
7. According to the invention, the baffle is arranged at the front end of the mounting frame, and the baffle can prevent the flowerpot from falling off the blanking conveying line, so that the flowerpot is safe and reliable.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of a spiral feeding mechanism according to the present invention;
FIG. 3 is a schematic structural view of an indexing turntable mechanism according to the present invention;
FIG. 4 is a left side view of the indexing turntable mechanism of the present invention;
FIG. 5 is a schematic view of the structure of the substrate separating and feeding mechanism of the present invention;
FIG. 6 is a schematic view of a flower pot fixture according to the present invention;
FIG. 7 is a top view of the flowerpot holder of the present invention;
FIG. 8 is a schematic structural view of a flower pot storage mechanism according to the present invention;
FIG. 9 is a schematic structural view of a feeding and discharging mechanism for a flowerpot according to the present invention;
FIG. 10 is a schematic view of the blanking line structure of the present invention;
FIG. 11 is a schematic structural view of a discharging transfer mechanism according to the present invention;
fig. 12 is a schematic view of the working state of the present invention.
In the figure: a frame 1;
the device comprises a spiral feeding mechanism 2, a mounting frame 201, a storage bin 202, a feeding pipeline 203, a feeding port 204, a discharging port 205 and a first motor 206;
the device comprises a substrate distributing and feeding mechanism 3, a support frame 301, a distributing bin 302, a quantitative discharging rotor 303, a discharging groove 304 and a second motor 305;
the device comprises an indexing turntable mechanism 4, a box body 401, an indexing turntable 402, a flowerpot fixture 403, a base 404, a clamping jaw 405, a strip hole 406 and a support shaft 407;
the flowerpot storage mechanism 5, a storage rack 501, a first air cylinder 502, a mounting plate 503, a blocking rod 504, a lifting plate 505, an opening 506, a first support 507, a third servo motor 508 and a first inductive switch 509;
the flowerpot feeding and discharging mechanism 6, a second bracket 601, a feeding manipulator 602, a discharging manipulator 603, a first rodless cylinder 604, a first rod-containing cylinder 605, a second rodless cylinder 606, a second rod-containing cylinder 607 and a suction cup 608;
the blanking conveying line 7, the mounting frame 701, the belt 702, the third support 703, the fourth support 704, the fifth support 705, the second inductive switch 706 and the baffle 707;
the blanking transfer mechanism 8, a pneumatic clamping jaw 801, a cross beam 802, a second servo motor 803, a sixth support 804, a vertical column 805, a second servo motor 806 and a connecting frame 807;
the flower planting device comprises a flower planting station 9, a driving seat 10, a generator set 11, a control panel 12 and a flower pot 13.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For convenience of description, a coordinate system is now defined as shown in fig. 1.
As shown in fig. 1, a semi-automatic flower planting device is characterized by comprising a frame 1, a substrate feeding device, a flower pot grasping system and a flower planting station 9, wherein the lower end of the frame 1 is a crawler-type chassis driving mechanism, the substrate feeding device comprises a spiral feeding mechanism 2, a substrate distributing and feeding mechanism 3 and an indexing turntable mechanism 4, the spiral feeding mechanism 2, the substrate distributing and feeding mechanism 3 and the indexing turntable mechanism 4 are all supported on the frame 1, the substrate distributing and feeding mechanism 3 is installed on the indexing turntable mechanism 4, the spiral feeding mechanism 2 is installed on the indexing turntable mechanism 4, the flower pot grasping system comprises a flower pot storing mechanism 5, a flower pot feeding and discharging mechanism 6, a discharging conveying line 7 and a discharging and transferring mechanism 8, the flower pot storing mechanism 5, the flower pot feeding and discharging mechanism 6, the discharging conveying line 7 and the discharging and transferring mechanism 8 are all supported on the frame 1, mechanism 5 is deposited to the flowerpot is located the last unloading mechanism 6 rear of flowerpot, and unloading transfer chain 7 is located the 6 the place ahead of the last unloading mechanism of flowerpot, and the unloading is moved and is carried mechanism 8 and install at 1 front end of frame. Still be equipped with driver's seat 10 and generating set 11 on the frame 1, flower planting station 9 department is equipped with control panel 12.
As shown in fig. 2, spiral feed mechanism 2 includes mounting bracket 201, feed bin 202 and material loading pipeline 203, mounting bracket 201 passes through the bolt and installs on frame 1, feed bin 202 and material loading pipeline 203 are installed in frame 1, and feed bin 202 is and leaks hopper-shaped, and material loading pipeline 203 is located feed bin 202 front end, and material loading pipeline 203 slopes, and material loading pipeline 203 lower extreme is equipped with material loading mouth 204, feed bin 202 lower extreme passes through material loading mouth 204 and material loading pipeline 203 intercommunication, and material loading pipeline 203 upper end is equipped with discharge gate 205, is equipped with conveying mechanism in the material loading pipeline 203. The conveying mechanism is an auger, the auger rotates in the feeding pipeline 203, a first motor 206 is arranged at the lower end of the feeding pipeline 203, and an output shaft of the first motor 206 is connected with a rotating shaft of the auger. During feeding, a substrate is added into the bin 202, the substrate in the bin 202 enters the lower end of the feeding pipeline 203 through the feeding port 204, the auger is driven to rotate by the first motor 206, and the substrate falls into the material distributing bin 302 from the discharging port 205, so that the substrate is conveyed.
As shown in fig. 3, 4 and 5, the substrate distributing and feeding mechanism 3 includes a distributing bin 302, the distributing bin 302 is supported on the indexing turntable mechanism 4, a quantitative blanking rotor 303 is arranged in the distributing bin 302, the quantitative blanking rotor 303 is rotatably connected with the distributing bin 302, a driving mechanism for driving the quantitative blanking rotor 303 to rotate is arranged on the supporting frame 301, and a discharge chute 304 is arranged at the lower end of the distributing bin 302; the quantitative blanking rotor is composed of a plurality of partition plates with equal angles, the second motor drives the quantitative blanking rotor 303 to rotate, and the quantity of the matrix under each circle is equal, which is the prior art and is not described in detail herein.
As shown in fig. 3, fig. 4 and fig. 5, the substrate distributing and feeding mechanism 3 further includes a supporting frame 301, the distributing bin 302 is fixedly installed in the supporting frame 301, the distributing bin 302 corresponds to the position of the discharge hole 205, the distributing bin 302 is funnel-shaped, the driving mechanism is a second motor 305, the second motor 305 is fixed on the side surface of the supporting frame 301 through a bolt, the output shaft of the second motor 305 is connected with the rotating shaft of the quantitative blanking rotor 303 through a coupler, after the spiral feeding mechanism 2 conveys the substrate into the distributing bin 302, the second motor 305 drives the quantitative blanking rotor 303 to rotate, the substrate in the distributing bin 302 falls into the flowerpot from the discharge chute 304 through the quantitative blanking rotor 303, and the automatic filling of the substrate is realized. The discharge chutes 304 are symmetrically distributed at the front end and the rear end of the material distributing bin 302.
As shown in fig. 3 to 4, the indexing turntable mechanism 4 includes a box 401, an indexing turntable 402, and a flowerpot fixture 403, the box 401 is mounted on the frame 1, the indexing turntable 402 is located at the upper end of the box 401 and is rotatably connected to the box 401, the flowerpot fixture 403 is mounted on the indexing turntable 402, and the flowerpot fixture 403 corresponds to the discharge chute 304.
A cam divider is arranged between the indexing rotary table 402 and the box 401, not shown in the figure, a motor drives the cam divider to operate, the stop position of each station is unique when the motor rotates a circle of rotary table for indexing, the cam divider is the prior art, redundant description is not provided herein, and the motor is installed in the box 401. The indexing turntable 402 is provided with six stations for indexing, each station is provided with a flowerpot fixture 403, and the six flowerpot fixtures 403 are uniformly distributed on the indexing turntable 402.
As shown in fig. 6 and 7, the flowerpot fixture 403 comprises a base 404 and clamping jaws 405, the base 404 is installed on an indexing turntable 402, the clamping jaws 405 and the base 404 are connected in a sliding mode, the clamping jaws 405 are three, the clamping jaws 405 are evenly distributed, sliding ways are arranged on the base 404, the lower ends of the clamping jaws 405 are matched with the sliding ways, long holes 406 are formed in the clamping jaws 405, threaded holes are formed in the sliding ways, the clamping jaws 405 and the base 404 are fixed through screws, the screws can be unscrewed to open the clamping jaws 405 along the sliding ways, so that the flowerpot is suitable for flowerpots of different sizes, and the flowerpot fixture is good.
As shown in fig. 4, a supporting shaft 407 is disposed in the box 401 at the center of the index dial 402, the upper end of the supporting shaft 407 is fixedly connected to the supporting frame 301, and when discharging, the supporting shaft 407 is fixed and the index dial 402 rotates.
The first motor 206, the second motor 305 and the driving motor of the cam divider are all connected with a PLC controller through wires, and the PLC controller controls the motors to automatically act. When the flowerpot matrix is filled, the matrix is added into the stock bin 202, the first motor 206 drives the auger in the feeding pipeline 203 to convey the matrix in the stock bin 202 into the material distribution bin 302, the second motor 305 drives the quantitative discharging rotor 303 to rotate, the matrix in the material distribution bin 302 falls into the flowerpot, then the indexing turntable 402 rotates for one station, the matrix is continuously filled, automatic filling of the matrix is achieved, the automation degree is high, the labor intensity is reduced, then an operator of the flower planting station 9 inserts flower seedlings into the flowerpot filled with the matrix, matrix feeding and planting actions are performed alternately, the beat is compact, and the efficiency is improved.
The medium divides material feed mechanism blanking at every turn and is half flowerpot's volume, when the matrix is filled very beginning, need first half right three flowerpots add half basin's matrix into, later the counter-clockwise turning of cam wheel splitter's driving motor drive graduation carousel 402, a station at every turn, the flowerpot that originally has half basin matrix will be filled up after once the matrix is filled up, the operation workman of planting flower station 9 inserts the flower seedling in the flowerpot that fills up the matrix, originally do not have the flowerpot of matrix and also can fill up after twice packs, carry out the flower arrangement.
As shown in fig. 8, the flowerpot storing mechanism 5 comprises a storing rack 501 for storing the flowerpots 12 and a first driving mechanism for driving the storing rack 501 to move back and forth, wherein the storing rack 501 is connected with the first driving mechanism, and the first driving mechanism is installed on the frame 1.
As shown in fig. 8, the storage racks 501 are provided with two storage racks 501, the two storage racks 501 are sequentially alternated, that is, when one storage rack 501 is at the grabbing position, a flowerpot is manually placed on the other storage rack 501, when the flowerpot in the grabbing position is taken out, the two storage racks 501 are alternated, the storage rack full of flowerpots enters the grabbing position, the flowerpot is filled in the empty storage rack, it is ensured that the flowerpot is always placed in the grabbing position, no shutdown is needed, and the practicability is good, the first driving mechanism is a first cylinder 502, the first cylinder 502 is provided with a guide rod cylinder, the first cylinder 502 is mounted on the frame 1, the mounting plate 503 is provided at the lower end of the storage rack 501, the storage rack 501 is connected with the mounting plate 503, the output end of the first cylinder 502 is connected with the mounting plate 503, the lifting mechanism is provided at the rear end of the storage rack 501, the mounting plate 503 is driven to move back and forth by the first cylinder 502, the positions of the two storage racks 501 are driven to alternate, the first air cylinder 502 is connected with an air source through an air source pipeline, an electromagnetic valve is arranged on the air source pipeline and is in signal connection with a PLC (programmable logic controller), and the PLC controls the opening and closing of the electromagnetic valve so as to control the action of the air cylinder; the storage rack 501 comprises a stop lever 504 and a lifting plate 505 for positioning the flowerpot 12, the stop lever 504 is three, the flowerpot 12 is located between the three stop levers 504, the lower end of the stop lever 504 is connected with the storage rack 501 through a bolt, the lifting plate 505 is provided with an opening 506, the opening 506 is matched with the stop lever 504, a lifting mechanism is matched with the lifting plate 505, the lifting mechanism can drive the lifting plate 505 to move upwards at the stop lever 504, the grabbing position of the flowerpot 12 is guaranteed to be fixed, and the practicability is good.
As shown in fig. 8, the lifting mechanism includes a first bracket 507, a third servo motor 508 and a fork, not shown, the first bracket 507 is connected to the frame 1, the third servo motor 508 is fixed in the first bracket 507, an output end of the third servo motor 508 is connected to the fork through a ball screw pair, the ball screw pair is prior art and not described herein, the fork is engaged with the lifting plate 505, the first bracket 507 is provided with a first inductive switch 509, a height of the first inductive switch 509 is a flowerpot grabbing height, the third servo motor 508 and the first inductive switch are connected to the PLC controller, when a flowerpot is in the storage rack 501, the manipulator of the flowerpot loading and unloading mechanism 6 grabs the uppermost flowerpot, the first inductive switch 509 does not sense the flowerpot and transmits a signal to the PLC controller, the PLC controller controls the third servo motor 508 to drive the fork to ascend, and then the lifting plate 505 is driven to ascend and descend, the next flowerpot ascends to supplement the position, the next time of grabbing is carried out, when the first inductive switch 509 senses that no flowerpot exists in the storage rack 501, the PLC controller controls the first air cylinder 502 to act, and the other storage rack 501 filled with flowerpots enters the flowerpot grabbing position.
As shown in fig. 9, the flowerpot loading and unloading mechanism 6 includes a second bracket 601, a loading manipulator 602 and an unloading manipulator 603, the second bracket 601 is mounted on the frame 1, a second driving mechanism is disposed between the loading manipulator 602 and the second bracket 601, and a third driving mechanism is disposed between the unloading manipulator 603 and the second bracket 601; the feeding manipulator 602 is used for grabbing the flowerpot at the flowerpot storage mechanism 5, placing the flowerpot at the flower planting position, and the discharging manipulator 603 takes down the flowerpot with the flower seedling planted at the flower planting position and conveys the flowerpot onto the discharging conveying line 7.
As shown in fig. 9, the second driving mechanism includes a first rodless cylinder 604 and a first rodless cylinder 605, the first rodless cylinder 604 is connected to the upper end of the second bracket 601, the first rodless cylinder 605 is connected to the output end of the first rodless cylinder 604, the output end of the first rodless cylinder 604 is connected to the feeding manipulator 602, the third driving mechanism includes a second rodless cylinder 606 and a second rodless cylinder 607, the second rodless cylinder 606 is connected to the upper end of the second bracket 601, the second rodless cylinder 607 is connected to the output end of the second rodless cylinder 606, and the output end of the second rodless cylinder 606 is connected to the blanking manipulator 603. First rodless cylinder 604, first pole cylinder 605, second rodless cylinder 606 and second pole cylinder 607, all by the control of PLC controller, its air supply pipe-line system is prior art, do not do too much to describe here, first rodless cylinder 604 drive feeding manipulator 602 is deposited mechanism 5 and is planted the position and remove at the flowerpot, first pole cylinder 605 control feeding manipulator 602 goes up and down, snatch and put down the flowerpot, second rodless cylinder 606 drive unloading manipulator 603 is planting the position and is removing between unloading transfer chain 7, second pole cylinder 607 drive unloading manipulator 603 goes up and down, snatch and put down the flowerpot that the flower was planted.
As shown in fig. 9, the feeding manipulator 602 is a three-claw manipulator, a suction cup 608 is disposed on the feeding manipulator 602, when a flowerpot is grasped, the feeding manipulator 602 is inserted into the flowerpot, three claws of the feeding manipulator 602 are expanded, the flowerpot is grasped by the suction cup, and the suction cup 608 can help grasp the flowerpot and protect the flowerpot.
As shown in fig. 10, the blanking conveying line 7 includes a mounting frame 701 and a belt 702, the mounting frame 701 is supported on the frame 1, the belt 702 rotates in the mounting frame 701, belt rollers are disposed at two ends of the mounting frame 701, the belt 702 bypasses the belt rollers at two ends of the mounting frame 701, a driving motor is disposed at the rear end of the mounting frame 701, and an output end of the driving motor is connected with the belt rollers.
As shown in fig. 10, a third bracket 703 is arranged between the mounting frame 701 and the frame 1, the upper end of the third bracket 703 is connected to the mounting frame 701, the lower end of the third bracket 703 is connected to the frame 1, the upper end of the mounting frame 701 is provided with a fourth bracket 704 and a fifth bracket 705, both the fourth bracket 704 and the fifth bracket 705 are provided with a second inductive switch 706, the fourth bracket 704 and the fifth bracket 705 are door-shaped, the second inductive switch 706 on the fourth bracket 704 is used for detecting whether the flowerpot carrying the flower seedling is placed on the discharging conveyor line 7 by the discharging manipulator 603, the second inductive switch 706 on the fifth bracket 705 is used for detecting whether the flowerpot is placed at the front end of the discharging conveyor line 7, if yes, a signal is transmitted to the PLC controller, and the PLC controller controls the discharging transfer mechanism 8 to take down the flowerpot carrying the flower and place the flowerpot on the ground of the greenhouse.
As shown in fig. 10, a third bracket 703 is arranged between the mounting frame 701 and the frame 1, the upper end of the third bracket 703 is connected to the mounting frame 701, the lower end of the third bracket 703 is connected to the frame 1, the upper end of the mounting frame 701 is provided with a fourth bracket 704 and a fifth bracket 705, both the fourth bracket 704 and the fifth bracket 705 are provided with a second inductive switch 706, the fourth bracket 704 and the fifth bracket 705 are door-shaped, the second inductive switch 706 on the fourth bracket 704 is used for detecting whether the flowerpot carrying the flower seedling is placed on the discharging conveyor line 7 by the discharging manipulator 603, the second inductive switch 706 on the fifth bracket 705 is used for detecting whether the flowerpot is placed at the front end of the discharging conveyor line 7, if yes, a signal is transmitted to the PLC controller, and the PLC controller controls the discharging transfer mechanism 8 to take down the flowerpot carrying the flower and place the flowerpot on the ground of the greenhouse. The installation frame 701 front end is equipped with baffle 707, and baffle 707 can prevent that the flowerpot from dropping from unloading transfer chain 7, safe and reliable.
As shown in fig. 11, the blanking transfer mechanism 8 includes a pneumatic clamping jaw 801, a third driving mechanism and a fourth driving mechanism, the third driving mechanism is mounted on the vehicle frame 1, the fourth driving mechanism is slidably connected with the third driving mechanism, and the pneumatic clamping jaw 801 is connected with the lower end of the fourth driving mechanism.
As shown in fig. 11, the third driving mechanism includes a cross beam 802 and a second servo motor 803, a sixth bracket 804 is disposed between the cross beam 802 and the frame 1, the lower end of the sixth bracket 804 is connected to the front end of the frame 1 through a bolt, the upper end of the sixth bracket 804 is connected to the cross beam 802, and the second servo motor 803 is mounted at the left end of the cross beam 802 through a bolt; the fourth driving mechanism comprises a vertical column 805 and a third servo motor 806, a connecting frame 807 is arranged between the vertical column 805 and the cross beam 802, the connecting frame 807 is angle steel, the connecting frame 807 and the cross beam 802 are in sliding connection through a guide rail and slider pair, the second servo motor 803 and the connecting frame 807 are in sliding connection through a ball screw pair, the third servo motor 806 is installed at the upper end of the vertical column 805 through a bolt, the vertical column 805 and the connecting frame 807 are in sliding connection through a guide rail and slider pair, the third servo motor 806 and the connecting frame 807 are in sliding connection through a ball screw pair, the pneumatic clamping jaw 801 is installed at the lower end of the pneumatic clamping jaw 801, the pneumatic clamping jaw 801 is the prior art, and redundant description is not given here. The second servo motor 803 and the third servo motor 806 are controlled by a PLC controller, when the second induction switch 706 detects that a flowerpot is arranged at the front end of the blanking conveying line 7, the second servo motor 803 drives the connecting frame 807 to move along the cross beam 802 until the pneumatic clamping jaw 801 corresponds to the flowerpot position, then the third servo motor 806 drives the upright column 805 of the pneumatic clamping jaw 801 to ascend until the pneumatic clamping jaw 801 corresponds to the flowerpot position, the flowerpot is grabbed, and then the third driving mechanism and the fourth driving mechanism drive the pneumatic clamping jaw 801 to move and place the flowerpot on the ground.
