CN109986585A - A kind of seedling taking manipulator of servo motor driving - Google Patents
A kind of seedling taking manipulator of servo motor driving Download PDFInfo
- Publication number
- CN109986585A CN109986585A CN201910416038.XA CN201910416038A CN109986585A CN 109986585 A CN109986585 A CN 109986585A CN 201910416038 A CN201910416038 A CN 201910416038A CN 109986585 A CN109986585 A CN 109986585A
- Authority
- CN
- China
- Prior art keywords
- seedling taking
- servo motor
- connecting rod
- rocker arm
- seedling
- 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.)
- Pending
Links
- 230000006378 damage Effects 0.000 abstract description 3
- 239000012636 effector Substances 0.000 description 4
- 238000002054 transplantation Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000012258 culturing Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0045—Manipulators used in the food industry
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Food Science & Technology (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
Abstract
The present invention relates to a kind of ejection clamping type seedling taking manipulators of servo motor driving.Including motor mounting plate, servo motor, the rocker arm being fixed on servo motor, connecting rod, seedling taking finger, is bolted between motor and rocker arm; is bolted between rocker arm and connecting rod, connecting rod is bolted with seedling taking finger, and seedling taking finger is moved in a straight line on guide rail by sliding block.The present invention have many advantages, such as structurally reasonable, movement flexibly, it is light simplify, be that a kind of low damage of high speed that can satisfy takes the seedling taking manipulator for throwing seedling, provide seedling taking component for fully-automatic intelligent transplanter.
Description
Technical field
The present invention relates to a kind of ejection clamping type seedling taking manipulators of servo motor driving, complete certainly in particular for Plug seedling
Dynamic transplanter high speed stablizes the research for taking and throwing seedling, belongs to agricultural mechanical field.
Background technique
Culturing and transplanting seedlings have weather compensation effect, improve seedling percent and improve many advantages such as per mu yield.But it is traditional
Handwork transplant is difficult to meet the requirement of high-yield and high-efficiency, therefore proposes an urgent demand for the development of full-automatic transplantation machinery.It takes
Seedling mechanism can effectively reduce injury seedling as the critical component for realizing full-automatic transplantation, the seedling picking mechanism of performance stability and high efficiency
Rate improves transplanting efficiency.
The end effector currently existed, mainly based on pneumatic actuation.Using the end effector of pneumatic actuation
Although have convenient for control, it is simple and compact for structure the advantages that, be difficult to realize accurately controlling for position and speed, and in practical examination
The shake that middle discovery pneumatically be easy to cause end effector is tested, the damage of matrix is caused.Motor driven can be realized speed and position
That sets is precisely controlled, but stepper motor driving be easy to cause step-out, influences being normally carried out for transplanting.To solve the above-mentioned problems,
A kind of seedling picking mechanism driven by DC servo motor is devised herein, can be realized and seedling picking mechanism is precisely controlled, and
It takes throwing seedling speed and pneumatic type close, therefore is of great significance for the development of high-speed full-automatic transplanter.
Summary of the invention
In view of above-mentioned, the purpose of the present invention is to provide a kind of seedling taking manipulators of servo motor driving, provide a kind of knot
Structure is reasonable, high speed seedling taking, controls accurately seedling taking manipulator.
The seedling taking manipulator of servo motor driving, including servo motor, motor mounting plate, rocker arm, connecting rod, seedling taking finger,
Motor is bolted with rocker arm, rocker arm and connecting rod is bolted, connecting rod and seedling taking finger are bolted, sliding block
It is fixed on seedling taking finger, seedling taking intermediate plate is welded to the end of seedling taking finger.
The seedling taking manipulator of the servo motor driving includes servo motor (2), seedling taking finger (3), motor mounting plate
(4), guide rail (5), sliding block (6), connecting rod (8), rocker arm (9), servo motor (2) are installed on motor mounting plate by bolt, are shaken
Arm (9) is connected to motor by bolt, is bolted between connecting rod (8) and rocker arm (9), connecting rod (8) and seedling taking finger (3)
Between be bolted, sliding block (6) is fixed on seedling taking finger (3), and seedling taking intermediate plate (11) is welded to seedling taking finger (3)
End.
Detailed description of the invention
Fig. 1 is the ejection clamping type seedling taking end effector shaft side figure of servo motor driving.
