CN110169241A - A kind of double fastener chip end effector of automatic transplanter - Google Patents
A kind of double fastener chip end effector of automatic transplanter Download PDFInfo
- Publication number
- CN110169241A CN110169241A CN201910395100.1A CN201910395100A CN110169241A CN 110169241 A CN110169241 A CN 110169241A CN 201910395100 A CN201910395100 A CN 201910395100A CN 110169241 A CN110169241 A CN 110169241A
- Authority
- CN
- China
- Prior art keywords
- electric pushrod
- intermediate plate
- end effector
- seedling
- double fastener
- 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
- 239000012636 effector Substances 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 150000001875 compounds Chemical class 0.000 claims description 2
- 238000002054 transplantation Methods 0.000 abstract description 4
- 230000006378 damage Effects 0.000 abstract description 3
- 230000008520 organization Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 4
- 239000011159 matrix material Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
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)
- Cultivation Of Plants (AREA)
- Transplanting Machines (AREA)
- Hydroponics (AREA)
Abstract
The invention discloses a kind of double fastener chip end effectors of automatic transplanter, it is made of electric pushrod (1), rack (2), connecting rod (3), cylinder (4), intermediate plate fixed block (5), intermediate plate (6), a kind of Automatic Transplanter seedling taking end effector being adapted to plug transplantation is provided, and it simplifies the internal structure of an organization to greatest extent and reduces the destruction to hole tray and Plug seedling, the high-efficient automatic potted-seedling picking mechanism for dry land of seedling taking, realize hole tray transplantation of seedlings automation, frequent, the time-consuming operational issue of peasant's dullness is solved, it is final to realize the automation of dry land transplanter tool.
Description
Technical field
The present invention relates to a kind of automatic seedling taking mechanisms applied to dry land potted tray seedling, belong to agricultural mechanical field.
Background technique
Common field open country transplanter type specifically includes that clamp type transplanter, chain-clip type transplanter, flexible disk formula
Transplanter, suppending cup type transplanter, seedling guiding tubular transplanting machine, conveyer belt type transplanter, air quality grade nutrition bowl seedling transplanting machine.This
A little types are applied to potted-seedling transplanting, are required to manual seedling taking for shoot transplanting equipment, throw seedling, mechanization degree is low.It is external at present
Greenhouse automatic transplanter technology is more mature, and but its structure is complex, expensive, bulky, with China's facility at this stage
The adaptability of Agriculture Production Modes is poor.And the country is in research and experimental stage to the research of potted tray seedling transplanter mostly, grinds
What is produced is mostly auto-manual system pot seedling transplanter, and handwork transplant device and semi-automatic transplanter are required to manually come seedling taking and throwing
Seedling, there is large labor intensity, auxiliary recruitment is more, operating efficiency is low, is difficult to meet large-scale production demand, therefore develops one kind
Automatic Transplanter is extremely urgent, and the development of seedling taking arm end effector is still immature, and there is seedling takings to survive mostly
The problems such as rate is low.
Summary of the invention
The purpose of the present invention is then the deficiency for currently available technology, provides and a kind of is adapted to the full-automatic of plug transplantation
Transplanter seedling taking end effector, the end effector maximally simplify structure, and pot seedling damage ratio is low, seedling taking efficiency
Height can carry mechanical arm, to realize that hole tray transplantation of seedlings automates, solve frequent, the time-consuming operation of peasant's dullness and ask
Topic.
The technical solution adopted by the invention is as follows:
A kind of double fastener chip end effector of automatic transplanter, it includes electric pushrod (1), rack (2), connecting rod (3), cylinder
(4), intermediate plate fixed block (5), intermediate plate (6) composition, electric pushrod (1), connecting rod (3), cylinder (4) constitute a rocker slider formula machine
Structure, electric pushrod (1) are driving link.
Two connecting rods (3) are symmetrically distributed in electric pushrod center line two sides, and the end shape with electric pushrod (1)
At a movable compound hinges.
Two cylinders (4) are symmetrically distributed in electric pushrod (1) center line two sides, and the upper end of cylinder (4) and company
Bar (3) forms hinges, and the lower end of cylinder (4) and intermediate plate fixed block (5) are threadedly coupled.
The intermediate plate (6), which is connected through a screw thread, to be fixed in intermediate plate fixed block (5).
The beneficial effects of the present invention are: mechanism is driven using electric pushrod, electric pushrod is using servo motor, inspection
It is high to survey high sensitivity, precision, and corresponding controller and control method appropriate can be used, dynamic clamp is carried out to pot seedling, very
Pot seedling matrix damage is reduced in big degree, in addition, insertion hole tray hole is carried out using double cylinder driving double grip-pieces, in conjunction with controlling party
Method can ensure that hole tray is not damaged, and improve the adaptability to different size hole tray.
Detailed description of the invention
Fig. 1 is the mechanism axonometric drawing.
Fig. 2 is the mechanism front view.
Fig. 3 is the mechanism electric pushrod axonometric drawing.
Fig. 4 is cylinder axonometric drawing.
Fig. 5 is intermediate plate fixed block three-dimensional axonometric drawing.
Specific embodiment:
Embodiment 1: the mechanism at work, is inserted into hole tray hole by double cylinders first with certain tilt angle, is then pushed away by electronic
Bar drive rocker slide block mechanism is taken out pot seedling under the drive of mechanical arm with realizing that double grip-pieces are clamped pot seedling matrix
Investment planting apparatus is to realize plant.
Embodiment 2: the end effector combination controller and driver, and suitable control method is used, double grip-pieces can
Hole tray hole is inserted into certain speed and matrix is carried out to take out hole tray with a certain regular dynamic clamp.
Claims (4)
1. a kind of double fastener chip end effector of automatic transplanter, it includes electric pushrod (1), rack (2), connecting rod (3), gas
Cylinder (4), intermediate plate fixed block (5), intermediate plate (6) composition, electric pushrod (1), connecting rod (3), cylinder (4) constitute a rocker slider formula
Mechanism, electric pushrod (1) are driving link.
2. a kind of double fastener chip end effector of automatic transplanter according to claim 1, it is characterised in that described
Two connecting rods (3) are symmetrically distributed in electric pushrod (1) center line two sides, and form an activity with the end of electric pushrod (1)
Compound hinges.
3. a kind of double fastener chip end effector of automatic transplanter according to claim 1, it is characterised in that described
Two cylinders (4) are symmetrically distributed in electric pushrod (1) center line two sides, and the upper end of cylinder (4) and connecting rod (3) form moveable hinge
Chain, the lower end of cylinder (4) and intermediate plate fixed block (5) are threadedly coupled.
4. a kind of double fastener chip end effector of automatic transplanter according to claim 1, it is characterised in that described
Intermediate plate (6), which is connected through a screw thread, to be fixed in intermediate plate fixed block (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910395100.1A CN110169241A (en) | 2019-05-13 | 2019-05-13 | A kind of double fastener chip end effector of automatic transplanter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910395100.1A CN110169241A (en) | 2019-05-13 | 2019-05-13 | A kind of double fastener chip end effector of automatic transplanter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110169241A true CN110169241A (en) | 2019-08-27 |
Family
ID=67690923
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910395100.1A Pending CN110169241A (en) | 2019-05-13 | 2019-05-13 | A kind of double fastener chip end effector of automatic transplanter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110169241A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111165132A (en) * | 2019-12-03 | 2020-05-19 | 农业农村部南京农业机械化研究所 | Plug seedling transplanting device and method |
| CN111955116A (en) * | 2020-09-03 | 2020-11-20 | 石河子大学 | Motor-driven plug seedling taking device |
| CN112106499A (en) * | 2020-10-29 | 2020-12-22 | 石河子大学 | Double-cylinder driving type pot seedling transplanting and clamping device based on vision |
| CN113207380A (en) * | 2021-06-15 | 2021-08-06 | 石河子大学 | Intelligent plug seedling taking device |
| CN113207379A (en) * | 2021-06-15 | 2021-08-06 | 石河子大学 | Motor pneumatic type plug seedling picking device |
| CN113207378A (en) * | 2021-06-13 | 2021-08-06 | 石河子大学 | Pneumatic seedling taking end effector |
| CN113317014A (en) * | 2021-07-08 | 2021-08-31 | 石河子大学 | Based on adjustable seedling device of getting of cylinder drive formula |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09182509A (en) * | 1995-12-29 | 1997-07-15 | T & T Nursery:Kk | Cell seedling transplanting system |
| CN101180928A (en) * | 2007-12-21 | 2008-05-21 | 浙江大学 | Seedling replanting system based on machine vision |
| CN103477770A (en) * | 2013-09-24 | 2014-01-01 | 浙江理工大学 | Automatic complementary planting device based on vision for seedlings for bowl plate |
| CN205179712U (en) * | 2015-10-23 | 2016-04-27 | 吴婉霞 | Automatic transplanter of flowers seedling |
| CN206790951U (en) * | 2017-04-27 | 2017-12-26 | 石河子大学 | A kind of new transplanter takes automatically feeds device |
| CN108207225A (en) * | 2018-04-11 | 2018-06-29 | 华中农业大学 | A kind of two dimensional surface pot seedling automatic transplanting device |
| CN209914467U (en) * | 2019-05-13 | 2020-01-10 | 石河子大学 | Double-clamping-piece type end effector of automatic transplanter |
-
2019
- 2019-05-13 CN CN201910395100.1A patent/CN110169241A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09182509A (en) * | 1995-12-29 | 1997-07-15 | T & T Nursery:Kk | Cell seedling transplanting system |
| CN101180928A (en) * | 2007-12-21 | 2008-05-21 | 浙江大学 | Seedling replanting system based on machine vision |
| CN103477770A (en) * | 2013-09-24 | 2014-01-01 | 浙江理工大学 | Automatic complementary planting device based on vision for seedlings for bowl plate |
| CN205179712U (en) * | 2015-10-23 | 2016-04-27 | 吴婉霞 | Automatic transplanter of flowers seedling |
| CN206790951U (en) * | 2017-04-27 | 2017-12-26 | 石河子大学 | A kind of new transplanter takes automatically feeds device |
| CN108207225A (en) * | 2018-04-11 | 2018-06-29 | 华中农业大学 | A kind of two dimensional surface pot seedling automatic transplanting device |
| CN209914467U (en) * | 2019-05-13 | 2020-01-10 | 石河子大学 | Double-clamping-piece type end effector of automatic transplanter |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111165132A (en) * | 2019-12-03 | 2020-05-19 | 农业农村部南京农业机械化研究所 | Plug seedling transplanting device and method |
| CN111165132B (en) * | 2019-12-03 | 2024-01-30 | 农业农村部南京农业机械化研究所 | Plug seedling transplanting device and method |
| CN111955116A (en) * | 2020-09-03 | 2020-11-20 | 石河子大学 | Motor-driven plug seedling taking device |
| CN112106499A (en) * | 2020-10-29 | 2020-12-22 | 石河子大学 | Double-cylinder driving type pot seedling transplanting and clamping device based on vision |
| CN113207378A (en) * | 2021-06-13 | 2021-08-06 | 石河子大学 | Pneumatic seedling taking end effector |
| CN113207380A (en) * | 2021-06-15 | 2021-08-06 | 石河子大学 | Intelligent plug seedling taking device |
| CN113207379A (en) * | 2021-06-15 | 2021-08-06 | 石河子大学 | Motor pneumatic type plug seedling picking device |
| CN113317014A (en) * | 2021-07-08 | 2021-08-31 | 石河子大学 | Based on adjustable seedling device of getting of cylinder drive formula |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| CB03 | Change of inventor or designer information |
Inventor after: Lei Jin Inventor after: Wang Weibing Inventor after: Song Qi Inventor after: Yu Junzhi Inventor after: Shen Tuanhui Inventor after: Wang Qigan Inventor before: Wang Weibing Inventor before: Song Qi Inventor before: Yu Junzhi Inventor before: Shen Tuanhui Inventor before: Wang Qigan |