In the use, the hollow flowerpot of mechanism 5 is deposited with the flowerpot to the material loading manipulator 602 of unloading mechanism 6 in the flowerpot grabs and gets to fill matrix and plant the position of flowers, later unloading manipulator 603 of unloading mechanism 6 in the flowerpot grabs and gets to unloading transfer chain 7 on the flowerpot of planting the flower seedling, unloading transfer chain 7 carries the front end with the flowerpot, later unloading is carried pneumatic clamping jaw 801 of mechanism 8 and is snatched the back with the flowerpot and put subaerial in greenhouse, the automation of having realized the flowerpot snatchs puts, the practicality is good, the labor intensity is reduced, and the efficiency is improved.
As shown in fig. 12, the specific working process is as follows: 1. preparation work: placing a matrix for flower cultivation in a bin of the spiral feeding mechanism; the flowerpot storage mechanism is filled with empty flowerpots; putting seedlings for flower cultivation at a flower cultivation station; 2. starting the equipment, wherein a driver drives the equipment to a flowerpot placing area, and an operator operates the equipment to start the equipment through the control panel 12; 3. the flowerpot feeding and discharging mechanism 6 automatically places an empty flowerpot on the flowerpot jig of the indexing turntable mechanism 4, the spiral feeding mechanism automatically feeds soil into the substrate distributing and feeding mechanism, and the substrate distributing and feeding mechanism automatically and quantitatively feeds the substrate into the flowerpot. 4. When the indexing turntable mechanism 4 is turned to the operator position, the flower is planted manually into the flowerpot. 5. The indexing turntable mechanism 4 continues to operate, and when the loading position is reached, the flowerpot loading and unloading mechanism 6 automatically grabs and places the loaded flowerpot on the unloading conveyor line 7; 6. and a second inductive switch 706 on the blanking conveying line 7 detects, automatically starts and carries out blanking. 7. The discharging transfer mechanism grabs and places the flowerpots on the 8 discharging conveying lines 7 in a placement area. Thus completing the cycle of planting flowers once.
In the description of the present invention, it should be noted that the terms "left", "right", "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be mechanically or electrically connected, directly or indirectly through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Claims (9)
1. A semi-automatic flower planting device is characterized by comprising a frame (1), a substrate feeding device, a flowerpot grabbing system and a flower planting station (9), wherein the substrate feeding device comprises a spiral feeding mechanism (2), a substrate distributing and feeding mechanism (3) and an indexing turntable mechanism (4), the spiral feeding mechanism (2), the substrate distributing and feeding mechanism (3) and the indexing turntable mechanism (4) are all supported on the frame (1), the substrate distributing and feeding mechanism (3) is installed on the indexing turntable mechanism (4), and the spiral feeding mechanism (2) is installed on the indexing turntable mechanism (4);
the flowerpot grabbing system comprises a flowerpot storing mechanism (5), a flowerpot feeding and discharging mechanism (6), a discharging conveying line (7) and a discharging transferring mechanism (8), wherein the flowerpot storing mechanism (5), the flowerpot feeding and discharging mechanism (6), the discharging conveying line (7) and the discharging transferring mechanism (8) are all supported on a frame (1), the flowerpot storing mechanism (5) is located behind the flowerpot feeding and discharging mechanism (6), the discharging conveying line (7) is located in front of the flowerpot feeding and discharging mechanism (6), and the discharging transferring mechanism (8) is installed at the front end of the frame (1);
the flowerpot storage mechanism (5) comprises a storage rack (501) for storing the flowerpot (13) and a first driving mechanism for driving the storage rack (501) to move back and forth, the storage rack (501) is connected with the first driving mechanism, and the first driving mechanism is installed on the frame (1); the two storage racks (501) are arranged, the first air cylinder (502) is installed on the frame (1), the lower end of each storage rack (501) is provided with the mounting plate (503), the storage racks (501) are connected with the mounting plates (503), the output end of each first air cylinder (502) is connected with the mounting plates (503), and the rear ends of the storage racks (501) are provided with the lifting mechanisms; the storage rack (501) comprises a stop lever (504) for positioning the flowerpot (13) and a lifting plate (505), the lower end of the stop lever (504) is connected with the storage rack (501), an opening (506) is formed in the lifting plate (505), the opening (506) is matched with the stop lever (504), and the lifting mechanism is matched with the lifting plate (505).
2. The semi-automatic flower planting device according to claim 1, wherein the spiral feeding mechanism (2) comprises a mounting frame (201), a bin (202) and a feeding pipeline (203), the mounting frame (201) is mounted on the frame (1), the bin (202) and the feeding pipeline (203) are mounted in the frame (1), a feeding port (204) is arranged at the lower end of the feeding pipeline (203), the lower end of the bin (202) is communicated with the feeding pipeline (203) through the feeding port (204), a discharging port (205) is arranged at the upper end of the feeding pipeline (203), and a packing auger is arranged in the feeding pipeline (203).
3. The semi-automatic flower planting equipment according to claim 1, wherein the substrate distributing and feeding mechanism (3) comprises a distributing bin (302), the distributing bin (302) is supported on the indexing turntable mechanism (4), a quantitative discharging rotor (303) is arranged in the distributing bin (302), a driving mechanism for driving the quantitative discharging rotor (303) to rotate is arranged on the supporting frame (301), and a discharging groove (304) is arranged at the lower end of the distributing bin (302); the matrix divides material feed mechanism (3) still includes support frame (301), divide feed bin (302) to install in support frame (301), and actuating mechanism is second motor (305), and second motor (305) output shaft is connected with quantitative unloading rotor (303) pivot.
4. The semi-automatic flower planting device of claim 1, wherein the indexing turntable mechanism (4) comprises a box body (401), an indexing turntable (402) and a flower pot fixture (403), the box body (401) is mounted on the frame (1), the indexing turntable (402) is located at the upper end of the box body (401) and is rotatably connected with the box body (401), the flower pot fixture (403) is mounted on the indexing turntable (402), and a cam divider is arranged between the indexing turntable (402) and the box body (401).
5. Semi-automatic flower planting equipment as claimed in claim 4, characterized in that the flowerpot fixture (403) comprises a base (404) and a clamping jaw (405), the base (404) is installed on the indexing turntable (402), the clamping jaw (405) is connected with the base (404) in a sliding way, and the clamping jaw (405) is provided with a long hole (406); a supporting shaft (407) is arranged at the center of the indexing turntable (402) in the box body (401), and the upper end of the supporting shaft (407) is fixedly connected with the supporting frame (301).
6. The semi-automatic flower planting device according to claim 1, wherein the flowerpot feeding and discharging mechanism (6) comprises a second bracket (601), a feeding mechanical arm (602) and a discharging mechanical arm (603), the second bracket (601) is mounted on the frame (1), a second driving mechanism is arranged between the feeding mechanical arm (602) and the second bracket (601), and a third driving mechanism is arranged between the discharging mechanical arm (603) and the second bracket (601);
the feeding mechanical arm (602) is a three-jaw mechanical arm, and a sucker (608) is arranged on the feeding mechanical arm (602).
7. Semi-automatic flower planting equipment as claimed in claim 1, characterized in that the blanking conveying line (7) comprises a mounting frame (701) and a belt (702), the mounting frame (701) is supported on the frame (1), and the belt (702) rotates in the mounting frame (701);
the upper end of the mounting frame (701) is provided with a fourth support (704) and a fifth support (705), the fourth support (704) and the fifth support (705) are both provided with a second inductive switch (706), and the front end of the mounting frame (701) is provided with a baffle (707).
8. Semi-automatic flower planting equipment as claimed in claim 1, characterized in that the blanking transfer mechanism (8) comprises a pneumatic clamping jaw (801), a third driving mechanism and a fourth driving mechanism, the third driving mechanism is mounted on the frame (1), the fourth driving mechanism is connected with the third driving mechanism in a sliding way, and the pneumatic clamping jaw (801) is connected with the lower end of the fourth driving mechanism.
9. Semi-automatic flower planting equipment as claimed in claim 1, characterized in that the carriage (1) is also provided with a driver's seat (10) and a generator set (11), and a control panel (12) is arranged at the flower planting station (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910195894.7A CN109911599B (en) | 2019-03-15 | 2019-03-15 | Semi-automatic equipment of planting flowers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910195894.7A CN109911599B (en) | 2019-03-15 | 2019-03-15 | Semi-automatic equipment of planting flowers |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109911599A CN109911599A (en) | 2019-06-21 |
| CN109911599B true CN109911599B (en) | 2020-10-09 |
Family
ID=66965013
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910195894.7A Active CN109911599B (en) | 2019-03-15 | 2019-03-15 | Semi-automatic equipment of planting flowers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109911599B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113966684A (en) * | 2021-09-29 | 2022-01-25 | 江苏大学 | Facility gardening auxiliary seedling planting device and control method thereof |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0212856Y2 (en) * | 1984-11-12 | 1990-04-10 | ||
| KR100994563B1 (en) * | 2008-08-14 | 2010-11-16 | 이승수 | seedling transplant apparatus |
| CN201612060U (en) * | 2010-03-17 | 2010-10-27 | 王桂君 | Banking machine for plant culturing basin |
| KR101135072B1 (en) * | 2011-12-15 | 2012-04-13 | 김순자 | Soil dispenser |
| CN202680078U (en) * | 2012-05-03 | 2013-01-23 | 新疆农垦科学院 | Automatic feeding device for plug seedling production line |
| CN203072486U (en) * | 2013-01-30 | 2013-07-24 | 农业部南京农业机械化研究所 | Container nursery substrate filling machine |
| CN103283526B (en) * | 2013-06-09 | 2014-10-22 | 浙江博仁工贸有限公司 | Full-automatic base material tray charging mechanism |
| CN105684613A (en) * | 2014-11-28 | 2016-06-22 | 田佳聪 | Automatic transplanting manipulator |
| CN206013952U (en) * | 2016-08-02 | 2017-03-15 | 天津百利种苗培育有限公司 | A kind of feeding device of the substrate loader of nursery pallet |
| CN108207216B (en) * | 2017-12-19 | 2023-08-15 | 农业部南京农业机械化研究所 | Seedling matrix filling and transplanting transmission system |
-
2019
- 2019-03-15 CN CN201910195894.7A patent/CN109911599B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109911599A (en) | 2019-06-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106358537B (en) | A kind of automatic transplanter for plug seedling and its control system | |
| CN103569637B (en) | Commutator automatic tray filler | |
| CN109823816B (en) | Flowerpot grabbing system | |
| CN110435978B (en) | Nutrient soil feeding bag type bowl loading machine | |
| AU2002212208B2 (en) | A mushroom packing apparatus | |
| CN109911599B (en) | Semi-automatic equipment of planting flowers | |
| CN109733682A (en) | A kind of automatic granule shape Chinese medicine storage feed bin | |
| CN115087597A (en) | Improved packaging robot | |
| CN111819994B (en) | Alfalfa reaps equipment of tying up | |
| CN211593084U (en) | Automatic card bagging equipment | |
| CN203143667U (en) | Automatic collecting device for lighter gas boxes | |
| CN210823028U (en) | Bag type soil filling machine for nutrient soil | |
| CN103148511B (en) | Automatic inflation equipment for lighters | |
| CN209582913U (en) | A kind of flowerpot grasping system | |
| CN210854380U (en) | Cylindrical material slope loading attachment | |
| CN209852668U (en) | Automatic feeding mechanism of full-automatic continuous stretching vacuum packaging machine | |
| JP3852214B2 (en) | Nursery box seeding device | |
| CN209582772U (en) | A kind of matrix discharging device | |
| KR20030002619A (en) | bed soil filling machine for pot | |
| CN111056065A (en) | Automatic card bagging equipment | |
| CN108887090A (en) | A kind of edible fungus culturing matrix bagging system | |
| CN212813035U (en) | Full-automatic nutrition pot paving machine | |
| CN108849253A (en) | A kind of edible fungus culturing bag containing soilless substrate crawl feeding device | |
| CN212333906U (en) | Cutter taking and distributing machine | |
| CN211167520U (en) | Bagging machine |
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 |