In figure: 1 being upper mounting plate, 2 be servo motor, 3 be seedling taking finger, 4 be motor mounting plate, 5 be guide rail, 6 be sliding
Block, 7 be rocker arm connection bolt, 8 be connecting rod, 9 be rocker arm, 10 be motor connection bolt, 11 be seedling taking intermediate plate.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
As shown in Figure 1, the present invention includes passing through between servo motor (2), rocker arm (9), servo motor (2) and rocker arm (9)
It is bolted；It is bolted between connecting rod (8), rocker arm (9) and connecting rod (8), seedling taking finger (3), seedling taking finger (3) and company
Bar is bolted between (8), and sliding block (6) is fixed on seedling taking finger (3), and seedling taking intermediate plate (11) is welded to seedling taking finger
(3) end, seedling taking finger (3) can be moved in a straight line on guide rail (5) by sliding block (6), and servo motor (2) is first when work
Pioneer shakes arm (9) and rotates clockwise certain angle, and rocker arm (9) drives a pair of of seedling taking finger (3) to transport in opposite directions by connecting rod (8)
Dynamic, the clamping to pot seedling is realized in seedling taking intermediate plate (11) tightening.Miao Dianshi is thrown when seedling picking mechanism reaches, servo motor (2) driving is shaken
Arm (9) rotates counterclockwise certain angle, and rocker arm (9) drives a pair of of seedling taking finger (3) to be located remotely from each other by connecting rod (8), seedling taking
Intermediate plate (11) is decontroled, and realizes the release to pot seedling.
Claims (3)
1. a kind of seedling taking manipulator of servo motor driving, including servo motor (2), seedling taking finger (3), motor mounting plate (4),
Guide rail (5), sliding block (6), connecting rod (8), rocker arm (9), servo motor (2) are installed on motor mounting plate (4) by bolt, rocker arm
(9) it is connect by bolt with servo motor (2), is bolted between connecting rod (8) and rocker arm (9), connecting rod (8) and seedling taking hand
Refer to and be bolted between (3), sliding block (6) is fixed on seedling taking finger (3), and seedling taking intermediate plate (11) is welded to seedling taking finger
(3) end.
2. the seedling taking manipulator of servo motor driving according to claim 1, it is characterised in that servo motor (2) driving is shaken
Arm (9) drives connecting rod (8) to move with certain track, realizes seedling taking finger (3) and is done back and forth directly by sliding block (6) along guide rail (5)
Line movement.
3. the seedling taking manipulator of servo motor driving according to claim 1, it is characterised in that seedling taking finger (3), motor
Mounting plate (4), rocker arm (9), the material that connecting rod (8) uses is GCr15.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910416038.XA CN109986585A (en) | 2019-05-19 | 2019-05-19 | A kind of seedling taking manipulator of servo motor driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910416038.XA CN109986585A (en) | 2019-05-19 | 2019-05-19 | A kind of seedling taking manipulator of servo motor driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109986585A true CN109986585A (en) | 2019-07-09 |
Family
ID=67136739
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910416038.XA Pending CN109986585A (en) | 2019-05-19 | 2019-05-19 | A kind of seedling taking manipulator of servo motor driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109986585A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300464A (en) * | 2020-03-13 | 2020-06-19 | 三峡大学 | Synchronous clamping mechanism based on connecting rod and operation method |
| CN112372660A (en) * | 2020-11-03 | 2021-02-19 | 广州大学 | Mechanical arm clamp capable of self-adjusting object shape |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6626476B1 (en) * | 2000-07-18 | 2003-09-30 | Applied Materials, Inc. | Robotic gripper apparatus |
| GB2462882A (en) * | 2008-08-29 | 2010-03-03 | Benjamin John Ridehough | Gripper mechanism for a robot including a rotary actuator |
| CN108453776A (en) * | 2018-06-29 | 2018-08-28 | 王翔 | Fixture for medical instrument to be clamped |
| CN108994872A (en) * | 2018-07-26 | 2018-12-14 | 宿迁学院 | A kind of novel sensing control manipulator |
-
2019
- 2019-05-19 CN CN201910416038.XA patent/CN109986585A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6626476B1 (en) * | 2000-07-18 | 2003-09-30 | Applied Materials, Inc. | Robotic gripper apparatus |
| GB2462882A (en) * | 2008-08-29 | 2010-03-03 | Benjamin John Ridehough | Gripper mechanism for a robot including a rotary actuator |
| CN108453776A (en) * | 2018-06-29 | 2018-08-28 | 王翔 | Fixture for medical instrument to be clamped |
| CN108994872A (en) * | 2018-07-26 | 2018-12-14 | 宿迁学院 | A kind of novel sensing control manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300464A (en) * | 2020-03-13 | 2020-06-19 | 三峡大学 | Synchronous clamping mechanism based on connecting rod and operation method |
| CN112372660A (en) * | 2020-11-03 | 2021-02-19 | 广州大学 | Mechanical arm clamp capable of self-adjusting object shape |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |