CN110741789A - Whole group transferring, fetching and feeding device for plug tray pot seedlings - Google Patents
Whole group transferring, fetching and feeding device for plug tray pot seedlings Download PDFInfo
- Publication number
- CN110741789A CN110741789A CN201910443226.1A CN201910443226A CN110741789A CN 110741789 A CN110741789 A CN 110741789A CN 201910443226 A CN201910443226 A CN 201910443226A CN 110741789 A CN110741789 A CN 110741789A
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- conveying
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- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 210000000078 claw Anatomy 0.000 claims description 23
- 230000009471 action Effects 0.000 claims description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 6
- 238000009826 distribution Methods 0.000 claims description 4
- 230000003139 buffering effect Effects 0.000 claims description 3
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 230000003014 reinforcing effect Effects 0.000 claims description 2
- 230000009977 dual effect Effects 0.000 claims 1
- 230000001502 supplementing effect Effects 0.000 abstract 1
- 230000006872 improvement Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000035240 Disease Resistance Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
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Classifications
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- 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
Abstract
The invention discloses a whole group transferring, taking and feeding device for potted tray seedlings, and particularly relates to the technical field of agriculture. The seedling feeding device is characterized by comprising a seedling taking and feeding mechanical hand, a seedling conveying mechanism, a tray moving mechanism, a rack and the like. Get and feed seedling manipulator and carry out the potted seedling clamp of group of the different positions of cave dish and get, promote under telescopic cylinder control, send seedling mechanism to drive through step motor slip table and get and feed seedling manipulator and send the potted seedling of group to the seedling cup and accomplish and feed the seedling, treat that the seedling dish seedling is got the back, move a set mechanism automatic carry and mend the seedling. The invention can complete multiple operations of whole group seedling taking, seedling feeding, tray transferring and seedling supplementing, has high working efficiency and strong practicability, and provides technical support for realizing high-speed full-automatic transplanting of plug tray pot seedlings.
Description
Technical Field
The invention relates to the technical field of automatic transplanting of crops, in particular to a full-group transplanting, taking and feeding device for potted tray seedlings.
Background
The seedling raising and transplanting technology can ensure that crops are sowed in advance, improve the survival rate of seedlings, enhance the disease resistance of the crops and improve the growth quality and yield of the crops, and is widely applied to field and facility agricultural production. The existing transplanting machine takes semi-automation as a main part, seedling taking and feeding are carried out manually, the operation efficiency is low, the labor intensity is high, the improvement of the crop planting benefit is seriously influenced, and the full automation of crop transplanting is realized to become the practical requirement of large-scale crop planting.
In order to solve the increasingly serious problems of population reduction and population aging of farmers, the automatic seedling taking and feeding is changed from manual operation, which is a necessary premise for full-automatic transplanting of crops. The operation mode is changed from single plant to automatic seedling taking and feeding of the whole group of multiple plants, so that the operation efficiency can be improved, and technical support is provided for realizing high-speed full-automatic transplanting of the plug tray pot seedlings.
Disclosure of Invention
The invention aims to provide a plug tray pot seedling whole group transferring and feeding device, wherein a seedling taking and feeding mechanical hand is used for clamping and lifting a whole group of pot seedlings under the action of a double-shaft telescopic cylinder and a cylinder claw, a seedling feeding mechanism drives the seedling taking and feeding mechanical hand to feed the whole group of pot seedlings to a seedling cup through a seedling feeding mechanism sliding table, and after the corresponding plug tray pot seedlings are taken, a tray moving mechanism carries over to carry out the taking, feeding and transferring of the next group of plug tray pot seedlings.
The invention adopts the following technical scheme.
1. A tray pot seedling whole group moving, taking and feeding device comprises a seedling taking and feeding mechanical hand, a seedling feeding mechanism, a tray moving mechanism, a rack and the like.
2. The seedling conveying mechanism comprises a seedling conveying stepping motor and a seedling conveying mechanism sliding table arranged above the rack; send seedling step motor to be connected with sending seedling mechanism slip table through step motor support.
3. The seedling taking and feeding manipulator comprises a linear bracket, a double-shaft telescopic cylinder, a cylinder claw and a U-shaped auxiliary clamping claw; the linear bracket is hung on a sliding table dragging plate of the seedling conveying mechanism through screws, a convex groove is designed in the linear bracket, six double-shaft telescopic cylinders are hung on the convex groove of the linear bracket through an I-shaped hanging piece at the tail part of the double-shaft telescopic cylinder, the distance between the adjacent double-shaft telescopic cylinders can be adjusted in a sliding mode, the seedling taking requirements of different specifications of plug trays are met, and the applicability of the seedling taking and throwing manipulator is improved; the lower extreme of biax telescopic cylinder installs the cylinder claw, and the cylinder claw is provided power by the cylinder and is pressed from both sides the seedling action, and the supplementary holder of "U" type is installed to the department of "pointing" of cylinder claw.
4. The tray moving mechanism is arranged below the cylinder claw and comprises a fence type tray, a tray conveying stepping motor, a tray conveying sliding table, a seedling tray conveying sliding table tray and a tray; the tray moving mechanism is powered by a tray conveying stepping motor; the plug tray conveying stepping motor is arranged on the plug tray conveying sliding table; the plug conveying sliding table is fixedly connected with the seedling tray conveying sliding table bracket through a set screw, and a fence type plug tray is arranged on the plug conveying sliding table; two hole trays are placed on the fence type hole tray, the hole tray is formed by splicing triangular iron with holes and bolts and nuts, the size of the hole tray is adjustable, and the hole tray is suitable for hole trays of various specifications.
5. The tray pot seedling complete group transferring and feeding device according to claim 1, wherein the seedling feeding stepping motor of the seedling feeding mechanism controls the number of rotation turns and the rotation direction by controlling the output number of pulses through a PLC program, so as to control the moving distance and the advancing direction of the sliding table of the seedling feeding mechanism.
6. The device for picking, throwing and transferring the whole group of the potted tray seedlings according to claim 1, wherein a downstream groove is designed at the top end of a U-shaped auxiliary gripper of the seedling picking and feeding mechanical arm, the opening and closing distance of the foremost end is equal to the width of a potted tray body, seedlings can conveniently enter the gripper, and the double-layer structure of the seedling clamping position of the auxiliary gripper has the function of pressure buffering, is suitable for seedlings with different diameters and avoids damage to the seedlings.
7. The tray seedling transplanting, taking and feeding device for the whole group of the tray seedlings according to claim 1 is characterized in that the length and the width of the fence type tray of the tray transplanting mechanism are designed and constructed according to the specifications of the tray, and a transverse grid plate is specially arranged in the inner position of the tray transplanting mechanism, so that the tray transplanting, taking and feeding device can play double roles of reinforcing the tray and fixing the tray.
8. The tray seedling feeding device for the whole group of the potted seedlings according to claim 1, wherein the seedling picking and feeding mechanism is used for carrying the seedlings and dropping the seedlings by a telescopic cylinder, and the action time sequence and distribution of the seedling picking and feeding mechanical hand, the seedling feeding mechanism and the tray moving mechanism are controlled by a PLC (programmable logic controller) counter and a timer.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a seedling picking and feeding manipulator of the present invention;
FIG. 3 is a partial enlarged structural view of the seedling picking and feeding manipulator of the present invention;
FIG. 4 is an enlarged structural view of tray transfer according to the present invention;
wherein: 1. the seedling transplanting machine comprises a seedling transplanting stepping motor, 2. a seedling transplanting mechanism sliding table, 3. "I" -shaped supports, 4. a double-shaft telescopic cylinder, 5. a cylinder claw, 6. "U" -shaped auxiliary clamps, 7. a fence type plug tray support, 8. a plug tray conveying stepping motor, 9. a plug tray conveying sliding table, 10. a seedling conveying cup, 11. a seedling tray conveying sliding table support, 12. a plug tray and 13. a frame.
Detailed Description
The invention will be further illustrated and described with reference to the following figures and examples. The stepping motor, the PLC, the seedling transplanting mechanism sliding table, the cylinder claw, the double-shaft telescopic cylinder, the plug tray conveying sliding table and other components used in the invention can be purchased in the market, and the U-shaped auxiliary clamp holder can be manufactured according to the self requirement and the prior art.
Referring to fig. 1 to 4, the invention relates to a device for picking and transferring a whole group of pot seedlings of a plug tray, which takes a standard plug tray with 72 holes, wherein the number of the whole group of pot seedlings picked and fed is 6, the device comprises a seedling picking and feeding mechanical arm, a seedling feeding mechanism, a tray moving mechanism, a frame and the like, the seedling picking and feeding mechanical arm is hung on the seedling feeding mechanism, the tray moving mechanism is arranged below the seedling picking and feeding mechanical arm, the seedling feeding mechanism and the movement sequence and distribution of the tray moving mechanism are controlled by a PLC counter and a timer.
Send seedling mechanism to include and send seedling step motor 1, send seedling mechanism slip table 2. Send seedling step motor 1 to provide power for sending seedling mechanism slip table 2, provide power pulse for sending seedling step motor through PLC to this advancing speed and the direction that control sent seedling step motor 1, and then control the conveying speed and the direction that send seedling mechanism slip table 2.
Get and feed seedling manipulator including "a" style of calligraphy support 3 that has "protruding" style of calligraphy spout, six expansion bend cylinders 4, six cylinder claws 5 and six "U" type auxiliary clamp holder 6. The top of a linear support 3 with a convex sliding groove is connected with a seedling conveying sliding table of a seedling conveying mechanism in a hanging mode, the linear support 3 is connected with an I-shaped hanging piece 4.1 with the top of six double-shaft telescopic cylinders 4 through the convex sliding groove and combined with the hanging piece through the sliding groove, so that the distance between the two double-shaft telescopic cylinders 4 is adjustable, and the applicability of a seedling taking and feeding manipulator to plug trays of different specifications is improved. The lower end of the double-shaft telescopic cylinder 4 is connected with a cylinder claw 5, and a U-shaped auxiliary clamp holder 6 is arranged at the finger position of the cylinder claw 5. The double-layer structure of the U-shaped auxiliary clamp holder 6 has a pressure buffering function, and seedlings with different diameters can be clamped. The use of the adjustable air pressure valve on the cylinder claw enables the seedling taking action of the seedling taking and feeding manipulator to be softer, reduces the impact force caused by air pressure and further reduces the seedling damage rate in the seedling taking process; the action time sequence and distribution of the double-shaft telescopic cylinder 4 and the cylinder claw 5 for clamping, lifting and dropping the seedlings are controlled by using an auxiliary relay and a timer in a PLC, and the power source of the double-shaft telescopic cylinder 4 and the cylinder claw 5 is an air pump.
The tray moving mechanism comprises a fence type tray support 7, a tray support conveying stepping motor 9, a tray conveying sliding table 10 and the like. The tray moving mechanism is powered by a tray conveying stepping motor 9; the rotating speed and the steering of the tray conveying stepping motor 9 are controlled by a PLC, and the working time of the tray conveying stepping motor is matched with the seedling taking and feeding mechanical arm and the seedling conveying mechanism in a time sequence mode through a timer. The hole tray conveying stepping motor is arranged on the sliding hole tray conveying platform 10; a fence type plug tray 7 is arranged on the plug tray conveying sliding table 10; two hole trays (8) are placed on the fence type hole tray (7) and are formed by splicing triangular iron with fence holes, and the length and the width of the hole tray can be changed so as to adapt to hole trays of different specifications. The rotating speed and the steering of the plug tray conveying stepping motor 9 are controlled by the PLC output pulse, so that the conveying speed and the advancing direction of the plug tray conveying sliding table 10 are controlled, and the fence type plug tray 7 and the plug tray 8 are driven to move to the working positions.
The working process of the invention is as follows: get and feed seedling manipulator and press from both sides 6 trunk alms bowl seedlings and promote at biax telescopic cylinder 4 and 5 effect whole groups down, send seedling mechanism to drive through seedling mechanism slip table 2 and get and feed seedling manipulator and send 6 trunk alms bowl seedlings to seedling cup top, the cylinder pole of biax telescopic cylinder 4 stretches out, gets and feeds the seedling manipulator and fall, and cylinder claw 5 opens, and 6 trunk alms bowl seedlings fall to the seedling cup and accomplish and feed the seedling. After the seedling taking and feeding mechanical arm continuously takes six times until the last row of seedlings is taken, the tray moving mechanism can move the tray in time under the driving of the tray conveying stepping motor 8, so that the other six rows of seedlings in the 6X 12 tray are aligned to the cylinder claw 5 and the U-shaped auxiliary clamp holder 6, and after the six rows of seedlings are taken, the tray moving mechanism can move the hole tray to one side to take, throw and transfer the next row of tray pot seedlings.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any minor modifications, equivalent replacements and improvements made to the above embodiment according to the technical spirit of the present invention should be included in the protection scope of the technical solution of the present invention.
Claims (5)
1. A tray pot seedling whole group moving, taking and feeding device is characterized by comprising a seedling taking and feeding mechanical hand, a seedling feeding mechanism, a tray moving mechanism, a rack and the like.
The seedling conveying mechanism comprises a seedling conveying stepping motor (1) and a seedling conveying mechanism sliding table (2) arranged above the rack; the seedling feeding stepping motor (1) is connected with the seedling feeding mechanism sliding table (2) through a stepping motor bracket;
the seedling taking and feeding manipulator comprises a linear bracket (3), a double-shaft telescopic cylinder (4), a cylinder claw (5) and a U-shaped auxiliary clamping claw (6); the straight-line-shaped support (3) is hung on a planker of the seedling conveying mechanism sliding table (2) through screws, a convex-shaped groove is designed inside the straight-line-shaped support (3), six double-shaft telescopic cylinders (4) are hung on the convex-shaped groove of the straight-line-shaped support (3) through an I-shaped hanging piece (4.1) at the tail of the double-shaft telescopic cylinder, the distance between every two adjacent double-shaft telescopic cylinders (4) can be adjusted in a sliding mode, the seedling taking requirements of different specifications of aperture discs are met, and the applicability of the seedling taking and feeding manipulator is improved; the lower end of the double-shaft telescopic cylinder (4) is provided with a cylinder claw (5), the cylinder claw (5) is powered by a cylinder to finish seedling taking action, and a U-shaped auxiliary clamp holder (6) is arranged at a finger position of the cylinder claw (5);
the tray moving mechanism is arranged below the cylinder claw (5) and comprises a fence type tray support (7), a tray support conveying stepping motor (9), a tray conveying sliding table (10) and a tray conveying sliding table (12); the tray moving mechanism is powered by a tray conveying stepping motor (9); the plug tray conveying stepping motor (9) is arranged on the plug tray conveying sliding table (10); the plug conveying sliding table (10) is fixedly connected with a plug conveying sliding table bracket (12) through a set screw, and a fence type plug tray support (7) is arranged on the plug conveying sliding table (10); two hole trays (8) are arranged on the fence type hole tray (7), are formed by splicing triangular iron with holes and bolts and nuts, are adjustable in size and are suitable for hole trays of various specifications.
2. The tray pot seedling complete group transferring and feeding device according to claim 1, wherein the seedling feeding stepping motor (1) of the seedling feeding mechanism controls the number of rotation turns and the rotation direction by controlling the output number of pulses through a PLC program, so as to control the moving distance and the advancing direction of the sliding table (2) of the seedling feeding mechanism.
3. The device for transferring, fetching and feeding the whole group of the plug seedling according to claim 1, characterized in that a forward flow groove is designed at the top end of a U-shaped auxiliary gripper (6) of the mechanical hand for fetching and feeding the seedling, the opening and closing distance of the foremost end is equal to the width of the plug seedling, the seedling can conveniently enter the gripper, the double-layer structure of the position of the auxiliary gripper for clamping the seedling has the function of pressure buffering, and the device is suitable for seedlings with different diameters, and simultaneously avoids the damage to the seedling.
4. The device for taking, throwing and transferring the whole group of plug seedling pot seedlings according to claim 1, wherein the length and the width of the fence type seedling tray (7) of the tray transferring mechanism are designed and built according to the specifications of the plug seedling pot, and a transverse grid plate is specially arranged in the inner position of the plug seedling tray, so that the dual effects of reinforcing the tray and fixing the plug seedling pot can be achieved.
5. The device for picking, throwing and transferring the whole group of potted seedlings according to claim 1, wherein the seedling picking and feeding mechanism carries the seedlings and falls the seedlings by a double-shaft telescopic cylinder (4), and the action sequence and distribution of the seedling picking and feeding mechanical arm, the seedling feeding mechanism and the tray transferring mechanism are controlled by a PLC counter and a timer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910443226.1A CN110741789A (en) | 2019-05-23 | 2019-05-23 | Whole group transferring, fetching and feeding device for plug tray pot seedlings |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910443226.1A CN110741789A (en) | 2019-05-23 | 2019-05-23 | Whole group transferring, fetching and feeding device for plug tray pot seedlings |
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| CN110741789A true CN110741789A (en) | 2020-02-04 |
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| CN201910443226.1A Pending CN110741789A (en) | 2019-05-23 | 2019-05-23 | Whole group transferring, fetching and feeding device for plug tray pot seedlings |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112237073A (en) * | 2020-10-21 | 2021-01-19 | 高淑兰 | Unmanned automatic transplanter is used in ecological remediation side slope afforestation |
| CN115529904A (en) * | 2022-10-18 | 2022-12-30 | 农业农村部南京农业机械化研究所 | Hanging cup type seedling separating mechanism based on degradable seedling tray |
| CN115643869A (en) * | 2022-10-18 | 2023-01-31 | 农业农村部南京农业机械化研究所 | Full-automatic transplanter based on degradable hole tray |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112237073A (en) * | 2020-10-21 | 2021-01-19 | 高淑兰 | Unmanned automatic transplanter is used in ecological remediation side slope afforestation |
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| CN115529904A (en) * | 2022-10-18 | 2022-12-30 | 农业农村部南京农业机械化研究所 | Hanging cup type seedling separating mechanism based on degradable seedling tray |
| CN115643869A (en) * | 2022-10-18 | 2023-01-31 | 农业农村部南京农业机械化研究所 | Full-automatic transplanter based on degradable hole tray |
| CN115643869B (en) * | 2022-10-18 | 2024-02-13 | 农业农村部南京农业机械化研究所 | Full-automatic transplanter based on degradable plug tray |
| CN115529904B (en) * | 2022-10-18 | 2024-02-13 | 农业农村部南京农业机械化研究所 | Cup-hanging seedling separating mechanism based on degradable seedling tray |
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